📄 mgcdistlin3rct3.cpp
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MgcReal fB0 = -kDiff.Dot(rkSeg.Direction());
MgcReal fB1 = kDiff.Dot(rkRct.Edge0());
MgcReal fB2 = kDiff.Dot(rkRct.Edge1());
MgcReal fCof00 = fA11*fA22;
MgcReal fCof01 = -fA01*fA22;
MgcReal fCof02 = -fA02*fA11;
MgcReal fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02;
MgcSegment3 kSegPgm;
MgcVector3 kPt;
MgcReal fSqrDist, fSqrDist0, fR, fS, fT, fR0, fS0, fT0;
if ( MgcMath::Abs(fDet) >= gs_fTolerance )
{
MgcReal fCof11 = fA00*fA22-fA02*fA02;
MgcReal fCof12 = fA02*fA01;
MgcReal fCof22 = fA00*fA11-fA01*fA01;
MgcReal fInvDet = 1.0/fDet;
MgcReal fRhs0 = -fB0*fInvDet;
MgcReal fRhs1 = -fB1*fInvDet;
MgcReal fRhs2 = -fB2*fInvDet;
fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2;
fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2;
fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2;
if ( fR < 0.0 )
{
if ( fS < 0.0 )
{
if ( fT < 0.0 ) // region 6m
{
// min on face s=0 or t=0 or r=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 0.0;
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else if ( fT <= 1.0 ) // region 5m
{
// min on face s=0 or r=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 0.0;
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else // region 4m
{
// min on face s=0 or t=1 or r=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 0.0;
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge1();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 1.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
}
else if ( fS <= 1.0 )
{
if ( fT < 0.0 ) // region 7m
{
// min on face t=0 or r=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fS);
fT = 0.0;
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else if ( fT <= 1.0 ) // region 0m
{
// min on face r=0
fSqrDist = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS,&fT);
fR = 0.0;
}
else // region 3m
{
// min on face t=1 or r=0
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge1();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fS);
fT = 1.0;
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
}
else
{
if ( fT < 0.0 ) // region 8m
{
// min on face s=1 or t=0 or r=0
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge0();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 1.0;
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else if ( fT <= 1.0 ) // region 1m
{
// min on face s=1 or r=0
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge0();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 1.0;
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else // region 2m
{
// min on face s=1 or t=1 or r=0
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge0();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 1.0;
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge1();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 1.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
fSqrDist0 = MgcSqrDistance(rkSeg.Origin(),rkRct,&fS0,
&fT0);
fR0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
}
}
else if ( fR <= 1.0 )
{
if ( fS < 0.0 )
{
if ( fT < 0.0 ) // region 6
{
// min on face s=0 or t=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 0.0;
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else if ( fT <= 1 ) // region 5
{
// min on face s=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 0.0;
}
else // region 4
{
// min on face s=0 or t=1
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 0.0;
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge1();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 1.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
}
else if ( fS <= 1.0 )
{
if ( fT < 0.0 ) // region 7
{
// min on face t=0
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fS);
fT = 0.0;
}
else if ( fT <= 1.0 ) // region 0
{
// global minimum is interior
fSqrDist = fR*(fA00*fR+fA01*fS+fA02*fT+2.0*fB0)
+fS*(fA01*fR+fA11*fS+2.0*fB1)
+fT*(fA02*fR+fA22*fT+2.0*fB2)
+kDiff.SquaredLength();
}
else // region 3
{
// min on face t=1
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge1();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fS);
fT = 1.0;
}
}
else
{
if ( fT < 0.0 ) // region 8
{
// min on face s=1 or t=0
kSegPgm.Origin() = rkRct.Origin()+rkRct.Edge0();
kSegPgm.Direction() = rkRct.Edge1();
fSqrDist = MgcSqrDistance(rkSeg,kSegPgm,&fR,&fT);
fS = 1.0;
kSegPgm.Origin() = rkRct.Origin();
kSegPgm.Direction() = rkRct.Edge0();
fSqrDist0 = MgcSqrDistance(rkSeg,kSegPgm,&fR0,&fS0);
fT0 = 0.0;
if ( fSqrDist0 < fSqrDist )
{
fSqrDist = fSqrDist0;
fR = fR0;
fS = fS0;
fT = fT0;
}
}
else if ( fT <= 1.0 ) // region 1
{
// min on face s=1
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