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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef GU_DISTANCE_POINT_SEGMENT_H
#define GU_DISTANCE_POINT_SEGMENT_H
#include "PxPhysXCommonConfig.h"
#include "GuSegment.h"
namespace physx
{
namespace Gu
{
// dir = p1 - p0
PX_FORCE_INLINE PxReal distancePointSegmentSquaredInternal(const PxVec3& p0, const PxVec3& dir, const PxVec3& point, PxReal* param=NULL)
{
PxVec3 diff = point - p0;
PxReal fT = diff.dot(dir);
if(fT<=0.0f)
{
fT = 0.0f;
}
else
{
const PxReal sqrLen = dir.magnitudeSquared();
if(fT>=sqrLen)
{
fT = 1.0f;
diff -= dir;
}
else
{
fT /= sqrLen;
diff -= fT*dir;
}
}
if(param)
*param = fT;
return diff.magnitudeSquared();
}
/**
A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1
Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1.
Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1.
*/
PX_FORCE_INLINE PxReal distancePointSegmentSquared(const PxVec3& p0, const PxVec3& p1, const PxVec3& point, PxReal* param=NULL)
{
return distancePointSegmentSquaredInternal(p0, p1 - p0, point, param);
}
PX_INLINE PxReal distancePointSegmentSquared(const Gu::Segment& segment, const PxVec3& point, PxReal* param=NULL)
{
return distancePointSegmentSquared(segment.p0, segment.p1, point, param);
}
} // namespace Gu
}
#endif
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