GteDistRectangle3Rectangle3.h

Go to the documentation of this file.

// David Eberly, Geometric Tools, Redmond WA 98052
// Copyright (c) 1998-2017
// 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: 3.0.0 (2016/06/19)

#pragma once

#include <Mathematics/GteDistSegment3Rectangle3.h>

namespace gte
{

template <typename Real>
class DCPQuery<Real, Rectangle3<Real>, Rectangle3<Real>>
{
public:
    struct Result
    {
        Real distance, sqrDistance;
        Real rectangle0Parameter[2], rectangle1Parameter[2];
        Vector3<Real> closestPoint[2];
    };

    Result operator()(Rectangle3<Real> const& rectangle0,
        Rectangle3<Real> const& rectangle1);
};


template <typename Real>
typename DCPQuery<Real, Rectangle3<Real>, Rectangle3<Real>>::Result
DCPQuery<Real, Rectangle3<Real>, Rectangle3<Real>>::operator()(
    Rectangle3<Real> const& rectangle0, Rectangle3<Real> const& rectangle1)
{
    Result result;

    DCPQuery<Real, Segment3<Real>, Rectangle3<Real>> srQuery;
    typename DCPQuery<Real, Segment3<Real>, Rectangle3<Real>>::Result
        srResult;
    result.sqrDistance = std::numeric_limits<Real>::max();

    // Compare edges of rectangle0 to the interior of rectangle1.
    for (int i1 = 0; i1 < 2; ++i1)
    {
        for (int i0 = -1; i0 <= 1; i0 += 2)
        {
            Real s = i0 * rectangle0.extent[1 - i1];
            Vector3<Real> segCenter = rectangle0.center +
                s * rectangle0.axis[1 - i1];
            Segment3<Real> edge(segCenter, rectangle0.axis[i1],
                rectangle0.extent[i1]);

            srResult = srQuery(edge, rectangle1);
            if (srResult.sqrDistance < result.sqrDistance)
            {
                result.distance = srResult.distance;
                result.sqrDistance = srResult.sqrDistance;
                result.rectangle0Parameter[i1] = s;
                result.rectangle0Parameter[1 - i1] =
                    srResult.segmentParameter;
                result.rectangle1Parameter[0] =
                    srResult.rectangleParameter[0];
                result.rectangle1Parameter[1] =
                    srResult.rectangleParameter[1];
                result.closestPoint[0] = srResult.closestPoint[0];
                result.closestPoint[1] = srResult.closestPoint[1];
            }
        }
    }

    // Compare edges of rectangle1 to the interior of rectangle0.
    for (int i1 = 0; i1 < 2; ++i1)
    {
        for (int i0 = -1; i0 <= 1; i0 += 2)
        {
            Real s = i0 * rectangle1.extent[1 - i1];
            Vector3<Real> segCenter = rectangle1.center +
                s * rectangle1.axis[1 - i1];
            Segment3<Real> edge(segCenter, rectangle0.axis[i1],
                rectangle0.extent[i1]);

            srResult = srQuery(edge, rectangle0);
            if (srResult.sqrDistance < result.sqrDistance)
            {
                result.distance = srResult.distance;
                result.sqrDistance = srResult.sqrDistance;
                result.rectangle0Parameter[0] =
                    srResult.rectangleParameter[0];
                result.rectangle0Parameter[1] =
                    srResult.rectangleParameter[1];
                result.rectangle1Parameter[i1] = s;
                result.rectangle1Parameter[1 - i1] =
                    srResult.segmentParameter;
                result.closestPoint[0] = srResult.closestPoint[1];
                result.closestPoint[1] = srResult.closestPoint[0];
            }
        }
    }
    return result;
}


}