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// Copyright (c) 1998-2021 // Utrecht University (The Netherlands), // ETH Zurich (Switzerland), // INRIA Sophia-Antipolis (France), // Max-Planck-Institute Saarbruecken (Germany), // and Tel-Aviv University (Israel). All rights reserved. // // This file is part of CGAL (www.cgal.org) // // $URL: https://github.com/CGAL/cgal/blob/v6.1/Distance_3/include/CGAL/Distance_3/Ray_3_Ray_3.h $ // $Id: include/CGAL/Distance_3/Ray_3_Ray_3.h b26b07a1242 $ // SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial // // // Author(s) : Geert-Jan Giezeman, Andreas Fabri #ifndef CGAL_DISTANCE_3_RAY_3_RAY_3_H #define CGAL_DISTANCE_3_RAY_3_RAY_3_H #include #include #include namespace CGAL { namespace internal { template typename K::FT ray_ray_squared_distance_parallel(const typename K::Vector_3& ray1dir, const typename K::Vector_3& ray2dir, const typename K::Vector_3& s1_min_s2, const K& k) { if(!is_acute_angle(ray2dir, s1_min_s2, k)) if(!same_direction(ray1dir, ray2dir, k)) return typename K::FT(s1_min_s2*s1_min_s2); return squared_distance_to_line(ray1dir, s1_min_s2, k); } template typename K::FT squared_distance(const typename K::Ray_3& ray1, const typename K::Ray_3& ray2, const K& k) { typedef typename K::RT RT; typedef typename K::FT FT; typedef typename K::Point_3 Point_3; typedef typename K::Vector_3 Vector_3; typename K::Construct_vector_3 construct_vector = k.construct_vector_3_object(); typename K::Compute_squared_distance_3 sq_dist = k.compute_squared_distance_3_object(); const Point_3& s1 = ray1.source(); const Point_3& s2 = ray2.source(); const Vector_3 dir1 = ray1.direction().vector(); const Vector_3 dir2 = ray2.direction().vector(); const Vector_3 normal = wcross(dir1, dir2, k); const Vector_3 s1_min_s2 = construct_vector(s2, s1); if(is_null(normal, k)) return ray_ray_squared_distance_parallel(dir1, dir2, s1_min_s2, k); bool crossing1, crossing2; const Vector_3 perpend1 = wcross(dir1, normal, k); const Vector_3 perpend2 = wcross(dir2, normal, k); const RT sdm_s1_2 = wdot(perpend2, s1_min_s2, k); if(sdm_s1_2 < RT(0)) { crossing1 = (wdot(perpend2, dir1, k) >= RT(0)); } else { if(RT(wdot(perpend2, dir1, k)) <= RT(0)) crossing1 = true; else crossing1 = (sdm_s1_2 == RT(0)); } const RT sdm_s2_1 = - wdot(perpend1, s1_min_s2, k); if(sdm_s2_1 < RT(0)) { crossing2 = (wdot(perpend1, dir2, k) >= RT(0)); } else { if(wdot(perpend1, dir2, k) <= RT(0)) crossing2 = true; else crossing2 = (sdm_s2_1 == RT(0)); } if(crossing1) { if(crossing2) return squared_distance_to_plane(normal, s1_min_s2, k); return sq_dist(s2, ray1); } else { if(crossing2) { return sq_dist(s1, ray2); } else { FT min1, min2; min1 = sq_dist(s1, ray2); min2 = sq_dist(s2, ray1); return (min1 < min2) ? min1 : min2; } } } template typename K::Comparison_result compare_squared_distance(const typename K::Ray_3& ray1, const typename K::Ray_3& ray2, const K& k, const typename K::FT& d2) { return ::CGAL::compare(squared_distance(ray1, ray2, k), d2); } } // namespace internal template inline typename K::FT ray_ray_squared_distance_parallel(const Vector_3& ray1dir, const Vector_3& ray2dir, const Vector_3& s1_min_s2) { return internal::ray_ray_squared_distance_parallel(ray1dir, ray2dir, s1_min_s2, K()); } } // namespace CGAL #endif // CGAL_DISTANCE_3_RAY_3_RAY_3_H