1 | // Following code from Magic-Software (http://www.magic-software.com/) |
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2 | // A bit modified for Opcode |
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3 | |
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4 | static const float gs_fTolerance = 1e-05f; |
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5 | |
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6 | static float OPC_PointTriangleSqrDist(const Point& point, const Point& p0, const Point& p1, const Point& p2) |
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7 | { |
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8 | // Hook |
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9 | Point TriEdge0 = p1 - p0; |
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10 | Point TriEdge1 = p2 - p0; |
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11 | |
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12 | Point kDiff = p0 - point; |
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13 | float fA00 = TriEdge0.SquareMagnitude(); |
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14 | float fA01 = TriEdge0 | TriEdge1; |
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15 | float fA11 = TriEdge1.SquareMagnitude(); |
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16 | float fB0 = kDiff | TriEdge0; |
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17 | float fB1 = kDiff | TriEdge1; |
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18 | float fC = kDiff.SquareMagnitude(); |
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19 | float fDet = fabsf(fA00*fA11 - fA01*fA01); |
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20 | float fS = fA01*fB1-fA11*fB0; |
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21 | float fT = fA01*fB0-fA00*fB1; |
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22 | float fSqrDist; |
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23 | |
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24 | if(fS + fT <= fDet) |
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25 | { |
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26 | if(fS < 0.0f) |
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27 | { |
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28 | if(fT < 0.0f) // region 4 |
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29 | { |
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30 | if(fB0 < 0.0f) |
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31 | { |
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32 | if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; |
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33 | else fSqrDist = fB0*(-fB0/fA00)+fC; |
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34 | } |
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35 | else |
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36 | { |
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37 | if(fB1 >= 0.0f) fSqrDist = fC; |
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38 | else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; |
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39 | else fSqrDist = fB1*(-fB1/fA11)+fC; |
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40 | } |
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41 | } |
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42 | else // region 3 |
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43 | { |
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44 | if(fB1 >= 0.0f) fSqrDist = fC; |
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45 | else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; |
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46 | else fSqrDist = fB1*(-fB1/fA11)+fC; |
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47 | } |
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48 | } |
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49 | else if(fT < 0.0f) // region 5 |
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50 | { |
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51 | if(fB0 >= 0.0f) fSqrDist = fC; |
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52 | else if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; |
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53 | else fSqrDist = fB0*(-fB0/fA00)+fC; |
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54 | } |
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55 | else // region 0 |
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56 | { |
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57 | // minimum at interior point |
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58 | if(fDet==0.0f) |
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59 | { |
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60 | fSqrDist = MAX_FLOAT; |
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61 | } |
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62 | else |
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63 | { |
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64 | float fInvDet = 1.0f/fDet; |
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65 | fS *= fInvDet; |
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66 | fT *= fInvDet; |
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67 | fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; |
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68 | } |
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69 | } |
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70 | } |
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71 | else |
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72 | { |
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73 | float fTmp0, fTmp1, fNumer, fDenom; |
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74 | |
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75 | if(fS < 0.0f) // region 2 |
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76 | { |
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77 | fTmp0 = fA01 + fB0; |
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78 | fTmp1 = fA11 + fB1; |
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79 | if(fTmp1 > fTmp0) |
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80 | { |
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81 | fNumer = fTmp1 - fTmp0; |
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82 | fDenom = fA00-2.0f*fA01+fA11; |
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83 | if(fNumer >= fDenom) |
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84 | { |
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85 | fSqrDist = fA00+2.0f*fB0+fC; |
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86 | } |
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87 | else |
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88 | { |
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89 | fS = fNumer/fDenom; |
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90 | fT = 1.0f - fS; |
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91 | fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; |
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92 | } |
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93 | } |
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94 | else |
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95 | { |
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96 | if(fTmp1 <= 0.0f) fSqrDist = fA11+2.0f*fB1+fC; |
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97 | else if(fB1 >= 0.0f) fSqrDist = fC; |
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98 | else fSqrDist = fB1*(-fB1/fA11)+fC; |
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99 | } |
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100 | } |
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101 | else if(fT < 0.0f) // region 6 |
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102 | { |
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103 | fTmp0 = fA01 + fB1; |
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104 | fTmp1 = fA00 + fB0; |
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105 | if(fTmp1 > fTmp0) |
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106 | { |
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107 | fNumer = fTmp1 - fTmp0; |
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108 | fDenom = fA00-2.0f*fA01+fA11; |
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109 | if(fNumer >= fDenom) |
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110 | { |
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111 | fSqrDist = fA11+2.0f*fB1+fC; |
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112 | } |
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113 | else |
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114 | { |
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115 | fT = fNumer/fDenom; |
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116 | fS = 1.0f - fT; |
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117 | fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; |
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118 | } |
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119 | } |
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120 | else |
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121 | { |
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122 | if(fTmp1 <= 0.0f) fSqrDist = fA00+2.0f*fB0+fC; |
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123 | else if(fB0 >= 0.0f) fSqrDist = fC; |
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124 | else fSqrDist = fB0*(-fB0/fA00)+fC; |
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125 | } |
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126 | } |
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127 | else // region 1 |
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128 | { |
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129 | fNumer = fA11 + fB1 - fA01 - fB0; |
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130 | if(fNumer <= 0.0f) |
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131 | { |
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132 | fSqrDist = fA11+2.0f*fB1+fC; |
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133 | } |
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134 | else |
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135 | { |
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136 | fDenom = fA00-2.0f*fA01+fA11; |
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137 | if(fNumer >= fDenom) |
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138 | { |
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139 | fSqrDist = fA00+2.0f*fB0+fC; |
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140 | } |
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141 | else |
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142 | { |
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143 | fS = fNumer/fDenom; |
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144 | fT = 1.0f - fS; |
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145 | fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; |
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146 | } |
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147 | } |
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148 | } |
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149 | } |
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150 | return fabsf(fSqrDist); |
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151 | } |
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152 | |
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153 | static float OPC_SegmentSegmentSqrDist(const Segment& rkSeg0, const Segment& rkSeg1) |
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154 | { |
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155 | // Hook |
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156 | Point rkSeg0Direction = rkSeg0.ComputeDirection(); |
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157 | Point rkSeg1Direction = rkSeg1.ComputeDirection(); |
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158 | |
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159 | Point kDiff = rkSeg0.mP0 - rkSeg1.mP0; |
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160 | float fA00 = rkSeg0Direction.SquareMagnitude(); |
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161 | float fA01 = -rkSeg0Direction.Dot(rkSeg1Direction); |
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162 | float fA11 = rkSeg1Direction.SquareMagnitude(); |
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163 | float fB0 = kDiff.Dot(rkSeg0Direction); |
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164 | float fC = kDiff.SquareMagnitude(); |
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165 | float fDet = fabsf(fA00*fA11-fA01*fA01); |
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166 | |
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167 | float fB1, fS, fT, fSqrDist, fTmp; |
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168 | |
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169 | if(fDet>=gs_fTolerance) |
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170 | { |
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171 | // line segments are not parallel |
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172 | fB1 = -kDiff.Dot(rkSeg1Direction); |
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173 | fS = fA01*fB1-fA11*fB0; |
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174 | fT = fA01*fB0-fA00*fB1; |
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175 | |
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176 | if(fS >= 0.0f) |
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177 | { |
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178 | if(fS <= fDet) |
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179 | { |
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180 | if(fT >= 0.0f) |
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181 | { |
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182 | if(fT <= fDet) // region 0 (interior) |
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183 | { |
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184 | // minimum at two interior points of 3D lines |
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185 | float fInvDet = 1.0f/fDet; |
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186 | fS *= fInvDet; |
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187 | fT *= fInvDet; |
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188 | fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; |
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189 | } |
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190 | else // region 3 (side) |
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191 | { |
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192 | fTmp = fA01+fB0; |
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193 | if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; |
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194 | else if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); |
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195 | else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; |
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196 | } |
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197 | } |
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198 | else // region 7 (side) |
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199 | { |
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200 | if(fB0>=0.0f) fSqrDist = fC; |
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201 | else if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; |
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202 | else fSqrDist = fB0*(-fB0/fA00)+fC; |
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203 | } |
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204 | } |
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205 | else |
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206 | { |
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207 | if ( fT >= 0.0 ) |
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208 | { |
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209 | if ( fT <= fDet ) // region 1 (side) |
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210 | { |
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211 | fTmp = fA01+fB1; |
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212 | if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; |
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213 | else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); |
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214 | else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; |
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215 | } |
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216 | else // region 2 (corner) |
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217 | { |
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218 | fTmp = fA01+fB0; |
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219 | if ( -fTmp <= fA00 ) |
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220 | { |
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221 | if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; |
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222 | else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; |
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223 | } |
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224 | else |
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225 | { |
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226 | fTmp = fA01+fB1; |
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227 | if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; |
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228 | else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); |
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229 | else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; |
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230 | } |
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231 | } |
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232 | } |
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233 | else // region 8 (corner) |
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234 | { |
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235 | if ( -fB0 < fA00 ) |
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236 | { |
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237 | if(fB0>=0.0f) fSqrDist = fC; |
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238 | else fSqrDist = fB0*(-fB0/fA00)+fC; |
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239 | } |
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240 | else |
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241 | { |
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242 | fTmp = fA01+fB1; |
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243 | if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; |
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244 | else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); |
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245 | else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; |
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246 | } |
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247 | } |
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248 | } |
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249 | } |
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250 | else |
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251 | { |
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252 | if ( fT >= 0.0f ) |
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253 | { |
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254 | if ( fT <= fDet ) // region 5 (side) |
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255 | { |
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256 | if(fB1>=0.0f) fSqrDist = fC; |
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257 | else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; |
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258 | else fSqrDist = fB1*(-fB1/fA11)+fC; |
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259 | } |
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260 | else // region 4 (corner) |
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261 | { |
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262 | fTmp = fA01+fB0; |
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263 | if ( fTmp < 0.0f ) |
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264 | { |
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265 | if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); |
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266 | else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; |
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267 | } |
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268 | else |
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269 | { |
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270 | if(fB1>=0.0f) fSqrDist = fC; |
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271 | else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; |
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272 | else fSqrDist = fB1*(-fB1/fA11)+fC; |
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273 | } |
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274 | } |
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275 | } |
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276 | else // region 6 (corner) |
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277 | { |
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278 | if ( fB0 < 0.0f ) |
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279 | { |
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280 | if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; |
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281 | else fSqrDist = fB0*(-fB0/fA00)+fC; |
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282 | } |
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283 | else |
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284 | { |
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285 | if(fB1>=0.0f) fSqrDist = fC; |
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286 | else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; |
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287 | else fSqrDist = fB1*(-fB1/fA11)+fC; |
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288 | } |
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289 | } |
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290 | } |
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291 | } |
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292 | else |
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293 | { |
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294 | // line segments are parallel |
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295 | if ( fA01 > 0.0f ) |
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296 | { |
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297 | // direction vectors form an obtuse angle |
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298 | if ( fB0 >= 0.0f ) |
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299 | { |
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300 | fSqrDist = fC; |
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301 | } |
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302 | else if ( -fB0 <= fA00 ) |
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303 | { |
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304 | fSqrDist = fB0*(-fB0/fA00)+fC; |
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305 | } |
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306 | else |
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307 | { |
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308 | fB1 = -kDiff.Dot(rkSeg1Direction); |
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309 | fTmp = fA00+fB0; |
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310 | if ( -fTmp >= fA01 ) |
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311 | { |
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312 | fSqrDist = fA00+fA11+fC+2.0f*(fA01+fB0+fB1); |
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313 | } |
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314 | else |
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315 | { |
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316 | fT = -fTmp/fA01; |
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317 | fSqrDist = fA00+2.0f*fB0+fC+fT*(fA11*fT+2.0f*(fA01+fB1)); |
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318 | } |
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319 | } |
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320 | } |
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321 | else |
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322 | { |
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323 | // direction vectors form an acute angle |
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324 | if ( -fB0 >= fA00 ) |
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325 | { |
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326 | fSqrDist = fA00+2.0f*fB0+fC; |
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327 | } |
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328 | else if ( fB0 <= 0.0f ) |
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329 | { |
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330 | fSqrDist = fB0*(-fB0/fA00)+fC; |
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331 | } |
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332 | else |
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333 | { |
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334 | fB1 = -kDiff.Dot(rkSeg1Direction); |
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335 | if ( fB0 >= -fA01 ) |
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336 | { |
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337 | fSqrDist = fA11+2.0f*fB1+fC; |
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338 | } |
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339 | else |
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340 | { |
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341 | fT = -fB0/fA01; |
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342 | fSqrDist = fC+fT*(2.0f*fB1+fA11*fT); |
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343 | } |
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344 | } |
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345 | } |
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346 | } |
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347 | return fabsf(fSqrDist); |
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348 | } |
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349 | |
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350 | inline_ float OPC_SegmentRaySqrDist(const Segment& rkSeg0, const Ray& rkSeg1) |
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351 | { |
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352 | return OPC_SegmentSegmentSqrDist(rkSeg0, Segment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir)); |
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353 | } |
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354 | |
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355 | static float OPC_SegmentTriangleSqrDist(const Segment& segment, const Point& p0, const Point& p1, const Point& p2) |
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356 | { |
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357 | // Hook |
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358 | const Point TriEdge0 = p1 - p0; |
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359 | const Point TriEdge1 = p2 - p0; |
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360 | |
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361 | const Point& rkSegOrigin = segment.GetOrigin(); |
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362 | Point rkSegDirection = segment.ComputeDirection(); |
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363 | |
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364 | Point kDiff = p0 - rkSegOrigin; |
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365 | float fA00 = rkSegDirection.SquareMagnitude(); |
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366 | float fA01 = -rkSegDirection.Dot(TriEdge0); |
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367 | float fA02 = -rkSegDirection.Dot(TriEdge1); |
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368 | float fA11 = TriEdge0.SquareMagnitude(); |
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369 | float fA12 = TriEdge0.Dot(TriEdge1); |
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370 | float fA22 = TriEdge1.Dot(TriEdge1); |
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371 | float fB0 = -kDiff.Dot(rkSegDirection); |
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372 | float fB1 = kDiff.Dot(TriEdge0); |
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373 | float fB2 = kDiff.Dot(TriEdge1); |
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374 | float fCof00 = fA11*fA22-fA12*fA12; |
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375 | float fCof01 = fA02*fA12-fA01*fA22; |
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376 | float fCof02 = fA01*fA12-fA02*fA11; |
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377 | float fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02; |
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378 | |
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379 | Ray kTriSeg; |
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380 | Point kPt; |
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381 | float fSqrDist, fSqrDist0; |
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382 | |
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383 | if(fabsf(fDet)>=gs_fTolerance) |
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384 | { |
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385 | float fCof11 = fA00*fA22-fA02*fA02; |
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386 | float fCof12 = fA02*fA01-fA00*fA12; |
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387 | float fCof22 = fA00*fA11-fA01*fA01; |
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388 | float fInvDet = 1.0f/fDet; |
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389 | float fRhs0 = -fB0*fInvDet; |
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390 | float fRhs1 = -fB1*fInvDet; |
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391 | float fRhs2 = -fB2*fInvDet; |
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392 | |
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393 | float fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2; |
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394 | float fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2; |
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395 | float fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2; |
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396 | |
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397 | if ( fR < 0.0f ) |
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398 | { |
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399 | if ( fS+fT <= 1.0f ) |
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400 | { |
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401 | if ( fS < 0.0f ) |
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402 | { |
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403 | if ( fT < 0.0f ) // region 4m |
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404 | { |
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405 | // min on face s=0 or t=0 or r=0 |
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406 | kTriSeg.mOrig = p0; |
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407 | kTriSeg.mDir = TriEdge1; |
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408 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
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409 | kTriSeg.mOrig = p0; |
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410 | kTriSeg.mDir = TriEdge0; |
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411 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
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412 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
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413 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
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414 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
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415 | } |
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416 | else // region 3m |
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417 | { |
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418 | // min on face s=0 or r=0 |
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419 | kTriSeg.mOrig = p0; |
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420 | kTriSeg.mDir = TriEdge1; |
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421 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
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422 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
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423 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
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424 | } |
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425 | } |
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426 | else if ( fT < 0.0f ) // region 5m |
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427 | { |
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428 | // min on face t=0 or r=0 |
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429 | kTriSeg.mOrig = p0; |
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430 | kTriSeg.mDir = TriEdge0; |
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431 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
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432 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
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433 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
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434 | } |
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435 | else // region 0m |
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436 | { |
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437 | // min on face r=0 |
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438 | fSqrDist = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
---|
439 | } |
---|
440 | } |
---|
441 | else |
---|
442 | { |
---|
443 | if ( fS < 0.0f ) // region 2m |
---|
444 | { |
---|
445 | // min on face s=0 or s+t=1 or r=0 |
---|
446 | kTriSeg.mOrig = p0; |
---|
447 | kTriSeg.mDir = TriEdge1; |
---|
448 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
449 | kTriSeg.mOrig = p1; |
---|
450 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
451 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
452 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
453 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
---|
454 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
455 | } |
---|
456 | else if ( fT < 0.0f ) // region 6m |
---|
457 | { |
---|
458 | // min on face t=0 or s+t=1 or r=0 |
---|
459 | kTriSeg.mOrig = p0; |
---|
460 | kTriSeg.mDir = TriEdge0; |
---|
461 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
462 | kTriSeg.mOrig = p1; |
---|
463 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
464 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
465 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
466 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
---|
467 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
468 | } |
---|
469 | else // region 1m |
---|
470 | { |
---|
471 | // min on face s+t=1 or r=0 |
---|
472 | kTriSeg.mOrig = p1; |
---|
473 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
474 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
475 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
---|
476 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
477 | } |
---|
478 | } |
---|
479 | } |
---|
480 | else if ( fR <= 1.0f ) |
---|
481 | { |
---|
482 | if ( fS+fT <= 1.0f ) |
---|
483 | { |
---|
484 | if ( fS < 0.0f ) |
---|
485 | { |
---|
486 | if ( fT < 0.0f ) // region 4 |
---|
487 | { |
---|
488 | // min on face s=0 or t=0 |
---|
489 | kTriSeg.mOrig = p0; |
---|
490 | kTriSeg.mDir = TriEdge1; |
---|
491 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
492 | kTriSeg.mOrig = p0; |
---|
493 | kTriSeg.mDir = TriEdge0; |
---|
494 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
495 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
496 | } |
---|
497 | else // region 3 |
---|
498 | { |
---|
499 | // min on face s=0 |
---|
500 | kTriSeg.mOrig = p0; |
---|
501 | kTriSeg.mDir = TriEdge1; |
---|
502 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
503 | } |
---|
504 | } |
---|
505 | else if ( fT < 0.0f ) // region 5 |
---|
506 | { |
---|
507 | // min on face t=0 |
---|
508 | kTriSeg.mOrig = p0; |
---|
509 | kTriSeg.mDir = TriEdge0; |
---|
510 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
511 | } |
---|
512 | else // region 0 |
---|
513 | { |
---|
514 | // global minimum is interior, done |
---|
515 | fSqrDist = fR*(fA00*fR+fA01*fS+fA02*fT+2.0f*fB0) |
---|
516 | +fS*(fA01*fR+fA11*fS+fA12*fT+2.0f*fB1) |
---|
517 | +fT*(fA02*fR+fA12*fS+fA22*fT+2.0f*fB2) |
---|
518 | +kDiff.SquareMagnitude(); |
---|
519 | } |
---|
520 | } |
---|
521 | else |
---|
522 | { |
---|
523 | if ( fS < 0.0f ) // region 2 |
---|
524 | { |
---|
525 | // min on face s=0 or s+t=1 |
---|
526 | kTriSeg.mOrig = p0; |
---|
527 | kTriSeg.mDir = TriEdge1; |
---|
528 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
529 | kTriSeg.mOrig = p1; |
---|
530 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
531 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
532 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
533 | } |
---|
534 | else if ( fT < 0.0f ) // region 6 |
---|
535 | { |
---|
536 | // min on face t=0 or s+t=1 |
---|
537 | kTriSeg.mOrig = p0; |
---|
538 | kTriSeg.mDir = TriEdge0; |
---|
539 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
540 | kTriSeg.mOrig = p1; |
---|
541 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
542 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
543 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
544 | } |
---|
545 | else // region 1 |
---|
546 | { |
---|
547 | // min on face s+t=1 |
---|
548 | kTriSeg.mOrig = p1; |
---|
549 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
550 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
551 | } |
---|
552 | } |
---|
553 | } |
---|
554 | else // fR > 1 |
---|
555 | { |
---|
556 | if ( fS+fT <= 1.0f ) |
---|
557 | { |
---|
558 | if ( fS < 0.0f ) |
---|
559 | { |
---|
560 | if ( fT < 0.0f ) // region 4p |
---|
561 | { |
---|
562 | // min on face s=0 or t=0 or r=1 |
---|
563 | kTriSeg.mOrig = p0; |
---|
564 | kTriSeg.mDir = TriEdge1; |
---|
565 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
566 | kTriSeg.mOrig = p0; |
---|
567 | kTriSeg.mDir = TriEdge0; |
---|
568 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
569 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
570 | kPt = rkSegOrigin+rkSegDirection; |
---|
571 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
572 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
573 | } |
---|
574 | else // region 3p |
---|
575 | { |
---|
576 | // min on face s=0 or r=1 |
---|
577 | kTriSeg.mOrig = p0; |
---|
578 | kTriSeg.mDir = TriEdge1; |
---|
579 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
580 | kPt = rkSegOrigin+rkSegDirection; |
---|
581 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
582 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
583 | } |
---|
584 | } |
---|
585 | else if ( fT < 0.0f ) // region 5p |
---|
586 | { |
---|
587 | // min on face t=0 or r=1 |
---|
588 | kTriSeg.mOrig = p0; |
---|
589 | kTriSeg.mDir = TriEdge0; |
---|
590 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
591 | kPt = rkSegOrigin+rkSegDirection; |
---|
592 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
593 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
594 | } |
---|
595 | else // region 0p |
---|
596 | { |
---|
597 | // min face on r=1 |
---|
598 | kPt = rkSegOrigin+rkSegDirection; |
---|
599 | fSqrDist = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
600 | } |
---|
601 | } |
---|
602 | else |
---|
603 | { |
---|
604 | if ( fS < 0.0f ) // region 2p |
---|
605 | { |
---|
606 | // min on face s=0 or s+t=1 or r=1 |
---|
607 | kTriSeg.mOrig = p0; |
---|
608 | kTriSeg.mDir = TriEdge1; |
---|
609 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
610 | kTriSeg.mOrig = p1; |
---|
611 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
612 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
613 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
614 | kPt = rkSegOrigin+rkSegDirection; |
---|
615 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
616 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
617 | } |
---|
618 | else if ( fT < 0.0f ) // region 6p |
---|
619 | { |
---|
620 | // min on face t=0 or s+t=1 or r=1 |
---|
621 | kTriSeg.mOrig = p0; |
---|
622 | kTriSeg.mDir = TriEdge0; |
---|
623 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
624 | kTriSeg.mOrig = p1; |
---|
625 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
626 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
627 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
628 | kPt = rkSegOrigin+rkSegDirection; |
---|
629 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
630 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
631 | } |
---|
632 | else // region 1p |
---|
633 | { |
---|
634 | // min on face s+t=1 or r=1 |
---|
635 | kTriSeg.mOrig = p1; |
---|
636 | kTriSeg.mDir = TriEdge1-TriEdge0; |
---|
637 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
638 | kPt = rkSegOrigin+rkSegDirection; |
---|
639 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
640 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
641 | } |
---|
642 | } |
---|
643 | } |
---|
644 | } |
---|
645 | else |
---|
646 | { |
---|
647 | // segment and triangle are parallel |
---|
648 | kTriSeg.mOrig = p0; |
---|
649 | kTriSeg.mDir = TriEdge0; |
---|
650 | fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
651 | |
---|
652 | kTriSeg.mDir = TriEdge1; |
---|
653 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
654 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
655 | |
---|
656 | kTriSeg.mOrig = p1; |
---|
657 | kTriSeg.mDir = TriEdge1 - TriEdge0; |
---|
658 | fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); |
---|
659 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
660 | |
---|
661 | fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); |
---|
662 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
663 | |
---|
664 | kPt = rkSegOrigin+rkSegDirection; |
---|
665 | fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); |
---|
666 | if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; |
---|
667 | } |
---|
668 | return fabsf(fSqrDist); |
---|
669 | } |
---|
670 | |
---|
671 | inline_ BOOL LSSCollider::LSSTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) |
---|
672 | { |
---|
673 | // Stats |
---|
674 | mNbVolumePrimTests++; |
---|
675 | |
---|
676 | float s2 = OPC_SegmentTriangleSqrDist(mSeg, vert0, vert1, vert2); |
---|
677 | if(s2<mRadius2) return TRUE; |
---|
678 | return FALSE; |
---|
679 | } |
---|