Real DistRectangle3Rectangle3<Real>::GetSquared ()
{
// Compare edges of rectangle0 to the interior of rectangle1.
Real sqrDist = Math<Real>::MAX_REAL, sqrDistTmp;
Segment3<Real> edge;
int i0, i1;
for (i1 = 0; i1 < 2; ++i1)
{
for (i0 = -1; i0 <= 1; i0 += 2)
{
edge.Center = mRectangle0->Center +
(i0*mRectangle0->Extent[1-i1]) *
mRectangle0->Axis[1-i1];
edge.Direction = mRectangle0->Axis[i1];
edge.Extent = mRectangle0->Extent[i1];
edge.ComputeEndPoints();
DistSegment3Rectangle3<Real> querySR(edge, *mRectangle1);
sqrDistTmp = querySR.GetSquared();
if (sqrDistTmp < sqrDist)
{
mClosestPoint0 = querySR.GetClosestPoint0();
mClosestPoint1 = querySR.GetClosestPoint1();
sqrDist = sqrDistTmp;
}
}
}
// Compare edges of rectangle1 to the interior of rectangle0.
for (i1 = 0; i1 < 2; ++i1)
{
for (i0 = -1; i0 <= 1; i0 += 2)
{
edge.Center = mRectangle1->Center +
(i0*mRectangle1->Extent[1-i1]) *
mRectangle1->Axis[1-i1];
edge.Direction = mRectangle1->Axis[i1];
edge.Extent = mRectangle1->Extent[i1];
edge.ComputeEndPoints();
DistSegment3Rectangle3<Real> querySR(edge, *mRectangle0);
sqrDistTmp = querySR.GetSquared();
if (sqrDistTmp < sqrDist)
{
mClosestPoint0 = querySR.GetClosestPoint0();
mClosestPoint1 = querySR.GetClosestPoint1();
sqrDist = sqrDistTmp;
}
}
}
return sqrDist;
}
Real DistTriangle3Rectangle3<Real>::GetSquared ()
{
// Compare edges of triangle to the interior of rectangle.
Real sqrDist = Math<Real>::MAX_REAL, sqrDistTmp;
Segment3<Real> edge;
int i0, i1;
for (i0 = 2, i1 = 0; i1 < 3; i0 = i1++)
{
edge.Center = ((Real)0.5)*(mTriangle->V[i0] +
mTriangle->V[i1]);
edge.Direction = mTriangle->V[i1] - mTriangle->V[i0];
edge.Extent = ((Real)0.5)*edge.Direction.Normalize();
edge.ComputeEndPoints();
DistSegment3Rectangle3<Real> querySR(edge, *mRectangle);
sqrDistTmp = querySR.GetSquared();
if (sqrDistTmp < sqrDist)
{
// The triangle point is reported in mClosestPoint0 and the
// rectangle point is reported in mClosestPoint1. The querySR
// calculator is for triangleEdge-rectangle, so GetClosestPoint0()
// and GetClosestPoint1() must be called as listed next.
mClosestPoint0 = querySR.GetClosestPoint0();
mClosestPoint1 = querySR.GetClosestPoint1();
sqrDist = sqrDistTmp;
}
}
// Compare edges of rectangle to the interior of triangle.
for (i1 = 0; i1 < 2; ++i1)
{
for (i0 = -1; i0 <= 1; i0 += 2)
{
edge.Center = mRectangle->Center +
(i0*mRectangle->Extent[1-i1]) *
mRectangle->Axis[1-i1];
edge.Direction = mRectangle->Axis[i1];
edge.Extent = mRectangle->Extent[i1];
edge.ComputeEndPoints();
DistSegment3Triangle3<Real> queryST(edge, *mTriangle);
sqrDistTmp = queryST.GetSquared();
if (sqrDistTmp < sqrDist)
{
// The triangle point is reported in mClosestPoint0 and the
// rectangle point is reported in mClosestPoint1. The queryST
// calculator is for rectangleEdge-triangle, so
// GetClosestPoint1() and GetClosestPoint0() must be called as
// listed next.
mClosestPoint0 = queryST.GetClosestPoint1();
mClosestPoint1 = queryST.GetClosestPoint0();
sqrDist = sqrDistTmp;
}
}
}
return sqrDist;
}
