120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
424 lines
17 KiB
C++
424 lines
17 KiB
C++
// Wild Magic Source Code
|
|
// David Eberly
|
|
// http://www.geometrictools.com
|
|
// Copyright (c) 1998-2007
|
|
//
|
|
// This library is free software; you can redistribute it and/or modify it
|
|
// under the terms of the GNU Lesser General Public License as published by
|
|
// the Free Software Foundation; either version 2.1 of the License, or (at
|
|
// your option) any later version. The license is available for reading at
|
|
// either of the locations:
|
|
// http://www.gnu.org/copyleft/lgpl.html
|
|
// http://www.geometrictools.com/License/WildMagicLicense.pdf
|
|
// The license applies to versions 0 through 4 of Wild Magic.
|
|
//
|
|
// Version: 4.0.1 (2006/12/02)
|
|
|
|
#include "Wm4FoundationPCH.h"
|
|
#include "Wm4DistSegment3Segment3.h"
|
|
|
|
namespace Wm4
|
|
{
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
DistSegment3Segment3<Real>::DistSegment3Segment3 (
|
|
const Segment3<Real>& rkSegment0, const Segment3<Real>& rkSegment1)
|
|
:
|
|
m_rkSegment0(rkSegment0),
|
|
m_rkSegment1(rkSegment1)
|
|
{
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
const Segment3<Real>& DistSegment3Segment3<Real>::GetSegment0 () const
|
|
{
|
|
return m_rkSegment0;
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
const Segment3<Real>& DistSegment3Segment3<Real>::GetSegment1 () const
|
|
{
|
|
return m_rkSegment1;
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
Real DistSegment3Segment3<Real>::Get ()
|
|
{
|
|
Real fSqrDist = GetSquared();
|
|
return Math<Real>::Sqrt(fSqrDist);
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
Real DistSegment3Segment3<Real>::GetSquared ()
|
|
{
|
|
Vector3<Real> kDiff = m_rkSegment0.Origin - m_rkSegment1.Origin;
|
|
Real fA01 = -m_rkSegment0.Direction.Dot(m_rkSegment1.Direction);
|
|
Real fB0 = kDiff.Dot(m_rkSegment0.Direction);
|
|
Real fB1 = -kDiff.Dot(m_rkSegment1.Direction);
|
|
Real fC = kDiff.SquaredLength();
|
|
Real fDet = Math<Real>::FAbs((Real)1.0 - fA01*fA01);
|
|
Real fS0, fS1, fSqrDist, fExtDet0, fExtDet1, fTmpS0, fTmpS1;
|
|
|
|
if (fDet >= Math<Real>::ZERO_TOLERANCE)
|
|
{
|
|
// segments are not parallel
|
|
fS0 = fA01*fB1-fB0;
|
|
fS1 = fA01*fB0-fB1;
|
|
fExtDet0 = m_rkSegment0.Extent*fDet;
|
|
fExtDet1 = m_rkSegment1.Extent*fDet;
|
|
|
|
if (fS0 >= -fExtDet0)
|
|
{
|
|
if (fS0 <= fExtDet0)
|
|
{
|
|
if (fS1 >= -fExtDet1)
|
|
{
|
|
if (fS1 <= fExtDet1) // region 0 (interior)
|
|
{
|
|
// minimum at two interior points of 3D lines
|
|
Real fInvDet = ((Real)1.0)/fDet;
|
|
fS0 *= fInvDet;
|
|
fS1 *= fInvDet;
|
|
fSqrDist = fS0*(fS0+fA01*fS1+((Real)2.0)*fB0) +
|
|
fS1*(fA01*fS0+fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else // region 3 (side)
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fTmpS0 = -(fA01*fS1+fB0);
|
|
if (fTmpS0 < -m_rkSegment0.Extent)
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else if (fTmpS0 <= m_rkSegment0.Extent)
|
|
{
|
|
fS0 = fTmpS0;
|
|
fSqrDist = -fS0*fS0+fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
}
|
|
}
|
|
else // region 7 (side)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fTmpS0 = -(fA01*fS1+fB0);
|
|
if (fTmpS0 < -m_rkSegment0.Extent)
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else if (fTmpS0 <= m_rkSegment0.Extent)
|
|
{
|
|
fS0 = fTmpS0;
|
|
fSqrDist = -fS0*fS0+fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (fS1 >= -fExtDet1)
|
|
{
|
|
if (fS1 <= fExtDet1) // region 1 (side)
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fTmpS1 = -(fA01*fS0+fB1);
|
|
if (fTmpS1 < -m_rkSegment1.Extent)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else if (fTmpS1 <= m_rkSegment1.Extent)
|
|
{
|
|
fS1 = fTmpS1;
|
|
fSqrDist = -fS1*fS1+fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
}
|
|
else // region 2 (corner)
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fTmpS0 = -(fA01*fS1+fB0);
|
|
if (fTmpS0 < -m_rkSegment0.Extent)
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else if (fTmpS0 <= m_rkSegment0.Extent)
|
|
{
|
|
fS0 = fTmpS0;
|
|
fSqrDist = -fS0*fS0+fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fTmpS1 = -(fA01*fS0+fB1);
|
|
if (fTmpS1 < -m_rkSegment1.Extent)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else if (fTmpS1 <= m_rkSegment1.Extent)
|
|
{
|
|
fS1 = fTmpS1;
|
|
fSqrDist = -fS1*fS1+fS0*(fS0+((Real)2.0)*fB0)
|
|
+ fC;
|
|
}
|
|
else
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else // region 8 (corner)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fTmpS0 = -(fA01*fS1+fB0);
|
|
if (fTmpS0 < -m_rkSegment0.Extent)
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else if (fTmpS0 <= m_rkSegment0.Extent)
|
|
{
|
|
fS0 = fTmpS0;
|
|
fSqrDist = -fS0*fS0+fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fTmpS1 = -(fA01*fS0+fB1);
|
|
if (fTmpS1 > m_rkSegment1.Extent)
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else if (fTmpS1 >= -m_rkSegment1.Extent)
|
|
{
|
|
fS1 = fTmpS1;
|
|
fSqrDist = -fS1*fS1+fS0*(fS0+((Real)2.0)*fB0)
|
|
+ fC;
|
|
}
|
|
else
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (fS1 >= -fExtDet1)
|
|
{
|
|
if (fS1 <= fExtDet1) // region 5 (side)
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fTmpS1 = -(fA01*fS0+fB1);
|
|
if (fTmpS1 < -m_rkSegment1.Extent)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else if (fTmpS1 <= m_rkSegment1.Extent)
|
|
{
|
|
fS1 = fTmpS1;
|
|
fSqrDist = -fS1*fS1+fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
}
|
|
else // region 4 (corner)
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fTmpS0 = -(fA01*fS1+fB0);
|
|
if (fTmpS0 > m_rkSegment0.Extent)
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else if (fTmpS0 >= -m_rkSegment0.Extent)
|
|
{
|
|
fS0 = fTmpS0;
|
|
fSqrDist = -fS0*fS0+fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fTmpS1 = -(fA01*fS0+fB1);
|
|
if (fTmpS1 < -m_rkSegment1.Extent)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else if (fTmpS1 <= m_rkSegment1.Extent)
|
|
{
|
|
fS1 = fTmpS1;
|
|
fSqrDist = -fS1*fS1+fS0*(fS0+((Real)2.0)*fB0)
|
|
+ fC;
|
|
}
|
|
else
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else // region 6 (corner)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fTmpS0 = -(fA01*fS1+fB0);
|
|
if (fTmpS0 > m_rkSegment0.Extent)
|
|
{
|
|
fS0 = m_rkSegment0.Extent;
|
|
fSqrDist = fS0*(fS0-((Real)2.0)*fTmpS0) +
|
|
fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else if (fTmpS0 >= -m_rkSegment0.Extent)
|
|
{
|
|
fS0 = fTmpS0;
|
|
fSqrDist = -fS0*fS0+fS1*(fS1+((Real)2.0)*fB1)+fC;
|
|
}
|
|
else
|
|
{
|
|
fS0 = -m_rkSegment0.Extent;
|
|
fTmpS1 = -(fA01*fS0+fB1);
|
|
if (fTmpS1 < -m_rkSegment1.Extent)
|
|
{
|
|
fS1 = -m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
else if (fTmpS1 <= m_rkSegment1.Extent)
|
|
{
|
|
fS1 = fTmpS1;
|
|
fSqrDist = -fS1*fS1+fS0*(fS0+((Real)2.0)*fB0)
|
|
+ fC;
|
|
}
|
|
else
|
|
{
|
|
fS1 = m_rkSegment1.Extent;
|
|
fSqrDist = fS1*(fS1-((Real)2.0)*fTmpS1) +
|
|
fS0*(fS0+((Real)2.0)*fB0)+fC;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// The segments are parallel. The average b0 term is designed to
|
|
// ensure symmetry of the function. That is, dist(seg0,seg1) and
|
|
// dist(seg1,seg0) should produce the same number.
|
|
Real fE0pE1 = m_rkSegment0.Extent + m_rkSegment1.Extent;
|
|
Real fSign = (fA01 > (Real)0.0 ? (Real)-1.0 : (Real)1.0);
|
|
Real fB0Avr = ((Real)0.5)*(fB0 - fSign*fB1);
|
|
Real fLambda = -fB0Avr;
|
|
if (fLambda < -fE0pE1)
|
|
{
|
|
fLambda = -fE0pE1;
|
|
}
|
|
else if (fLambda > fE0pE1)
|
|
{
|
|
fLambda = fE0pE1;
|
|
}
|
|
|
|
fS1 = -fSign*fLambda*m_rkSegment1.Extent/fE0pE1;
|
|
fS0 = fLambda + fSign*fS1;
|
|
fSqrDist = fLambda*(fLambda + ((Real)2.0)*fB0Avr) + fC;
|
|
}
|
|
|
|
m_kClosestPoint0 = m_rkSegment0.Origin + fS0*m_rkSegment0.Direction;
|
|
m_kClosestPoint1 = m_rkSegment1.Origin + fS1*m_rkSegment1.Direction;
|
|
m_fSegment0Parameter = fS0;
|
|
m_fSegment1Parameter = fS1;
|
|
return Math<Real>::FAbs(fSqrDist);
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
Real DistSegment3Segment3<Real>::Get (Real fS1,
|
|
const Vector3<Real>& rkVelocity0, const Vector3<Real>& rkVelocity1)
|
|
{
|
|
Vector3<Real> kMOrigin0 = m_rkSegment0.Origin + fS1*rkVelocity0;
|
|
Vector3<Real> kMOrigin1 = m_rkSegment1.Origin + fS1*rkVelocity1;
|
|
Segment3<Real> kMSegment0(kMOrigin0,m_rkSegment0.Direction,
|
|
m_rkSegment0.Extent);
|
|
Segment3<Real> kMSegment1(kMOrigin1,m_rkSegment1.Direction,
|
|
m_rkSegment1.Extent);
|
|
return DistSegment3Segment3<Real>(kMSegment0,kMSegment1).Get();
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
Real DistSegment3Segment3<Real>::GetSquared (Real fS1,
|
|
const Vector3<Real>& rkVelocity0, const Vector3<Real>& rkVelocity1)
|
|
{
|
|
Vector3<Real> kMOrigin0 = m_rkSegment0.Origin + fS1*rkVelocity0;
|
|
Vector3<Real> kMOrigin1 = m_rkSegment1.Origin + fS1*rkVelocity1;
|
|
Segment3<Real> kMSegment0(kMOrigin0,m_rkSegment0.Direction,
|
|
m_rkSegment0.Extent);
|
|
Segment3<Real> kMSegment1(kMOrigin1,m_rkSegment1.Direction,
|
|
m_rkSegment1.Extent);
|
|
return DistSegment3Segment3<Real>(kMSegment0,kMSegment1).GetSquared();
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
Real DistSegment3Segment3<Real>::GetSegment0Parameter () const
|
|
{
|
|
return m_fSegment0Parameter;
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
template <class Real>
|
|
Real DistSegment3Segment3<Real>::GetSegment1Parameter () const
|
|
{
|
|
return m_fSegment1Parameter;
|
|
}
|
|
//----------------------------------------------------------------------------
|
|
|
|
//----------------------------------------------------------------------------
|
|
// explicit instantiation
|
|
//----------------------------------------------------------------------------
|
|
template WM4_FOUNDATION_ITEM
|
|
class DistSegment3Segment3<float>;
|
|
|
|
template WM4_FOUNDATION_ITEM
|
|
class DistSegment3Segment3<double>;
|
|
//----------------------------------------------------------------------------
|
|
}
|