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  40.    <div id="projectbrief">A multi core friendly Game Physics Engine</div>
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  108.   <div class="headertitle"><div class="title">ClosestPoint.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_closest_point_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><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></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><span class="comment">// Turn off fused multiply add instruction because it makes the equations of the form a * b - c * d inaccurate below</span></div>
    120. 

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

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
    122. 

  122. <div class="foldopen" id="foldopen00013" data-start="{" data-end="}">
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="namespace_closest_point.html">   13</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespace_closest_point.html">ClosestPoint</a></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
    125. 

  125. <div class="foldopen" id="foldopen00018" data-start="{" data-end="}">
    126. 

  126. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">   18</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <span class="keywordtype">float</span> &amp;outU, <span class="keywordtype">float</span> &amp;outV)</div>
    127. 

  127. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    {</div>
    128. 

  128. <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> ab = inB - inA;</div>
    129. 

  129. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        <span class="keywordtype">float</span> denominator = ab.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    130. 

  130. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        <span class="keywordflow">if</span> (denominator &lt; <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(FLT_EPSILON))</div>
    131. 

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

  132. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            <span class="comment">// Degenerate line segment, fallback to points</span></div>
    133. 

  133. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            <span class="keywordflow">if</span> (inA.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>() &lt; inB.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>())</div>
    134. 

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

  135. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>                <span class="comment">// A closest</span></div>
    136. 

  136. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>                outU = 1.0f;</div>
    137. 

  137. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>                outV = 0.0f;</div>
    138. 

  138. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            }</div>
    139. 

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

  140. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            {</div>
    141. 

  141. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>                <span class="comment">// B closest</span></div>
    142. 

  142. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                outU = 0.0f;</div>
    143. 

  143. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>                outV = 1.0f;</div>
    144. 

  144. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            }</div>
    145. 

  145. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    146. 

  146. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        }</div>
    147. 

  147. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        <span class="keywordflow">else</span></div>
    148. 

  148. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>        {</div>
    149. 

  149. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            outV = -inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ab) / denominator;</div>
    150. 

  150. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            outU = 1.0f - outV;</div>
    151. 

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

  152. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    153. 

  153. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    }</div>
    154. 

  154. </div>
    155. 

  155. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
    156. 

  156. <div class="foldopen" id="foldopen00050" data-start="{" data-end="}">
    157. 

  157. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#ae01251b466c3944d7c9cc6a9e01ce915">   50</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inC, <span class="keywordtype">float</span> &amp;outU, <span class="keywordtype">float</span> &amp;outV, <span class="keywordtype">float</span> &amp;outW)</div>
    158. 

  158. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    {</div>
    159. 

  159. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <span class="comment">// Taken from: Real-Time Collision Detection - Christer Ericson (Section: Barycentric Coordinates)</span></div>
    160. 

  160. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="comment">// With p = 0</span></div>
    161. 

  161. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="comment">// Adjusted to always include the shortest edge of the triangle in the calculation to improve numerical accuracy</span></div>
    162. 

  162. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
    163. 

  163. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="comment">// First calculate the three edges</span></div>
    164. 

  164. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v0 = inB - inA;</div>
    165. 

  165. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v1 = inC - inA;</div>
    166. 

  166. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v2 = inC - inB;</div>
    167. 

  167. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
    168. 

  168. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="comment">// Make sure that the shortest edge is included in the calculation to keep the products a * b - c * d as small as possible to preserve accuracy</span></div>
    169. 

  169. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        <span class="keywordtype">float</span> d00 = v0.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    170. 

  170. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <span class="keywordtype">float</span> d11 = v1.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    171. 

  171. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordtype">float</span> d22 = v2.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    172. 

  172. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <span class="keywordflow">if</span> (d00 &lt;= d22)</div>
    173. 

  173. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        {</div>
    174. 

  174. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>            <span class="comment">// Use v0 and v1 to calculate barycentric coordinates</span></div>
    175. 

  175. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            <span class="keywordtype">float</span> d01 = v0.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v1);</div>
    176. 

  176. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
    177. 

  177. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            <span class="comment">// Denominator must be positive:</span></div>
    178. 

  178. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            <span class="comment">// |v0|^2 * |v1|^2 - (v0 . v1)^2 = |v0|^2 * |v1|^2 * (1 - cos(angle)^2) &gt;= 0</span></div>
    179. 

  179. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            <span class="keywordtype">float</span> denominator = d00 * d11 - d01 * d01;</div>
    180. 

  180. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            <span class="keywordflow">if</span> (denominator &lt; 1.0e-12f)</div>
    181. 

  181. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            {</div>
    182. 

  182. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                <span class="comment">// Degenerate triangle, return coordinates along longest edge</span></div>
    183. 

  183. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                <span class="keywordflow">if</span> (d00 &gt; d11)</div>
    184. 

  184. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>                {</div>
    185. 

  185. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>                    <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(inA, inB, outU, outV);</div>
    186. 

  186. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>                    outW = 0.0f;</div>
    187. 

  187. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>                }</div>
    188. 

  188. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                <span class="keywordflow">else</span></div>
    189. 

  189. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>                {</div>
    190. 

  190. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>                    <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(inA, inC, outU, outW);</div>
    191. 

  191. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>                    outV = 0.0f;</div>
    192. 

  192. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>                }</div>
    193. 

  193. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    194. 

  194. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            }</div>
    195. 

  195. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            <span class="keywordflow">else</span></div>
    196. 

  196. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            {</div>
    197. 

  197. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>                <span class="keywordtype">float</span> a0 = inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v0);</div>
    198. 

  198. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                <span class="keywordtype">float</span> a1 = inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v1);</div>
    199. 

  199. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                outV = (d01 * a1 - d11 * a0) / denominator;</div>
    200. 

  200. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>                outW = (d01 * a0 - d00 * a1) / denominator;</div>
    201. 

  201. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>                outU = 1.0f - outV - outW;</div>
    202. 

  202. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            }</div>
    203. 

  203. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>        }</div>
    204. 

  204. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>        <span class="keywordflow">else</span></div>
    205. 

  205. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        {</div>
    206. 

  206. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            <span class="comment">// Use v1 and v2 to calculate barycentric coordinates</span></div>
    207. 

  207. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>            <span class="keywordtype">float</span> d12 = v1.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v2);</div>
    208. 

  208. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    209. 

  209. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>            <span class="keywordtype">float</span> denominator = d11 * d22 - d12 * d12;</div>
    210. 

  210. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>            <span class="keywordflow">if</span> (denominator &lt; 1.0e-12f)</div>
    211. 

  211. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>            {</div>
    212. 

  212. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>                <span class="comment">// Degenerate triangle, return coordinates along longest edge</span></div>
    213. 

  213. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>                <span class="keywordflow">if</span> (d11 &gt; d22)</div>
    214. 

  214. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>                {</div>
    215. 

  215. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>                    <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(inA, inC, outU, outW);</div>
    216. 

  216. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>                    outV = 0.0f;</div>
    217. 

  217. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>                }</div>
    218. 

  218. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>                <span class="keywordflow">else</span></div>
    219. 

  219. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                {</div>
    220. 

  220. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                    <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(inB, inC, outV, outW);</div>
    221. 

  221. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>                    outU = 0.0f;</div>
    222. 

  222. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>                }</div>
    223. 

  223. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    224. 

  224. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>            }</div>
    225. 

  225. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>            <span class="keywordflow">else</span></div>
    226. 

  226. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>            {</div>
    227. 

  227. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>                <span class="keywordtype">float</span> c1 = inC.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v1);</div>
    228. 

  228. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>                <span class="keywordtype">float</span> c2 = inC.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v2);</div>
    229. 

  229. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>                outU = (d22 * c1 - d12 * c2) / denominator;</div>
    230. 

  230. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>                outV = (d11 * c2 - d12 * c1) / denominator;</div>
    231. 

  231. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>                outW = 1.0f - outU - outV;</div>
    232. 

  232. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>            }</div>
    233. 

  233. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>        }</div>
    234. 

  234. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    235. 

  235. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    }</div>
    236. 

  236. </div>
    237. 

  237. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
    238. 

  238. <div class="foldopen" id="foldopen00132" data-start="{" data-end="}">
    239. 

  239. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#ad687ef98922a03b7128a5d3a5a64ab39">  132</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="namespace_closest_point.html#ad687ef98922a03b7128a5d3a5a64ab39">GetClosestPointOnLine</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> &amp;outSet)</div>
    240. 

  240. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    {</div>
    241. 

  241. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordtype">float</span> u, v;</div>
    242. 

  242. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">GetBaryCentricCoordinates</a>(inA, inB, u, v);</div>
    243. 

  243. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        <span class="keywordflow">if</span> (v &lt;= 0.0f)</div>
    244. 

  244. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        {</div>
    245. 

  245. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>            <span class="comment">// inA is closest point</span></div>
    246. 

  246. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>            outSet = 0b0001;</div>
    247. 

  247. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>            <span class="keywordflow">return</span> inA;</div>
    248. 

  248. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        }</div>
    249. 

  249. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (u &lt;= 0.0f)</div>
    250. 

  250. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        {</div>
    251. 

  251. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>            <span class="comment">// inB is closest point</span></div>
    252. 

  252. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            outSet = 0b0010;</div>
    253. 

  253. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            <span class="keywordflow">return</span> inB;</div>
    254. 

  254. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        }</div>
    255. 

  255. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        <span class="keywordflow">else</span></div>
    256. 

  256. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        {</div>
    257. 

  257. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            <span class="comment">// Closest point lies on line inA inB</span></div>
    258. 

  258. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            outSet = 0b0011;</div>
    259. 

  259. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>            <span class="keywordflow">return</span> u * inA + v * inB;</div>
    260. 

  260. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        }</div>
    261. 

  261. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    }</div>
    262. 

  262. </div>
    263. 

  263. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
    264. 

  264. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keyword">template</span> &lt;<span class="keywordtype">bool</span> MustIncludeC = false&gt;</div>
    265. 

  265. <div class="foldopen" id="foldopen00160" data-start="{" data-end="}">
    266. 

  266. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">  160</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">GetClosestPointOnTriangle</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inC, <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> &amp;outSet)</div>
    267. 

  267. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    {</div>
    268. 

  268. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="comment">// Taken from: Real-Time Collision Detection - Christer Ericson (Section: Closest Point on Triangle to Point)</span></div>
    269. 

  269. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="comment">// With p = 0</span></div>
    270. 

  270. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
    271. 

  271. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="comment">// The most accurate normal is calculated by using the two shortest edges</span></div>
    272. 

  272. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        <span class="comment">// See: https://box2d.org/posts/2014/01/troublesome-triangle/</span></div>
    273. 

  273. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        <span class="comment">// The difference in normals is most pronounced when one edge is much smaller than the others (in which case the other 2 must have roughly the same length).</span></div>
    274. 

  274. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        <span class="comment">// Therefore we can suffice by just picking the shortest from 2 edges and use that with the 3rd edge to calculate the normal.</span></div>
    275. 

  275. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        <span class="comment">// We first check which of the edges is shorter and if bc is shorter than ac then we swap a with c to a is always on the shortest edge</span></div>
    276. 

  276. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        <a class="code hl_class" href="class_u_vec4.html">UVec4</a> swap_ac;</div>
    277. 

  277. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        {</div>
    278. 

  278. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> ac = inC - inA;</div>
    279. 

  279. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> bc = inC - inB;</div>
    280. 

  280. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>            swap_ac = <a class="code hl_function" href="class_vec4.html#a4c8600bd26d971542437d4f31258dea4">Vec4::sLess</a>(bc.<a class="code hl_function" href="class_vec3.html#a609366221e50c7b3134d80a80d963312">DotV4</a>(bc), ac.<a class="code hl_function" href="class_vec3.html#a609366221e50c7b3134d80a80d963312">DotV4</a>(ac));</div>
    281. 

  281. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        }</div>
    282. 

  282. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> a = <a class="code hl_function" href="class_vec3.html#ae0f4ab3438fe6b9782010ef8212a6d69">Vec3::sSelect</a>(inA, inC, swap_ac);</div>
    283. 

  283. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> c = <a class="code hl_function" href="class_vec3.html#ae0f4ab3438fe6b9782010ef8212a6d69">Vec3::sSelect</a>(inC, inA, swap_ac);</div>
    284. 

  284. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
    285. 

  285. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        <span class="comment">// Calculate normal</span></div>
    286. 

  286. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ab = inB - a;</div>
    287. 

  287. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ac = c - a;</div>
    288. 

  288. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> n = ab.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(ac);</div>
    289. 

  289. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        <span class="keywordtype">float</span> n_len_sq = n.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    290. 

  290. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
    291. 

  291. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        <span class="comment">// Check degenerate</span></div>
    292. 

  292. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordflow">if</span> (n_len_sq &lt; 1.0e-10f) <span class="comment">// Square(FLT_EPSILON) was too small and caused numerical problems, see test case TestCollideParallelTriangleVsCapsule</span></div>
    293. 

  293. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        {</div>
    294. 

  294. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            <span class="comment">// Degenerate, fallback to vertices and edges</span></div>
    295. 

  295. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
    296. 

  296. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>            <span class="comment">// Start with vertex C being the closest</span></div>
    297. 

  297. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> closest_set = 0b0100;</div>
    298. 

  298. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> closest_point = inC;</div>
    299. 

  299. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>            <span class="keywordtype">float</span> best_dist_sq = inC.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    300. 

  300. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
    301. 

  301. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>            <span class="comment">// If the closest point must include C then A or B cannot be closest</span></div>
    302. 

  302. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            <span class="comment">// Note that we test vertices first because we want to prefer a closest vertex over a closest edge (this results in an outSet with fewer bits set)</span></div>
    303. 

  303. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (!MustIncludeC)</div>
    304. 

  304. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>            {</div>
    305. 

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

  306. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>                <span class="keywordtype">float</span> a_len_sq = inA.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    307. 

  307. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>                <span class="keywordflow">if</span> (a_len_sq &lt; best_dist_sq)</div>
    308. 

  308. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>                {</div>
    309. 

  309. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>                    closest_set = 0b0001;</div>
    310. 

  310. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>                    closest_point = inA;</div>
    311. 

  311. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>                    best_dist_sq = a_len_sq;</div>
    312. 

  312. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>                }</div>
    313. 

  313. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
    314. 

  314. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>                <span class="comment">// Try vertex B</span></div>
    315. 

  315. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>                <span class="keywordtype">float</span> b_len_sq = inB.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    316. 

  316. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>                <span class="keywordflow">if</span> (b_len_sq &lt; best_dist_sq)</div>
    317. 

  317. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>                {</div>
    318. 

  318. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>                    closest_set = 0b0010;</div>
    319. 

  319. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>                    closest_point = inB;</div>
    320. 

  320. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>                    best_dist_sq = b_len_sq;</div>
    321. 

  321. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>                }</div>
    322. 

  322. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>            }</div>
    323. 

  323. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span> </div>
    324. 

  324. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>            <span class="comment">// Edge AC</span></div>
    325. 

  325. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>            <span class="keywordtype">float</span> ac_len_sq = ac.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    326. 

  326. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>            <span class="keywordflow">if</span> (ac_len_sq &gt; <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(FLT_EPSILON))</div>
    327. 

  327. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>            {</div>
    328. 

  328. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>                <span class="keywordtype">float</span> v = <a class="code hl_function" href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a>(-a.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ac) / ac_len_sq, 0.0f, 1.0f);</div>
    329. 

  329. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>                <a class="code hl_class" href="class_vec3.html">Vec3</a> q = a + v * ac;</div>
    330. 

  330. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>                <span class="keywordtype">float</span> dist_sq = q.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    331. 

  331. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>                <span class="keywordflow">if</span> (dist_sq &lt; best_dist_sq)</div>
    332. 

  332. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>                {</div>
    333. 

  333. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>                    closest_set = 0b0101;</div>
    334. 

  334. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>                    closest_point = q;</div>
    335. 

  335. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>                    best_dist_sq = dist_sq;</div>
    336. 

  336. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>                }</div>
    337. 

  337. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>            }</div>
    338. 

  338. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
    339. 

  339. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>            <span class="comment">// Edge BC</span></div>
    340. 

  340. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> bc = inC - inB;</div>
    341. 

  341. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>            <span class="keywordtype">float</span> bc_len_sq = bc.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    342. 

  342. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>            <span class="keywordflow">if</span> (bc_len_sq &gt; <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(FLT_EPSILON))</div>
    343. 

  343. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>            {</div>
    344. 

  344. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                <span class="keywordtype">float</span> v = <a class="code hl_function" href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a>(-inB.Dot(bc) / bc_len_sq, 0.0f, 1.0f);</div>
    345. 

  345. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                <a class="code hl_class" href="class_vec3.html">Vec3</a> q = inB + v * bc;</div>
    346. 

  346. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                <span class="keywordtype">float</span> dist_sq = q.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    347. 

  347. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>                <span class="keywordflow">if</span> (dist_sq &lt; best_dist_sq)</div>
    348. 

  348. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>                {</div>
    349. 

  349. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>                    closest_set = 0b0110;</div>
    350. 

  350. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>                    closest_point = q;</div>
    351. 

  351. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>                    best_dist_sq = dist_sq;</div>
    352. 

  352. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>                }</div>
    353. 

  353. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>            }</div>
    354. 

  354. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
    355. 

  355. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>            <span class="comment">// If the closest point must include C then AB cannot be closest</span></div>
    356. 

  356. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>            <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (!MustIncludeC)</div>
    357. 

  357. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>            {</div>
    358. 

  358. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>                <span class="comment">// Edge AB</span></div>
    359. 

  359. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>                ab = inB - inA;</div>
    360. 

  360. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>                <span class="keywordtype">float</span> ab_len_sq = ab.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    361. 

  361. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>                <span class="keywordflow">if</span> (ab_len_sq &gt; <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(FLT_EPSILON))</div>
    362. 

  362. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>                {</div>
    363. 

  363. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>                    <span class="keywordtype">float</span> v = <a class="code hl_function" href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a>(-inA.Dot(ab) / ab_len_sq, 0.0f, 1.0f);</div>
    364. 

  364. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>                    <a class="code hl_class" href="class_vec3.html">Vec3</a> q = inA + v * ab;</div>
    365. 

  365. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>                    <span class="keywordtype">float</span> dist_sq = q.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    366. 

  366. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>                    <span class="keywordflow">if</span> (dist_sq &lt; best_dist_sq)</div>
    367. 

  367. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>                    {</div>
    368. 

  368. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>                        closest_set = 0b0011;</div>
    369. 

  369. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>                        closest_point = q;</div>
    370. 

  370. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>                        best_dist_sq = dist_sq;</div>
    371. 

  371. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>                    }</div>
    372. 

  372. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>                }</div>
    373. 

  373. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>            }</div>
    374. 

  374. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span> </div>
    375. 

  375. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>            outSet = closest_set;</div>
    376. 

  376. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>            <span class="keywordflow">return</span> closest_point;</div>
    377. 

  377. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>        }</div>
    378. 

  378. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span> </div>
    379. 

  379. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>        <span class="comment">// Check if P in vertex region outside A</span></div>
    380. 

  380. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ap = -a;</div>
    381. 

  381. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        <span class="keywordtype">float</span> d1 = ab.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ap);</div>
    382. 

  382. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        <span class="keywordtype">float</span> d2 = ac.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ap);</div>
    383. 

  383. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>        <span class="keywordflow">if</span> (d1 &lt;= 0.0f &amp;&amp; d2 &lt;= 0.0f)</div>
    384. 

  384. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>        {</div>
    385. 

  385. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>            outSet = swap_ac.<a class="code hl_function" href="class_u_vec4.html#ab2f2894975c86cd37303d8454aa37fcf">GetX</a>()? 0b0100 : 0b0001;</div>
    386. 

  386. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>            <span class="keywordflow">return</span> a; <span class="comment">// barycentric coordinates (1,0,0)</span></div>
    387. 

  387. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>        }</div>
    388. 

  388. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span> </div>
    389. 

  389. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>        <span class="comment">// Check if P in vertex region outside B</span></div>
    390. 

  390. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> bp = -inB;</div>
    391. 

  391. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>        <span class="keywordtype">float</span> d3 = ab.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(bp);</div>
    392. 

  392. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>        <span class="keywordtype">float</span> d4 = ac.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(bp);</div>
    393. 

  393. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>        <span class="keywordflow">if</span> (d3 &gt;= 0.0f &amp;&amp; d4 &lt;= d3)</div>
    394. 

  394. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>        {</div>
    395. 

  395. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>            outSet = 0b0010;</div>
    396. 

  396. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>            <span class="keywordflow">return</span> inB; <span class="comment">// barycentric coordinates (0,1,0)</span></div>
    397. 

  397. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>        }</div>
    398. 

  398. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
    399. 

  399. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>        <span class="comment">// Check if P in edge region of AB, if so return projection of P onto AB</span></div>
    400. 

  400. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>        <span class="keywordflow">if</span> (d1 * d4 &lt;= d3 * d2 &amp;&amp; d1 &gt;= 0.0f &amp;&amp; d3 &lt;= 0.0f)</div>
    401. 

  401. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        {</div>
    402. 

  402. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>            <span class="keywordtype">float</span> v = d1 / (d1 - d3);</div>
    403. 

  403. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>            outSet = swap_ac.<a class="code hl_function" href="class_u_vec4.html#ab2f2894975c86cd37303d8454aa37fcf">GetX</a>()? 0b0110 : 0b0011;</div>
    404. 

  404. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>            <span class="keywordflow">return</span> a + v * ab; <span class="comment">// barycentric coordinates (1-v,v,0)</span></div>
    405. 

  405. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>        }</div>
    406. 

  406. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span> </div>
    407. 

  407. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>        <span class="comment">// Check if P in vertex region outside C</span></div>
    408. 

  408. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> cp = -c;</div>
    409. 

  409. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>        <span class="keywordtype">float</span> d5 = ab.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(cp);</div>
    410. 

  410. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>        <span class="keywordtype">float</span> d6 = ac.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(cp);</div>
    411. 

  411. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>        <span class="keywordflow">if</span> (d6 &gt;= 0.0f &amp;&amp; d5 &lt;= d6)</div>
    412. 

  412. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>        {</div>
    413. 

  413. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>            outSet = swap_ac.<a class="code hl_function" href="class_u_vec4.html#ab2f2894975c86cd37303d8454aa37fcf">GetX</a>()? 0b0001 : 0b0100;</div>
    414. 

  414. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>            <span class="keywordflow">return</span> c; <span class="comment">// barycentric coordinates (0,0,1)</span></div>
    415. 

  415. <div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>        }</div>
    416. 

  416. <div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span> </div>
    417. 

  417. <div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>        <span class="comment">// Check if P in edge region of AC, if so return projection of P onto AC</span></div>
    418. 

  418. <div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>        <span class="keywordflow">if</span> (d5 * d2 &lt;= d1 * d6 &amp;&amp; d2 &gt;= 0.0f &amp;&amp; d6 &lt;= 0.0f)</div>
    419. 

  419. <div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>        {</div>
    420. 

  420. <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>            <span class="keywordtype">float</span> w = d2 / (d2 - d6);</div>
    421. 

  421. <div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>            outSet = 0b0101;</div>
    422. 

  422. <div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>            <span class="keywordflow">return</span> a + w * ac; <span class="comment">// barycentric coordinates (1-w,0,w)</span></div>
    423. 

  423. <div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>        }</div>
    424. 

  424. <div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span> </div>
    425. 

  425. <div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>        <span class="comment">// Check if P in edge region of BC, if so return projection of P onto BC</span></div>
    426. 

  426. <div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>        <span class="keywordtype">float</span> d4_d3 = d4 - d3;</div>
    427. 

  427. <div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>        <span class="keywordtype">float</span> d5_d6 = d5 - d6;</div>
    428. 

  428. <div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>        <span class="keywordflow">if</span> (d3 * d6 &lt;= d5 * d4 &amp;&amp; d4_d3 &gt;= 0.0f &amp;&amp; d5_d6 &gt;= 0.0f)</div>
    429. 

  429. <div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>        {</div>
    430. 

  430. <div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>            <span class="keywordtype">float</span> w = d4_d3 / (d4_d3 + d5_d6);</div>
    431. 

  431. <div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>            outSet = swap_ac.<a class="code hl_function" href="class_u_vec4.html#ab2f2894975c86cd37303d8454aa37fcf">GetX</a>()? 0b0011 : 0b0110;</div>
    432. 

  432. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>            <span class="keywordflow">return</span> inB + w * (c - inB); <span class="comment">// barycentric coordinates (0,1-w,w)</span></div>
    433. 

  433. <div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>        }</div>
    434. 

  434. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span> </div>
    435. 

  435. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>        <span class="comment">// P inside face region.</span></div>
    436. 

  436. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>        <span class="comment">// Here we deviate from Christer Ericson&#39;s article to improve accuracy.</span></div>
    437. 

  437. <div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>        <span class="comment">// Determine distance between triangle and origin: distance = (centroid - origin) . normal / |normal|</span></div>
    438. 

  438. <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        <span class="comment">// Closest point to origin is then: distance . normal / |normal|</span></div>
    439. 

  439. <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>        <span class="comment">// Note that this way of calculating the closest point is much more accurate than first calculating barycentric coordinates</span></div>
    440. 

  440. <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>        <span class="comment">// and then calculating the closest point based on those coordinates.</span></div>
    441. 

  441. <div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>        outSet = 0b0111;</div>
    442. 

  442. <div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>        <span class="keywordflow">return</span> n * (a + inB + c).Dot(n) / (3.0f * n_len_sq);</div>
    443. 

  443. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>    }</div>
    444. 

  444. </div>
    445. 

  445. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span> </div>
    446. 

  446. <div class="foldopen" id="foldopen00340" data-start="{" data-end="}">
    447. 

  447. <div class="line"><a id="l00340" name="l00340"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#ad4bc500e8c3ea1bc2b2bc1a289408f1b">  340</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="namespace_closest_point.html#ad4bc500e8c3ea1bc2b2bc1a289408f1b">OriginOutsideOfPlane</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inC, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inD)</div>
    448. 

  448. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    {</div>
    449. 

  449. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>        <span class="comment">// Taken from: Real-Time Collision Detection - Christer Ericson (Section: Closest Point on Tetrahedron to Point)</span></div>
    450. 

  450. <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>        <span class="comment">// With p = 0</span></div>
    451. 

  451. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span> </div>
    452. 

  452. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>        <span class="comment">// Test if point p and d lie on opposite sides of plane through abc</span></div>
    453. 

  453. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> n = (inB - inA).Cross(inC - inA);</div>
    454. 

  454. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>        <span class="keywordtype">float</span> signp = inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(n); <span class="comment">// [AP AB AC]</span></div>
    455. 

  455. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>        <span class="keywordtype">float</span> signd = (inD - inA).Dot(n); <span class="comment">// [AD AB AC]</span></div>
    456. 

  456. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span> </div>
    457. 

  457. <div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>        <span class="comment">// Points on opposite sides if expression signs are the same</span></div>
    458. 

  458. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>        <span class="comment">// Note that we left out the minus sign in signp so we need to check &gt; 0 instead of &lt; 0 as in Christer&#39;s book</span></div>
    459. 

  459. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        <span class="comment">// We compare against a small negative value to allow for a little bit of slop in the calculations</span></div>
    460. 

  460. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>        <span class="keywordflow">return</span> signp * signd &gt; -FLT_EPSILON;</div>
    461. 

  461. <div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>    }</div>
    462. 

  462. </div>
    463. 

  463. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span> </div>
    464. 

  464. <div class="foldopen" id="foldopen00362" data-start="{" data-end="}">
    465. 

  465. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#a7221bb45d1aec01527f66683bf2611e0">  362</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_u_vec4.html">UVec4</a> <a class="code hl_function" href="namespace_closest_point.html#a7221bb45d1aec01527f66683bf2611e0">OriginOutsideOfTetrahedronPlanes</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inC, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inD)</div>
    466. 

  466. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>    {</div>
    467. 

  467. <div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ab = inB - inA;</div>
    468. 

  468. <div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ac = inC - inA;</div>
    469. 

  469. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ad = inD - inA;</div>
    470. 

  470. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> bd = inD - inB;</div>
    471. 

  471. <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> bc = inC - inB;</div>
    472. 

  472. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span> </div>
    473. 

  473. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ab_cross_ac = ab.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(ac);</div>
    474. 

  474. <div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ac_cross_ad = ac.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(ad);</div>
    475. 

  475. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> ad_cross_ab = ad.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(ab);</div>
    476. 

  476. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> bd_cross_bc = bd.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(bc);</div>
    477. 

  477. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span> </div>
    478. 

  478. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>        <span class="comment">// For each plane get the side on which the origin is</span></div>
    479. 

  479. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>        <span class="keywordtype">float</span> signp0 = inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ab_cross_ac); <span class="comment">// ABC</span></div>
    480. 

  480. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>        <span class="keywordtype">float</span> signp1 = inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ac_cross_ad); <span class="comment">// ACD</span></div>
    481. 

  481. <div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>        <span class="keywordtype">float</span> signp2 = inA.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ad_cross_ab); <span class="comment">// ADB</span></div>
    482. 

  482. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>        <span class="keywordtype">float</span> signp3 = inB.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(bd_cross_bc); <span class="comment">// BDC</span></div>
    483. 

  483. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> signp(signp0, signp1, signp2, signp3);</div>
    484. 

  484. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span> </div>
    485. 

  485. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>        <span class="comment">// For each plane get the side that is outside (determined by the 4th point)</span></div>
    486. 

  486. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>        <span class="keywordtype">float</span> signd0 = ad.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ab_cross_ac);  <span class="comment">// D</span></div>
    487. 

  487. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>        <span class="keywordtype">float</span> signd1 = ab.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ac_cross_ad);  <span class="comment">// B</span></div>
    488. 

  488. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>        <span class="keywordtype">float</span> signd2 = ac.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ad_cross_ab);  <span class="comment">// C</span></div>
    489. 

  489. <div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>        <span class="keywordtype">float</span> signd3 = -ab.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(bd_cross_bc); <span class="comment">// A</span></div>
    490. 

  490. <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> signd(signd0, signd1, signd2, signd3);</div>
    491. 

  491. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span> </div>
    492. 

  492. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>        <span class="comment">// The winding of all triangles has been chosen so that signd should have the</span></div>
    493. 

  493. <div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>        <span class="comment">// same sign for all components. If this is not the case the tetrahedron</span></div>
    494. 

  494. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>        <span class="comment">// is degenerate and we return that the origin is in front of all sides</span></div>
    495. 

  495. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>        <span class="keywordtype">int</span> sign_bits = signd.<a class="code hl_function" href="class_vec4.html#aeccf9a2f8d2742fba6c62d4419cfa5d6">GetSignBits</a>();</div>
    496. 

  496. <div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>        <span class="keywordflow">switch</span> (sign_bits)</div>
    497. 

  497. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>        {</div>
    498. 

  498. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>        <span class="keywordflow">case</span> 0:</div>
    499. 

  499. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>            <span class="comment">// All positive</span></div>
    500. 

  500. <div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec4.html#a81da488f59d4a7a84b8ad78fb9d9832d">Vec4::sGreaterOrEqual</a>(signp, <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(-FLT_EPSILON));</div>
    501. 

  501. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span> </div>
    502. 

  502. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>        <span class="keywordflow">case</span> 0xf:</div>
    503. 

  503. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>            <span class="comment">// All negative</span></div>
    504. 

  504. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec4.html#a4880dd63dffd8c23e5a692279d8a8762">Vec4::sLessOrEqual</a>(signp, <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(FLT_EPSILON));</div>
    505. 

  505. <div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span> </div>
    506. 

  506. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>        <span class="keywordflow">default</span>:</div>
    507. 

  507. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>            <span class="comment">// Mixed signs, degenerate tetrahedron</span></div>
    508. 

  508. <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="class_u_vec4.html#a4287a7bd825aaf6111f310e0c92bd152">UVec4::sReplicate</a>(0xffffffff);</div>
    509. 

  509. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>        }</div>
    510. 

  510. <div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>    }</div>
    511. 

  511. </div>
    512. 

  512. <div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span> </div>
    513. 

  513. <div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>    <span class="keyword">template</span> &lt;<span class="keywordtype">bool</span> MustIncludeD = false&gt;</div>
    514. 

  514. <div class="foldopen" id="foldopen00413" data-start="{" data-end="}">
    515. 

  515. <div class="line"><a id="l00413" name="l00413"></a><span class="lineno"><a class="line" href="namespace_closest_point.html#abafebdbe3dea0fe6674c20fc9ccc8540">  413</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="namespace_closest_point.html#abafebdbe3dea0fe6674c20fc9ccc8540">GetClosestPointOnTetrahedron</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inA, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inB, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inC, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inD, <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> &amp;outSet)</div>
    516. 

  516. <div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>    {</div>
    517. 

  517. <div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>        <span class="comment">// Taken from: Real-Time Collision Detection - Christer Ericson (Section: Closest Point on Tetrahedron to Point)</span></div>
    518. 

  518. <div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>        <span class="comment">// With p = 0</span></div>
    519. 

  519. <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
    520. 

  520. <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>        <span class="comment">// Start out assuming point inside all halfspaces, so closest to itself</span></div>
    521. 

  521. <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>        <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> closest_set = 0b1111;</div>
    522. 

  522. <div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> closest_point = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    523. 

  523. <div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>        <span class="keywordtype">float</span> best_dist_sq = FLT_MAX;</div>
    524. 

  524. <div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span> </div>
    525. 

  525. <div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>        <span class="comment">// Determine for each of the faces of the tetrahedron if the origin is in front of the plane</span></div>
    526. 

  526. <div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>        <a class="code hl_class" href="class_u_vec4.html">UVec4</a> origin_out_of_planes = <a class="code hl_function" href="namespace_closest_point.html#a7221bb45d1aec01527f66683bf2611e0">OriginOutsideOfTetrahedronPlanes</a>(inA, inB, inC, inD);</div>
    527. 

  527. <div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span> </div>
    528. 

  528. <div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>        <span class="comment">// If point outside face abc then compute closest point on abc</span></div>
    529. 

  529. <div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>        <span class="keywordflow">if</span> (origin_out_of_planes.<a class="code hl_function" href="class_u_vec4.html#ab2f2894975c86cd37303d8454aa37fcf">GetX</a>()) <span class="comment">// OriginOutsideOfPlane(inA, inB, inC, inD)</span></div>
    530. 

  530. <div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>        {</div>
    531. 

  531. <div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>            <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (MustIncludeD)</div>
    532. 

  532. <div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>            {</div>
    533. 

  533. <div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>                <span class="comment">// If the closest point must include D then ABC cannot be closest but the closest point</span></div>
    534. 

  534. <div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                <span class="comment">// cannot be an interior point either so we return A as closest point</span></div>
    535. 

  535. <div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>                closest_set = 0b0001;</div>
    536. 

  536. <div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>                closest_point = inA;</div>
    537. 

  537. <div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>            }</div>
    538. 

  538. <div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>            <span class="keywordflow">else</span></div>
    539. 

  539. <div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>            {</div>
    540. 

  540. <div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>                <span class="comment">// Test the face normally</span></div>
    541. 

  541. <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>                closest_point = <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">GetClosestPointOnTriangle&lt;false&gt;</a>(inA, inB, inC, closest_set);</div>
    542. 

  542. <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>            }</div>
    543. 

  543. <div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>            best_dist_sq = closest_point.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    544. 

  544. <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>        }</div>
    545. 

  545. <div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span> </div>
    546. 

  546. <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>        <span class="comment">// Repeat test for face acd</span></div>
    547. 

  547. <div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>        <span class="keywordflow">if</span> (origin_out_of_planes.<a class="code hl_function" href="class_u_vec4.html#a33a55cd5fde9b7bfdbb408faafc1f11b">GetY</a>()) <span class="comment">// OriginOutsideOfPlane(inA, inC, inD, inB)</span></div>
    548. 

  548. <div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>        {</div>
    549. 

  549. <div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;</div>
    550. 

  550. <div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> q = <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">GetClosestPointOnTriangle&lt;MustIncludeD&gt;</a>(inA, inC, inD, set);</div>
    551. 

  551. <div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>            <span class="keywordtype">float</span> dist_sq = q.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    552. 

  552. <div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>            <span class="keywordflow">if</span> (dist_sq &lt; best_dist_sq)</div>
    553. 

  553. <div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>            {</div>
    554. 

  554. <div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>                best_dist_sq = dist_sq;</div>
    555. 

  555. <div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>                closest_point = q;</div>
    556. 

  556. <div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>                closest_set = (set &amp; 0b0001) + ((set &amp; 0b0110) &lt;&lt; 1);</div>
    557. 

  557. <div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>            }</div>
    558. 

  558. <div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        }</div>
    559. 

  559. <div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span> </div>
    560. 

  560. <div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>        <span class="comment">// Repeat test for face adb</span></div>
    561. 

  561. <div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        <span class="keywordflow">if</span> (origin_out_of_planes.<a class="code hl_function" href="class_u_vec4.html#a0eeba4ed35bd749af316be5bc0949a0a">GetZ</a>()) <span class="comment">// OriginOutsideOfPlane(inA, inD, inB, inC)</span></div>
    562. 

  562. <div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>        {</div>
    563. 

  563. <div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>            <span class="comment">// Keep original vertex order, it doesn&#39;t matter if the triangle is facing inward or outward</span></div>
    564. 

  564. <div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>            <span class="comment">// and it improves consistency for GJK which will always add a new vertex D and keep the closest</span></div>
    565. 

  565. <div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>            <span class="comment">// feature from the previous iteration in ABC</span></div>
    566. 

  566. <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;</div>
    567. 

  567. <div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> q = <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">GetClosestPointOnTriangle&lt;MustIncludeD&gt;</a>(inA, inB, inD, set);</div>
    568. 

  568. <div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>            <span class="keywordtype">float</span> dist_sq = q.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    569. 

  569. <div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>            <span class="keywordflow">if</span> (dist_sq &lt; best_dist_sq)</div>
    570. 

  570. <div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>            {</div>
    571. 

  571. <div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>                best_dist_sq = dist_sq;</div>
    572. 

  572. <div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>                closest_point = q;</div>
    573. 

  573. <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>                closest_set = (set &amp; 0b0011) + ((set &amp; 0b0100) &lt;&lt; 1);</div>
    574. 

  574. <div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>            }</div>
    575. 

  575. <div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        }</div>
    576. 

  576. <div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span> </div>
    577. 

  577. <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>        <span class="comment">// Repeat test for face bdc</span></div>
    578. 

  578. <div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>        <span class="keywordflow">if</span> (origin_out_of_planes.<a class="code hl_function" href="class_u_vec4.html#a8524d1d2a92eb5b564976d7d2a5f8a57">GetW</a>()) <span class="comment">// OriginOutsideOfPlane(inB, inD, inC, inA)</span></div>
    579. 

  579. <div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>        {</div>
    580. 

  580. <div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>            <span class="comment">// Keep original vertex order, it doesn&#39;t matter if the triangle is facing inward or outward</span></div>
    581. 

  581. <div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>            <span class="comment">// and it improves consistency for GJK which will always add a new vertex D and keep the closest</span></div>
    582. 

  582. <div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>            <span class="comment">// feature from the previous iteration in ABC</span></div>
    583. 

  583. <div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;</div>
    584. 

  584. <div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> q = <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">GetClosestPointOnTriangle&lt;MustIncludeD&gt;</a>(inB, inC, inD, set);</div>
    585. 

  585. <div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>            <span class="keywordtype">float</span> dist_sq = q.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    586. 

  586. <div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>            <span class="keywordflow">if</span> (dist_sq &lt; best_dist_sq)</div>
    587. 

  587. <div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>            {</div>
    588. 

  588. <div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>                closest_point = q;</div>
    589. 

  589. <div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>                closest_set = set &lt;&lt; 1;</div>
    590. 

  590. <div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>            }</div>
    591. 

  591. <div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>        }</div>
    592. 

  592. <div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span> </div>
    593. 

  593. <div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>        outSet = closest_set;</div>
    594. 

  594. <div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>        <span class="keywordflow">return</span> closest_point;</div>
    595. 

  595. <div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    }</div>
    596. 

  596. </div>
    597. 

  597. <div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>};</div>
    598. 

  598. </div>
    599. 

  599. <div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span> </div>
    600. 

  600. <div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>JPH_PRECISE_MATH_OFF</div>
    601. 

  601. <div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span> </div>
    602. 

  602. <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    603. 

  603. <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>
    604. 

  604. <div class="ttc" id="a_core_8h_html_a8f95e75e58492e87412191fabadd8ca8"><div class="ttname"><a href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></div><div class="ttdeci">std::uint32_t uint32</div><div class="ttdef"><b>Definition</b> Core.h:503</div></div>
    605. 

  605. <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>
    606. 

  606. <div class="ttc" id="a_math_8h_html_a05be8f8200a1a67cbfacd3d16b17ac21"><div class="ttname"><a href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a></div><div class="ttdeci">JPH_INLINE constexpr T Clamp(T inV, T inMin, T inMax)</div><div class="ttdoc">Clamp a value between two values.</div><div class="ttdef"><b>Definition</b> Math.h:48</div></div>
    607. 

  607. <div class="ttc" id="a_math_8h_html_a61379b8b743a16fe823daeebc1482570"><div class="ttname"><a href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a></div><div class="ttdeci">JPH_INLINE constexpr T Square(T inV)</div><div class="ttdoc">Square a value.</div><div class="ttdef"><b>Definition</b> Math.h:55</div></div>
    608. 

  608. <div class="ttc" id="aclass_u_vec4_html"><div class="ttname"><a href="class_u_vec4.html">UVec4</a></div><div class="ttdef"><b>Definition</b> UVec4.h:12</div></div>
    609. 

  609. <div class="ttc" id="aclass_u_vec4_html_a0eeba4ed35bd749af316be5bc0949a0a"><div class="ttname"><a href="class_u_vec4.html#a0eeba4ed35bd749af316be5bc0949a0a">UVec4::GetZ</a></div><div class="ttdeci">JPH_INLINE uint32 GetZ() const</div><div class="ttdef"><b>Definition</b> UVec4.h:104</div></div>
    610. 

  610. <div class="ttc" id="aclass_u_vec4_html_a33a55cd5fde9b7bfdbb408faafc1f11b"><div class="ttname"><a href="class_u_vec4.html#a33a55cd5fde9b7bfdbb408faafc1f11b">UVec4::GetY</a></div><div class="ttdeci">JPH_INLINE uint32 GetY() const</div><div class="ttdef"><b>Definition</b> UVec4.h:103</div></div>
    611. 

  611. <div class="ttc" id="aclass_u_vec4_html_a4287a7bd825aaf6111f310e0c92bd152"><div class="ttname"><a href="class_u_vec4.html#a4287a7bd825aaf6111f310e0c92bd152">UVec4::sReplicate</a></div><div class="ttdeci">static JPH_INLINE UVec4 sReplicate(uint32 inV)</div><div class="ttdoc">Replicate int inV across all components.</div><div class="ttdef"><b>Definition</b> UVec4.inl:56</div></div>
    612. 

  612. <div class="ttc" id="aclass_u_vec4_html_a8524d1d2a92eb5b564976d7d2a5f8a57"><div class="ttname"><a href="class_u_vec4.html#a8524d1d2a92eb5b564976d7d2a5f8a57">UVec4::GetW</a></div><div class="ttdeci">JPH_INLINE uint32 GetW() const</div><div class="ttdef"><b>Definition</b> UVec4.h:105</div></div>
    613. 

  613. <div class="ttc" id="aclass_u_vec4_html_ab2f2894975c86cd37303d8454aa37fcf"><div class="ttname"><a href="class_u_vec4.html#ab2f2894975c86cd37303d8454aa37fcf">UVec4::GetX</a></div><div class="ttdeci">JPH_INLINE uint32 GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> UVec4.h:102</div></div>
    614. 

  614. <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>
    615. 

  615. <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>
    616. 

  616. <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>
    617. 

  617. <div class="ttc" id="aclass_vec3_html_a609366221e50c7b3134d80a80d963312"><div class="ttname"><a href="class_vec3.html#a609366221e50c7b3134d80a80d963312">Vec3::DotV4</a></div><div class="ttdeci">JPH_INLINE Vec4 DotV4(Vec3Arg inV2) const</div><div class="ttdoc">Dot product, returns the dot product in X, Y, Z and W components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:634</div></div>
    618. 

  618. <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>
    619. 

  619. <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>
    620. 

  620. <div class="ttc" id="aclass_vec3_html_ae0f4ab3438fe6b9782010ef8212a6d69"><div class="ttname"><a href="class_vec3.html#ae0f4ab3438fe6b9782010ef8212a6d69">Vec3::sSelect</a></div><div class="ttdeci">static JPH_INLINE Vec3 sSelect(Vec3Arg inNotSet, Vec3Arg inSet, UVec4Arg inControl)</div><div class="ttdoc">Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit ...</div><div class="ttdef"><b>Definition</b> Vec3.inl:270</div></div>
    621. 

  621. <div class="ttc" id="aclass_vec4_html"><div class="ttname"><a href="class_vec4.html">Vec4</a></div><div class="ttdef"><b>Definition</b> Vec4.h:14</div></div>
    622. 

  622. <div class="ttc" id="aclass_vec4_html_a4880dd63dffd8c23e5a692279d8a8762"><div class="ttname"><a href="class_vec4.html#a4880dd63dffd8c23e5a692279d8a8762">Vec4::sLessOrEqual</a></div><div class="ttdeci">static JPH_INLINE UVec4 sLessOrEqual(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Less than or equal (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:204</div></div>
    623. 

  623. <div class="ttc" id="aclass_vec4_html_a4c8600bd26d971542437d4f31258dea4"><div class="ttname"><a href="class_vec4.html#a4c8600bd26d971542437d4f31258dea4">Vec4::sLess</a></div><div class="ttdeci">static JPH_INLINE UVec4 sLess(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Less than (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:190</div></div>
    624. 

  624. <div class="ttc" id="aclass_vec4_html_a81da488f59d4a7a84b8ad78fb9d9832d"><div class="ttname"><a href="class_vec4.html#a81da488f59d4a7a84b8ad78fb9d9832d">Vec4::sGreaterOrEqual</a></div><div class="ttdeci">static JPH_INLINE UVec4 sGreaterOrEqual(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Greater than or equal (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:232</div></div>
    625. 

  625. <div class="ttc" id="aclass_vec4_html_aeccf9a2f8d2742fba6c62d4419cfa5d6"><div class="ttname"><a href="class_vec4.html#aeccf9a2f8d2742fba6c62d4419cfa5d6">Vec4::GetSignBits</a></div><div class="ttdeci">JPH_INLINE int GetSignBits() const</div><div class="ttdoc">Store if X is negative in bit 0, Y in bit 1, Z in bit 2 and W in bit 3.</div><div class="ttdef"><b>Definition</b> Vec4.inl:841</div></div>
    626. 

  626. <div class="ttc" id="aclass_vec4_html_af18f350dd2885dc48ff7e7cbf4b8bc9d"><div class="ttname"><a href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a></div><div class="ttdeci">static JPH_INLINE Vec4 sReplicate(float inV)</div><div class="ttdoc">Replicate inV across all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:74</div></div>
    627. 

  627. <div class="ttc" id="anamespace_closest_point_html"><div class="ttname"><a href="namespace_closest_point.html">ClosestPoint</a></div><div class="ttdoc">Helper utils to find the closest point to a line segment, triangle or tetrahedron.</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:14</div></div>
    628. 

  628. <div class="ttc" id="anamespace_closest_point_html_a194f91c80641bfd1071c5316705a2c85"><div class="ttname"><a href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">ClosestPoint::GetBaryCentricCoordinates</a></div><div class="ttdeci">bool GetBaryCentricCoordinates(Vec3Arg inA, Vec3Arg inB, float &amp;outU, float &amp;outV)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:18</div></div>
    629. 

  629. <div class="ttc" id="anamespace_closest_point_html_a25fcaaf786d8724b11d02406ab74e0bc"><div class="ttname"><a href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">ClosestPoint::GetClosestPointOnTriangle</a></div><div class="ttdeci">Vec3 GetClosestPointOnTriangle(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:160</div></div>
    630. 

  630. <div class="ttc" id="anamespace_closest_point_html_a7221bb45d1aec01527f66683bf2611e0"><div class="ttname"><a href="namespace_closest_point.html#a7221bb45d1aec01527f66683bf2611e0">ClosestPoint::OriginOutsideOfTetrahedronPlanes</a></div><div class="ttdeci">UVec4 OriginOutsideOfTetrahedronPlanes(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, Vec3Arg inD)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:362</div></div>
    631. 

  631. <div class="ttc" id="anamespace_closest_point_html_abafebdbe3dea0fe6674c20fc9ccc8540"><div class="ttname"><a href="namespace_closest_point.html#abafebdbe3dea0fe6674c20fc9ccc8540">ClosestPoint::GetClosestPointOnTetrahedron</a></div><div class="ttdeci">Vec3 GetClosestPointOnTetrahedron(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, Vec3Arg inD, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:413</div></div>
    632. 

  632. <div class="ttc" id="anamespace_closest_point_html_ad4bc500e8c3ea1bc2b2bc1a289408f1b"><div class="ttname"><a href="namespace_closest_point.html#ad4bc500e8c3ea1bc2b2bc1a289408f1b">ClosestPoint::OriginOutsideOfPlane</a></div><div class="ttdeci">bool OriginOutsideOfPlane(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, Vec3Arg inD)</div><div class="ttdoc">Check if the origin is outside the plane of triangle (inA, inB, inC). inD specifies the front side of...</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:340</div></div>
    633. 

  633. <div class="ttc" id="anamespace_closest_point_html_ad687ef98922a03b7128a5d3a5a64ab39"><div class="ttname"><a href="namespace_closest_point.html#ad687ef98922a03b7128a5d3a5a64ab39">ClosestPoint::GetClosestPointOnLine</a></div><div class="ttdeci">Vec3 GetClosestPointOnLine(Vec3Arg inA, Vec3Arg inB, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:132</div></div>
    634. 

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