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  108.   <div class="headertitle"><div class="title">ClipPoly.h</div></div>
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    110. 

  110. <div class="contents">
    111. 

  111. <a href="_clip_poly_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_a_a_box_8h.html">Jolt/Geometry/AABox.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
    121. 

  121. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    122. 

  122. <div class="foldopen" id="foldopen00014" data-start="{" data-end="}">
    123. 

  123. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="_clip_poly_8h.html#a1e329aac71675f1c682331399d3cc86c">   14</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="_clip_poly_8h.html#a1e329aac71675f1c682331399d3cc86c">ClipPolyVsPlane</a>(<span class="keyword">const</span> VERTEX_ARRAY &amp;inPolygonToClip, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPlaneOrigin, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPlaneNormal, VERTEX_ARRAY &amp;outClippedPolygon)</div>
    124. 

  124. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
    125. 

  125. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inPolygonToClip.size() &gt;= 2);</div>
    126. 

  126. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(outClippedPolygon.empty());</div>
    127. 

  127. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
    128. 

  128. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="comment">// Determine state of last point</span></div>
    129. 

  129. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> e1 = inPolygonToClip[inPolygonToClip.size() - 1];</div>
    130. 

  130. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keywordtype">float</span> prev_num = (inPlaneOrigin - e1).Dot(inPlaneNormal);</div>
    131. 

  131. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keywordtype">bool</span> prev_inside = prev_num &lt; 0.0f;</div>
    132. 

  132. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
    133. 

  133. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="comment">// Loop through all vertices</span></div>
    134. 

  134. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keywordflow">for</span> (<span class="keyword">typename</span> VERTEX_ARRAY::size_type j = 0; j &lt; inPolygonToClip.size(); ++j)</div>
    135. 

  135. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    {</div>
    136. 

  136. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <span class="comment">// Check if second point is inside</span></div>
    137. 

  137. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> e2 = inPolygonToClip[j];</div>
    138. 

  138. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordtype">float</span> num = (inPlaneOrigin - e2).Dot(inPlaneNormal);</div>
    139. 

  139. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordtype">bool</span> cur_inside = num &lt; 0.0f;</div>
    140. 

  140. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
    141. 

  141. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="comment">// In -&gt; Out or Out -&gt; In: Add point on clipping plane</span></div>
    142. 

  142. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <span class="keywordflow">if</span> (cur_inside != prev_inside)</div>
    143. 

  143. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        {</div>
    144. 

  144. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            <span class="comment">// Solve: (X - inPlaneOrigin) . inPlaneNormal = 0 and X = e1 + t * (e2 - e1) for X</span></div>
    145. 

  145. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> e12 = e2 - e1;</div>
    146. 

  146. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            <span class="keywordtype">float</span> denom = e12.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inPlaneNormal);</div>
    147. 

  147. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            <span class="keywordflow">if</span> (denom != 0.0f)</div>
    148. 

  148. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>                outClippedPolygon.push_back(e1 + (prev_num / denom) * e12);</div>
    149. 

  149. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            <span class="keywordflow">else</span></div>
    150. 

  150. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                cur_inside = prev_inside; <span class="comment">// Edge is parallel to plane, treat point as if it were on the same side as the last point</span></div>
    151. 

  151. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>        }</div>
    152. 

  152. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
    153. 

  153. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="comment">// Point inside, add it</span></div>
    154. 

  154. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">if</span> (cur_inside)</div>
    155. 

  155. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            outClippedPolygon.push_back(e2);</div>
    156. 

  156. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
    157. 

  157. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <span class="comment">// Update previous state</span></div>
    158. 

  158. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        prev_num = num;</div>
    159. 

  159. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        prev_inside = cur_inside;</div>
    160. 

  160. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        e1 = e2;</div>
    161. 

  161. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
    162. 

  162. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>}</div>
    163. 

  163. </div>
    164. 

  164. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
    165. 

  165. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    166. 

  166. <div class="foldopen" id="foldopen00062" data-start="{" data-end="}">
    167. 

  167. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="_clip_poly_8h.html#a16e399a850db50914749f07fa7d3e38d">   62</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="_clip_poly_8h.html#a16e399a850db50914749f07fa7d3e38d">ClipPolyVsPoly</a>(<span class="keyword">const</span> VERTEX_ARRAY &amp;inPolygonToClip, <span class="keyword">const</span> VERTEX_ARRAY &amp;inClippingPolygon, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inClippingPolygonNormal, VERTEX_ARRAY &amp;outClippedPolygon)</div>
    168. 

  168. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>{</div>
    169. 

  169. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inPolygonToClip.size() &gt;= 2);</div>
    170. 

  170. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inClippingPolygon.size() &gt;= 3);</div>
    171. 

  171. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
    172. 

  172. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    VERTEX_ARRAY tmp_vertices[2];</div>
    173. 

  173. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordtype">int</span> tmp_vertices_idx = 0;</div>
    174. 

  174. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
    175. 

  175. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordflow">for</span> (<span class="keyword">typename</span> VERTEX_ARRAY::size_type i = 0; i &lt; inClippingPolygon.size(); ++i)</div>
    176. 

  176. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
    177. 

  177. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="comment">// Get edge to clip against</span></div>
    178. 

  178. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> clip_e1 = inClippingPolygon[i];</div>
    179. 

  179. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> clip_e2 = inClippingPolygon[(i + 1) % inClippingPolygon.size()];</div>
    180. 

  180. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> clip_normal = inClippingPolygonNormal.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(clip_e2 - clip_e1); <span class="comment">// Pointing inward to the clipping polygon</span></div>
    181. 

  181. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
    182. 

  182. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="comment">// Get source and target polygon</span></div>
    183. 

  183. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keyword">const</span> VERTEX_ARRAY &amp;src_polygon = (i == 0)? inPolygonToClip : tmp_vertices[tmp_vertices_idx];</div>
    184. 

  184. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        tmp_vertices_idx ^= 1;</div>
    185. 

  185. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        VERTEX_ARRAY &amp;tgt_polygon = (i == inClippingPolygon.size() - 1)? outClippedPolygon : tmp_vertices[tmp_vertices_idx];</div>
    186. 

  186. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        tgt_polygon.clear();</div>
    187. 

  187. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
    188. 

  188. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        <span class="comment">// Clip against the edge</span></div>
    189. 

  189. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <a class="code hl_function" href="_clip_poly_8h.html#a1e329aac71675f1c682331399d3cc86c">ClipPolyVsPlane</a>(src_polygon, clip_e1, clip_normal, tgt_polygon);</div>
    190. 

  190. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
    191. 

  191. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        <span class="comment">// Break out if no polygon left</span></div>
    192. 

  192. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">if</span> (tgt_polygon.size() &lt; 3)</div>
    193. 

  193. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        {</div>
    194. 

  194. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            outClippedPolygon.clear();</div>
    195. 

  195. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>            <span class="keywordflow">break</span>;</div>
    196. 

  196. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        }</div>
    197. 

  197. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
    198. 

  198. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>}</div>
    199. 

  199. </div>
    200. 

  200. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
    201. 

  201. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    202. 

  202. <div class="foldopen" id="foldopen00098" data-start="{" data-end="}">
    203. 

  203. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="_clip_poly_8h.html#a3091df734384a4e35e6e73df4bd3778d">   98</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="_clip_poly_8h.html#a3091df734384a4e35e6e73df4bd3778d">ClipPolyVsEdge</a>(<span class="keyword">const</span> VERTEX_ARRAY &amp;inPolygonToClip, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inEdgeVertex1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inEdgeVertex2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inClippingEdgeNormal, VERTEX_ARRAY &amp;outClippedPolygon)</div>
    204. 

  204. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>{</div>
    205. 

  205. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inPolygonToClip.size() &gt;= 3);</div>
    206. 

  206. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(outClippedPolygon.empty());</div>
    207. 

  207. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
    208. 

  208. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">// Get normal that is perpendicular to the edge and the clipping edge normal</span></div>
    209. 

  209. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> edge = inEdgeVertex2 - inEdgeVertex1;</div>
    210. 

  210. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> edge_normal = inClippingEdgeNormal.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(edge);</div>
    211. 

  211. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    212. 

  212. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="comment">// Project vertices of edge on inPolygonToClip</span></div>
    213. 

  213. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> polygon_normal = (inPolygonToClip[2] - inPolygonToClip[0]).Cross(inPolygonToClip[1] - inPolygonToClip[0]);</div>
    214. 

  214. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keywordtype">float</span> polygon_normal_len_sq = polygon_normal.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    215. 

  215. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v1 = inEdgeVertex1 + polygon_normal.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inPolygonToClip[0] - inEdgeVertex1) * polygon_normal / polygon_normal_len_sq;</div>
    216. 

  216. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v2 = inEdgeVertex2 + polygon_normal.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inPolygonToClip[0] - inEdgeVertex2) * polygon_normal / polygon_normal_len_sq;</div>
    217. 

  217. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v12 = v2 - v1;</div>
    218. 

  218. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordtype">float</span> v12_len_sq = v12.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    219. 

  219. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
    220. 

  220. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// Determine state of last point</span></div>
    221. 

  221. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> e1 = inPolygonToClip[inPolygonToClip.size() - 1];</div>
    222. 

  222. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <span class="keywordtype">float</span> prev_num = (inEdgeVertex1 - e1).Dot(edge_normal);</div>
    223. 

  223. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">bool</span> prev_inside = prev_num &lt; 0.0f;</div>
    224. 

  224. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
    225. 

  225. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <span class="comment">// Loop through all vertices</span></div>
    226. 

  226. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordflow">for</span> (<span class="keyword">typename</span> VERTEX_ARRAY::size_type j = 0; j &lt; inPolygonToClip.size(); ++j)</div>
    227. 

  227. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
    228. 

  228. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        <span class="comment">// Check if second point is inside</span></div>
    229. 

  229. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> e2 = inPolygonToClip[j];</div>
    230. 

  230. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordtype">float</span> num = (inEdgeVertex1 - e2).Dot(edge_normal);</div>
    231. 

  231. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>        <span class="keywordtype">bool</span> cur_inside = num &lt; 0.0f;</div>
    232. 

  232. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
    233. 

  233. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        <span class="comment">// In -&gt; Out or Out -&gt; In: Add point on clipping plane</span></div>
    234. 

  234. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        <span class="keywordflow">if</span> (cur_inside != prev_inside)</div>
    235. 

  235. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>        {</div>
    236. 

  236. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>            <span class="comment">// Solve: (inEdgeVertex1 - X) . edge_normal = 0 and X = e1 + t * (e2 - e1) for X</span></div>
    237. 

  237. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> e12 = e2 - e1;</div>
    238. 

  238. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>            <span class="keywordtype">float</span> denom = e12.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(edge_normal);</div>
    239. 

  239. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> clipped_point = denom != 0.0f? e1 + (prev_num / denom) * e12 : e1;</div>
    240. 

  240. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
    241. 

  241. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>            <span class="comment">// Project point on line segment v1, v2 so see if it falls outside if the edge</span></div>
    242. 

  242. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>            <span class="keywordtype">float</span> projection = (clipped_point - v1).Dot(v12);</div>
    243. 

  243. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>            <span class="keywordflow">if</span> (projection &lt; 0.0f)</div>
    244. 

  244. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>                outClippedPolygon.push_back(v1);</div>
    245. 

  245. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (projection &gt; v12_len_sq)</div>
    246. 

  246. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>                outClippedPolygon.push_back(v2);</div>
    247. 

  247. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>            <span class="keywordflow">else</span></div>
    248. 

  248. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>                outClippedPolygon.push_back(clipped_point);</div>
    249. 

  249. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        }</div>
    250. 

  250. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
    251. 

  251. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>        <span class="comment">// Update previous state</span></div>
    252. 

  252. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        prev_num = num;</div>
    253. 

  253. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        prev_inside = cur_inside;</div>
    254. 

  254. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        e1 = e2;</div>
    255. 

  255. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    }</div>
    256. 

  256. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>}</div>
    257. 

  257. </div>
    258. 

  258. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
    259. 

  259. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    260. 

  260. <div class="foldopen" id="foldopen00156" data-start="{" data-end="}">
    261. 

  261. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="_clip_poly_8h.html#acce14d72c569854e088c08101fc77f9f">  156</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="_clip_poly_8h.html#acce14d72c569854e088c08101fc77f9f">ClipPolyVsAABox</a>(<span class="keyword">const</span> VERTEX_ARRAY &amp;inPolygonToClip, <span class="keyword">const</span> <a class="code hl_class" href="class_a_a_box.html">AABox</a> &amp;inAABox, VERTEX_ARRAY &amp;outClippedPolygon)</div>
    262. 

  262. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>{</div>
    263. 

  263. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inPolygonToClip.size() &gt;= 2);</div>
    264. 

  264. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
    265. 

  265. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    VERTEX_ARRAY tmp_vertices[2];</div>
    266. 

  266. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordtype">int</span> tmp_vertices_idx = 0;</div>
    267. 

  267. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
    268. 

  268. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> coord = 0; coord &lt; 3; ++coord)</div>
    269. 

  269. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> side = 0; side &lt; 2; ++side)</div>
    270. 

  270. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        {</div>
    271. 

  271. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>            <span class="comment">// Get plane to clip against</span></div>
    272. 

  272. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> origin = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>(), normal = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    273. 

  273. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>            <span class="keywordflow">if</span> (side == 0)</div>
    274. 

  274. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>            {</div>
    275. 

  275. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>                normal.SetComponent(coord, 1.0f);</div>
    276. 

  276. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>                origin.<a class="code hl_function" href="class_vec3.html#a1ef1f1ce4031e9ecd4545799525281d8">SetComponent</a>(coord, inAABox.<a class="code hl_variable" href="class_a_a_box.html#a4082e61b6401d675d89d6b4944fd7911">mMin</a>[coord]);</div>
    277. 

  277. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>            }</div>
    278. 

  278. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>            <span class="keywordflow">else</span></div>
    279. 

  279. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>            {</div>
    280. 

  280. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>                normal.SetComponent(coord, -1.0f);</div>
    281. 

  281. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>                origin.<a class="code hl_function" href="class_vec3.html#a1ef1f1ce4031e9ecd4545799525281d8">SetComponent</a>(coord, inAABox.<a class="code hl_variable" href="class_a_a_box.html#afc84f3cbe23910c0651707050f8d51a1">mMax</a>[coord]);</div>
    282. 

  282. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>            }</div>
    283. 

  283. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
    284. 

  284. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>            <span class="comment">// Get source and target polygon</span></div>
    285. 

  285. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>            <span class="keyword">const</span> VERTEX_ARRAY &amp;src_polygon = tmp_vertices_idx == 0? inPolygonToClip : tmp_vertices[tmp_vertices_idx &amp; 1];</div>
    286. 

  286. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>            tmp_vertices_idx++;</div>
    287. 

  287. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>            VERTEX_ARRAY &amp;tgt_polygon = tmp_vertices_idx == 6? outClippedPolygon : tmp_vertices[tmp_vertices_idx &amp; 1];</div>
    288. 

  288. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>            tgt_polygon.clear();</div>
    289. 

  289. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
    290. 

  290. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>            <span class="comment">// Clip against the edge</span></div>
    291. 

  291. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>            <a class="code hl_function" href="_clip_poly_8h.html#a1e329aac71675f1c682331399d3cc86c">ClipPolyVsPlane</a>(src_polygon, origin, normal, tgt_polygon);</div>
    292. 

  292. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
    293. 

  293. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            <span class="comment">// Break out if no polygon left</span></div>
    294. 

  294. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            <span class="keywordflow">if</span> (tgt_polygon.size() &lt; 3)</div>
    295. 

  295. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>            {</div>
    296. 

  296. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>                outClippedPolygon.clear();</div>
    297. 

  297. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>                <span class="keywordflow">return</span>;</div>
    298. 

  298. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>            }</div>
    299. 

  299. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
    300. 

  300. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>            <span class="comment">// Flip normal</span></div>
    301. 

  301. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            normal = -normal;</div>
    302. 

  302. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>        }</div>
    303. 

  303. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>}</div>
    304. 

  304. </div>
    305. 

  305. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
    306. 

  306. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    307. 

  307. <div class="ttc" id="a_a_a_box_8h_html"><div class="ttname"><a href="_a_a_box_8h.html">AABox.h</a></div></div>
    308. 

  308. <div class="ttc" id="a_clip_poly_8h_html_a16e399a850db50914749f07fa7d3e38d"><div class="ttname"><a href="_clip_poly_8h.html#a16e399a850db50914749f07fa7d3e38d">ClipPolyVsPoly</a></div><div class="ttdeci">void ClipPolyVsPoly(const VERTEX_ARRAY &amp;inPolygonToClip, const VERTEX_ARRAY &amp;inClippingPolygon, Vec3Arg inClippingPolygonNormal, VERTEX_ARRAY &amp;outClippedPolygon)</div><div class="ttdef"><b>Definition</b> ClipPoly.h:62</div></div>
    309. 

  309. <div class="ttc" id="a_clip_poly_8h_html_a1e329aac71675f1c682331399d3cc86c"><div class="ttname"><a href="_clip_poly_8h.html#a1e329aac71675f1c682331399d3cc86c">ClipPolyVsPlane</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN void ClipPolyVsPlane(const VERTEX_ARRAY &amp;inPolygonToClip, Vec3Arg inPlaneOrigin, Vec3Arg inPlaneNormal, VERTEX_ARRAY &amp;outClippedPolygon)</div><div class="ttdef"><b>Definition</b> ClipPoly.h:14</div></div>
    310. 

  310. <div class="ttc" id="a_clip_poly_8h_html_a3091df734384a4e35e6e73df4bd3778d"><div class="ttname"><a href="_clip_poly_8h.html#a3091df734384a4e35e6e73df4bd3778d">ClipPolyVsEdge</a></div><div class="ttdeci">void ClipPolyVsEdge(const VERTEX_ARRAY &amp;inPolygonToClip, Vec3Arg inEdgeVertex1, Vec3Arg inEdgeVertex2, Vec3Arg inClippingEdgeNormal, VERTEX_ARRAY &amp;outClippedPolygon)</div><div class="ttdef"><b>Definition</b> ClipPoly.h:98</div></div>
    311. 

  311. <div class="ttc" id="a_clip_poly_8h_html_acce14d72c569854e088c08101fc77f9f"><div class="ttname"><a href="_clip_poly_8h.html#acce14d72c569854e088c08101fc77f9f">ClipPolyVsAABox</a></div><div class="ttdeci">void ClipPolyVsAABox(const VERTEX_ARRAY &amp;inPolygonToClip, const AABox &amp;inAABox, VERTEX_ARRAY &amp;outClippedPolygon)</div><div class="ttdef"><b>Definition</b> ClipPoly.h:156</div></div>
    312. 

  312. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    313. 

  313. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    314. 

  314. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    315. 

  315. <div class="ttc" id="aclass_a_a_box_html"><div class="ttname"><a href="class_a_a_box.html">AABox</a></div><div class="ttdoc">Axis aligned box.</div><div class="ttdef"><b>Definition</b> AABox.h:16</div></div>
    316. 

  316. <div class="ttc" id="aclass_a_a_box_html_a4082e61b6401d675d89d6b4944fd7911"><div class="ttname"><a href="class_a_a_box.html#a4082e61b6401d675d89d6b4944fd7911">AABox::mMin</a></div><div class="ttdeci">Vec3 mMin</div><div class="ttdoc">Bounding box min and max.</div><div class="ttdef"><b>Definition</b> AABox.h:309</div></div>
    317. 

  317. <div class="ttc" id="aclass_a_a_box_html_afc84f3cbe23910c0651707050f8d51a1"><div class="ttname"><a href="class_a_a_box.html#afc84f3cbe23910c0651707050f8d51a1">AABox::mMax</a></div><div class="ttdeci">Vec3 mMax</div><div class="ttdef"><b>Definition</b> AABox.h:310</div></div>
    318. 

  318. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
    319. 

  319. <div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
    320. 

  320. <div class="ttc" id="aclass_vec3_html_a1ef1f1ce4031e9ecd4545799525281d8"><div class="ttname"><a href="class_vec3.html#a1ef1f1ce4031e9ecd4545799525281d8">Vec3::SetComponent</a></div><div class="ttdeci">JPH_INLINE void SetComponent(uint inCoordinate, float inValue)</div><div class="ttdoc">Set float component by index.</div><div class="ttdef"><b>Definition</b> Vec3.h:144</div></div>
    321. 

  321. <div class="ttc" id="aclass_vec3_html_a224811af391ccfd1e05282eda22d1de8"><div class="ttname"><a href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Vec3::Cross</a></div><div class="ttdeci">JPH_INLINE Vec3 Cross(Vec3Arg inV2) const</div><div class="ttdoc">Cross product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:595</div></div>
    322. 

  322. <div class="ttc" id="aclass_vec3_html_aba501a6a474028084799f871c9083dc1"><div class="ttname"><a href="class_vec3.html#aba501a6a474028084799f871c9083dc1">Vec3::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdoc">Squared length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:666</div></div>
    323. 

  323. <div class="ttc" id="aclass_vec3_html_ad03c52ab27761bc1e64e33c47632ba51"><div class="ttname"><a href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a></div><div class="ttdeci">static JPH_INLINE Vec3 sZero()</div><div class="ttdoc">Vector with all zeros.</div><div class="ttdef"><b>Definition</b> Vec3.inl:103</div></div>
    324. 

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  329.     <li class="navelem"><a class="el" href="dir_d99289a5d3c46cf26f14ff6c90658d9f.html">Jolt</a></li><li class="navelem"><a class="el" href="dir_2d88bf03bf4a7a62918727c0f2ee34eb.html">Geometry</a></li><li class="navelem"><a class="el" href="_clip_poly_8h.html">ClipPoly.h</a></li>
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