GuDistancePointSegment.h

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#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();
    }
 
    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