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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#include "Wm5MathematicsPCH.h"
#include "Wm5IntrHalfspace3Segment3.h"
#include "Wm5IntrUtility3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
IntrHalfspace3Segment3<Real>::IntrHalfspace3Segment3 (
const Plane3<Real>& halfspace, const Segment3<Real>& segment)
:
mHalfspace(&halfspace),
mSegment(&segment)
{
mQuantity = 0;
}
//----------------------------------------------------------------------------
template <typename Real>
const Plane3<Real>& IntrHalfspace3Segment3<Real>::GetHalfspace () const
{
return *mHalfspace;
}
//----------------------------------------------------------------------------
template <typename Real>
const Segment3<Real>& IntrHalfspace3Segment3<Real>::GetSegment () const
{
return *mSegment;
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Segment3<Real>::Test ()
{
Vector3<Real> segment[2] =
{
mSegment->P0,
mSegment->P1
};
Real fmin, fmax;
IntrAxis<Real>::GetProjection(mHalfspace->Normal, segment, fmin, fmax);
return fmin <= mHalfspace->Constant;
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Segment3<Real>::Find ()
{
// Start with the segment and clip it against the plane.
mQuantity = 2;
mPoint[0] = mSegment->P0;
mPoint[1] = mSegment->P1;
ClipConvexPolygonAgainstPlane<Real>(-mHalfspace->Normal,
-mHalfspace->Constant, mQuantity, mPoint);
return mQuantity > 0;
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Segment3<Real>::Test (Real tmax,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
mContactTime = (Real)0;
Real tlast = Math<Real>::MAX_REAL;
Vector3<Real> relVelocity = velocity1 - velocity0;
Vector3<Real> segment[2] =
{
mSegment->P0,
mSegment->P1
};
Real fmin, fmax;
IntrAxis<Real>::GetProjection(mHalfspace->Normal, segment, fmin, fmax);
return IntrAxis<Real>::Test(mHalfspace->Normal, relVelocity,
-Math<Real>::MAX_REAL, mHalfspace->Constant, fmin, fmax, tmax,
mContactTime, tlast);
}
//----------------------------------------------------------------------------
template <typename Real>
bool IntrHalfspace3Segment3<Real>::Find (Real tmax,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
mContactTime = (Real)0;
Real tlast = Math<Real>::MAX_REAL;
Vector3<Real> relVelocity = velocity1 - velocity0;
Vector3<Real> segment[2] =
{
mSegment->P0,
mSegment->P1
};
IntrConfiguration<Real> cfg;
IntrAxis<Real>::GetConfiguration(mHalfspace->Normal, segment, cfg);
if (!IntrAxis<Real>::Test(mHalfspace->Normal, relVelocity,
-Math<Real>::MAX_REAL, mHalfspace->Constant, cfg.mMin, cfg.mMax,
tmax, mContactTime, tlast))
{
// Never intersecting.
return false;
}
if (mContactTime == (Real)0)
{
// Intersecting now.
return false;
}
// Line on positive side (right).
if (cfg.mMap == IntrConfiguration<Real>::m11)
{
mQuantity = 1;
mPoint[0] = segment[cfg.mIndex[0]];
}
else // cfg.mMap == IntrConfiguration<Real>::m2
{
mQuantity = 2;
mPoint[0] = segment[cfg.mIndex[0]];
mPoint[1] = segment[cfg.mIndex[1]];
}
// Adjust points to the correct place in time, as well.
Vector3<Real> diff = mContactTime*velocity1;
for (int i = 0; i < mQuantity; ++i)
{
mPoint[i] += diff;
}
return true;
}
//----------------------------------------------------------------------------
template <typename Real>
int IntrHalfspace3Segment3<Real>::GetQuantity () const
{
return mQuantity;
}
//----------------------------------------------------------------------------
template <typename Real>
const Vector3<Real>& IntrHalfspace3Segment3<Real>::GetPoint (int i) const
{
return mPoint[i];
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class IntrHalfspace3Segment3<float>;
template WM5_MATHEMATICS_ITEM
class IntrHalfspace3Segment3<double>;
//----------------------------------------------------------------------------
}
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