extern/solid/src/convex/DT_Cylinder.cpp


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/*
 * SOLID - Software Library for Interference Detection
 * 
 * Copyright (C) 2001-2003  Dtecta.  All rights reserved.
 *
 * This library may be distributed under the terms of the Q Public License
 * (QPL) as defined by Trolltech AS of Norway and appearing in the file
 * LICENSE.QPL included in the packaging of this file.
 *
 * This library may be distributed and/or modified under the terms of the
 * GNU General Public License (GPL) version 2 as published by the Free Software
 * Foundation and appearing in the file LICENSE.GPL included in the
 * packaging of this file.
 *
 * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Commercial use or any other use of this library not covered by either 
 * the QPL or the GPL requires an additional license from Dtecta. 
 * Please contact info@dtecta.com for enquiries about the terms of commercial
 * use of this library.
 */

#include "DT_Cylinder.h"

MT_Point3 DT_Cylinder::support(const MT_Vector3& v) const 
{
    MT_Scalar s = MT_sqrt(v[0] * v[0] + v[2] * v[2]);
    if (s != MT_Scalar(0.0))
	{
        MT_Scalar d = radius / s;  
        return MT_Point3(v[0] * d, v[1] < 0.0 ? -halfHeight : halfHeight, v[2] * d);
    }
    else
	{
        return MT_Point3(radius, v[1] < 0.0 ? -halfHeight : halfHeight, MT_Scalar(0.0));
    }
}