closest_points_line_line.rs - source

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lut_parser

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memoffset

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meshopt

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mopa

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na

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nalgebra

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geometry

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linalg

ncollide3d

bounding_volume

interpolation

mod.rs rigid_motion.rs

partitioning

bvh.rs bvt.rs dbvt.rs mod.rs visitor.rs

pipeline

broad_phase

broad_phase.rs broad_phase_pair_filter.rs dbvt_broad_phase.rs mod.rs

glue

mod.rs query.rs setup.rs update.rs

narrow_phase

object

collision_groups.rs collision_object.rs collision_object_set.rs mod.rs query_type.rs

mod.rs world.rs

procedural

path

arrowhead_cap.rs mod.rs no_cap.rs path.rs polyline_path.rs polyline_pattern.rs

bezier.rs capsule.rs cone.rs cuboid.rs cylinder.rs mod.rs quad.rs sphere.rs trimesh.rs utils.rs

query

algorithms

cso_point.rs epa3.rs gjk.rs mod.rs special_support_maps.rs voronoi_simplex3.rs

closest_points

closest_points.rs closest_points_ball_ball.rs closest_points_composite_shape_shape.rs closest_points_line_line.rs closest_points_plane_support_map.rs closest_points_segment_segment.rs closest_points_shape_shape.rs closest_points_support_map_support_map.rs mod.rs

contact

contact.rs contact_ball_ball.rs contact_ball_convex_polyhedron.rs contact_composite_shape_shape.rs contact_kinematic.rs contact_manifold.rs contact_plane_support_map.rs contact_preprocessor.rs contact_shape_shape.rs contact_support_map_support_map.rs mod.rs

distance

distance.rs distance_ball_ball.rs distance_composite_shape_shape.rs distance_plane_support_map.rs distance_support_map_support_map.rs mod.rs

nonlinear_time_of_impact

mod.rs nonlinear_time_of_impact.rs nonlinear_time_of_impact_ball_ball.rs nonlinear_time_of_impact_composite_shape_shape.rs nonlinear_time_of_impact_support_map_support_map.rs

point

mod.rs point_aabb.rs point_ball.rs point_bounding_sphere.rs point_capsule.rs point_compound.rs point_cuboid.rs point_heightfield.rs point_plane.rs point_polyline.rs point_query.rs point_segment.rs point_shape.rs point_support_map.rs point_tetrahedron.rs point_triangle.rs point_trimesh.rs

proximity

mod.rs proximity.rs proximity_ball_ball.rs proximity_composite_shape_shape.rs proximity_plane_support_map.rs proximity_shape_shape.rs proximity_support_map_support_map.rs

ray

mod.rs ray.rs ray_aabb.rs ray_ball.rs ray_bounding_sphere.rs ray_compound.rs ray_cuboid.rs ray_heightfield.rs ray_plane.rs ray_polyline.rs ray_shape.rs ray_support_map.rs ray_triangle.rs ray_trimesh.rs

time_of_impact

mod.rs time_of_impact.rs time_of_impact_ball_ball.rs time_of_impact_composite_shape_shape.rs time_of_impact_plane_support_map.rs time_of_impact_support_map_support_map.rs

visitors

aabb_sets_interferences_collector.rs bounding_volume_interferences_collector.rs composite_closest_point_visitor.rs composite_point_containment_test.rs mod.rs point_interferences_collector.rs ray_interferences_collector.rs ray_intersection_cost_fn_visitor.rs

error.rs mod.rs toi_dispatcher.rs

shape

transformation

to_trimesh

ball_to_trimesh.rs capsule_to_trimesh.rs cone_to_trimesh.rs cuboid_to_trimesh.rs cylinder_to_trimesh.rs heightfield_to_trimesh.rs mod.rs to_trimesh.rs triangle_to_trimesh.rs

convex_hull2.rs convex_hull3.rs convex_hull_utils.rs hacd.rs mod.rs

utils

as_bytes.rs ccw_face_normal.rs center.rs cleanup.rs deterministic_state.rs hashable_partial_eq.rs isometry_ops.rs median.rs mod.rs point_cloud_support_point.rs point_in_poly2d.rs ref_with_cost.rs sort.rs sorted_pair.rs tetrahedron.rs triangle.rs

nom

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branch

macros.rs mod.rs

bytes

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character

complete.rs macros.rs mod.rs streaming.rs

combinator

macros.rs mod.rs

multi

macros.rs mod.rs

number

complete.rs macros.rs mod.rs streaming.rs

sequence

macros.rs mod.rs

error.rs internal.rs lib.rs methods.rs str.rs traits.rs util.rs whitespace.rs

num_complex

cast.rs lib.rs pow.rs

num_cpus

lib.rs linux.rs

num_integer

average.rs lib.rs roots.rs

num_iter

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ops

checked.rs inv.rs mod.rs mul_add.rs overflowing.rs saturating.rs wrapping.rs

bounds.rs cast.rs float.rs identities.rs int.rs lib.rs macros.rs pow.rs real.rs sign.rs

numext_constructor

fixed_hash

fixed_uint

definition.rs lib.rs utils.rs

numext_fixed_uint

numext_fixed_uint_core

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once_cell

imp_std.rs lib.rs

parking_lot

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parking_lot_core

thread_parker

linux.rs mod.rs

lib.rs parking_lot.rs spinwait.rs util.rs word_lock.rs

pathfinding

directed

astar.rs bfs.rs dfs.rs dijkstra.rs edmonds_karp.rs fringe.rs idastar.rs iddfs.rs mod.rs strongly_connected_components.rs topological_sort.rs

undirected

connected_components.rs kruskal.rs mod.rs

grid.rs kuhn_munkres.rs lib.rs matrix.rs utils.rs

pennereq

petgraph

pin_project_lite

pin_utils

lib.rs projection.rs stack_pin.rs

png

decoder

mod.rs stream.rs zlib.rs

chunk.rs common.rs encoder.rs filter.rs lib.rs traits.rs utils.rs

polygon2

ppv_lite86

x86_64

lib.rs soft.rs types.rs

proc_macro2

detection.rs fallback.rs lib.rs marker.rs parse.rs wrapper.rs

proc_macro_crate

proc_macro_hack

error.rs iter.rs lib.rs parse.rs quote.rs

proc_macro_nested

quote

ext.rs format.rs ident_fragment.rs lib.rs runtime.rs spanned.rs to_tokens.rs

rand

rand_chacha

chacha.rs guts.rs lib.rs

rand_core

block.rs error.rs impls.rs le.rs lib.rs os.rs

rand_distr

raw_window_handle

rawpointer

rayon

delegate.rs lib.rs math.rs option.rs par_either.rs prelude.rs private.rs range.rs range_inclusive.rs result.rs split_producer.rs str.rs string.rs vec.rs

rayon_core

compile_fail

mod.rs quicksort_race1.rs quicksort_race2.rs quicksort_race3.rs rc_return.rs rc_upvar.rs scope_join_bad.rs

join

scope

sleep

counters.rs mod.rs

spawn

thread_pool

job.rs latch.rs lib.rs log.rs private.rs registry.rs unwind.rs util.rs

rect_packer

packer

mod.rs packer.rs

regex

regex_syntax

retain_mut

rin

rin_app

app.rs application_callbacks.rs lib.rs

rin_blender

skinning

components.rs mod.rs

actions.rs animation_system.rs components.rs lib.rs scene_data.rs textures.rs

rin_core

rin_gl

autoload.rs basic_material.rs bitmap_font.rs cubemap.rs image_based_light.rs lib.rs macros.rs material.rs object.rs outline_material.rs renderer.rs shader_material.rs simple_fbo.rs traits.rs ttf.rs uniforms_cache.rs vao_mesh.rs vao_path.rs

rin_graphics

camera.rs freeimage.rs gradient.rs lib.rs mesh.rs mesh_slice.rs mvp.rs node.rs path.rs polyline.rs polyline_slice.rs primitives.rs projection.rs ttf.rs vertex.rs

rin_gui

rin_material

basic_material.rs lib.rs outline_material.rs parameter.rs pbr_material.rs texture.rs

rin_math

lib.rs rectangle.rs

rin_postpo

bloom.rs dof.rs fxaa.rs lib.rs lut.rs ssao.rs tonemap.rs

rin_scene

animation

mod.rs path_follower.rs

events

light

mod.rs shadow.rs

physics

mod.rs rigidbody.rs

postprocessing

renderer

time

transformation

bundle.rs components.rs geometry.rs immediate_renderer.rs lib.rs scene.rs skybox.rs water.rs

rin_util

autoloader.rs enum_set.rs error.rs lazy_value.rs lib.rs value_cache.rs

rin_window

events.rs glfw_window.rs lib.rs window.rs

rinblender

bones.rs catmullclark.rs curves.rs empty.rs enum_set.rs idtree.rs lamp.rs lib.rs loader.rs material.rs mesh.rs model.rs modifiers.rs packedfile.rs scene.rs shape_keys.rs texture.rs trimesh.rs utils.rs

rinecs

rinecs_derive

changes.rs component.rs debug.rs debug_param_fn.rs filter.rs hierarchical.rs hierarchical_oneton.rs lib.rs oneton.rs onetoone.rs

rinecs_derive_utils

lib.rs system.rs

ringui_derive

rustc_demangle

legacy.rs lib.rs v0.rs

rusty_pool

ryu

buffer

pretty

exponent.rs mantissa.rs mod.rs

common.rs d2s.rs d2s_full_table.rs d2s_intrinsics.rs digit_table.rs f2s.rs f2s_intrinsics.rs lib.rs

scopeguard

seitan

seitan_derive

semver

lib.rs version.rs version_req.rs

semver_parser

common.rs lib.rs range.rs recognize.rs version.rs

serde

de

ignored_any.rs impls.rs mod.rs seed.rs utf8.rs value.rs

private

de.rs doc.rs mod.rs ser.rs size_hint.rs

ser

fmt.rs impls.rs impossible.rs mod.rs

integer128.rs lib.rs macros.rs

serde_derive

internals

ast.rs attr.rs case.rs check.rs ctxt.rs mod.rs receiver.rs respan.rs symbol.rs

bound.rs de.rs dummy.rs fragment.rs lib.rs pretend.rs ser.rs try.rs

serde_json

features_check

io

value

de.rs from.rs index.rs mod.rs partial_eq.rs ser.rs

de.rs error.rs iter.rs lib.rs macros.rs map.rs number.rs read.rs ser.rs

shaderdata_derive

simba

scalar

complex.rs field.rs mod.rs real.rs subset.rs

simd

auto_simd_impl.rs mod.rs simd_bool.rs simd_complex.rs simd_option.rs simd_partial_ord.rs simd_real.rs simd_signed.rs simd_value.rs

slab

slice_of_array

slotmap

dense.rs hop.rs lib.rs normal.rs secondary.rs sparse_secondary.rs

smallvec

std140_data

streaming_iterator

lib.rs sources.rs

strsim

syn

synstructure

lib.rs macros.rs

thiserror

aserror.rs display.rs lib.rs

thiserror_impl

ast.rs attr.rs expand.rs fmt.rs lib.rs prop.rs valid.rs

thread_local

cached.rs lib.rs thread_id.rs unreachable.rs

tiff

decoder

ifd.rs mod.rs stream.rs

encoder

colortype.rs mod.rs writer.rs

bytecast.rs error.rs lib.rs tags.rs

time

display.rs duration.rs lib.rs parse.rs sys.rs

toml

datetime.rs de.rs lib.rs macros.rs map.rs ser.rs spanned.rs tokens.rs value.rs

typenum

array.rs bit.rs int.rs lib.rs marker_traits.rs operator_aliases.rs private.rs type_operators.rs uint.rs

unchecked_unwrap

unicode_xid

lib.rs tables.rs

vec2

cross.rs extract.rs inv.rs len.rs lerp.rs lib.rs min_max.rs new.rs norm.rs ops.rs set.rs transform.rs

vec3

cross.rs extract.rs inv.rs len.rs lerp.rs lib.rs min_max.rs new.rs norm.rs ops.rs set.rs transform.rs

weezl

decode.rs encode.rs error.rs lib.rs

x11

dpms.rs glx.rs internal.rs keysym.rs lib.rs link.rs xcursor.rs xf86vmode.rs xfixes.rs xft.rs xinerama.rs xinput.rs xinput2.rs xlib.rs xlib_xcb.rs xmd.rs xmu.rs xrandr.rs xrecord.rs xrender.rs xss.rs xt.rs xtest.rs

zlib_sys

use crate::math::{Point, Vector};
use na::{self, RealField};

/// Closest points between two lines.
///
/// The result, say `res`, is such that the closest points between both lines are
/// `orig1 + dir1 * res.0` and `orig2 + dir2 * res.1`.
#[inline]
pub fn closest_points_line_line_parameters<N: RealField>(
    orig1: &Point<N>,
    dir1: &Vector<N>,
    orig2: &Point<N>,
    dir2: &Vector<N>,
) -> (N, N) {
    let res =
        closest_points_line_line_parameters_eps(orig1, dir1, orig2, dir2, N::default_epsilon());
    (res.0, res.1)
}

/// Closest points between two lines with a custom tolerance epsilon.
///
/// The result, say `res`, is such that the closest points between both lines are
/// `orig1 + dir1 * res.0` and `orig2 + dir2 * res.1`. If the lines are parallel
/// then `res.2` is set to `true` and the returned closest points are `orig1` and
/// its projection on the second line.
#[inline]
pub fn closest_points_line_line_parameters_eps<N: RealField>(
    orig1: &Point<N>,
    dir1: &Vector<N>,
    orig2: &Point<N>,
    dir2: &Vector<N>,
    eps: N,
) -> (N, N, bool) {
    // Inspired by RealField-time collision detection by Christer Ericson.
    let r = *orig1 - *orig2;

    let a = dir1.norm_squared();
    let e = dir2.norm_squared();
    let f = dir2.dot(&r);

    let _0: N = na::zero();
    let _1: N = na::one();

    if a <= eps && e <= eps {
        (_0, _0, false)
    } else if a <= eps {
        (_0, f / e, false)
    } else {
        let c = dir1.dot(&r);
        if e <= eps {
            (-c / a, _0, false)
        } else {
            let b = dir1.dot(dir2);
            let ae = a * e;
            let bb = b * b;
            let denom = ae - bb;

            // Use absolute and ulps error to test collinearity.
            let parallel = denom <= eps || ulps_eq!(ae, bb);

            let s = if !parallel {
                (b * f - c * e) / denom
            } else {
                _0
            };

            (s, (b * s + f) / e, parallel)
        }
    }
}

// FIXME: can we re-used this for the segment/segment case?
/// Closest points between two segments.
#[inline]
pub fn closest_points_line_line<N: RealField>(
    orig1: &Point<N>,
    dir1: &Vector<N>,
    orig2: &Point<N>,
    dir2: &Vector<N>,
) -> (Point<N>, Point<N>) {
    let (s, t) = closest_points_line_line_parameters(orig1, dir1, orig2, dir2);
    (*orig1 + *dir1 * s, *orig2 + *dir2 * t)
}