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25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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 | |
36 | namespace physx |
37 | { |
38 | namespace 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 | |