GteIntrCapsule3Capsule3.h

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// 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/GteDistSegmentSegment.h>
#include <Mathematics/GteCapsule.h>
#include <Mathematics/GteTIQuery.h>

namespace gte
{

template <typename Real>
class TIQuery<Real, Capsule3<Real>, Capsule3<Real>>
{
public:
    struct Result
    {
        bool intersect;
    };

    Result operator()(Capsule3<Real> const& capsule0,
        Capsule3<Real> const& capsule1);
};


template <typename Real>
typename TIQuery<Real, Capsule3<Real>, Capsule3<Real>>::Result
TIQuery<Real, Capsule3<Real>, Capsule3<Real>>::operator()(
    Capsule3<Real> const& capsule0, Capsule3<Real> const& capsule1)
{
    Result result;
    DCPQuery<Real, Segment3<Real>, Segment3<Real>> ssQuery;
    auto ssResult = ssQuery(capsule0.segment, capsule1.segment);
    Real rSum = capsule0.radius + capsule1.radius;
    result.intersect = (ssResult.distance <= rSum);
    return result;
}


}