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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@243 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-12-27 19:07:02 +00:00
parent 3bfccf351e
commit 2eed419939
1 changed files with 24 additions and 0 deletions
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sources/reactphysics3d/mathematics/mathematics.h
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@ -53,6 +53,30 @@ inline reactphysics3d::Vector3D rotateVectorWithQuaternion(const reactphysics3d:
return quaternionResult.vectorV(); return quaternionResult.vectorV();
} }
// TODO : Test this method
// Given two lines (given by the points "point1", "point2" and the vectors "d1" and "d2" that are not parallel, this method returns the values
// "alpha" and "beta" such that the two points P1 and P2 are the two closest point between the two lines and such that
// P1 = point1 + alpha * d1
// P2 = point2 + beta * d2
inline void closestPointsBetweenTwoLines(const reactphysics3d::Vector3D& point1, const reactphysics3d::Vector3D& d1, const reactphysics3d::Vector3D& point2,
const reactphysics3d::Vector3D& d2, double* alpha, double* beta) {
reactphysics3d::Vector3D r = point1 - point2;
double a = d1.scalarProduct(d1);
double b = d1.scalarProduct(d2);
double c = d1.scalarProduct(r);
double e = d2.scalarProduct(d2);
double f = d2.scalarProduct(r);
double d = a*e-b*b;
// The two lines must not be parallel
assert(!reactphysics3d::approxEqual(d, 0.0));
// Compute the "alpha" and "beta" values
*alpha = (b*f -c*e)/d;
*beta = (a*f-b*c)/d;
}
/* /*
// TODO : Test this method // TODO : Test this method
// Move a set of points by a given vector. // Move a set of points by a given vector.