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29
30#ifndef GU_DISTANCE_POINT_SEGMENT_H
31#define GU_DISTANCE_POINT_SEGMENT_H
32
33#include "common/PxPhysXCommonConfig.h"
34#include "GuSegment.h"
35
36namespace physx
37{
38namespace Gu
39{
40 // dir = p1 - p0
41 PX_FORCE_INLINE PxReal distancePointSegmentSquaredInternal(const PxVec3& p0, const PxVec3& dir, const PxVec3& point, PxReal* param=NULL)
42 {
43 PxVec3 diff = point - p0;
44 PxReal fT = diff.dot(v: dir);
45
46 if(fT<=0.0f)
47 {
48 fT = 0.0f;
49 }
50 else
51 {
52 const PxReal sqrLen = dir.magnitudeSquared();
53 if(fT>=sqrLen)
54 {
55 fT = 1.0f;
56 diff -= dir;
57 }
58 else
59 {
60 fT /= sqrLen;
61 diff -= fT*dir;
62 }
63 }
64
65 if(param)
66 *param = fT;
67
68 return diff.magnitudeSquared();
69 }
70
71 /**
72 A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1
73 Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1.
74 Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1.
75 */
76 PX_FORCE_INLINE PxReal distancePointSegmentSquared(const PxVec3& p0, const PxVec3& p1, const PxVec3& point, PxReal* param=NULL)
77 {
78 return distancePointSegmentSquaredInternal(p0, dir: p1 - p0, point, param);
79 }
80
81 PX_INLINE PxReal distancePointSegmentSquared(const Gu::Segment& segment, const PxVec3& point, PxReal* param=NULL)
82 {
83 return distancePointSegmentSquared(p0: segment.p0, p1: segment.p1, point, param);
84 }
85
86} // namespace Gu
87
88}
89
90#endif
91

source code of qtquick3dphysics/src/3rdparty/PhysX/source/geomutils/src/distance/GuDistancePointSegment.h