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

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

  111. <a href="_e_p_a_convex_hull_builder_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

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

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

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

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

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

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment">// Define to validate the integrity of the hull structure</span></div>
    118. 

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

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">// Define to draw the building of the hull for debugging purposes</span></div>
    121. 

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

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="_non_copyable_8h.html">Jolt/Core/NonCopyable.h</a>&gt;</span></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="_binary_heap_8h.html">Jolt/Core/BinaryHeap.h</a>&gt;</span></div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    127. 

  127. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">    #include &lt;<a class="code" href="_debug_renderer_8h.html">Jolt/Renderer/DebugRenderer.h</a>&gt;</span></div>
    128. 

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">    #include &lt;<a class="code" href="_string_tools_8h.html">Jolt/Core/StringTools.h</a>&gt;</span></div>
    129. 

  129. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#endif</span></div>
    130. 

  130. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
    131. 

  131. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    132. 

  132. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
    133. 

  133. <div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
    134. 

  134. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html">   24</a></span><span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder.html">EPAConvexHullBuilder</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_non_copyable.html">NonCopyable</a></div>
    135. 

  135. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>{</div>
    136. 

  136. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="keyword">private</span>:</div>
    137. 

  137. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    138. 

  138. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_real_8h.html#a6baabe9790f3842ab73110ab342c5c5e">Real</a> cDrawScale = 10;</div>
    139. 

  139. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#endif</span></div>
    140. 

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

  141. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">public</span>:</div>
    142. 

  142. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="comment">// Due to the Euler characteristic (https://en.wikipedia.org/wiki/Euler_characteristic) we know that Vertices - Edges + Faces = 2</span></div>
    143. 

  143. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="comment">// In our case we only have triangles and they are always fully connected, so each edge is shared exactly between 2 faces: Edges = Faces * 3 / 2</span></div>
    144. 

  144. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="comment">// Substituting: Vertices = Faces / 2 + 2 which is approximately Faces / 2.</span></div>
    145. 

  145. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a4513da2adce7a49aff9314455b8e669d">   36</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a4513da2adce7a49aff9314455b8e669d">cMaxTriangles</a> = 256;               </div>
    146. 

  146. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a6968898ef16408b14c1000bebf2f2576">   37</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a6968898ef16408b14c1000bebf2f2576">cMaxPoints</a> = <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a4513da2adce7a49aff9314455b8e669d">cMaxTriangles</a> / 2;    </div>
    147. 

  147. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
    148. 

  148. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="comment">// Constants</span></div>
    149. 

  149. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a745bd64c5b95a736c502901a1bd3d7c0">   40</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a745bd64c5b95a736c502901a1bd3d7c0">cMaxEdgeLength</a> = 128;              </div>
    150. 

  150. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a4aa8fa12b1aa66a498dcca309be791bb">   41</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a4aa8fa12b1aa66a498dcca309be791bb">cMinTriangleArea</a> = 1.0e-10f;     </div>
    151. 

  151. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">   42</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a> = 1.0e-3f;   </div>
    152. 

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

  153. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="comment">// Forward declare</span></div>
    154. 

  154. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a>;</div>
    155. 

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

  156. <div class="foldopen" id="foldopen00048" data-start="{" data-end="};">
    157. 

  157. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_edge.html">   48</a></span>    <span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_edge.html">Edge</a></div>
    158. 

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

  159. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keyword">public</span>:</div>
    160. 

  160. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_edge.html#a45f60a45dad1b7eb5e49d513a15229a5">   52</a></span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *      <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_edge.html#a45f60a45dad1b7eb5e49d513a15229a5">mNeighbourTriangle</a>;                 </div>
    161. 

  161. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_edge.html#aebdd46a0c839c10261765f466b8fa00b">   53</a></span>        <span class="keywordtype">int</span>             <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_edge.html#aebdd46a0c839c10261765f466b8fa00b">mNeighbourEdge</a>;                     </div>
    162. 

  162. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
    163. 

  163. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_edge.html#a3198dfe7323ed3f875dca4e00821a53c">   55</a></span>        <span class="keywordtype">int</span>             <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_edge.html#a3198dfe7323ed3f875dca4e00821a53c">mStartIdx</a>;                          </div>
    164. 

  164. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    };</div>
    165. 

  165. </div>
    166. 

  166. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
    167. 

  167. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a469e8ddcebb3e76c06176c9580fc186e">   58</a></span>    <span class="keyword">using </span><a class="code hl_class" href="class_static_array.html">Edges</a> = <a class="code hl_class" href="class_static_array.html">StaticArray&lt;Edge, cMaxEdgeLength&gt;</a>;</div>
    168. 

  168. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a3fd1bd39cc8988421b7d756fc717ce82">   59</a></span>    <span class="keyword">using </span><a class="code hl_class" href="class_static_array.html">NewTriangles</a> = <a class="code hl_class" href="class_static_array.html">StaticArray&lt;Triangle *, cMaxEdgeLength&gt;</a>;</div>
    169. 

  169. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
    170. 

  170. <div class="foldopen" id="foldopen00062" data-start="{" data-end="};">
    171. 

  171. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">   62</a></span>    <span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_non_copyable.html">NonCopyable</a></div>
    172. 

  172. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
    173. 

  173. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keyword">public</span>:</div>
    174. 

  174. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <span class="keyword">inline</span>          <a class="code hl_enumvalue" href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551ba5e5500cb2b82eb72d550de644bd1b64b">Triangle</a>(<span class="keywordtype">int</span> inIdx0, <span class="keywordtype">int</span> inIdx1, <span class="keywordtype">int</span> inIdx2, <span class="keyword">const</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> *inPositions);</div>
    175. 

  175. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
    176. 

  176. <div class="foldopen" id="foldopen00069" data-start="{" data-end="}">
    177. 

  177. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a60543dea65ee8e56fa77132610302412">   69</a></span>        <span class="keyword">inline</span> <span class="keywordtype">bool</span>     <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a60543dea65ee8e56fa77132610302412">IsFacing</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPosition)<span class="keyword"> const</span></div>
    178. 

  178. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span><span class="keyword">        </span>{</div>
    179. 

  179. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(!<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aec2b4eeafa28ea5ea8a04789e944ae4d">mRemoved</a>);</div>
    180. 

  180. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            <span class="keywordflow">return</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a72b60caa9b8ba3cc6380f23b4fe72a02">mNormal</a>.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inPosition - <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0452b1c401d15dcc561dad66766d45a9">mCentroid</a>) &gt; 0.0f;</div>
    181. 

  181. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        }</div>
    182. 

  182. </div>
    183. 

  183. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
    184. 

  184. <div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
    185. 

  185. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a7c793273642a25acaf54c8b2a63a5c3a">   76</a></span>        <span class="keyword">inline</span> <span class="keywordtype">bool</span>     <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a7c793273642a25acaf54c8b2a63a5c3a">IsFacingOrigin</a>()<span class="keyword"> const</span></div>
    186. 

  186. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="keyword">        </span>{</div>
    187. 

  187. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(!<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aec2b4eeafa28ea5ea8a04789e944ae4d">mRemoved</a>);</div>
    188. 

  188. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            <span class="keywordflow">return</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a72b60caa9b8ba3cc6380f23b4fe72a02">mNormal</a>.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0452b1c401d15dcc561dad66766d45a9">mCentroid</a>) &lt; 0.0f;</div>
    189. 

  189. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        }</div>
    190. 

  190. </div>
    191. 

  191. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
    192. 

  192. <div class="foldopen" id="foldopen00083" data-start="{" data-end="}">
    193. 

  193. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a6a342146811919c9bdd18ee827e1ee87">   83</a></span>        <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_edge.html">Edge</a> &amp; <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a6a342146811919c9bdd18ee827e1ee87">GetNextEdge</a>(<span class="keywordtype">int</span> inIndex)<span class="keyword"> const</span></div>
    194. 

  194. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="keyword">        </span>{</div>
    195. 

  195. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            <span class="keywordflow">return</span> <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a73f39336e0cda2338ca31459de675f4f">mEdge</a>[(inIndex + 1) % 3];</div>
    196. 

  196. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        }</div>
    197. 

  197. </div>
    198. 

  198. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
    199. 

  199. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a73f39336e0cda2338ca31459de675f4f">   88</a></span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_edge.html">Edge</a>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a73f39336e0cda2338ca31459de675f4f">mEdge</a>[3];                           </div>
    200. 

  200. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a72b60caa9b8ba3cc6380f23b4fe72a02">   89</a></span>        <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a72b60caa9b8ba3cc6380f23b4fe72a02">mNormal</a>;                            </div>
    201. 

  201. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0452b1c401d15dcc561dad66766d45a9">   90</a></span>        <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0452b1c401d15dcc561dad66766d45a9">mCentroid</a>;                          </div>
    202. 

  202. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">   91</a></span>        <span class="keywordtype">float</span>           <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">mClosestLenSq</a> = FLT_MAX;            </div>
    203. 

  203. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#abf3e8715dbc37a34783e322dc2211074">   92</a></span>        <span class="keywordtype">float</span>           <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#abf3e8715dbc37a34783e322dc2211074">mLambda</a>[2];                         </div>
    204. 

  204. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#ad717cb9534ef44896e91c33ab4d5ba0c">   93</a></span>        <span class="keywordtype">bool</span>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#ad717cb9534ef44896e91c33ab4d5ba0c">mLambdaRelativeTo0</a>;                 </div>
    205. 

  205. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0b20e81cb148777b56012bbaf28fb18b">   94</a></span>        <span class="keywordtype">bool</span>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0b20e81cb148777b56012bbaf28fb18b">mClosestPointInterior</a> = <span class="keyword">false</span>;      </div>
    206. 

  206. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aec2b4eeafa28ea5ea8a04789e944ae4d">   95</a></span>        <span class="keywordtype">bool</span>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aec2b4eeafa28ea5ea8a04789e944ae4d">mRemoved</a> = <span class="keyword">false</span>;                   </div>
    207. 

  207. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aba25cdfa6f65d1725a9138cc062e98ea">   96</a></span>        <span class="keywordtype">bool</span>            <a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aba25cdfa6f65d1725a9138cc062e98ea">mInQueue</a> = <span class="keyword">false</span>;                   </div>
    208. 

  208. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    209. 

  209. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keywordtype">int</span>             mIteration;                         </div>
    210. 

  210. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="preprocessor">#endif</span></div>
    211. 

  211. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    };</div>
    212. 

  212. </div>
    213. 

  213. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    214. 

  214. <div class="foldopen" id="foldopen00103" data-start="{" data-end="};">
    215. 

  215. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html">  103</a></span>    <span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html">TriangleFactory</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_non_copyable.html">NonCopyable</a></div>
    216. 

  216. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    {</div>
    217. 

  217. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keyword">private</span>:</div>
    218. 

  218. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="keyword">union </span>alignas(Triangle) Block</div>
    219. 

  219. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        {</div>
    220. 

  220. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>       mTriangle[<span class="keyword">sizeof</span>(<a class="code hl_enumvalue" href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551ba5e5500cb2b82eb72d550de644bd1b64b">Triangle</a>)];</div>
    221. 

  221. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            Block *     mNextFree;</div>
    222. 

  222. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        };</div>
    223. 

  223. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
    224. 

  224. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        Block           mTriangles[cMaxTriangles];          </div>
    225. 

  225. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        Block *         mNextFree = <span class="keyword">nullptr</span>;                </div>
    226. 

  226. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordtype">int</span>             mHighWatermark = 0;                 </div>
    227. 

  227. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
    228. 

  228. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keyword">public</span>:</div>
    229. 

  229. <div class="foldopen" id="foldopen00120" data-start="{" data-end="}">
    230. 

  230. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#afbc2d65081b44d5574cdfa81e6b908ea">  120</a></span>        <span class="keywordtype">void</span>            <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#afbc2d65081b44d5574cdfa81e6b908ea">Clear</a>()</div>
    231. 

  231. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        {</div>
    232. 

  232. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            mNextFree = <span class="keyword">nullptr</span>;</div>
    233. 

  233. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>            mHighWatermark = 0;</div>
    234. 

  234. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        }</div>
    235. 

  235. </div>
    236. 

  236. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
    237. 

  237. <div class="foldopen" id="foldopen00127" data-start="{" data-end="}">
    238. 

  238. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">  127</a></span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *      <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">CreateTriangle</a>(<span class="keywordtype">int</span> inIdx0, <span class="keywordtype">int</span> inIdx1, <span class="keywordtype">int</span> inIdx2, <span class="keyword">const</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> *inPositions)</div>
    239. 

  239. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        {</div>
    240. 

  240. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>            <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *t;</div>
    241. 

  241. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>            <span class="keywordflow">if</span> (mNextFree != <span class="keyword">nullptr</span>)</div>
    242. 

  242. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>            {</div>
    243. 

  243. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>                <span class="comment">// Entry available from the free list</span></div>
    244. 

  244. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>                t = <span class="keyword">reinterpret_cast&lt;</span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *<span class="keyword">&gt;</span>(&amp;mNextFree-&gt;mTriangle);</div>
    245. 

  245. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>                mNextFree = mNextFree-&gt;mNextFree;</div>
    246. 

  246. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>            }</div>
    247. 

  247. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>            <span class="keywordflow">else</span></div>
    248. 

  248. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>            {</div>
    249. 

  249. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>                <span class="comment">// Allocate from never used before triangle store</span></div>
    250. 

  250. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>                <span class="keywordflow">if</span> (mHighWatermark &gt;= cMaxTriangles)</div>
    251. 

  251. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>                    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>; <span class="comment">// Buffer full</span></div>
    252. 

  252. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>                t = <span class="keyword">reinterpret_cast&lt;</span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *<span class="keyword">&gt;</span>(&amp;mTriangles[mHighWatermark].mTriangle);</div>
    253. 

  253. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>                ++mHighWatermark;</div>
    254. 

  254. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>            }</div>
    255. 

  255. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
    256. 

  256. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            <span class="comment">// Call constructor</span></div>
    257. 

  257. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            <span class="keyword">new</span> (t) <a class="code hl_enumvalue" href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551ba5e5500cb2b82eb72d550de644bd1b64b">Triangle</a>(inIdx0, inIdx1, inIdx2, inPositions);</div>
    258. 

  258. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
    259. 

  259. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>            <span class="keywordflow">return</span> t;</div>
    260. 

  260. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        }</div>
    261. 

  261. </div>
    262. 

  262. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
    263. 

  263. <div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
    264. 

  264. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a9a830ace866a248b1238eed4157e8925">  152</a></span>        <span class="keywordtype">void</span>            <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a9a830ace866a248b1238eed4157e8925">FreeTriangle</a>(<a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *inT)</div>
    265. 

  265. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        {</div>
    266. 

  266. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>            <span class="comment">// Destruct triangle</span></div>
    267. 

  267. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>            inT-&gt;~Triangle();</div>
    268. 

  268. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span><span class="preprocessor">#ifdef JPH_DEBUG</span></div>
    269. 

  269. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>            memset(inT, 0xcd, <span class="keyword">sizeof</span>(<a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a>));</div>
    270. 

  270. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span><span class="preprocessor">#endif</span></div>
    271. 

  271. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
    272. 

  272. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>            <span class="comment">// Add triangle to the free list</span></div>
    273. 

  273. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>            Block *tu = <span class="keyword">reinterpret_cast&lt;</span>Block *<span class="keyword">&gt;</span>(inT);</div>
    274. 

  274. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>            tu-&gt;mNextFree = mNextFree;</div>
    275. 

  275. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>            mNextFree = tu;</div>
    276. 

  276. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        }</div>
    277. 

  277. </div>
    278. 

  278. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    };</div>
    279. 

  279. </div>
    280. 

  280. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
    281. 

  281. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <span class="comment">// Typedefs</span></div>
    282. 

  282. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a68f076aa07f0793b45b88b34ebbf493f">  168</a></span>    <span class="keyword">using </span><a class="code hl_class" href="class_static_array.html">PointsBase</a> = <a class="code hl_class" href="class_static_array.html">StaticArray&lt;Vec3, cMaxPoints&gt;</a>;</div>
    283. 

  283. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#aea0c331a90c44fd535337c5d0841103e">  169</a></span>    <span class="keyword">using </span><a class="code hl_class" href="class_static_array.html">Triangles</a> = <a class="code hl_class" href="class_static_array.html">StaticArray&lt;Triangle *, cMaxTriangles&gt;</a>;</div>
    284. 

  284. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
    285. 

  285. <div class="foldopen" id="foldopen00172" data-start="{" data-end="};">
    286. 

  286. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_points.html">  172</a></span>    <span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_points.html">Points</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_static_array.html">PointsBase</a></div>
    287. 

  287. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    {</div>
    288. 

  288. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <span class="keyword">public</span>:</div>
    289. 

  289. <div class="foldopen" id="foldopen00175" data-start="{" data-end="}">
    290. 

  290. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_points.html#a5b85570fd72e9b7e9575981fe7464383">  175</a></span>        <a class="code hl_typedef" href="class_static_array.html#a69859b5a0e6cd32048fc1f3188982f3b">size_type</a> &amp;     <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_points.html#a5b85570fd72e9b7e9575981fe7464383">GetSizeRef</a>()</div>
    291. 

  291. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        {</div>
    292. 

  292. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>            <span class="keywordflow">return</span> mSize;</div>
    293. 

  293. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        }</div>
    294. 

  294. </div>
    295. 

  295. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    };</div>
    296. 

  296. </div>
    297. 

  297. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
    298. 

  298. <div class="foldopen" id="foldopen00182" data-start="{" data-end="};">
    299. 

  299. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html">  182</a></span>    <span class="keyword">class </span><a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html">TriangleQueue</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_static_array.html">Triangles</a></div>
    300. 

  300. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    {</div>
    301. 

  301. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    <span class="keyword">public</span>:</div>
    302. 

  302. <div class="foldopen" id="foldopen00186" data-start="{" data-end="}">
    303. 

  303. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#abcdf1b5b997b6520dc8123ac8e9bf84f">  186</a></span>        <span class="keyword">static</span> <span class="keywordtype">bool</span>     <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#abcdf1b5b997b6520dc8123ac8e9bf84f">sTriangleSorter</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *inT1, <span class="keyword">const</span> <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *inT2)</div>
    304. 

  304. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        {</div>
    305. 

  305. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            <span class="keywordflow">return</span> inT1-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">mClosestLenSq</a> &gt; inT2-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">mClosestLenSq</a>;</div>
    306. 

  306. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>        }</div>
    307. 

  307. </div>
    308. 

  308. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
    309. 

  309. <div class="foldopen" id="foldopen00192" data-start="{" data-end="}">
    310. 

  310. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a10ca88c6483424a3c1853759cde34cbd">  192</a></span>        <span class="keywordtype">void</span>            <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a10ca88c6483424a3c1853759cde34cbd">push_back</a>(<a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *inT)</div>
    311. 

  311. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        {</div>
    312. 

  312. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>            <span class="comment">// Add to base</span></div>
    313. 

  313. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>            Triangles::push_back(inT);</div>
    314. 

  314. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
    315. 

  315. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            <span class="comment">// Mark in queue</span></div>
    316. 

  316. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>            inT-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aba25cdfa6f65d1725a9138cc062e98ea">mInQueue</a> = <span class="keyword">true</span>;</div>
    317. 

  317. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
    318. 

  318. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            <span class="comment">// Resort heap</span></div>
    319. 

  319. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            <a class="code hl_function" href="_binary_heap_8h.html#ad87bf12de089dabad479dd7535aa997e">BinaryHeapPush</a>(begin(), end(), sTriangleSorter);</div>
    320. 

  320. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        }</div>
    321. 

  321. </div>
    322. 

  322. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
    323. 

  323. <div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
    324. 

  324. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a13516948e75d7fd3dca02c1ec7b72504">  205</a></span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *      <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a13516948e75d7fd3dca02c1ec7b72504">PeekClosest</a>()</div>
    325. 

  325. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>        {</div>
    326. 

  326. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>            <span class="keywordflow">return</span> front();</div>
    327. 

  327. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        }</div>
    328. 

  328. </div>
    329. 

  329. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span> </div>
    330. 

  330. <div class="foldopen" id="foldopen00211" data-start="{" data-end="}">
    331. 

  331. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a1d5149d9d7342650de71477538043991">  211</a></span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *      <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a1d5149d9d7342650de71477538043991">PopClosest</a>()</div>
    332. 

  332. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        {</div>
    333. 

  333. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>            <span class="comment">// Move closest to end</span></div>
    334. 

  334. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>            <a class="code hl_function" href="_binary_heap_8h.html#aa90b54155ed2d5a542d7d693dc73e89b">BinaryHeapPop</a>(begin(), end(), sTriangleSorter);</div>
    335. 

  335. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
    336. 

  336. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>            <span class="comment">// Remove last triangle</span></div>
    337. 

  337. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *t = back();</div>
    338. 

  338. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>            pop_back();</div>
    339. 

  339. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>            <span class="keywordflow">return</span> t;</div>
    340. 

  340. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        }</div>
    341. 

  341. </div>
    342. 

  342. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    };</div>
    343. 

  343. </div>
    344. 

  344. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
    345. 

  345. <div class="foldopen" id="foldopen00224" data-start="{" data-end="}">
    346. 

  346. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#ae55b89fd27a0cab9a97a1475245dec9d">  224</a></span>    <span class="keyword">explicit</span>            <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#ae55b89fd27a0cab9a97a1475245dec9d">EPAConvexHullBuilder</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_points.html">Points</a> &amp;inPositions) :</div>
    347. 

  347. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>        mPositions(inPositions)</div>
    348. 

  348. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>    {</div>
    349. 

  349. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    350. 

  350. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        mIteration = 0;</div>
    351. 

  351. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        mOffset = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">RVec3::sZero</a>();</div>
    352. 

  352. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="preprocessor">#endif</span></div>
    353. 

  353. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    }</div>
    354. 

  354. </div>
    355. 

  355. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
    356. 

  356. <div class="foldopen" id="foldopen00234" data-start="{" data-end="}">
    357. 

  357. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#ac6b69723ed9d2c1b815769f9953ef8e7">  234</a></span>    <span class="keywordtype">void</span>                <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#ac6b69723ed9d2c1b815769f9953ef8e7">Initialize</a>(<span class="keywordtype">int</span> inIdx1, <span class="keywordtype">int</span> inIdx2, <span class="keywordtype">int</span> inIdx3)</div>
    358. 

  358. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>    {</div>
    359. 

  359. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>        <span class="comment">// Release triangles</span></div>
    360. 

  360. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>        mFactory.Clear();</div>
    361. 

  361. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
    362. 

  362. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>        <span class="comment">// Create triangles (back to back)</span></div>
    363. 

  363. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *t1 = <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">CreateTriangle</a>(inIdx1, inIdx2, inIdx3);</div>
    364. 

  364. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *t2 = <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">CreateTriangle</a>(inIdx1, inIdx3, inIdx2);</div>
    365. 

  365. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
    366. 

  366. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        <span class="comment">// Link triangles edges</span></div>
    367. 

  367. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>        sLinkTriangle(t1, 0, t2, 2);</div>
    368. 

  368. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>        sLinkTriangle(t1, 1, t2, 1);</div>
    369. 

  369. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        sLinkTriangle(t1, 2, t2, 0);</div>
    370. 

  370. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
    371. 

  371. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        <span class="comment">// Always add both triangles to the priority queue</span></div>
    372. 

  372. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>        mTriangleQueue.push_back(t1);</div>
    373. 

  373. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        mTriangleQueue.push_back(t2);</div>
    374. 

  374. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
    375. 

  375. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    376. 

  376. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        <span class="comment">// Draw current state</span></div>
    377. 

  377. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>        DrawState();</div>
    378. 

  378. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
    379. 

  379. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        <span class="comment">// Increment iteration counter</span></div>
    380. 

  380. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>        ++mIteration;</div>
    381. 

  381. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span><span class="preprocessor">#endif</span></div>
    382. 

  382. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>    }</div>
    383. 

  383. </div>
    384. 

  384. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
    385. 

  385. <div class="foldopen" id="foldopen00262" data-start="{" data-end="}">
    386. 

  386. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a233403c7274da823fb6b96b539dc5f95">  262</a></span>    <span class="keywordtype">bool</span>                <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#a233403c7274da823fb6b96b539dc5f95">HasNextTriangle</a>()<span class="keyword"> const</span></div>
    387. 

  387. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span><span class="keyword">    </span>{</div>
    388. 

  388. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>        <span class="keywordflow">return</span> !mTriangleQueue.empty();</div>
    389. 

  389. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    }</div>
    390. 

  390. </div>
    391. 

  391. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span> </div>
    392. 

  392. <div class="foldopen" id="foldopen00268" data-start="{" data-end="}">
    393. 

  393. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a0b52c132a7365cd272f3ca14a8f25145">  268</a></span>    <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *          <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#a0b52c132a7365cd272f3ca14a8f25145">PeekClosestTriangleInQueue</a>()</div>
    394. 

  394. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    {</div>
    395. 

  395. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>        <span class="keywordflow">return</span> mTriangleQueue.PeekClosest();</div>
    396. 

  396. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    }</div>
    397. 

  397. </div>
    398. 

  398. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span> </div>
    399. 

  399. <div class="foldopen" id="foldopen00274" data-start="{" data-end="}">
    400. 

  400. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a7095af90fda9266b9ae7258025623499">  274</a></span>    <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *          <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#a7095af90fda9266b9ae7258025623499">PopClosestTriangleFromQueue</a>()</div>
    401. 

  401. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>    {</div>
    402. 

  402. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        <span class="keywordflow">return</span> mTriangleQueue.PopClosest();</div>
    403. 

  403. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    }</div>
    404. 

  404. </div>
    405. 

  405. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span> </div>
    406. 

  406. <div class="foldopen" id="foldopen00281" data-start="{" data-end="}">
    407. 

  407. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#aba8a5ac94c67e4c96e5eb533dfca3a83">  281</a></span>    <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *          <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#aba8a5ac94c67e4c96e5eb533dfca3a83">FindFacingTriangle</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPosition, <span class="keywordtype">float</span> &amp;outBestDistSq)</div>
    408. 

  408. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    {</div>
    409. 

  409. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>        <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *best = <span class="keyword">nullptr</span>;</div>
    410. 

  410. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>        <span class="keywordtype">float</span> best_dist_sq = 0.0f;</div>
    411. 

  411. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span> </div>
    412. 

  412. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>        <span class="keywordflow">for</span> (<a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *t : mTriangleQueue)</div>
    413. 

  413. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>            <span class="keywordflow">if</span> (!t-&gt;mRemoved)</div>
    414. 

  414. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>            {</div>
    415. 

  415. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>                <span class="keywordtype">float</span> dot = t-&gt;mNormal.Dot(inPosition - t-&gt;mCentroid);</div>
    416. 

  416. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>                <span class="keywordflow">if</span> (dot &gt; 0.0f)</div>
    417. 

  417. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>                {</div>
    418. 

  418. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>                    <span class="keywordtype">float</span> dist_sq = dot * dot / t-&gt;mNormal.LengthSq();</div>
    419. 

  419. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>                    <span class="keywordflow">if</span> (dist_sq &gt; best_dist_sq)</div>
    420. 

  420. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>                    {</div>
    421. 

  421. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>                        best = t;</div>
    422. 

  422. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>                        best_dist_sq = dist_sq;</div>
    423. 

  423. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>                    }</div>
    424. 

  424. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>                }</div>
    425. 

  425. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            }</div>
    426. 

  426. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span> </div>
    427. 

  427. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>        outBestDistSq = best_dist_sq;</div>
    428. 

  428. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>        <span class="keywordflow">return</span> best;</div>
    429. 

  429. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    }</div>
    430. 

  430. </div>
    431. 

  431. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
    432. 

  432. <div class="foldopen" id="foldopen00306" data-start="{" data-end="}">
    433. 

  433. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#ae1b6e6eb12d8723eeab4265f9510b7c2">  306</a></span>    <span class="keywordtype">bool</span>                <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#ae1b6e6eb12d8723eeab4265f9510b7c2">AddPoint</a>(<a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *inFacingTriangle, <span class="keywordtype">int</span> inIdx, <span class="keywordtype">float</span> inClosestDistSq, <a class="code hl_class" href="class_static_array.html">NewTriangles</a> &amp;outTriangles)</div>
    434. 

  434. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>    {</div>
    435. 

  435. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>        <span class="comment">// Get position</span></div>
    436. 

  436. <div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> pos = mPositions[inIdx];</div>
    437. 

  437. <div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span> </div>
    438. 

  438. <div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    439. 

  439. <div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>        <span class="comment">// Draw new support point</span></div>
    440. 

  440. <div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>        DrawMarker(pos, <a class="code hl_variable" href="class_color.html#afbce637a66704fc3e3cf7d26819d4ab5">Color::sYellow</a>, 1.0f);</div>
    441. 

  441. <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span><span class="preprocessor">#endif</span></div>
    442. 

  442. <div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span> </div>
    443. 

  443. <div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_VALIDATE</span></div>
    444. 

  444. <div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>        <span class="comment">// Check if structure is intact</span></div>
    445. 

  445. <div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>        ValidateTriangles();</div>
    446. 

  446. <div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span><span class="preprocessor">#endif</span></div>
    447. 

  447. <div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span> </div>
    448. 

  448. <div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>        <span class="comment">// Find edge of convex hull of triangles that are not facing the new vertex w</span></div>
    449. 

  449. <div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>        <a class="code hl_class" href="class_static_array.html">Edges</a> edges;</div>
    450. 

  450. <div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>        <span class="keywordflow">if</span> (!FindEdge(inFacingTriangle, pos, edges))</div>
    451. 

  451. <div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    452. 

  452. <div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span> </div>
    453. 

  453. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>        <span class="comment">// Create new triangles</span></div>
    454. 

  454. <div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>        <span class="keywordtype">int</span> num_edges = edges.<a class="code hl_function" href="class_static_array.html#aea449055e7dab910eca1a4af05d53b6f">size</a>();</div>
    455. 

  455. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_edges; ++i)</div>
    456. 

  456. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>        {</div>
    457. 

  457. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>            <span class="comment">// Create new triangle</span></div>
    458. 

  458. <div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>            <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *nt = <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">CreateTriangle</a>(edges[i].mStartIdx, edges[(i + 1) % num_edges].mStartIdx, inIdx);</div>
    459. 

  459. <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>            <span class="keywordflow">if</span> (nt == <span class="keyword">nullptr</span>)</div>
    460. 

  460. <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    461. 

  461. <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>            outTriangles.<a class="code hl_function" href="class_static_array.html#a1117d7fa5ecfe22248396f1632d842cb">push_back</a>(nt);</div>
    462. 

  462. <div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span> </div>
    463. 

  463. <div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>            <span class="comment">// Check if we need to put this triangle in the priority queue</span></div>
    464. 

  464. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>            <span class="keywordflow">if</span> ((nt-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0b20e81cb148777b56012bbaf28fb18b">mClosestPointInterior</a> &amp;&amp; nt-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">mClosestLenSq</a> &lt; inClosestDistSq)  <span class="comment">// For the main algorithm</span></div>
    465. 

  465. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>                || nt-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">mClosestLenSq</a> &lt; 0.0f)                                        <span class="comment">// For when the origin is not inside the hull yet</span></div>
    466. 

  466. <div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>                mTriangleQueue.push_back(nt);</div>
    467. 

  467. <div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>        }</div>
    468. 

  468. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span> </div>
    469. 

  469. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>        <span class="comment">// Link edges</span></div>
    470. 

  470. <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_edges; ++i)</div>
    471. 

  471. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        {</div>
    472. 

  472. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>            sLinkTriangle(outTriangles[i], 0, edges[i].mNeighbourTriangle, edges[i].mNeighbourEdge);</div>
    473. 

  473. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>            sLinkTriangle(outTriangles[i], 1, outTriangles[(i + 1) % num_edges], 2);</div>
    474. 

  474. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>        }</div>
    475. 

  475. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span> </div>
    476. 

  476. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_VALIDATE</span></div>
    477. 

  477. <div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>        <span class="comment">// Check if structure is intact</span></div>
    478. 

  478. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>        ValidateTriangles();</div>
    479. 

  479. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span><span class="preprocessor">#endif</span></div>
    480. 

  480. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span> </div>
    481. 

  481. <div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    482. 

  482. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>        <span class="comment">// Draw state of the hull</span></div>
    483. 

  483. <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>        DrawState();</div>
    484. 

  484. <div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span> </div>
    485. 

  485. <div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>        <span class="comment">// Increment iteration counter</span></div>
    486. 

  486. <div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>        ++mIteration;</div>
    487. 

  487. <div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span><span class="preprocessor">#endif</span></div>
    488. 

  488. <div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span> </div>
    489. 

  489. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    490. 

  490. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>    }</div>
    491. 

  491. </div>
    492. 

  492. <div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span> </div>
    493. 

  493. <div class="foldopen" id="foldopen00366" data-start="{" data-end="}">
    494. 

  494. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder.html#a8a5be413b034888eeb3ccc384e1ca9ec">  366</a></span>    <span class="keywordtype">void</span>                <a class="code hl_function" href="class_e_p_a_convex_hull_builder.html#a8a5be413b034888eeb3ccc384e1ca9ec">FreeTriangle</a>(<a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_triangle.html">Triangle</a> *inT)</div>
    495. 

  495. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>    {</div>
    496. 

  496. <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span><span class="preprocessor">#ifdef JPH_ENABLE_ASSERTS</span></div>
    497. 

  497. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>        <span class="comment">// Make sure that this triangle is not connected</span></div>
    498. 

  498. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inT-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aec2b4eeafa28ea5ea8a04789e944ae4d">mRemoved</a>);</div>
    499. 

  499. <div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code hl_class" href="class_e_p_a_convex_hull_builder_1_1_edge.html">Edge</a> &amp;e : inT-&gt;<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a73f39336e0cda2338ca31459de675f4f">mEdge</a>)</div>
    500. 

  500. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(e.<a class="code hl_variable" href="class_e_p_a_convex_hull_builder_1_1_edge.html#a45f60a45dad1b7eb5e49d513a15229a5">mNeighbourTriangle</a> == <span class="keyword">nullptr</span>);</div>
    501. 

  501. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span><span class="preprocessor">#endif</span></div>
    502. 

  502. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span> </div>
    503. 

  503. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span><span class="preprocessor">#if defined(JPH_EPA_CONVEX_BUILDER_VALIDATE) || defined(JPH_EPA_CONVEX_BUILDER_DRAW)</span></div>
    504. 

  504. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>        <span class="comment">// Remove from list of all triangles</span></div>
    505. 

  505. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>        <a class="code hl_typedef" href="class_static_array.html#a495ba6aabb5a08ba1a06add667182f12">Triangles::iterator</a> i = std::find(mTriangles.begin(), mTriangles.end(), inT);</div>
    506. 

  506. <div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(i != mTriangles.end());</div>
    507. 

  507. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>        mTriangles.erase(i);</div>
    508. 

  508. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span><span class="preprocessor">#endif</span></div>
    509. 

  509. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span> </div>
    510. 

  510. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>        mFactory.FreeTriangle(inT);</div>
    511. 

  511. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>    }</div>
    512. 

  512. </div>
    513. 

  513. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span> </div>
    514. 

  514. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span><span class="keyword">private</span>:</div>
    515. 

  515. <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>    <a class="code hl_class" href="class_triangle.html">Triangle</a> *          <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">CreateTriangle</a>(<span class="keywordtype">int</span> inIdx1, <span class="keywordtype">int</span> inIdx2, <span class="keywordtype">int</span> inIdx3)</div>
    516. 

  516. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>    {</div>
    517. 

  517. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>        <span class="comment">// Call provider to create triangle</span></div>
    518. 

  518. <div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>        <a class="code hl_class" href="class_triangle.html">Triangle</a> *t = mFactory.CreateTriangle(inIdx1, inIdx2, inIdx3, mPositions.data());</div>
    519. 

  519. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>        <span class="keywordflow">if</span> (t == <span class="keyword">nullptr</span>)</div>
    520. 

  520. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>            <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
    521. 

  521. <div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span> </div>
    522. 

  522. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    523. 

  523. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>        <span class="comment">// Remember iteration counter</span></div>
    524. 

  524. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>        t-&gt;mIteration = mIteration;</div>
    525. 

  525. <div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span><span class="preprocessor">#endif</span></div>
    526. 

  526. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span> </div>
    527. 

  527. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span><span class="preprocessor">#if defined(JPH_EPA_CONVEX_BUILDER_VALIDATE) || defined(JPH_EPA_CONVEX_BUILDER_DRAW)</span></div>
    528. 

  528. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>        <span class="comment">// Add to list of triangles for debugging purposes</span></div>
    529. 

  529. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>        mTriangles.push_back(t);</div>
    530. 

  530. <div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span><span class="preprocessor">#endif</span></div>
    531. 

  531. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span> </div>
    532. 

  532. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>        <span class="keywordflow">return</span> t;</div>
    533. 

  533. <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    }</div>
    534. 

  534. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span> </div>
    535. 

  535. <div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>    <span class="keyword">static</span> <span class="keywordtype">void</span>         sLinkTriangle(<a class="code hl_class" href="class_triangle.html">Triangle</a> *inT1, <span class="keywordtype">int</span> inEdge1, <a class="code hl_class" href="class_triangle.html">Triangle</a> *inT2, <span class="keywordtype">int</span> inEdge2)</div>
    536. 

  536. <div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>    {</div>
    537. 

  537. <div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inEdge1 &gt;= 0 &amp;&amp; inEdge1 &lt; 3);</div>
    538. 

  538. <div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inEdge2 &gt;= 0 &amp;&amp; inEdge2 &lt; 3);</div>
    539. 

  539. <div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>        Edge &amp;e1 = inT1-&gt;mEdge[inEdge1];</div>
    540. 

  540. <div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>        Edge &amp;e2 = inT2-&gt;mEdge[inEdge2];</div>
    541. 

  541. <div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span> </div>
    542. 

  542. <div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>        <span class="comment">// Check not connected yet</span></div>
    543. 

  543. <div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(e1.mNeighbourTriangle == <span class="keyword">nullptr</span>);</div>
    544. 

  544. <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(e2.mNeighbourTriangle == <span class="keyword">nullptr</span>);</div>
    545. 

  545. <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span> </div>
    546. 

  546. <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>        <span class="comment">// Check vertices match</span></div>
    547. 

  547. <div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(e1.mStartIdx == inT2-&gt;GetNextEdge(inEdge2).mStartIdx);</div>
    548. 

  548. <div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(e2.mStartIdx == inT1-&gt;GetNextEdge(inEdge1).mStartIdx);</div>
    549. 

  549. <div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span> </div>
    550. 

  550. <div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>        <span class="comment">// Link up</span></div>
    551. 

  551. <div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>        e1.mNeighbourTriangle = inT2;</div>
    552. 

  552. <div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>        e1.mNeighbourEdge = inEdge2;</div>
    553. 

  553. <div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>        e2.mNeighbourTriangle = inT1;</div>
    554. 

  554. <div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>        e2.mNeighbourEdge = inEdge1;</div>
    555. 

  555. <div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>    }</div>
    556. 

  556. <div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span> </div>
    557. 

  557. <div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    <span class="keywordtype">void</span>                UnlinkTriangle(<a class="code hl_class" href="class_triangle.html">Triangle</a> *inT)</div>
    558. 

  558. <div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>    {</div>
    559. 

  559. <div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>        <span class="comment">// Unlink from neighbours</span></div>
    560. 

  560. <div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
    561. 

  561. <div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>        {</div>
    562. 

  562. <div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>            Edge &amp;edge = inT-&gt;mEdge[i];</div>
    563. 

  563. <div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>            <span class="keywordflow">if</span> (edge.mNeighbourTriangle != <span class="keyword">nullptr</span>)</div>
    564. 

  564. <div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>            {</div>
    565. 

  565. <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>                Edge &amp;neighbour_edge = edge.mNeighbourTriangle-&gt;mEdge[edge.mNeighbourEdge];</div>
    566. 

  566. <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span> </div>
    567. 

  567. <div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>                <span class="comment">// Validate that neighbour points to us</span></div>
    568. 

  568. <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>                <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(neighbour_edge.mNeighbourTriangle == inT);</div>
    569. 

  569. <div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>                <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(neighbour_edge.mNeighbourEdge == i);</div>
    570. 

  570. <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span> </div>
    571. 

  571. <div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>                <span class="comment">// Unlink</span></div>
    572. 

  572. <div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>                neighbour_edge.mNeighbourTriangle = <span class="keyword">nullptr</span>;</div>
    573. 

  573. <div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>                edge.mNeighbourTriangle = <span class="keyword">nullptr</span>;</div>
    574. 

  574. <div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>            }</div>
    575. 

  575. <div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        }</div>
    576. 

  576. <div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span> </div>
    577. 

  577. <div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>        <span class="comment">// If this triangle is not in the priority queue, we can delete it now</span></div>
    578. 

  578. <div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>        <span class="keywordflow">if</span> (!inT-&gt;mInQueue)</div>
    579. 

  579. <div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>            <a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a9a830ace866a248b1238eed4157e8925">FreeTriangle</a>(inT);</div>
    580. 

  580. <div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>    }</div>
    581. 

  581. <div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span> </div>
    582. 

  582. <div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>    <span class="keywordtype">bool</span>                FindEdge(<a class="code hl_class" href="class_triangle.html">Triangle</a> *inFacingTriangle, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inVertex, <a class="code hl_typedef" href="class_e_p_a_convex_hull_builder.html#a469e8ddcebb3e76c06176c9580fc186e">Edges</a> &amp;outEdges)</div>
    583. 

  583. <div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>    {</div>
    584. 

  584. <div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>        <span class="comment">// Assert that we were given an empty array</span></div>
    585. 

  585. <div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(outEdges.empty());</div>
    586. 

  586. <div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span> </div>
    587. 

  587. <div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>        <span class="comment">// Should start with a facing triangle</span></div>
    588. 

  588. <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inFacingTriangle-&gt;IsFacing(inVertex));</div>
    589. 

  589. <div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span> </div>
    590. 

  590. <div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>        <span class="comment">// Flag as removed</span></div>
    591. 

  591. <div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>        inFacingTriangle-&gt;mRemoved = <span class="keyword">true</span>;</div>
    592. 

  592. <div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span> </div>
    593. 

  593. <div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>        <span class="comment">// Instead of recursing, we build our own stack with the information we need</span></div>
    594. 

  594. <div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>        <span class="keyword">struct </span>StackEntry</div>
    595. 

  595. <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>        {</div>
    596. 

  596. <div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>            <a class="code hl_class" href="class_triangle.html">Triangle</a> *  mTriangle;</div>
    597. 

  597. <div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>            <span class="keywordtype">int</span>         mEdge;</div>
    598. 

  598. <div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>            <span class="keywordtype">int</span>         mIter;</div>
    599. 

  599. <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>        };</div>
    600. 

  600. <div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>        StackEntry stack[<a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a745bd64c5b95a736c502901a1bd3d7c0">cMaxEdgeLength</a>];</div>
    601. 

  601. <div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>        <span class="keywordtype">int</span> cur_stack_pos = 0;</div>
    602. 

  602. <div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span> </div>
    603. 

  603. <div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>        <span class="comment">// Start with the triangle / edge provided</span></div>
    604. 

  604. <div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>        stack[0].mTriangle = inFacingTriangle;</div>
    605. 

  605. <div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>        stack[0].mEdge = 0;</div>
    606. 

  606. <div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>        stack[0].mIter = -1; <span class="comment">// Start with edge 0 (is incremented below before use)</span></div>
    607. 

  607. <div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span> </div>
    608. 

  608. <div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>        <span class="comment">// Next index that we expect to find, if we don&#39;t then there are &#39;islands&#39;</span></div>
    609. 

  609. <div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>        <span class="keywordtype">int</span> next_expected_start_idx = -1;</div>
    610. 

  610. <div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span> </div>
    611. 

  611. <div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>        <span class="keywordflow">for</span> (;;)</div>
    612. 

  612. <div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>        {</div>
    613. 

  613. <div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>            StackEntry &amp;cur_entry = stack[cur_stack_pos];</div>
    614. 

  614. <div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span> </div>
    615. 

  615. <div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>            <span class="comment">// Next iteration</span></div>
    616. 

  616. <div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>            <span class="keywordflow">if</span> (++cur_entry.mIter &gt;= 3)</div>
    617. 

  617. <div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>            {</div>
    618. 

  618. <div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>                <span class="comment">// This triangle needs to be removed, unlink it now</span></div>
    619. 

  619. <div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>                UnlinkTriangle(cur_entry.mTriangle);</div>
    620. 

  620. <div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span> </div>
    621. 

  621. <div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>                <span class="comment">// Pop from stack</span></div>
    622. 

  622. <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>                <span class="keywordflow">if</span> (--cur_stack_pos &lt; 0)</div>
    623. 

  623. <div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>                    <span class="keywordflow">break</span>;</div>
    624. 

  624. <div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>            }</div>
    625. 

  625. <div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>            <span class="keywordflow">else</span></div>
    626. 

  626. <div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>            {</div>
    627. 

  627. <div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>                <span class="comment">// Visit neighbour</span></div>
    628. 

  628. <div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>                Edge &amp;e = cur_entry.mTriangle-&gt;mEdge[(cur_entry.mEdge + cur_entry.mIter) % 3];</div>
    629. 

  629. <div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>                <a class="code hl_class" href="class_triangle.html">Triangle</a> *n = e.mNeighbourTriangle;</div>
    630. 

  630. <div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>                <span class="keywordflow">if</span> (n != <span class="keyword">nullptr</span> &amp;&amp; !n-&gt;mRemoved)</div>
    631. 

  631. <div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>                {</div>
    632. 

  632. <div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>                    <span class="comment">// Check if vertex is on the front side of this triangle</span></div>
    633. 

  633. <div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>                    <span class="keywordflow">if</span> (n-&gt;IsFacing(inVertex))</div>
    634. 

  634. <div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>                    {</div>
    635. 

  635. <div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>                        <span class="comment">// Vertex on front, this triangle needs to be removed</span></div>
    636. 

  636. <div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>                        n-&gt;mRemoved = <span class="keyword">true</span>;</div>
    637. 

  637. <div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span> </div>
    638. 

  638. <div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>                        <span class="comment">// Add element to the stack of elements to visit</span></div>
    639. 

  639. <div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>                        cur_stack_pos++;</div>
    640. 

  640. <div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>                        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(cur_stack_pos &lt; <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a745bd64c5b95a736c502901a1bd3d7c0">cMaxEdgeLength</a>);</div>
    641. 

  641. <div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>                        StackEntry &amp;new_entry = stack[cur_stack_pos];</div>
    642. 

  642. <div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>                        new_entry.mTriangle = n;</div>
    643. 

  643. <div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>                        new_entry.mEdge = e.mNeighbourEdge;</div>
    644. 

  644. <div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>                        new_entry.mIter = 0; <span class="comment">// Is incremented before use, we don&#39;t need to test this edge again since we came from it</span></div>
    645. 

  645. <div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>                    }</div>
    646. 

  646. <div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>                    <span class="keywordflow">else</span></div>
    647. 

  647. <div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>                    {</div>
    648. 

  648. <div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>                        <span class="comment">// Detect if edge doesn&#39;t connect to previous edge, if this happens we have found and &#39;island&#39; which means</span></div>
    649. 

  649. <div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>                        <span class="comment">// the newly added point is so close to the triangles of the hull that we classified some (nearly) coplanar</span></div>
    650. 

  650. <div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>                        <span class="comment">// triangles as before and some behind the point. At this point we just abort adding the point because</span></div>
    651. 

  651. <div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>                        <span class="comment">// we&#39;ve reached numerical precision.</span></div>
    652. 

  652. <div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>                        <span class="comment">// Note that we do not need to test if the first and last edge connect, since when there are islands</span></div>
    653. 

  653. <div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>                        <span class="comment">// there should be at least 2 disconnects.</span></div>
    654. 

  654. <div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>                        <span class="keywordflow">if</span> (e.mStartIdx != next_expected_start_idx &amp;&amp; next_expected_start_idx != -1)</div>
    655. 

  655. <div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>                            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    656. 

  656. <div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span> </div>
    657. 

  657. <div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>                        <span class="comment">// Next expected index is the start index of our neighbour&#39;s edge</span></div>
    658. 

  658. <div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>                        next_expected_start_idx = n-&gt;mEdge[e.mNeighbourEdge].mStartIdx;</div>
    659. 

  659. <div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span> </div>
    660. 

  660. <div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>                        <span class="comment">// Vertex behind, keep edge</span></div>
    661. 

  661. <div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>                        outEdges.push_back(e);</div>
    662. 

  662. <div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>                    }</div>
    663. 

  663. <div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>                }</div>
    664. 

  664. <div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>            }</div>
    665. 

  665. <div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>        }</div>
    666. 

  666. <div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span> </div>
    667. 

  667. <div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        <span class="comment">// Assert that we have a fully connected loop</span></div>
    668. 

  668. <div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(outEdges.empty() || outEdges[0].mStartIdx == next_expected_start_idx);</div>
    669. 

  669. <div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span> </div>
    670. 

  670. <div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    671. 

  671. <div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>        <span class="comment">// Draw edge of facing triangles</span></div>
    672. 

  672. <div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; (int)outEdges.size(); ++i)</div>
    673. 

  673. <div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>        {</div>
    674. 

  674. <div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>            <a class="code hl_class" href="class_vec3.html">RVec3</a> edge_start = cDrawScale * (mOffset + mPositions[outEdges[i].mStartIdx]);</div>
    675. 

  675. <div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>            <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#ad3208b1f011a70927082d734591c0e83">DrawArrow</a>(edge_start, cDrawScale * (mOffset + mPositions[outEdges[(i + 1) % outEdges.size()].mStartIdx]), <a class="code hl_variable" href="class_color.html#afbce637a66704fc3e3cf7d26819d4ab5">Color::sYellow</a>, 0.01f);</div>
    676. 

  676. <div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>            <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#a0caa614c01a9879eed46e55755884c75">DrawText3D</a>(edge_start, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(outEdges[i].mStartIdx), <a class="code hl_variable" href="class_color.html#a6cb92698ec2b1bd630695716aaaf3bbd">Color::sWhite</a>);</div>
    677. 

  677. <div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>        }</div>
    678. 

  678. <div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span> </div>
    679. 

  679. <div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>        <span class="comment">// Draw the state with the facing triangles removed</span></div>
    680. 

  680. <div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>        DrawState();</div>
    681. 

  681. <div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span><span class="preprocessor">#endif</span></div>
    682. 

  682. <div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span> </div>
    683. 

  683. <div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>        <span class="comment">// When we start with two triangles facing away from each other and adding a point that is on the plane,</span></div>
    684. 

  684. <div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>        <span class="comment">// sometimes we consider the point in front of both causing both triangles to be removed resulting in an empty edge list.</span></div>
    685. 

  685. <div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>        <span class="comment">// In this case we fail to add the point which will result in no collision reported (the shapes are contacting in 1 point so there&#39;s 0 penetration)</span></div>
    686. 

  686. <div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>        <span class="keywordflow">return</span> outEdges.size() &gt;= 3;</div>
    687. 

  687. <div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>    }</div>
    688. 

  688. <div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span> </div>
    689. 

  689. <div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_VALIDATE</span></div>
    690. 

  690. <div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    <span class="keywordtype">void</span>                ValidateTriangle(<span class="keyword">const</span> <a class="code hl_class" href="class_triangle.html">Triangle</a> *inT)<span class="keyword"> const</span></div>
    691. 

  691. <div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span><span class="keyword">    </span>{</div>
    692. 

  692. <div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>        <span class="keywordflow">if</span> (inT-&gt;mRemoved)</div>
    693. 

  693. <div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>        {</div>
    694. 

  694. <div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>            <span class="comment">// Validate that removed triangles are not connected to anything</span></div>
    695. 

  695. <div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>            <span class="keywordflow">for</span> (<span class="keyword">const</span> Edge &amp;my_edge : inT-&gt;mEdge)</div>
    696. 

  696. <div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>                <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(my_edge.mNeighbourTriangle == <span class="keyword">nullptr</span>);</div>
    697. 

  697. <div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>        }</div>
    698. 

  698. <div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>        <span class="keywordflow">else</span></div>
    699. 

  699. <div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>        {</div>
    700. 

  700. <div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
    701. 

  701. <div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>            {</div>
    702. 

  702. <div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>                <span class="keyword">const</span> Edge &amp;my_edge = inT-&gt;mEdge[i];</div>
    703. 

  703. <div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span> </div>
    704. 

  704. <div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>                <span class="comment">// Assert that we have a neighbour</span></div>
    705. 

  705. <div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>                <span class="keyword">const</span> <a class="code hl_class" href="class_triangle.html">Triangle</a> *nb = my_edge.mNeighbourTriangle;</div>
    706. 

  706. <div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>                <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(nb != <span class="keyword">nullptr</span>);</div>
    707. 

  707. <div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span> </div>
    708. 

  708. <div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>                <span class="keywordflow">if</span> (nb != <span class="keyword">nullptr</span>)</div>
    709. 

  709. <div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>                {</div>
    710. 

  710. <div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>                    <span class="comment">// Assert that our neighbours edge points to us</span></div>
    711. 

  711. <div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>                    <span class="keyword">const</span> Edge &amp;nb_edge = nb-&gt;mEdge[my_edge.mNeighbourEdge];</div>
    712. 

  712. <div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>                    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(nb_edge.mNeighbourTriangle == inT);</div>
    713. 

  713. <div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>                    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(nb_edge.mNeighbourEdge == i);</div>
    714. 

  714. <div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span> </div>
    715. 

  715. <div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>                    <span class="comment">// Assert that the next edge of the neighbour points to the same vertex as this edge&#39;s vertex</span></div>
    716. 

  716. <div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>                    <span class="keyword">const</span> Edge &amp;nb_next_edge = nb-&gt;GetNextEdge(my_edge.mNeighbourEdge);</div>
    717. 

  717. <div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>                    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(nb_next_edge.mStartIdx == my_edge.mStartIdx);</div>
    718. 

  718. <div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span> </div>
    719. 

  719. <div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>                    <span class="comment">// Assert that my next edge points to the same vertex as my neighbours vertex</span></div>
    720. 

  720. <div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>                    <span class="keyword">const</span> Edge &amp;my_next_edge = inT-&gt;GetNextEdge(i);</div>
    721. 

  721. <div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>                    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(my_next_edge.mStartIdx == nb_edge.mStartIdx);</div>
    722. 

  722. <div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>                }</div>
    723. 

  723. <div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>            }</div>
    724. 

  724. <div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>        }</div>
    725. 

  725. <div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>    }</div>
    726. 

  726. <div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span> </div>
    727. 

  727. <div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>    <span class="keywordtype">void</span>                ValidateTriangles()<span class="keyword"> const</span></div>
    728. 

  728. <div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span><span class="keyword">    </span>{</div>
    729. 

  729. <div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code hl_class" href="class_triangle.html">Triangle</a> *t : mTriangles)</div>
    730. 

  730. <div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>            ValidateTriangle(t);</div>
    731. 

  731. <div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>    }</div>
    732. 

  732. <div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span><span class="preprocessor">#endif</span></div>
    733. 

  733. <div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span> </div>
    734. 

  734. <div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    735. 

  735. <div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span><span class="keyword">public</span>:</div>
    736. 

  736. <div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>    <span class="keywordtype">void</span>                DrawState()</div>
    737. 

  737. <div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>    {</div>
    738. 

  738. <div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>        <span class="comment">// Draw origin</span></div>
    739. 

  739. <div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span>        <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#a7d64d230d835d560b34282b5402ae05e">DrawCoordinateSystem</a>(<a class="code hl_function" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">RMat44::sTranslation</a>(cDrawScale * mOffset), 1.0f);</div>
    740. 

  740. <div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span> </div>
    741. 

  741. <div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>        <span class="comment">// Draw triangles</span></div>
    742. 

  742. <div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code hl_class" href="class_triangle.html">Triangle</a> *t : mTriangles)</div>
    743. 

  743. <div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>            <span class="keywordflow">if</span> (!t-&gt;mRemoved)</div>
    744. 

  744. <div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>            {</div>
    745. 

  745. <div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>                <span class="comment">// Calculate the triangle vertices</span></div>
    746. 

  746. <div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>                <a class="code hl_class" href="class_vec3.html">RVec3</a> p1 = cDrawScale * (mOffset + mPositions[t-&gt;mEdge[0].mStartIdx]);</div>
    747. 

  747. <div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>                <a class="code hl_class" href="class_vec3.html">RVec3</a> p2 = cDrawScale * (mOffset + mPositions[t-&gt;mEdge[1].mStartIdx]);</div>
    748. 

  748. <div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span>                <a class="code hl_class" href="class_vec3.html">RVec3</a> p3 = cDrawScale * (mOffset + mPositions[t-&gt;mEdge[2].mStartIdx]);</div>
    749. 

  749. <div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span> </div>
    750. 

  750. <div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span>                <span class="comment">// Draw triangle</span></div>
    751. 

  751. <div class="line"><a id="l00630" name="l00630"></a><span class="lineno">  630</span>                <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#afc6b62590e5a26de8cbd98a29bf8b1a3">DrawTriangle</a>(p1, p2, p3, <a class="code hl_function" href="class_color.html#a7ab76ccae9518b4e91bca83c6839f572">Color::sGetDistinctColor</a>(t-&gt;mIteration));</div>
    752. 

  752. <div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>                <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#a54813e4e95f78cdfc22d938ba15bcb8d">DrawWireTriangle</a>(p1, p2, p3, <a class="code hl_variable" href="class_color.html#adbb787dece4b7f18b70590bdff300a4b">Color::sGrey</a>);</div>
    753. 

  753. <div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span> </div>
    754. 

  754. <div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>                <span class="comment">// Draw normal</span></div>
    755. 

  755. <div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>                <a class="code hl_class" href="class_vec3.html">RVec3</a> centroid = cDrawScale * (mOffset + t-&gt;mCentroid);</div>
    756. 

  756. <div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>                <span class="keywordtype">float</span> len = t-&gt;mNormal.Length();</div>
    757. 

  757. <div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>                <span class="keywordflow">if</span> (len &gt; 0.0f)</div>
    758. 

  758. <div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>                    <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#ad3208b1f011a70927082d734591c0e83">DrawArrow</a>(centroid, centroid + t-&gt;mNormal / len, <a class="code hl_variable" href="class_color.html#acda14462b36ced25e782f4e3a264e690">Color::sDarkGreen</a>, 0.01f);</div>
    759. 

  759. <div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>            }</div>
    760. 

  760. <div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span> </div>
    761. 

  761. <div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>        <span class="comment">// Determine max position</span></div>
    762. 

  762. <div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>        <span class="keywordtype">float</span> min_x = FLT_MAX;</div>
    763. 

  763. <div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>        <span class="keywordtype">float</span> max_x = -FLT_MAX;</div>
    764. 

  764. <div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>        <span class="keywordflow">for</span> (<a class="code hl_class" href="class_vec3.html">Vec3</a> p : mPositions)</div>
    765. 

  765. <div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>        {</div>
    766. 

  766. <div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>            min_x = min(min_x, p.GetX());</div>
    767. 

  767. <div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span>            max_x = max(max_x, p.GetX());</div>
    768. 

  768. <div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span>        }</div>
    769. 

  769. <div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span> </div>
    770. 

  770. <div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>        <span class="comment">// Offset to the right</span></div>
    771. 

  771. <div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>        mOffset += <a class="code hl_class" href="class_vec3.html">Vec3</a>(max_x - min_x + 0.5f, 0.0f, 0.0f);</div>
    772. 

  772. <div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>    }</div>
    773. 

  773. <div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span> </div>
    774. 

  774. <div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>    <span class="keywordtype">void</span>                DrawLabel(<span class="keyword">const</span> string_view &amp;inText)</div>
    775. 

  775. <div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>    {</div>
    776. 

  776. <div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span>        <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#a0caa614c01a9879eed46e55755884c75">DrawText3D</a>(cDrawScale * mOffset, inText, <a class="code hl_variable" href="class_color.html#a6cb92698ec2b1bd630695716aaaf3bbd">Color::sWhite</a>, 0.1f * cDrawScale);</div>
    777. 

  777. <div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span> </div>
    778. 

  778. <div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>        mOffset += <a class="code hl_class" href="class_vec3.html">Vec3</a>(5.0f, 0.0f, 0.0f);</div>
    779. 

  779. <div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>    }</div>
    780. 

  780. <div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span> </div>
    781. 

  781. <div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>    <span class="keywordtype">void</span>                DrawGeometry(<span class="keyword">const</span> <a class="code hl_class" href="class_ref.html">DebugRenderer::GeometryRef</a> &amp;inGeometry, <a class="code hl_class" href="class_color.html">ColorArg</a> inColor)</div>
    782. 

  782. <div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>    {</div>
    783. 

  783. <div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>        <a class="code hl_class" href="class_mat44.html">RMat44</a> origin = <a class="code hl_function" href="class_mat44.html#a858ecd5c9c124039f5c7adab5bcf5041">RMat44::sScale</a>(<a class="code hl_function" href="class_vec3.html#ad6be51ce14811d6c196784d20cb39b98">Vec3::sReplicate</a>(cDrawScale)) * <a class="code hl_function" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">RMat44::sTranslation</a>(mOffset);</div>
    784. 

  784. <div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>        <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#a9542e23f59dcb2dbe19d5cc870e1efcf">DrawGeometry</a>(origin, inGeometry-&gt;mBounds.Transformed(origin), inGeometry-&gt;mBounds.GetExtent().LengthSq(), inColor, inGeometry);</div>
    785. 

  785. <div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
    786. 

  786. <div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>        mOffset += <a class="code hl_class" href="class_vec3.html">Vec3</a>(inGeometry-&gt;mBounds.GetSize().GetX(), 0, 0);</div>
    787. 

  787. <div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>    }</div>
    788. 

  788. <div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span> </div>
    789. 

  789. <div class="line"><a id="l00671" name="l00671"></a><span class="lineno">  671</span>    <span class="keywordtype">void</span>                DrawWireTriangle(<span class="keyword">const</span> <a class="code hl_class" href="class_triangle.html">Triangle</a> &amp;inTriangle, <a class="code hl_class" href="class_color.html">ColorArg</a> inColor)</div>
    790. 

  790. <div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>    {</div>
    791. 

  791. <div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>        <a class="code hl_class" href="class_vec3.html">RVec3</a> prev = cDrawScale * (mOffset + mPositions[inTriangle.mEdge[2].mStartIdx]);</div>
    792. 

  792. <div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> Edge &amp;edge : inTriangle.mEdge)</div>
    793. 

  793. <div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>        {</div>
    794. 

  794. <div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span>            <a class="code hl_class" href="class_vec3.html">RVec3</a> cur = cDrawScale * (mOffset + mPositions[edge.mStartIdx]);</div>
    795. 

  795. <div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span>            <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#ad3208b1f011a70927082d734591c0e83">DrawArrow</a>(prev, cur, inColor, 0.01f);</div>
    796. 

  796. <div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>            prev = cur;</div>
    797. 

  797. <div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span>        }</div>
    798. 

  798. <div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span>    }</div>
    799. 

  799. <div class="line"><a id="l00681" name="l00681"></a><span class="lineno">  681</span> </div>
    800. 

  800. <div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>    <span class="keywordtype">void</span>                DrawMarker(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPosition, <a class="code hl_class" href="class_color.html">ColorArg</a> inColor, <span class="keywordtype">float</span> inSize)</div>
    801. 

  801. <div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>    {</div>
    802. 

  802. <div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>        <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#a146eec1ac4bb44258fc748e66cd154ba">DrawMarker</a>(cDrawScale * (mOffset + inPosition), inColor, inSize);</div>
    803. 

  803. <div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    }</div>
    804. 

  804. <div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span> </div>
    805. 

  805. <div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    <span class="keywordtype">void</span>                DrawArrow(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inFrom, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inTo, <a class="code hl_class" href="class_color.html">ColorArg</a> inColor, <span class="keywordtype">float</span> inArrowSize)</div>
    806. 

  806. <div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>    {</div>
    807. 

  807. <div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span>        <a class="code hl_variable" href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a>-&gt;<a class="code hl_function" href="class_debug_renderer.html#ad3208b1f011a70927082d734591c0e83">DrawArrow</a>(cDrawScale * (mOffset + inFrom), cDrawScale * (mOffset + inTo), inColor, inArrowSize);</div>
    808. 

  808. <div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    }</div>
    809. 

  809. <div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span><span class="preprocessor">#endif</span></div>
    810. 

  810. <div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span> </div>
    811. 

  811. <div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span><span class="keyword">private</span>:</div>
    812. 

  812. <div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>    TriangleFactory     mFactory;                           </div>
    813. 

  813. <div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>    <span class="keyword">const</span> Points &amp;      mPositions;                         </div>
    814. 

  814. <div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>    TriangleQueue       mTriangleQueue;                     </div>
    815. 

  815. <div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span> </div>
    816. 

  816. <div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span><span class="preprocessor">#if defined(JPH_EPA_CONVEX_BUILDER_VALIDATE) || defined(JPH_EPA_CONVEX_BUILDER_DRAW)</span></div>
    817. 

  817. <div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span>    <a class="code hl_typedef" href="class_e_p_a_convex_hull_builder.html#aea0c331a90c44fd535337c5d0841103e">Triangles</a>           mTriangles;                         </div>
    818. 

  818. <div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span><span class="preprocessor">#endif</span></div>
    819. 

  819. <div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span> </div>
    820. 

  820. <div class="line"><a id="l00704" name="l00704"></a><span class="lineno">  704</span><span class="preprocessor">#ifdef JPH_EPA_CONVEX_BUILDER_DRAW</span></div>
    821. 

  821. <div class="line"><a id="l00705" name="l00705"></a><span class="lineno">  705</span>    <span class="keywordtype">int</span>                 mIteration;                         </div>
    822. 

  822. <div class="line"><a id="l00706" name="l00706"></a><span class="lineno">  706</span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>               mOffset;                            </div>
    823. 

  823. <div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span><span class="preprocessor">#endif</span></div>
    824. 

  824. <div class="line"><a id="l00708" name="l00708"></a><span class="lineno">  708</span>};</div>
    825. 

  825. </div>
    826. 

  826. <div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span> </div>
    827. 

  827. <div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span><span class="comment">// The determinant that is calculated in the Triangle constructor is really sensitive</span></div>
    828. 

  828. <div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span><span class="comment">// to numerical round off, disable the fmadd instructions to maintain precision.</span></div>
    829. 

  829. <div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>JPH_PRECISE_MATH_ON</div>
    830. 

  830. <div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span> </div>
    831. 

  831. <div class="foldopen" id="foldopen00714" data-start="{" data-end="}">
    832. 

  832. <div class="line"><a id="l00714" name="l00714"></a><span class="lineno"><a class="line" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a92c48e626fb4a9870c5aa18dd01cba3e">  714</a></span><a class="code hl_function" href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a92c48e626fb4a9870c5aa18dd01cba3e">EPAConvexHullBuilder::Triangle::Triangle</a>(<span class="keywordtype">int</span> inIdx0, <span class="keywordtype">int</span> inIdx1, <span class="keywordtype">int</span> inIdx2, <span class="keyword">const</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> *inPositions)</div>
    833. 

  833. <div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>{</div>
    834. 

  834. <div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span>    <span class="comment">// Fill in indexes</span></div>
    835. 

  835. <div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inIdx0 != inIdx1 &amp;&amp; inIdx0 != inIdx2 &amp;&amp; inIdx1 != inIdx2);</div>
    836. 

  836. <div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>    mEdge[0].mStartIdx = inIdx0;</div>
    837. 

  837. <div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span>    mEdge[1].mStartIdx = inIdx1;</div>
    838. 

  838. <div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>    mEdge[2].mStartIdx = inIdx2;</div>
    839. 

  839. <div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span> </div>
    840. 

  840. <div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span>    <span class="comment">// Clear links</span></div>
    841. 

  841. <div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span>    mEdge[0].mNeighbourTriangle = <span class="keyword">nullptr</span>;</div>
    842. 

  842. <div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span>    mEdge[1].mNeighbourTriangle = <span class="keyword">nullptr</span>;</div>
    843. 

  843. <div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span>    mEdge[2].mNeighbourTriangle = <span class="keyword">nullptr</span>;</div>
    844. 

  844. <div class="line"><a id="l00726" name="l00726"></a><span class="lineno">  726</span> </div>
    845. 

  845. <div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span>    <span class="comment">// Get vertex positions</span></div>
    846. 

  846. <div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y0 = inPositions[inIdx0];</div>
    847. 

  847. <div class="line"><a id="l00729" name="l00729"></a><span class="lineno">  729</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y1 = inPositions[inIdx1];</div>
    848. 

  848. <div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y2 = inPositions[inIdx2];</div>
    849. 

  849. <div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span> </div>
    850. 

  850. <div class="line"><a id="l00732" name="l00732"></a><span class="lineno">  732</span>    <span class="comment">// Calculate centroid</span></div>
    851. 

  851. <div class="line"><a id="l00733" name="l00733"></a><span class="lineno">  733</span>    mCentroid = (y0 + y1 + y2) / 3.0f;</div>
    852. 

  852. <div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span> </div>
    853. 

  853. <div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>    <span class="comment">// Calculate edges</span></div>
    854. 

  854. <div class="line"><a id="l00736" name="l00736"></a><span class="lineno">  736</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y10 = y1 - y0;</div>
    855. 

  855. <div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y20 = y2 - y0;</div>
    856. 

  856. <div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y21 = y2 - y1;</div>
    857. 

  857. <div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span> </div>
    858. 

  858. <div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span>    <span class="comment">// The most accurate normal is calculated by using the two shortest edges</span></div>
    859. 

  859. <div class="line"><a id="l00741" name="l00741"></a><span class="lineno">  741</span>    <span class="comment">// See: https://box2d.org/posts/2014/01/troublesome-triangle/</span></div>
    860. 

  860. <div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</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>
    861. 

  861. <div class="line"><a id="l00743" name="l00743"></a><span class="lineno">  743</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>
    862. 

  862. <div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span>    <span class="comment">// We first check which of the edges is shorter.</span></div>
    863. 

  863. <div class="line"><a id="l00745" name="l00745"></a><span class="lineno">  745</span>    <span class="keywordtype">float</span> y20_dot_y20 = y20.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y20);</div>
    864. 

  864. <div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span>    <span class="keywordtype">float</span> y21_dot_y21 = y21.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y21);</div>
    865. 

  865. <div class="line"><a id="l00747" name="l00747"></a><span class="lineno">  747</span>    <span class="keywordflow">if</span> (y20_dot_y20 &lt; y21_dot_y21)</div>
    866. 

  866. <div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>    {</div>
    867. 

  867. <div class="line"><a id="l00749" name="l00749"></a><span class="lineno">  749</span>        <span class="comment">// We select the edges y10 and y20</span></div>
    868. 

  868. <div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span>        mNormal = y10.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(y20);</div>
    869. 

  869. <div class="line"><a id="l00751" name="l00751"></a><span class="lineno">  751</span> </div>
    870. 

  870. <div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span>        <span class="comment">// Check if triangle is degenerate</span></div>
    871. 

  871. <div class="line"><a id="l00753" name="l00753"></a><span class="lineno">  753</span>        <span class="keywordtype">float</span> normal_len_sq = mNormal.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    872. 

  872. <div class="line"><a id="l00754" name="l00754"></a><span class="lineno">  754</span>        <span class="keywordflow">if</span> (normal_len_sq &gt; <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a4aa8fa12b1aa66a498dcca309be791bb">cMinTriangleArea</a>)</div>
    873. 

  873. <div class="line"><a id="l00755" name="l00755"></a><span class="lineno">  755</span>        {</div>
    874. 

  874. <div class="line"><a id="l00756" name="l00756"></a><span class="lineno">  756</span>            <span class="comment">// Determine distance between triangle and origin: distance = (centroid - origin) . normal / |normal|</span></div>
    875. 

  875. <div class="line"><a id="l00757" name="l00757"></a><span class="lineno">  757</span>            <span class="comment">// Note that this way of calculating the closest point is much more accurate than first calculating barycentric coordinates and then calculating the closest</span></div>
    876. 

  876. <div class="line"><a id="l00758" name="l00758"></a><span class="lineno">  758</span>            <span class="comment">// point based on those coordinates. Note that we preserve the sign of the distance to check on which side the origin is.</span></div>
    877. 

  877. <div class="line"><a id="l00759" name="l00759"></a><span class="lineno">  759</span>            <span class="keywordtype">float</span> c_dot_n = mCentroid.Dot(mNormal);</div>
    878. 

  878. <div class="line"><a id="l00760" name="l00760"></a><span class="lineno">  760</span>            mClosestLenSq = abs(c_dot_n) * c_dot_n / normal_len_sq;</div>
    879. 

  879. <div class="line"><a id="l00761" name="l00761"></a><span class="lineno">  761</span> </div>
    880. 

  880. <div class="line"><a id="l00762" name="l00762"></a><span class="lineno">  762</span>            <span class="comment">// Calculate closest point to origin using barycentric coordinates:</span></div>
    881. 

  881. <div class="line"><a id="l00763" name="l00763"></a><span class="lineno">  763</span>            <span class="comment">//</span></div>
    882. 

  882. <div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>            <span class="comment">// v = y0 + l0 * (y1 - y0) + l1 * (y2 - y0)</span></div>
    883. 

  883. <div class="line"><a id="l00765" name="l00765"></a><span class="lineno">  765</span>            <span class="comment">// v . (y1 - y0) = 0</span></div>
    884. 

  884. <div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>            <span class="comment">// v . (y2 - y0) = 0</span></div>
    885. 

  885. <div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span>            <span class="comment">//</span></div>
    886. 

  886. <div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>            <span class="comment">// Written in matrix form:</span></div>
    887. 

  887. <div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>            <span class="comment">//</span></div>
    888. 

  888. <div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span>            <span class="comment">// | y10.y10  y20.y10 | | l0 | = | -y0.y10 |</span></div>
    889. 

  889. <div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span>            <span class="comment">// | y10.y20  y20.y20 | | l1 |   | -y0.y20 |</span></div>
    890. 

  890. <div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>            <span class="comment">//</span></div>
    891. 

  891. <div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span>            <span class="comment">// (y10 = y1 - y0 etc.)</span></div>
    892. 

  892. <div class="line"><a id="l00774" name="l00774"></a><span class="lineno">  774</span>            <span class="comment">//</span></div>
    893. 

  893. <div class="line"><a id="l00775" name="l00775"></a><span class="lineno">  775</span>            <span class="comment">// Cramers rule to invert matrix:</span></div>
    894. 

  894. <div class="line"><a id="l00776" name="l00776"></a><span class="lineno">  776</span>            <span class="keywordtype">float</span> y10_dot_y10 = y10.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    895. 

  895. <div class="line"><a id="l00777" name="l00777"></a><span class="lineno">  777</span>            <span class="keywordtype">float</span> y10_dot_y20 = y10.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y20);</div>
    896. 

  896. <div class="line"><a id="l00778" name="l00778"></a><span class="lineno">  778</span>            <span class="keywordtype">float</span> determinant = y10_dot_y10 * y20_dot_y20 - y10_dot_y20 * y10_dot_y20;</div>
    897. 

  897. <div class="line"><a id="l00779" name="l00779"></a><span class="lineno">  779</span>            <span class="keywordflow">if</span> (determinant &gt; 0.0f) <span class="comment">// If determinant == 0 then the system is linearly dependent and the triangle is degenerate, since y10.10 * y20.y20 &gt; y10.y20^2 it should also be &gt; 0</span></div>
    898. 

  898. <div class="line"><a id="l00780" name="l00780"></a><span class="lineno">  780</span>            {</div>
    899. 

  899. <div class="line"><a id="l00781" name="l00781"></a><span class="lineno">  781</span>                <span class="keywordtype">float</span> y0_dot_y10 = y0.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y10);</div>
    900. 

  900. <div class="line"><a id="l00782" name="l00782"></a><span class="lineno">  782</span>                <span class="keywordtype">float</span> y0_dot_y20 = y0.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y20);</div>
    901. 

  901. <div class="line"><a id="l00783" name="l00783"></a><span class="lineno">  783</span>                <span class="keywordtype">float</span> l0 = (y10_dot_y20 * y0_dot_y20 - y20_dot_y20 * y0_dot_y10) / determinant;</div>
    902. 

  902. <div class="line"><a id="l00784" name="l00784"></a><span class="lineno">  784</span>                <span class="keywordtype">float</span> l1 = (y10_dot_y20 * y0_dot_y10 - y10_dot_y10 * y0_dot_y20) / determinant;</div>
    903. 

  903. <div class="line"><a id="l00785" name="l00785"></a><span class="lineno">  785</span>                mLambda[0] = l0;</div>
    904. 

  904. <div class="line"><a id="l00786" name="l00786"></a><span class="lineno">  786</span>                mLambda[1] = l1;</div>
    905. 

  905. <div class="line"><a id="l00787" name="l00787"></a><span class="lineno">  787</span>                mLambdaRelativeTo0 = <span class="keyword">true</span>;</div>
    906. 

  906. <div class="line"><a id="l00788" name="l00788"></a><span class="lineno">  788</span> </div>
    907. 

  907. <div class="line"><a id="l00789" name="l00789"></a><span class="lineno">  789</span>                <span class="comment">// Check if closest point is interior to the triangle. For a convex hull which contains the origin each face must contain the origin, but because</span></div>
    908. 

  908. <div class="line"><a id="l00790" name="l00790"></a><span class="lineno">  790</span>                <span class="comment">// our faces are triangles, we can have multiple coplanar triangles and only 1 will have the origin as an interior point. We want to use this triangle</span></div>
    909. 

  909. <div class="line"><a id="l00791" name="l00791"></a><span class="lineno">  791</span>                <span class="comment">// to calculate the contact points because it gives the most accurate results, so we will only add these triangles to the priority queue.</span></div>
    910. 

  910. <div class="line"><a id="l00792" name="l00792"></a><span class="lineno">  792</span>                <span class="keywordflow">if</span> (l0 &gt; -<a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a> &amp;&amp; l1 &gt; -<a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a> &amp;&amp; l0 + l1 &lt; 1.0f + <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a>)</div>
    911. 

  911. <div class="line"><a id="l00793" name="l00793"></a><span class="lineno">  793</span>                    mClosestPointInterior = <span class="keyword">true</span>;</div>
    912. 

  912. <div class="line"><a id="l00794" name="l00794"></a><span class="lineno">  794</span>            }</div>
    913. 

  913. <div class="line"><a id="l00795" name="l00795"></a><span class="lineno">  795</span>        }</div>
    914. 

  914. <div class="line"><a id="l00796" name="l00796"></a><span class="lineno">  796</span>    }</div>
    915. 

  915. <div class="line"><a id="l00797" name="l00797"></a><span class="lineno">  797</span>    <span class="keywordflow">else</span></div>
    916. 

  916. <div class="line"><a id="l00798" name="l00798"></a><span class="lineno">  798</span>    {</div>
    917. 

  917. <div class="line"><a id="l00799" name="l00799"></a><span class="lineno">  799</span>        <span class="comment">// We select the edges y10 and y21</span></div>
    918. 

  918. <div class="line"><a id="l00800" name="l00800"></a><span class="lineno">  800</span>        mNormal = y10.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(y21);</div>
    919. 

  919. <div class="line"><a id="l00801" name="l00801"></a><span class="lineno">  801</span> </div>
    920. 

  920. <div class="line"><a id="l00802" name="l00802"></a><span class="lineno">  802</span>        <span class="comment">// Check if triangle is degenerate</span></div>
    921. 

  921. <div class="line"><a id="l00803" name="l00803"></a><span class="lineno">  803</span>        <span class="keywordtype">float</span> normal_len_sq = mNormal.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    922. 

  922. <div class="line"><a id="l00804" name="l00804"></a><span class="lineno">  804</span>        <span class="keywordflow">if</span> (normal_len_sq &gt; <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a4aa8fa12b1aa66a498dcca309be791bb">cMinTriangleArea</a>)</div>
    923. 

  923. <div class="line"><a id="l00805" name="l00805"></a><span class="lineno">  805</span>        {</div>
    924. 

  924. <div class="line"><a id="l00806" name="l00806"></a><span class="lineno">  806</span>            <span class="comment">// Again calculate distance between triangle and origin</span></div>
    925. 

  925. <div class="line"><a id="l00807" name="l00807"></a><span class="lineno">  807</span>            <span class="keywordtype">float</span> c_dot_n = mCentroid.Dot(mNormal);</div>
    926. 

  926. <div class="line"><a id="l00808" name="l00808"></a><span class="lineno">  808</span>            mClosestLenSq = abs(c_dot_n) * c_dot_n / normal_len_sq;</div>
    927. 

  927. <div class="line"><a id="l00809" name="l00809"></a><span class="lineno">  809</span> </div>
    928. 

  928. <div class="line"><a id="l00810" name="l00810"></a><span class="lineno">  810</span>            <span class="comment">// Calculate closest point to origin using barycentric coordinates but this time using y1 as the reference vertex</span></div>
    929. 

  929. <div class="line"><a id="l00811" name="l00811"></a><span class="lineno">  811</span>            <span class="comment">//</span></div>
    930. 

  930. <div class="line"><a id="l00812" name="l00812"></a><span class="lineno">  812</span>            <span class="comment">// v = y1 + l0 * (y0 - y1) + l1 * (y2 - y1)</span></div>
    931. 

  931. <div class="line"><a id="l00813" name="l00813"></a><span class="lineno">  813</span>            <span class="comment">// v . (y0 - y1) = 0</span></div>
    932. 

  932. <div class="line"><a id="l00814" name="l00814"></a><span class="lineno">  814</span>            <span class="comment">// v . (y2 - y1) = 0</span></div>
    933. 

  933. <div class="line"><a id="l00815" name="l00815"></a><span class="lineno">  815</span>            <span class="comment">//</span></div>
    934. 

  934. <div class="line"><a id="l00816" name="l00816"></a><span class="lineno">  816</span>            <span class="comment">// Written in matrix form:</span></div>
    935. 

  935. <div class="line"><a id="l00817" name="l00817"></a><span class="lineno">  817</span>            <span class="comment">//</span></div>
    936. 

  936. <div class="line"><a id="l00818" name="l00818"></a><span class="lineno">  818</span>            <span class="comment">// | y10.y10  -y21.y10 | | l0 | = | y1.y10 |</span></div>
    937. 

  937. <div class="line"><a id="l00819" name="l00819"></a><span class="lineno">  819</span>            <span class="comment">// | -y10.y21  y21.y21 | | l1 |   | -y1.y21 |</span></div>
    938. 

  938. <div class="line"><a id="l00820" name="l00820"></a><span class="lineno">  820</span>            <span class="comment">//</span></div>
    939. 

  939. <div class="line"><a id="l00821" name="l00821"></a><span class="lineno">  821</span>            <span class="comment">// Cramers rule to invert matrix:</span></div>
    940. 

  940. <div class="line"><a id="l00822" name="l00822"></a><span class="lineno">  822</span>            <span class="keywordtype">float</span> y10_dot_y10 = y10.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    941. 

  941. <div class="line"><a id="l00823" name="l00823"></a><span class="lineno">  823</span>            <span class="keywordtype">float</span> y10_dot_y21 = y10.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y21);</div>
    942. 

  942. <div class="line"><a id="l00824" name="l00824"></a><span class="lineno">  824</span>            <span class="keywordtype">float</span> determinant = y10_dot_y10 * y21_dot_y21 - y10_dot_y21 * y10_dot_y21;</div>
    943. 

  943. <div class="line"><a id="l00825" name="l00825"></a><span class="lineno">  825</span>            <span class="keywordflow">if</span> (determinant &gt; 0.0f)</div>
    944. 

  944. <div class="line"><a id="l00826" name="l00826"></a><span class="lineno">  826</span>            {</div>
    945. 

  945. <div class="line"><a id="l00827" name="l00827"></a><span class="lineno">  827</span>                <span class="keywordtype">float</span> y1_dot_y10 = y1.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y10);</div>
    946. 

  946. <div class="line"><a id="l00828" name="l00828"></a><span class="lineno">  828</span>                <span class="keywordtype">float</span> y1_dot_y21 = y1.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y21);</div>
    947. 

  947. <div class="line"><a id="l00829" name="l00829"></a><span class="lineno">  829</span>                <span class="keywordtype">float</span> l0 = (y21_dot_y21 * y1_dot_y10 - y10_dot_y21 * y1_dot_y21) / determinant;</div>
    948. 

  948. <div class="line"><a id="l00830" name="l00830"></a><span class="lineno">  830</span>                <span class="keywordtype">float</span> l1 = (y10_dot_y21 * y1_dot_y10 - y10_dot_y10 * y1_dot_y21) / determinant;</div>
    949. 

  949. <div class="line"><a id="l00831" name="l00831"></a><span class="lineno">  831</span>                mLambda[0] = l0;</div>
    950. 

  950. <div class="line"><a id="l00832" name="l00832"></a><span class="lineno">  832</span>                mLambda[1] = l1;</div>
    951. 

  951. <div class="line"><a id="l00833" name="l00833"></a><span class="lineno">  833</span>                mLambdaRelativeTo0 = <span class="keyword">false</span>;</div>
    952. 

  952. <div class="line"><a id="l00834" name="l00834"></a><span class="lineno">  834</span> </div>
    953. 

  953. <div class="line"><a id="l00835" name="l00835"></a><span class="lineno">  835</span>                <span class="comment">// Again check if the closest point is inside the triangle</span></div>
    954. 

  954. <div class="line"><a id="l00836" name="l00836"></a><span class="lineno">  836</span>                <span class="keywordflow">if</span> (l0 &gt; -<a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a> &amp;&amp; l1 &gt; -<a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a> &amp;&amp; l0 + l1 &lt; 1.0f + <a class="code hl_variable" href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">cBarycentricEpsilon</a>)</div>
    955. 

  955. <div class="line"><a id="l00837" name="l00837"></a><span class="lineno">  837</span>                    mClosestPointInterior = <span class="keyword">true</span>;</div>
    956. 

  956. <div class="line"><a id="l00838" name="l00838"></a><span class="lineno">  838</span>            }</div>
    957. 

  957. <div class="line"><a id="l00839" name="l00839"></a><span class="lineno">  839</span>        }</div>
    958. 

  958. <div class="line"><a id="l00840" name="l00840"></a><span class="lineno">  840</span>    }</div>
    959. 

  959. <div class="line"><a id="l00841" name="l00841"></a><span class="lineno">  841</span>}</div>
    960. 

  960. </div>
    961. 

  961. <div class="line"><a id="l00842" name="l00842"></a><span class="lineno">  842</span> </div>
    962. 

  962. <div class="line"><a id="l00843" name="l00843"></a><span class="lineno">  843</span>JPH_PRECISE_MATH_OFF</div>
    963. 

  963. <div class="line"><a id="l00844" name="l00844"></a><span class="lineno">  844</span> </div>
    964. 

  964. <div class="line"><a id="l00845" name="l00845"></a><span class="lineno">  845</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    965. 

  965. <div class="ttc" id="a_binary_heap_8h_html"><div class="ttname"><a href="_binary_heap_8h.html">BinaryHeap.h</a></div></div>
    966. 

  966. <div class="ttc" id="a_binary_heap_8h_html_aa90b54155ed2d5a542d7d693dc73e89b"><div class="ttname"><a href="_binary_heap_8h.html#aa90b54155ed2d5a542d7d693dc73e89b">BinaryHeapPop</a></div><div class="ttdeci">void BinaryHeapPop(Iterator inBegin, Iterator inEnd, Pred inPred)</div><div class="ttdef"><b>Definition</b> BinaryHeap.h:52</div></div>
    967. 

  967. <div class="ttc" id="a_binary_heap_8h_html_ad87bf12de089dabad479dd7535aa997e"><div class="ttname"><a href="_binary_heap_8h.html#ad87bf12de089dabad479dd7535aa997e">BinaryHeapPush</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN void BinaryHeapPush(Iterator inBegin, Iterator inEnd, Pred inPred)</div><div class="ttdef"><b>Definition</b> BinaryHeap.h:14</div></div>
    968. 

  968. <div class="ttc" id="a_core_8h_html_a115946cb5fc5879545e9ccea096a6031"><div class="ttname"><a href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a></div><div class="ttdeci">std::uint8_t uint8</div><div class="ttdef"><b>Definition</b> Core.h:501</div></div>
    969. 

  969. <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>
    970. 

  970. <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>
    971. 

  971. <div class="ttc" id="a_debug_renderer_8h_html"><div class="ttname"><a href="_debug_renderer_8h.html">DebugRenderer.h</a></div></div>
    972. 

  972. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    973. 

  973. <div class="ttc" id="a_non_copyable_8h_html"><div class="ttname"><a href="_non_copyable_8h.html">NonCopyable.h</a></div></div>
    974. 

  974. <div class="ttc" id="a_real_8h_html_a6baabe9790f3842ab73110ab342c5c5e"><div class="ttname"><a href="_real_8h.html#a6baabe9790f3842ab73110ab342c5c5e">Real</a></div><div class="ttdeci">float Real</div><div class="ttdef"><b>Definition</b> Real.h:27</div></div>
    975. 

  975. <div class="ttc" id="a_shape_8h_html_aa332e0529e75b83aad91881c8d32551ba5e5500cb2b82eb72d550de644bd1b64b"><div class="ttname"><a href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551ba5e5500cb2b82eb72d550de644bd1b64b">EShapeSubType::Triangle</a></div><div class="ttdeci">@ Triangle</div></div>
    976. 

  976. <div class="ttc" id="a_string_tools_8h_html"><div class="ttname"><a href="_string_tools_8h.html">StringTools.h</a></div></div>
    977. 

  977. <div class="ttc" id="a_string_tools_8h_html_a12b5bdab675fcd7004cbf9dbf2197538"><div class="ttname"><a href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a></div><div class="ttdeci">String ConvertToString(const T &amp;inValue)</div><div class="ttdoc">Convert type to string.</div><div class="ttdef"><b>Definition</b> StringTools.h:15</div></div>
    978. 

  978. <div class="ttc" id="aclass_color_html"><div class="ttname"><a href="class_color.html">Color</a></div><div class="ttdoc">Class that holds an RGBA color with 8-bits per component.</div><div class="ttdef"><b>Definition</b> Color.h:16</div></div>
    979. 

  979. <div class="ttc" id="aclass_color_html_a6cb92698ec2b1bd630695716aaaf3bbd"><div class="ttname"><a href="class_color.html#a6cb92698ec2b1bd630695716aaaf3bbd">Color::sWhite</a></div><div class="ttdeci">static const Color sWhite</div><div class="ttdef"><b>Definition</b> Color.h:81</div></div>
    980. 

  980. <div class="ttc" id="aclass_color_html_a7ab76ccae9518b4e91bca83c6839f572"><div class="ttname"><a href="class_color.html#a7ab76ccae9518b4e91bca83c6839f572">Color::sGetDistinctColor</a></div><div class="ttdeci">static Color sGetDistinctColor(int inIndex)</div><div class="ttdoc">Get a visually distinct color.</div><div class="ttdef"><b>Definition</b> Color.cpp:31</div></div>
    981. 

  981. <div class="ttc" id="aclass_color_html_acda14462b36ced25e782f4e3a264e690"><div class="ttname"><a href="class_color.html#acda14462b36ced25e782f4e3a264e690">Color::sDarkGreen</a></div><div class="ttdeci">static const Color sDarkGreen</div><div class="ttdef"><b>Definition</b> Color.h:70</div></div>
    982. 

  982. <div class="ttc" id="aclass_color_html_adbb787dece4b7f18b70590bdff300a4b"><div class="ttname"><a href="class_color.html#adbb787dece4b7f18b70590bdff300a4b">Color::sGrey</a></div><div class="ttdeci">static const Color sGrey</div><div class="ttdef"><b>Definition</b> Color.h:79</div></div>
    983. 

  983. <div class="ttc" id="aclass_color_html_afbce637a66704fc3e3cf7d26819d4ab5"><div class="ttname"><a href="class_color.html#afbce637a66704fc3e3cf7d26819d4ab5">Color::sYellow</a></div><div class="ttdeci">static const Color sYellow</div><div class="ttdef"><b>Definition</b> Color.h:74</div></div>
    984. 

  984. <div class="ttc" id="aclass_debug_renderer_html_a0caa614c01a9879eed46e55755884c75"><div class="ttname"><a href="class_debug_renderer.html#a0caa614c01a9879eed46e55755884c75">DebugRenderer::DrawText3D</a></div><div class="ttdeci">virtual void DrawText3D(RVec3Arg inPosition, const string_view &amp;inString, ColorArg inColor=Color::sWhite, float inHeight=0.5f)=0</div><div class="ttdoc">Draw text.</div></div>
    985. 

  985. <div class="ttc" id="aclass_debug_renderer_html_a146eec1ac4bb44258fc748e66cd154ba"><div class="ttname"><a href="class_debug_renderer.html#a146eec1ac4bb44258fc748e66cd154ba">DebugRenderer::DrawMarker</a></div><div class="ttdeci">void DrawMarker(RVec3Arg inPosition, ColorArg inColor, float inSize)</div><div class="ttdoc">Draw a marker on a position.</div><div class="ttdef"><b>Definition</b> DebugRenderer.cpp:172</div></div>
    986. 

  986. <div class="ttc" id="aclass_debug_renderer_html_a54813e4e95f78cdfc22d938ba15bcb8d"><div class="ttname"><a href="class_debug_renderer.html#a54813e4e95f78cdfc22d938ba15bcb8d">DebugRenderer::DrawWireTriangle</a></div><div class="ttdeci">void DrawWireTriangle(RVec3Arg inV1, RVec3Arg inV2, RVec3Arg inV3, ColorArg inColor)</div><div class="ttdoc">Draw wireframe triangle.</div><div class="ttdef"><b>Definition</b> DebugRenderer.cpp:242</div></div>
    987. 

  987. <div class="ttc" id="aclass_debug_renderer_html_a7d64d230d835d560b34282b5402ae05e"><div class="ttname"><a href="class_debug_renderer.html#a7d64d230d835d560b34282b5402ae05e">DebugRenderer::DrawCoordinateSystem</a></div><div class="ttdeci">void DrawCoordinateSystem(RMat44Arg inTransform, float inSize=1.0f)</div><div class="ttdoc">Draw coordinate system (3 arrows, x = red, y = green, z = blue)</div><div class="ttdef"><b>Definition</b> DebugRenderer.cpp:206</div></div>
    988. 

  988. <div class="ttc" id="aclass_debug_renderer_html_a9542e23f59dcb2dbe19d5cc870e1efcf"><div class="ttname"><a href="class_debug_renderer.html#a9542e23f59dcb2dbe19d5cc870e1efcf">DebugRenderer::DrawGeometry</a></div><div class="ttdeci">virtual void DrawGeometry(RMat44Arg inModelMatrix, const AABox &amp;inWorldSpaceBounds, float inLODScaleSq, ColorArg inModelColor, const GeometryRef &amp;inGeometry, ECullMode inCullMode=ECullMode::CullBackFace, ECastShadow inCastShadow=ECastShadow::On, EDrawMode inDrawMode=EDrawMode::Solid)=0</div></div>
    989. 

  989. <div class="ttc" id="aclass_debug_renderer_html_ab03458cbd419bc22da1d176b27ce74ea"><div class="ttname"><a href="class_debug_renderer.html#ab03458cbd419bc22da1d176b27ce74ea">DebugRenderer::sInstance</a></div><div class="ttdeci">static DebugRenderer * sInstance</div><div class="ttdoc">Singleton instance.</div><div class="ttdef"><b>Definition</b> DebugRenderer.h:179</div></div>
    990. 

  990. <div class="ttc" id="aclass_debug_renderer_html_ad3208b1f011a70927082d734591c0e83"><div class="ttname"><a href="class_debug_renderer.html#ad3208b1f011a70927082d734591c0e83">DebugRenderer::DrawArrow</a></div><div class="ttdeci">void DrawArrow(RVec3Arg inFrom, RVec3Arg inTo, ColorArg inColor, float inSize)</div><div class="ttdoc">Draw an arrow.</div><div class="ttdef"><b>Definition</b> DebugRenderer.cpp:184</div></div>
    991. 

  991. <div class="ttc" id="aclass_debug_renderer_html_afc6b62590e5a26de8cbd98a29bf8b1a3"><div class="ttname"><a href="class_debug_renderer.html#afc6b62590e5a26de8cbd98a29bf8b1a3">DebugRenderer::DrawTriangle</a></div><div class="ttdeci">virtual void DrawTriangle(RVec3Arg inV1, RVec3Arg inV2, RVec3Arg inV3, ColorArg inColor, ECastShadow inCastShadow=ECastShadow::Off)=0</div><div class="ttdoc">Draw a single back face culled triangle.</div></div>
    992. 

  992. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_edge_html"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_edge.html">EPAConvexHullBuilder::Edge</a></div><div class="ttdoc">Class that holds the information of an edge.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:49</div></div>
    993. 

  993. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_edge_html_a3198dfe7323ed3f875dca4e00821a53c"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_edge.html#a3198dfe7323ed3f875dca4e00821a53c">EPAConvexHullBuilder::Edge::mStartIdx</a></div><div class="ttdeci">int mStartIdx</div><div class="ttdoc">Vertex index in mPositions that indicates the start vertex of this edge.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:55</div></div>
    994. 

  994. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_edge_html_a45f60a45dad1b7eb5e49d513a15229a5"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_edge.html#a45f60a45dad1b7eb5e49d513a15229a5">EPAConvexHullBuilder::Edge::mNeighbourTriangle</a></div><div class="ttdeci">Triangle * mNeighbourTriangle</div><div class="ttdoc">Information about neighbouring triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:52</div></div>
    995. 

  995. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_edge_html_aebdd46a0c839c10261765f466b8fa00b"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_edge.html#aebdd46a0c839c10261765f466b8fa00b">EPAConvexHullBuilder::Edge::mNeighbourEdge</a></div><div class="ttdeci">int mNeighbourEdge</div><div class="ttdoc">Index in mEdge that specifies edge that this Edge is connected to.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:53</div></div>
    996. 

  996. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_points_html"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_points.html">EPAConvexHullBuilder::Points</a></div><div class="ttdoc">Specialized points list that allows direct access to the size.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:173</div></div>
    997. 

  997. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_points_html_a5b85570fd72e9b7e9575981fe7464383"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_points.html#a5b85570fd72e9b7e9575981fe7464383">EPAConvexHullBuilder::Points::GetSizeRef</a></div><div class="ttdeci">size_type &amp; GetSizeRef()</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:175</div></div>
    998. 

  998. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_factory_html"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html">EPAConvexHullBuilder::TriangleFactory</a></div><div class="ttdoc">Factory that creates triangles in a fixed size buffer.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:104</div></div>
    999. 

  999. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_factory_html_a10150659d6967c3da5444f42b257eda8"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a10150659d6967c3da5444f42b257eda8">EPAConvexHullBuilder::TriangleFactory::CreateTriangle</a></div><div class="ttdeci">Triangle * CreateTriangle(int inIdx0, int inIdx1, int inIdx2, const Vec3 *inPositions)</div><div class="ttdoc">Allocate a new triangle with 3 indexes.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:127</div></div>
    1000. 

  1000. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_factory_html_a9a830ace866a248b1238eed4157e8925"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#a9a830ace866a248b1238eed4157e8925">EPAConvexHullBuilder::TriangleFactory::FreeTriangle</a></div><div class="ttdeci">void FreeTriangle(Triangle *inT)</div><div class="ttdoc">Free a triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:152</div></div>
    1001. 

  1001. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_factory_html_afbc2d65081b44d5574cdfa81e6b908ea"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_factory.html#afbc2d65081b44d5574cdfa81e6b908ea">EPAConvexHullBuilder::TriangleFactory::Clear</a></div><div class="ttdeci">void Clear()</div><div class="ttdoc">Return all triangles to the free pool.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:120</div></div>
    1002. 

  1002. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html">EPAConvexHullBuilder::Triangle</a></div><div class="ttdoc">Class that holds the information of one triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:63</div></div>
    1003. 

  1003. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a0452b1c401d15dcc561dad66766d45a9"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0452b1c401d15dcc561dad66766d45a9">EPAConvexHullBuilder::Triangle::mCentroid</a></div><div class="ttdeci">Vec3 mCentroid</div><div class="ttdoc">Center of the triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:90</div></div>
    1004. 

  1004. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a0b20e81cb148777b56012bbaf28fb18b"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a0b20e81cb148777b56012bbaf28fb18b">EPAConvexHullBuilder::Triangle::mClosestPointInterior</a></div><div class="ttdeci">bool mClosestPointInterior</div><div class="ttdoc">Flag that indicates that the closest point from this triangle to the origin is an interior point.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:94</div></div>
    1005. 

  1005. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a60543dea65ee8e56fa77132610302412"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a60543dea65ee8e56fa77132610302412">EPAConvexHullBuilder::Triangle::IsFacing</a></div><div class="ttdeci">bool IsFacing(Vec3Arg inPosition) const</div><div class="ttdoc">Check if triangle is facing inPosition.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:69</div></div>
    1006. 

  1006. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a6a342146811919c9bdd18ee827e1ee87"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a6a342146811919c9bdd18ee827e1ee87">EPAConvexHullBuilder::Triangle::GetNextEdge</a></div><div class="ttdeci">const Edge &amp; GetNextEdge(int inIndex) const</div><div class="ttdoc">Get the next edge of edge inIndex.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:83</div></div>
    1007. 

  1007. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a72b60caa9b8ba3cc6380f23b4fe72a02"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a72b60caa9b8ba3cc6380f23b4fe72a02">EPAConvexHullBuilder::Triangle::mNormal</a></div><div class="ttdeci">Vec3 mNormal</div><div class="ttdoc">Normal of this triangle, length is 2 times area of triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:89</div></div>
    1008. 

  1008. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a73f39336e0cda2338ca31459de675f4f"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a73f39336e0cda2338ca31459de675f4f">EPAConvexHullBuilder::Triangle::mEdge</a></div><div class="ttdeci">Edge mEdge[3]</div><div class="ttdoc">3 edges of this triangle</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:88</div></div>
    1009. 

  1009. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a7c793273642a25acaf54c8b2a63a5c3a"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a7c793273642a25acaf54c8b2a63a5c3a">EPAConvexHullBuilder::Triangle::IsFacingOrigin</a></div><div class="ttdeci">bool IsFacingOrigin() const</div><div class="ttdoc">Check if triangle is facing the origin.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:76</div></div>
    1010. 

  1010. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a89216110b3cac04a274376acaf28d7ae"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a89216110b3cac04a274376acaf28d7ae">EPAConvexHullBuilder::Triangle::mClosestLenSq</a></div><div class="ttdeci">float mClosestLenSq</div><div class="ttdoc">Closest distance^2 from origin to triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:91</div></div>
    1011. 

  1011. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_a92c48e626fb4a9870c5aa18dd01cba3e"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#a92c48e626fb4a9870c5aa18dd01cba3e">EPAConvexHullBuilder::Triangle::Triangle</a></div><div class="ttdeci">Triangle(int inIdx0, int inIdx1, int inIdx2, const Vec3 *inPositions)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:714</div></div>
    1012. 

  1012. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_aba25cdfa6f65d1725a9138cc062e98ea"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aba25cdfa6f65d1725a9138cc062e98ea">EPAConvexHullBuilder::Triangle::mInQueue</a></div><div class="ttdeci">bool mInQueue</div><div class="ttdoc">Flag that indicates that this triangle was placed in the sorted heap (stays true after it is popped b...</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:96</div></div>
    1013. 

  1013. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_abf3e8715dbc37a34783e322dc2211074"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#abf3e8715dbc37a34783e322dc2211074">EPAConvexHullBuilder::Triangle::mLambda</a></div><div class="ttdeci">float mLambda[2]</div><div class="ttdoc">Barycentric coordinates of closest point to origin on triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:92</div></div>
    1014. 

  1014. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_ad717cb9534ef44896e91c33ab4d5ba0c"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#ad717cb9534ef44896e91c33ab4d5ba0c">EPAConvexHullBuilder::Triangle::mLambdaRelativeTo0</a></div><div class="ttdeci">bool mLambdaRelativeTo0</div><div class="ttdoc">How to calculate the closest point, true: y0 + l0 * (y1 - y0) + l1 * (y2 - y0), false: y1 + l0 * (y0 ...</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:93</div></div>
    1015. 

  1015. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_html_aec2b4eeafa28ea5ea8a04789e944ae4d"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle.html#aec2b4eeafa28ea5ea8a04789e944ae4d">EPAConvexHullBuilder::Triangle::mRemoved</a></div><div class="ttdeci">bool mRemoved</div><div class="ttdoc">Flag that indicates that triangle has been removed.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:95</div></div>
    1016. 

  1016. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_queue_html"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html">EPAConvexHullBuilder::TriangleQueue</a></div><div class="ttdoc">Specialized triangles list that keeps them sorted on closest distance to origin.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:183</div></div>
    1017. 

  1017. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_queue_html_a10ca88c6483424a3c1853759cde34cbd"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a10ca88c6483424a3c1853759cde34cbd">EPAConvexHullBuilder::TriangleQueue::push_back</a></div><div class="ttdeci">void push_back(Triangle *inT)</div><div class="ttdoc">Add triangle to the list.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:192</div></div>
    1018. 

  1018. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_queue_html_a13516948e75d7fd3dca02c1ec7b72504"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a13516948e75d7fd3dca02c1ec7b72504">EPAConvexHullBuilder::TriangleQueue::PeekClosest</a></div><div class="ttdeci">Triangle * PeekClosest()</div><div class="ttdoc">Peek the next closest triangle without removing it.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:205</div></div>
    1019. 

  1019. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_queue_html_a1d5149d9d7342650de71477538043991"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#a1d5149d9d7342650de71477538043991">EPAConvexHullBuilder::TriangleQueue::PopClosest</a></div><div class="ttdeci">Triangle * PopClosest()</div><div class="ttdoc">Get next closest triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:211</div></div>
    1020. 

  1020. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_1_1_triangle_queue_html_abcdf1b5b997b6520dc8123ac8e9bf84f"><div class="ttname"><a href="class_e_p_a_convex_hull_builder_1_1_triangle_queue.html#abcdf1b5b997b6520dc8123ac8e9bf84f">EPAConvexHullBuilder::TriangleQueue::sTriangleSorter</a></div><div class="ttdeci">static bool sTriangleSorter(const Triangle *inT1, const Triangle *inT2)</div><div class="ttdoc">Function to sort triangles on closest distance to origin.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:186</div></div>
    1021. 

  1021. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html">EPAConvexHullBuilder</a></div><div class="ttdoc">A convex hull builder specifically made for the EPA penetration depth calculation....</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:25</div></div>
    1022. 

  1022. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a0b52c132a7365cd272f3ca14a8f25145"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a0b52c132a7365cd272f3ca14a8f25145">EPAConvexHullBuilder::PeekClosestTriangleInQueue</a></div><div class="ttdeci">Triangle * PeekClosestTriangleInQueue()</div><div class="ttdoc">Access to the next closest triangle to the origin (won't remove it from the queue).</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:268</div></div>
    1023. 

  1023. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a233403c7274da823fb6b96b539dc5f95"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a233403c7274da823fb6b96b539dc5f95">EPAConvexHullBuilder::HasNextTriangle</a></div><div class="ttdeci">bool HasNextTriangle() const</div><div class="ttdoc">Check if there's another triangle to process from the queue.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:262</div></div>
    1024. 

  1024. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a4513da2adce7a49aff9314455b8e669d"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a4513da2adce7a49aff9314455b8e669d">EPAConvexHullBuilder::cMaxTriangles</a></div><div class="ttdeci">static constexpr int cMaxTriangles</div><div class="ttdoc">Max triangles in hull.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:36</div></div>
    1025. 

  1025. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a469e8ddcebb3e76c06176c9580fc186e"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a469e8ddcebb3e76c06176c9580fc186e">EPAConvexHullBuilder::Edges</a></div><div class="ttdeci">StaticArray&lt; Edge, cMaxEdgeLength &gt; Edges</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:58</div></div>
    1026. 

  1026. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a4aa8fa12b1aa66a498dcca309be791bb"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a4aa8fa12b1aa66a498dcca309be791bb">EPAConvexHullBuilder::cMinTriangleArea</a></div><div class="ttdeci">static constexpr float cMinTriangleArea</div><div class="ttdoc">Minimum area of a triangle before, if smaller than this it will not be added to the priority queue.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:41</div></div>
    1027. 

  1027. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a637ebd7296fad44e0342a5aadfd84a5d"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a637ebd7296fad44e0342a5aadfd84a5d">EPAConvexHullBuilder::cBarycentricEpsilon</a></div><div class="ttdeci">static constexpr float cBarycentricEpsilon</div><div class="ttdoc">Epsilon value used to determine if a point is in the interior of a triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:42</div></div>
    1028. 

  1028. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a6968898ef16408b14c1000bebf2f2576"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a6968898ef16408b14c1000bebf2f2576">EPAConvexHullBuilder::cMaxPoints</a></div><div class="ttdeci">static constexpr int cMaxPoints</div><div class="ttdoc">Max number of points in hull.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:37</div></div>
    1029. 

  1029. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a7095af90fda9266b9ae7258025623499"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a7095af90fda9266b9ae7258025623499">EPAConvexHullBuilder::PopClosestTriangleFromQueue</a></div><div class="ttdeci">Triangle * PopClosestTriangleFromQueue()</div><div class="ttdoc">Access to the next closest triangle to the origin and remove it from the queue.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:274</div></div>
    1030. 

  1030. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a745bd64c5b95a736c502901a1bd3d7c0"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a745bd64c5b95a736c502901a1bd3d7c0">EPAConvexHullBuilder::cMaxEdgeLength</a></div><div class="ttdeci">static constexpr int cMaxEdgeLength</div><div class="ttdoc">Max number of edges in FindEdge.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:40</div></div>
    1031. 

  1031. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_a8a5be413b034888eeb3ccc384e1ca9ec"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#a8a5be413b034888eeb3ccc384e1ca9ec">EPAConvexHullBuilder::FreeTriangle</a></div><div class="ttdeci">void FreeTriangle(Triangle *inT)</div><div class="ttdoc">Free a triangle.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:366</div></div>
    1032. 

  1032. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_aba8a5ac94c67e4c96e5eb533dfca3a83"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#aba8a5ac94c67e4c96e5eb533dfca3a83">EPAConvexHullBuilder::FindFacingTriangle</a></div><div class="ttdeci">Triangle * FindFacingTriangle(Vec3Arg inPosition, float &amp;outBestDistSq)</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:281</div></div>
    1033. 

  1033. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_ac6b69723ed9d2c1b815769f9953ef8e7"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#ac6b69723ed9d2c1b815769f9953ef8e7">EPAConvexHullBuilder::Initialize</a></div><div class="ttdeci">void Initialize(int inIdx1, int inIdx2, int inIdx3)</div><div class="ttdoc">Initialize the hull with 3 points.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:234</div></div>
    1034. 

  1034. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_ae1b6e6eb12d8723eeab4265f9510b7c2"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#ae1b6e6eb12d8723eeab4265f9510b7c2">EPAConvexHullBuilder::AddPoint</a></div><div class="ttdeci">bool AddPoint(Triangle *inFacingTriangle, int inIdx, float inClosestDistSq, NewTriangles &amp;outTriangles)</div><div class="ttdoc">Add a new point to the convex hull.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:306</div></div>
    1035. 

  1035. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_ae55b89fd27a0cab9a97a1475245dec9d"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#ae55b89fd27a0cab9a97a1475245dec9d">EPAConvexHullBuilder::EPAConvexHullBuilder</a></div><div class="ttdeci">EPAConvexHullBuilder(const Points &amp;inPositions)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:224</div></div>
    1036. 

  1036. <div class="ttc" id="aclass_e_p_a_convex_hull_builder_html_aea0c331a90c44fd535337c5d0841103e"><div class="ttname"><a href="class_e_p_a_convex_hull_builder.html#aea0c331a90c44fd535337c5d0841103e">EPAConvexHullBuilder::Triangles</a></div><div class="ttdeci">StaticArray&lt; Triangle *, cMaxTriangles &gt; Triangles</div><div class="ttdef"><b>Definition</b> EPAConvexHullBuilder.h:169</div></div>
    1037. 

  1037. <div class="ttc" id="aclass_mat44_html"><div class="ttname"><a href="class_mat44.html">Mat44</a></div><div class="ttdoc">Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.h:13</div></div>
    1038. 

  1038. <div class="ttc" id="aclass_mat44_html_a858ecd5c9c124039f5c7adab5bcf5041"><div class="ttname"><a href="class_mat44.html#a858ecd5c9c124039f5c7adab5bcf5041">Mat44::sScale</a></div><div class="ttdeci">static JPH_INLINE Mat44 sScale(float inScale)</div><div class="ttdoc">Get matrix that scales uniformly.</div><div class="ttdef"><b>Definition</b> Mat44.inl:163</div></div>
    1039. 

  1039. <div class="ttc" id="aclass_mat44_html_a8cc7184902ce670d0822a28a8906df52"><div class="ttname"><a href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">Mat44::sTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sTranslation(Vec3Arg inV)</div><div class="ttdoc">Get matrix that translates.</div><div class="ttdef"><b>Definition</b> Mat44.inl:144</div></div>
    1040. 

  1040. <div class="ttc" id="aclass_non_copyable_html"><div class="ttname"><a href="class_non_copyable.html">NonCopyable</a></div><div class="ttdoc">Class that makes another class non-copyable. Usage: Inherit from NonCopyable.</div><div class="ttdef"><b>Definition</b> NonCopyable.h:11</div></div>
    1041. 

  1041. <div class="ttc" id="aclass_ref_html"><div class="ttname"><a href="class_ref.html">Ref&lt; Geometry &gt;</a></div></div>
    1042. 

  1042. <div class="ttc" id="aclass_static_array_html"><div class="ttname"><a href="class_static_array.html">StaticArray</a></div><div class="ttdoc">Simple variable length array backed by a fixed size buffer.</div><div class="ttdef"><b>Definition</b> StaticArray.h:14</div></div>
    1043. 

  1043. <div class="ttc" id="aclass_static_array_html_a1117d7fa5ecfe22248396f1632d842cb"><div class="ttname"><a href="class_static_array.html#a1117d7fa5ecfe22248396f1632d842cb">StaticArray::push_back</a></div><div class="ttdeci">void push_back(const T &amp;inElement)</div><div class="ttdoc">Add element to the back of the array.</div><div class="ttdef"><b>Definition</b> StaticArray.h:61</div></div>
    1044. 

  1044. <div class="ttc" id="aclass_static_array_html_a495ba6aabb5a08ba1a06add667182f12"><div class="ttname"><a href="class_static_array.html#a495ba6aabb5a08ba1a06add667182f12">StaticArray::iterator</a></div><div class="ttdeci">T * iterator</div><div class="ttdef"><b>Definition</b> StaticArray.h:126</div></div>
    1045. 

  1045. <div class="ttc" id="aclass_static_array_html_a69859b5a0e6cd32048fc1f3188982f3b"><div class="ttname"><a href="class_static_array.html#a69859b5a0e6cd32048fc1f3188982f3b">StaticArray::size_type</a></div><div class="ttdeci">uint size_type</div><div class="ttdef"><b>Definition</b> StaticArray.h:18</div></div>
    1046. 

  1046. <div class="ttc" id="aclass_static_array_html_aea449055e7dab910eca1a4af05d53b6f"><div class="ttname"><a href="class_static_array.html#aea449055e7dab910eca1a4af05d53b6f">StaticArray::size</a></div><div class="ttdeci">size_type size() const</div><div class="ttdoc">Returns amount of elements in the array.</div><div class="ttdef"><b>Definition</b> StaticArray.h:89</div></div>
    1047. 

  1047. <div class="ttc" id="aclass_triangle_html"><div class="ttname"><a href="class_triangle.html">Triangle</a></div><div class="ttdoc">A simple triangle and its material.</div><div class="ttdef"><b>Definition</b> Triangle.h:11</div></div>
    1048. 

  1048. <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>
    1049. 

  1049. <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>
    1050. 

  1050. <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>
    1051. 

  1051. <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>
    1052. 

  1052. <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>
    1053. 

  1053. <div class="ttc" id="aclass_vec3_html_ad6be51ce14811d6c196784d20cb39b98"><div class="ttname"><a href="class_vec3.html#ad6be51ce14811d6c196784d20cb39b98">Vec3::sReplicate</a></div><div class="ttdeci">static JPH_INLINE Vec3 sReplicate(float inV)</div><div class="ttdoc">Replicate inV across all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:114</div></div>
    1054. 

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