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use approx::AbsDiffEq;
use alga::linear::EuclideanSpace;
use crate::math::Isometry;
use na::{self, Real};
use crate::query::ClosestPoints;
use crate::shape::{Segment, SegmentPointLocation};
#[inline]
pub fn segment_against_segment<N: Real>(
m1: &Isometry<N>,
seg1: &Segment<N>,
m2: &Isometry<N>,
seg2: &Segment<N>,
margin: N,
) -> ClosestPoints<N>
{
let (loc1, loc2) = segment_against_segment_with_locations(m1, seg1, m2, seg2);
let p1 = seg1.point_at(&loc1);
let p2 = seg2.point_at(&loc2);
if na::distance_squared(&p1, &p2) <= margin * margin {
ClosestPoints::WithinMargin(p1, p2)
} else {
ClosestPoints::Disjoint
}
}
#[inline]
pub fn segment_against_segment_with_locations<N: Real>(
m1: &Isometry<N>,
seg1: &Segment<N>,
m2: &Isometry<N>,
seg2: &Segment<N>,
) -> (SegmentPointLocation<N>, SegmentPointLocation<N>)
{
let seg1 = seg1.transformed(m1);
let seg2 = seg2.transformed(m2);
segment_against_segment_with_locations_nD((seg1.a(), seg1.b()), (seg2.a(), seg2.b()))
}
#[allow(non_snake_case)]
#[inline]
pub fn segment_against_segment_with_locations_nD<P>(
seg1: (&P, &P),
seg2: (&P, &P),
) -> (SegmentPointLocation<P::Real>, SegmentPointLocation<P::Real>)
where
P: EuclideanSpace + Copy,
{
use alga::linear::NormedSpace;
use alga::linear::FiniteDimVectorSpace;
let d1 = *seg1.1 - *seg1.0;
let d2 = *seg2.1 - *seg2.0;
let r = *seg1.0 - *seg2.0;
let a = d1.norm_squared();
let e = d2.norm_squared();
let f = d2.dot(&r);
let _0: P::Real = na::zero();
let _1: P::Real = na::one();
let mut s;
let mut t;
let _eps = P::Real::default_epsilon();
if a <= _eps && e <= _eps {
s = _0;
t = _0;
} else if a <= _eps {
s = _0;
t = na::clamp(f / e, _0, _1);
} else {
let c = d1.dot(&r);
if e <= _eps {
t = _0;
s = na::clamp(-c / a, _0, _1);
} else {
let b = d1.dot(&d2);
let ae = a * e;
let bb = b * b;
let denom = ae - bb;
if denom > _eps && !ulps_eq!(ae, bb) {
s = na::clamp((b * f - c * e) / denom, _0, _1);
} else {
s = _0;
}
t = (b * s + f) / e;
if t < _0 {
t = _0;
s = na::clamp(-c / a, _0, _1);
} else if t > _1 {
t = _1;
s = na::clamp((b - c) / a, _0, _1);
}
}
}
let loc1 = if s == _0 {
SegmentPointLocation::OnVertex(0)
} else if s == _1 {
SegmentPointLocation::OnVertex(1)
} else {
SegmentPointLocation::OnEdge([_1 - s, s])
};
let loc2 = if t == _0 {
SegmentPointLocation::OnVertex(0)
} else if t == _1 {
SegmentPointLocation::OnVertex(1)
} else {
SegmentPointLocation::OnEdge([_1 - t, t])
};
(loc1, loc2)
}