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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 "Wm5PhysicsPCH.h"
#include "Wm5ExtremalQuery3PRJ.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
ExtremalQuery3PRJ<Real>::ExtremalQuery3PRJ (
const ConvexPolyhedron3<Real>* polytope)
:
ExtremalQuery3<Real>(polytope)
{
mCentroid = mPolytope->ComputeVertexAverage();
}
//----------------------------------------------------------------------------
template <typename Real>
ExtremalQuery3PRJ<Real>::~ExtremalQuery3PRJ ()
{
}
//----------------------------------------------------------------------------
template <typename Real>
void ExtremalQuery3PRJ<Real>::GetExtremeVertices (
const Vector3<Real>& direction, int& positiveDirection,
int& negativeDirection)
{
Vector3<Real> diff = mPolytope->GetVertex(0) - mCentroid;
Real minValue = direction.Dot(diff);
Real maxValue = minValue;
negativeDirection = 0;
positiveDirection = 0;
const int numVertices = mPolytope->GetNumVertices();
for (int i = 1; i < numVertices; ++i)
{
diff = mPolytope->GetVertex(i) - mCentroid;
Real dot = direction.Dot(diff);
if (dot < minValue)
{
negativeDirection = i;
minValue = dot;
}
else if (dot > maxValue)
{
positiveDirection = i;
maxValue = dot;
}
}
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_PHYSICS_ITEM
class ExtremalQuery3PRJ<float>;
template WM5_PHYSICS_ITEM
class ExtremalQuery3PRJ<double>;
//----------------------------------------------------------------------------
}
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