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physx/source/geomutils/src/distance/GuDistancePointSegment.h

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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) 2008-2021 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 "common/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