HDU 4741 Save Labman No.004

题意：有两条异面直线，在这两条直线上分别各找一点，使得这两点间的距离最短
$P_1$是直线L1上的点，$S_1$是直线$L_1$的方向向量
$P_2$是直线$L_2$上的点，$S_2$是直线$L_2$的方向向量
这样$S_1×S_2$是$L_1$和$L_2$的公垂线
不妨设$P_1+t_1S_1$和$P_2+t_2S_2$是满足题意的一对点，则

$$P_1+t_1S_1= P_2+t_2S_2+t(S_1×S_2)$$
移项得
$$t_1S_1= (P_2-P_1)+t_2S_2+t(S_1×S_2)$$
为消 $t_2$，左右都叉乘 $S_2$得
$$t_1(S_1×S_2)= (P_2-P_1)×S_2+t((S_1×S_2)×S_2)$$
为了把t1的系数变成数左右都点乘S1×S2得
$$t_1|S_1×S_2|^2=((P_2-P_1)×S_2)\cdot(S_1×S_2)$$
化简得
$$t_1 = \dfrac{((P_2-P_1)×S_2)\cdot(S_1×S_2)}{|S_1×S_2|^2}$$
同理
$$t_2 = \dfrac{((P_1-P_2)×S_1)\cdot(S_2×S_1)}{|S_2×S_1|^2}$$
这样点就求出来了

#include <cstdio>
#include <math.h>

struct P
{
    double x, y, z;
    P(){}
    P(double _x, double _y, double _z){x = _x; y = _y; z = _z;}
}p1, p3, p2, p4, s1, s2;
P operator + (P a, P b) {return P(a.x + b.x, a.y + b.y, a.z + b.z);}
P operator - (P a, P b) {return P(a.x - b.x, a.y - b.y, a.z - b.z);}
P operator * (double t, P a) {return P(t * a.x, t * a.y, t * a.z);}
double dot(P a, P b) {return a.x * b.x + a.y * b.y + a.z * b.z;}
P cross(P a, P b) {return P(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);}

int main()
{
    int T;
    scanf("%d", &T);

    while(T--)
    {
        scanf("%lf%lf%lf", &p1.x, &p1.y, &p1.z);
        scanf("%lf%lf%lf", &p3.x, &p3.y, &p3.z);
        scanf("%lf%lf%lf", &p2.x, &p2.y, &p2.z);
        scanf("%lf%lf%lf", &p4.x, &p4.y, &p4.z);
        s1 = p3 - p1; s2 = p4 - p2;
        double t1 = dot(cross(p2 - p1, s2), cross(s1, s2))/dot(cross(s1,s2), cross(s1,s2));
        double t2 = dot(cross(p1 - p2, s1), cross(s2, s1))/dot(cross(s2,s1), cross(s2,s1));
        P a = p1 + t1 * s1;
        P b = p2 + t2 * s2;

        printf("%.6f\n", sqrt(dot(a - b, a - b)));
        printf("%.6f %.6f %.6f ", a.x, a.y, a.z);
        printf("%.6f %.6f %.6f\n", b.x, b.y, b.z);
    }

    return 0;
}