Real Segment2D::distance(const AABB2D& bb, Real& tmin) const
{
Real tmax;
if(intersects(bb,tmin,tmax)) return 0;
//non-intersecting -- either bb vertex - seg is closest feature pair or
//bb edge - endpoint is closest feature pair
//first check segment endpoints
Real dmin;
dmin = bb.distance(a);
tmin = 0.0;
Real d=bb.distance(b);
if(d < dmin) {
dmin = d;
tmin = 1.0;
}
//now check vertices
Vector2 p;
Real t = closestPoint(bb.bmax,p);
d = p.distanceSquared(bb.bmax);
if(d < Sqr(dmin)) {
dmin = Sqrt(d);
tmin = t;
}
t = closestPoint(bb.bmin,p);
d = p.distanceSquared(bb.bmin);
if(d < Sqr(dmin)) {
dmin = Sqrt(d);
tmin = t;
}
t = closestPoint(Vector2(bb.bmin.x,bb.bmax.y),p);
d = p.distanceSquared(Vector2(bb.bmin.x,bb.bmax.y));
if(d < Sqr(dmin)) {
dmin = Sqrt(d);
tmin = t;
}
t = closestPoint(Vector2(bb.bmax.x,bb.bmin.y),p);
d = p.distanceSquared(Vector2(bb.bmax.x,bb.bmin.y));
if(d < Sqr(dmin)) {
dmin = Sqrt(d);
tmin = t;
}
return dmin;
}
