j3dcore: check in a snapshot of the GeometricTools segment to segment distance function

- adapted from code under the Boost 1.0 license, here distributed as GPLv2 + classpath

Signed-off-by: Harvey Harrison <[email protected]>

1 files changed, 342 insertions, 0 deletions

diff --git a/src/classes/share/javax/media/j3d/Utils.java b/src/classes/share/javax/media/j3d/Utils.java
index 5510877..244edb5 100644
--- a/src/classes/share/javax/media/j3d/Utils.java
+++ b/src/classes/share/javax/media/j3d/Utils.java
@@ -96,4 +96,346 @@ static final double ptToRaySquare(Point3d pt, Point3d start, Vector3d dir, Point
 	return dt.lengthSquared();
 }
 
+private static final double ZERO_TOL = 1e-5d;
+
+/**
+ * Return the square of the minimum distance between two line segments.
+ *
+ * Code in this method adapted from:
+ * Geometric Tools, LLC
+ * Copyright (c) 1998-2012
+ * Distributed under the Boost Software License, Version 1.0.
+ * http://www.boost.org/LICENSE_1_0.txt
+ * http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
+ * http://www.geometrictools.com/LibMathematics/Distance/Wm5DistSegment3Segment3.cpp
+ * File Version: 5.0.1 (2010/10/01)
+ */
+static public double segmentToSegment (Point3d s0start, Point3d s0end,
+                                       Point3d s1start, Point3d s1end,
+                                       Point3d s0int, Point3d s1int, double[] param) {
+//    Vector3<Real> diff = mSegment0->Center - mSegment1->Center;
+//    Real a01 = -mSegment0->Direction.Dot(mSegment1->Direction);
+//    Real b0 = diff.Dot(mSegment0->Direction);
+//    Real b1 = -diff.Dot(mSegment1->Direction);
+//    Real c = diff.SquaredLength();
+//    Real det = Math<Real>::FAbs((Real)1 - a01*a01);
+//    Real s0, s1, sqrDist, extDet0, extDet1, tmpS0, tmpS1;
+//
+//    if (det >= Math<Real>::ZERO_TOLERANCE)
+//    {
+//        // Segments are not parallel.
+//        s0 = a01*b1 - b0;
+//        s1 = a01*b0 - b1;
+//        extDet0 = mSegment0->Extent*det;
+//        extDet1 = mSegment1->Extent*det;
+//
+//        if (s0 >= -extDet0)
+//        {
+//            if (s0 <= extDet0)
+//            {
+//                if (s1 >= -extDet1)
+//                {
+//                    if (s1 <= extDet1)  // region 0 (interior)
+//                    {
+//                        // Minimum at interior points of segments.
+//                        Real invDet = ((Real)1)/det;
+//                        s0 *= invDet;
+//                        s1 *= invDet;
+//                        sqrDist = s0*(s0 + a01*s1 + ((Real)2)*b0) +
+//                            s1*(a01*s0 + s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else  // region 3 (side)
+//                    {
+//                        s1 = mSegment1->Extent;
+//                        tmpS0 = -(a01*s1 + b0);
+//                        if (tmpS0 < -mSegment0->Extent)
+//                        {
+//                            s0 = -mSegment0->Extent;
+//                            sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                                s1*(s1 + ((Real)2)*b1) + c;
+//                        }
+//                        else if (tmpS0 <= mSegment0->Extent)
+//                        {
+//                            s0 = tmpS0;
+//                            sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
+//                        }
+//                        else
+//                        {
+//                            s0 = mSegment0->Extent;
+//                            sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                                s1*(s1 + ((Real)2)*b1) + c;
+//                        }
+//                    }
+//                }
+//                else  // region 7 (side)
+//                {
+//                    s1 = -mSegment1->Extent;
+//                    tmpS0 = -(a01*s1 + b0);
+//                    if (tmpS0 < -mSegment0->Extent)
+//                    {
+//                        s0 = -mSegment0->Extent;
+//                        sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                            s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else if (tmpS0 <= mSegment0->Extent)
+//                    {
+//                        s0 = tmpS0;
+//                        sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else
+//                    {
+//                        s0 = mSegment0->Extent;
+//                        sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                            s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                }
+//            }
+//            else
+//            {
+//                if (s1 >= -extDet1)
+//                {
+//                    if (s1 <= extDet1)  // region 1 (side)
+//                    {
+//                        s0 = mSegment0->Extent;
+//                        tmpS1 = -(a01*s0 + b1);
+//                        if (tmpS1 < -mSegment1->Extent)
+//                        {
+//                            s1 = -mSegment1->Extent;
+//                            sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                        else if (tmpS1 <= mSegment1->Extent)
+//                        {
+//                            s1 = tmpS1;
+//                            sqrDist = -s1*s1 + s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                        else
+//                        {
+//                            s1 = mSegment1->Extent;
+//                            sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                    }
+//                    else  // region 2 (corner)
+//                    {
+//                        s1 = mSegment1->Extent;
+//                        tmpS0 = -(a01*s1 + b0);
+//                        if (tmpS0 < -mSegment0->Extent)
+//                        {
+//                            s0 = -mSegment0->Extent;
+//                            sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                                s1*(s1 + ((Real)2)*b1) + c;
+//                        }
+//                        else if (tmpS0 <= mSegment0->Extent)
+//                        {
+//                            s0 = tmpS0;
+//                            sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
+//                        }
+//                        else
+//                        {
+//                            s0 = mSegment0->Extent;
+//                            tmpS1 = -(a01*s0 + b1);
+//                            if (tmpS1 < -mSegment1->Extent)
+//                            {
+//                                s1 = -mSegment1->Extent;
+//                                sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                    s0*(s0 + ((Real)2)*b0) + c;
+//                            }
+//                            else if (tmpS1 <= mSegment1->Extent)
+//                            {
+//                                s1 = tmpS1;
+//                                sqrDist = -s1*s1 + s0*(s0 + ((Real)2)*b0) + c;
+//                            }
+//                            else
+//                            {
+//                                s1 = mSegment1->Extent;
+//                                sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                    s0*(s0 + ((Real)2)*b0) + c;
+//                            }
+//                        }
+//                    }
+//                }
+//                else  // region 8 (corner)
+//                {
+//                    s1 = -mSegment1->Extent;
+//                    tmpS0 = -(a01*s1 + b0);
+//                    if (tmpS0 < -mSegment0->Extent)
+//                    {
+//                        s0 = -mSegment0->Extent;
+//                        sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                            s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else if (tmpS0 <= mSegment0->Extent)
+//                    {
+//                        s0 = tmpS0;
+//                        sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else
+//                    {
+//                        s0 = mSegment0->Extent;
+//                        tmpS1 = -(a01*s0 + b1);
+//                        if (tmpS1 > mSegment1->Extent)
+//                        {
+//                            s1 = mSegment1->Extent;
+//                            sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                        else if (tmpS1 >= -mSegment1->Extent)
+//                        {
+//                            s1 = tmpS1;
+//                            sqrDist = -s1*s1 + s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                        else
+//                        {
+//                            s1 = -mSegment1->Extent;
+//                            sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                    }
+//                }
+//            }
+//        }
+//        else
+//        {
+//            if (s1 >= -extDet1)
+//            {
+//                if (s1 <= extDet1)  // region 5 (side)
+//                {
+//                    s0 = -mSegment0->Extent;
+//                    tmpS1 = -(a01*s0 + b1);
+//                    if (tmpS1 < -mSegment1->Extent)
+//                    {
+//                        s1 = -mSegment1->Extent;
+//                        sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                            s0*(s0 + ((Real)2)*b0) + c;
+//                    }
+//                    else if (tmpS1 <= mSegment1->Extent)
+//                    {
+//                        s1 = tmpS1;
+//                        sqrDist = -s1*s1 + s0*(s0 + ((Real)2)*b0) + c;
+//                    }
+//                    else
+//                    {
+//                        s1 = mSegment1->Extent;
+//                        sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                            s0*(s0 + ((Real)2)*b0) + c;
+//                    }
+//                }
+//                else  // region 4 (corner)
+//                {
+//                    s1 = mSegment1->Extent;
+//                    tmpS0 = -(a01*s1 + b0);
+//                    if (tmpS0 > mSegment0->Extent)
+//                    {
+//                        s0 = mSegment0->Extent;
+//                        sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                            s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else if (tmpS0 >= -mSegment0->Extent)
+//                    {
+//                        s0 = tmpS0;
+//                        sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
+//                    }
+//                    else
+//                    {
+//                        s0 = -mSegment0->Extent;
+//                        tmpS1 = -(a01*s0 + b1);
+//                        if (tmpS1 < -mSegment1->Extent)
+//                        {
+//                            s1 = -mSegment1->Extent;
+//                            sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                        else if (tmpS1 <= mSegment1->Extent)
+//                        {
+//                            s1 = tmpS1;
+//                            sqrDist = -s1*s1 + s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                        else
+//                        {
+//                            s1 = mSegment1->Extent;
+//                            sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                                s0*(s0 + ((Real)2)*b0) + c;
+//                        }
+//                    }
+//                }
+//            }
+//            else   // region 6 (corner)
+//            {
+//                s1 = -mSegment1->Extent;
+//                tmpS0 = -(a01*s1 + b0);
+//                if (tmpS0 > mSegment0->Extent)
+//                {
+//                    s0 = mSegment0->Extent;
+//                    sqrDist = s0*(s0 - ((Real)2)*tmpS0) +
+//                        s1*(s1 + ((Real)2)*b1) + c;
+//                }
+//                else if (tmpS0 >= -mSegment0->Extent)
+//                {
+//                    s0 = tmpS0;
+//                    sqrDist = -s0*s0 + s1*(s1 + ((Real)2)*b1) + c;
+//                }
+//                else
+//                {
+//                    s0 = -mSegment0->Extent;
+//                    tmpS1 = -(a01*s0 + b1);
+//                    if (tmpS1 < -mSegment1->Extent)
+//                    {
+//                        s1 = -mSegment1->Extent;
+//                        sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                            s0*(s0 + ((Real)2)*b0) + c;
+//                    }
+//                    else if (tmpS1 <= mSegment1->Extent)
+//                    {
+//                        s1 = tmpS1;
+//                        sqrDist = -s1*s1 + s0*(s0 + ((Real)2)*b0) + c;
+//                    }
+//                    else
+//                    {
+//                        s1 = mSegment1->Extent;
+//                        sqrDist = s1*(s1 - ((Real)2)*tmpS1) +
+//                            s0*(s0 + ((Real)2)*b0) + c;
+//                    }
+//                }
+//            }
+//        }
+//    }
+//    else
+//    {
+//        // The segments are parallel.  The average b0 term is designed to
+//        // ensure symmetry of the function.  That is, dist(seg0,seg1) and
+//        // dist(seg1,seg0) should produce the same number.
+//        Real e0pe1 = mSegment0->Extent + mSegment1->Extent;
+//        Real sign = (a01 > (Real)0 ? (Real)-1 : (Real)1);
+//        Real b0Avr = ((Real)0.5)*(b0 - sign*b1);
+//        Real lambda = -b0Avr;
+//        if (lambda < -e0pe1)
+//        {
+//            lambda = -e0pe1;
+//        }
+//        else if (lambda > e0pe1)
+//        {
+//            lambda = e0pe1;
+//        }
+//
+//        s1 = -sign*lambda*mSegment1->Extent/e0pe1;
+//        s0 = lambda + sign*s1;
+//        sqrDist = lambda*(lambda + ((Real)2)*b0Avr) + c;
+//    }
+//
+//    mClosestPoint0 = mSegment0->Center + s0*mSegment0->Direction;
+//    mClosestPoint1 = mSegment1->Center + s1*mSegment1->Direction;
+//    mSegment0Parameter = s0;
+//    mSegment1Parameter = s1;
+//
+//    // Account for numerical round-off errors.
+//    if (sqrDist < (Real)0)
+//    {
+//        sqrDist = (Real)0;
+//    }
+//    return sqrDist;
+//}
+	return 0.0d;
+}
 }
+