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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 "Wm5DistRay2Segment2.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistRay2Segment2<Real>::DistRay2Segment2 (const Ray2<Real>& ray,
const Segment2<Real>& segment)
:
mRay(&ray),
mSegment(&segment)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Ray2<Real>& DistRay2Segment2<Real>::GetRay () const
{
return *mRay;
}
//----------------------------------------------------------------------------
template <typename Real>
const Segment2<Real>& DistRay2Segment2<Real>::GetSegment () const
{
return *mSegment;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay2Segment2<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay2Segment2<Real>::GetSquared ()
{
Vector2<Real> diff = mRay->Origin- mSegment->Center;
Real a01 = -mRay->Direction.Dot(mSegment->Direction);
Real b0 = diff.Dot(mRay->Direction);
Real b1 = -diff.Dot(mSegment->Direction);
Real c = diff.SquaredLength();
Real det = Math<Real>::FAbs((Real)1 - a01*a01);
Real s0, s1, sqrDist, extDet;
if (det >= Math<Real>::ZERO_TOLERANCE)
{
// The ray and segment are not parallel.
s0 = a01*b1 - b0;
s1 = a01*b0 - b1;
extDet = mSegment->Extent*det;
if (s0 >= (Real)0)
{
if (s1 >= -extDet)
{
if (s1 <= extDet) // region 0
{
// Minimum at interior points of ray and segment.
Real invDet = ((Real)1)/det;
s0 *= invDet;
s1 *= invDet;
sqrDist = (Real)0;
}
else // region 1
{
s1 = mSegment->Extent;
s0 = -(a01*s1 + b0);
if (s0 > (Real)0)
{
sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
}
else
{
s0 = (Real)0;
sqrDist = s1*(s1 + ((Real)2)*b1) + c;
}
}
}
else // region 5
{
s1 = -mSegment->Extent;
s0 = -(a01*s1 + b0);
if (s0 > (Real)0)
{
sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
}
else
{
s0 = (Real)0;
sqrDist = s1*(s1 + ((Real)2)*b1) + c;
}
}
}
else
{
if (s1 <= -extDet) // region 4
{
s0 = -(-a01*mSegment->Extent + b0);
if (s0 > (Real)0)
{
s1 = -mSegment->Extent;
sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
}
else
{
s0 = (Real)0;
s1 = -b1;
if (s1 < -mSegment->Extent)
{
s1 = -mSegment->Extent;
}
else if (s1 > mSegment->Extent)
{
s1 = mSegment->Extent;
}
sqrDist = s1*(s1 + ((Real)2)*b1) + c;
}
}
else if (s1 <= extDet) // region 3
{
s0 = (Real)0;
s1 = -b1;
if (s1 < -mSegment->Extent)
{
s1 = -mSegment->Extent;
}
else if (s1 > mSegment->Extent)
{
s1 = mSegment->Extent;
}
sqrDist = s1*(s1 + ((Real)2)*b1) + c;
}
else // region 2
{
s0 = -(a01*mSegment->Extent + b0);
if (s0 > (Real)0)
{
s1 = mSegment->Extent;
sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
}
else
{
s0 = (Real)0;
s1 = -b1;
if (s1 < -mSegment->Extent)
{
s1 = -mSegment->Extent;
}
else if (s1 > mSegment->Extent)
{
s1 = mSegment->Extent;
}
sqrDist = s1*(s1 + ((Real)2)*b1) + c;
}
}
}
}
else
{
// Ray and segment are parallel.
if (a01 > (Real)0)
{
// Opposite direction vectors.
s1 = -mSegment->Extent;
}
else
{
// Same direction vectors.
s1 = mSegment->Extent;
}
s0 = -(a01*s1 + b0);
if (s0 > (Real)0)
{
sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
}
else
{
s0 = (Real)0;
sqrDist = s1*(s1 + ((Real)2)*b1) + c;
}
}
mClosestPoint0 = mRay->Origin + s0*mRay->Direction;
mClosestPoint1 = mSegment->Center + s1*mSegment->Direction;
// Account for numerical round-off errors.
if (sqrDist < (Real)0)
{
sqrDist = (Real)0;
}
return sqrDist;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay2Segment2<Real>::Get (Real t, const Vector2<Real>& velocity0,
const Vector2<Real>& velocity1)
{
Vector2<Real> movedOrigin = mRay->Origin + t*velocity0;
Vector2<Real> movedCenter = mSegment->Center + t*velocity1;
Ray2<Real> movedRay(movedOrigin, mRay->Direction);
Segment2<Real> movedSegment(movedCenter, mSegment->Direction,
mSegment->Extent);
return DistRay2Segment2<Real>(movedRay, movedSegment).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay2Segment2<Real>::GetSquared (Real t,
const Vector2<Real>& velocity0, const Vector2<Real>& velocity1)
{
Vector2<Real> movedOrigin = mRay->Origin + t*velocity0;
Vector2<Real> movedCenter = mSegment->Center + t*velocity1;
Ray2<Real> movedRay(movedOrigin, mRay->Direction);
Segment2<Real> movedSegment(movedCenter, mSegment->Direction,
mSegment->Extent);
return DistRay2Segment2<Real>(movedRay, movedSegment).GetSquared();
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistRay2Segment2<float>;
template WM5_MATHEMATICS_ITEM
class DistRay2Segment2<double>;
//----------------------------------------------------------------------------
}
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