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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function d = distancePointLine3d(point, line)
%DISTANCEPOINTLINE3D Euclidean distance between 3D point and line.
%
% D = distancePointLine3d(POINT, LINE);
% Returns the distance between point POINT and the line LINE, given as:
% POINT : [x0 y0 z0]
% LINE : [x0 y0 z0 dx dy dz]
% D : (positive) scalar
%
% See also
% lines3d, isPointOnLine3d, distancePointEdge3d, projPointOnLine3d,
%
%
% References
% http://mathworld.wolfram.com/Point-LineDistance3-Dimensional.html
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2005-05-23
% Copyright 2005-2023 INRA - TPV URPOI - BIA IMASTE
% cf. Mathworld (distance point line 3d) for formula
d = bsxfun(@rdivide, vectorNorm3d( ...
crossProduct3d(line(:,4:6), bsxfun(@minus, line(:,1:3), point)) ), ...
vectorNorm3d(line(:,4:6)));
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