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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 "Wm5DistPoint3Frustum3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistPoint3Frustum3<Real>::DistPoint3Frustum3 (const Vector3<Real>& point,
const Frustum3<Real>& frustum)
:
mPoint(&point),
mFrustum(&frustum)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Vector3<Real>& DistPoint3Frustum3<Real>::GetPoint () const
{
return *mPoint;
}
//----------------------------------------------------------------------------
template <typename Real>
const Frustum3<Real>& DistPoint3Frustum3<Real>::GetFrustum () const
{
return *mFrustum;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Frustum3<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Frustum3<Real>::GetSquared ()
{
// Compute coordinates of point with respect to frustum coordinate system.
Vector3<Real> diff = *mPoint - mFrustum->Origin;
Vector3<Real> test = Vector3<Real>(
diff.Dot(mFrustum->RVector),
diff.Dot(mFrustum->UVector),
diff.Dot(mFrustum->DVector));
// Perform calculations in octant with nonnegative R and U coordinates.
bool rSignChange;
if (test.X() < (Real)0)
{
rSignChange = true;
test.X() = -test.X();
}
else
{
rSignChange = false;
}
bool uSignChange;
if (test.Y() < (Real)0)
{
uSignChange = true;
test.Y() = -test.Y();
}
else
{
uSignChange = false;
}
// Frustum derived parameters.
Real rmin = mFrustum->RBound;
Real rmax = mFrustum->GetDRatio()*rmin;
Real umin = mFrustum->UBound;
Real umax = mFrustum->GetDRatio()*umin;
Real dmin = mFrustum->DMin;
Real dmax = mFrustum->DMax;
Real rminSqr = rmin*rmin;
Real uminSqr = umin*umin;
Real dminSqr = dmin*dmin;
Real minRDDot = rminSqr + dminSqr;
Real minUDDot = uminSqr + dminSqr;
Real minRUDDot = rminSqr + minUDDot;
Real maxRDDot = mFrustum->GetDRatio()*minRDDot;
Real maxUDDot = mFrustum->GetDRatio()*minUDDot;
Real maxRUDDot = mFrustum->GetDRatio()*minRUDDot;
// Algorithm computes closest point in all cases by determining in which
// Voronoi region of the vertices, edges, and faces of the frustum that
// the test point lives.
Vector3<Real> closest;
Real rDot, uDot, rdDot, udDot, rudDot, rEdgeDot, uEdgeDot, t;
if (test.Z() >= dmax)
{
if (test.X() <= rmax)
{
if (test.Y() <= umax)
{
// F-face
closest.X() = test.X();
closest.Y() = test.Y();
closest.Z() = dmax;
}
else
{
// UF-edge
closest.X() = test.X();
closest.Y() = umax;
closest.Z() = dmax;
}
}
else
{
if (test.Y() <= umax)
{
// LF-edge
closest.X() = rmax;
closest.Y() = test.Y();
closest.Z() = dmax;
}
else
{
// LUF-vertex
closest.X() = rmax;
closest.Y() = umax;
closest.Z() = dmax;
}
}
}
else if (test.Z() <= dmin)
{
if (test.X() <= rmin)
{
if (test.Y() <= umin)
{
// N-face
closest.X() = test.X();
closest.Y() = test.Y();
closest.Z() = dmin;
}
else
{
udDot = umin*test.Y() + dmin*test.Z();
if (udDot >= maxUDDot)
{
// UF-edge
closest.X() = test.X();
closest.Y() = umax;
closest.Z() = dmax;
}
else if (udDot >= minUDDot)
{
// U-face
uDot = dmin*test.Y() - umin*test.Z();
t = uDot/minUDDot;
closest.X() = test.X();
closest.Y() = test.Y() - t*dmin;
closest.Z() = test.Z() + t*umin;
}
else
{
// UN-edge
closest.X() = test.X();
closest.Y() = umin;
closest.Z() = dmin;
}
}
}
else
{
if (test.Y() <= umin)
{
rdDot = rmin*test.X() + dmin*test.Z();
if (rdDot >= maxRDDot)
{
// LF-edge
closest.X() = rmax;
closest.Y() = test.Y();
closest.Z() = dmax;
}
else if (rdDot >= minRDDot)
{
// L-face
rDot = dmin*test.X() - rmin*test.Z();
t = rDot/minRDDot;
closest.X() = test.X() - t*dmin;
closest.Y() = test.Y();
closest.Z() = test.Z() + t*rmin;
}
else
{
// LN-edge
closest.X() = rmin;
closest.Y() = test.Y();
closest.Z() = dmin;
}
}
else
{
rudDot = rmin*test.X() + umin*test.Y() + dmin*test.Z();
rEdgeDot = umin*rudDot - minRUDDot*test.Y();
if (rEdgeDot >= (Real)0)
{
rdDot = rmin*test.X() + dmin*test.Z();
if (rdDot >= maxRDDot)
{
// LF-edge
closest.X() = rmax;
closest.Y() = test.Y();
closest.Z() = dmax;
}
else if (rdDot >= minRDDot)
{
// L-face
rDot = dmin*test.X() - rmin*test.Z();
t = rDot/minRDDot;
closest.X() = test.X() - t*dmin;
closest.Y() = test.Y();
closest.Z() = test.Z() + t*rmin;
}
else
{
// LN-edge
closest.X() = rmin;
closest.Y() = test.Y();
closest.Z() = dmin;
}
}
else
{
uEdgeDot = rmin*rudDot - minRUDDot*test.X();
if (uEdgeDot >= (Real)0)
{
udDot = umin*test.Y() + dmin*test.Z();
if (udDot >= maxUDDot)
{
// UF-edge
closest.X() = test.X();
closest.Y() = umax;
closest.Z() = dmax;
}
else if (udDot >= minUDDot)
{
// U-face
uDot = dmin*test.Y() - umin*test.Z();
t = uDot/minUDDot;
closest.X() = test.X();
closest.Y() = test.Y() - t*dmin;
closest.Z() = test.Z() + t*umin;
}
else
{
// UN-edge
closest.X() = test.X();
closest.Y() = umin;
closest.Z() = dmin;
}
}
else
{
if (rudDot >= maxRUDDot)
{
// LUF-vertex
closest.X() = rmax;
closest.Y() = umax;
closest.Z() = dmax;
}
else if (rudDot >= minRUDDot)
{
// LU-edge
t = rudDot/minRUDDot;
closest.X() = t*rmin;
closest.Y() = t*umin;
closest.Z() = t*dmin;
}
else
{
// LUN-vertex
closest.X() = rmin;
closest.Y() = umin;
closest.Z() = dmin;
}
}
}
}
}
}
else
{
rDot = dmin*test.X() - rmin*test.Z();
uDot = dmin*test.Y() - umin*test.Z();
if (rDot <= (Real)0.0)
{
if (uDot <= (Real)0)
{
// point inside frustum
closest = test;
}
else
{
udDot = umin*test.Y() + dmin*test.Z();
if (udDot >= maxUDDot)
{
// UF-edge
closest.X() = test.X();
closest.Y() = umax;
closest.Z() = dmax;
}
else
{
// U-face
t = uDot/minUDDot;
closest.X() = test.X();
closest.Y() = test.Y() - t*dmin;
closest.Z() = test.Z() + t*umin;
}
}
}
else
{
if (uDot <= (Real)0)
{
rdDot = rmin*test.X() + dmin*test.Z();
if (rdDot >= maxRDDot)
{
// LF-edge
closest.X() = rmax;
closest.Y() = test.Y();
closest.Z() = dmax;
}
else
{
// L-face
t = rDot/minRDDot;
closest.X() = test.X() - t*dmin;
closest.Y() = test.Y();
closest.Z() = test.Z() + t*rmin;
}
}
else
{
rudDot = rmin*test.X() + umin*test.Y() + dmin*test.Z();
rEdgeDot = umin*rudDot - minRUDDot*test.Y();
if (rEdgeDot >= (Real)0)
{
rdDot = rmin*test.X() + dmin*test.Z();
if (rdDot >= maxRDDot)
{
// LF-edge
closest.X() = rmax;
closest.Y() = test.Y();
closest.Z() = dmax;
}
else // assert( rdDot >= minRDDot ) from geometry
{
// L-face
t = rDot/minRDDot;
closest.X() = test.X() - t*dmin;
closest.Y() = test.Y();
closest.Z() = test.Z() + t*rmin;
}
}
else
{
uEdgeDot = rmin*rudDot - minRUDDot*test.X();
if (uEdgeDot >= (Real)0)
{
udDot = umin*test.Y() + dmin*test.Z();
if (udDot >= maxUDDot)
{
// UF-edge
closest.X() = test.X();
closest.Y() = umax;
closest.Z() = dmax;
}
else // assert( udDot >= minUDDot ) from geometry
{
// U-face
t = uDot/minUDDot;
closest.X() = test.X();
closest.Y() = test.Y() - t*dmin;
closest.Z() = test.Z() + t*umin;
}
}
else
{
if (rudDot >= maxRUDDot)
{
// LUF-vertex
closest.X() = rmax;
closest.Y() = umax;
closest.Z() = dmax;
}
else // assert( rudDot >= minRUDDot ) from geometry
{
// LU-edge
t = rudDot/minRUDDot;
closest.X() = t*rmin;
closest.Y() = t*umin;
closest.Z() = t*dmin;
}
}
}
}
}
}
diff = test - closest;
// Convert back to original quadrant.
if (rSignChange)
{
closest.X() = -closest.X();
}
if (uSignChange)
{
closest.Y() = -closest.Y();
}
mClosestPoint0 = *mPoint;
// Convert back to original coordinates.
mClosestPoint1 = mFrustum->Origin +
closest.X()*mFrustum->RVector +
closest.Y()*mFrustum->UVector +
closest.Z()*mFrustum->DVector;
return diff.SquaredLength();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Frustum3<Real>::Get (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedPoint = *mPoint + t*velocity0;
Vector3<Real> movedOrigin = mFrustum->Origin + t*velocity1;
Frustum3<Real> movedFrustum(movedOrigin, mFrustum->DVector,
mFrustum->UVector, mFrustum->RVector, mFrustum->DMin,
mFrustum->DMax, mFrustum->UBound, mFrustum->RBound);
return DistPoint3Frustum3<Real>(movedPoint, movedFrustum).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Frustum3<Real>::GetSquared (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedPoint = *mPoint + t*velocity0;
Vector3<Real> movedOrigin = mFrustum->Origin + t*velocity1;
Frustum3<Real> movedFrustum(movedOrigin, mFrustum->DVector,
mFrustum->UVector, mFrustum->RVector, mFrustum->DMin,
mFrustum->DMax, mFrustum->UBound, mFrustum->RBound);
return DistPoint3Frustum3<Real>(movedPoint,movedFrustum).GetSquared();
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistPoint3Frustum3<float>;
template WM5_MATHEMATICS_ITEM
class DistPoint3Frustum3<double>;
//----------------------------------------------------------------------------
}
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