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

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

  111. <a href="_g_j_k_closest_point_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

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

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

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

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

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

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_non_copyable_8h.html">Jolt/Core/NonCopyable.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_closest_point_8h.html">Jolt/Geometry/ClosestPoint.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="_convex_support_8h.html">Jolt/Geometry/ConvexSupport.h</a>&gt;</span></div>
    120. 

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

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

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</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="_string_tools_8h.html">Jolt/Core/StringTools.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="_debug_renderer_8h.html">Jolt/Renderer/DebugRenderer.h</a>&gt;</span></div>
    125. 

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

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

  127. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    128. 

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
    129. 

  129. <div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
    130. 

  130. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="class_g_j_k_closest_point.html">GJKClosestPoint</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_non_copyable.html">NonCopyable</a></div>
    131. 

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

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

  133. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keyword">template</span> &lt;<span class="keywordtype">bool</span> LastPo<span class="keywordtype">int</span>PartOfClosestFeature&gt;</div>
    134. 

  134. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keywordtype">bool</span>        GetClosest(<span class="keywordtype">float</span> inPrevVLenSq, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outV, <span class="keywordtype">float</span> &amp;outVLenSq, <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> &amp;outSet)<span class="keyword"> const</span></div>
    135. 

  135. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">    </span>{</div>
    136. 

  136. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    137. 

  137. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    138. 

  138. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;y[%d] = [%s], |y[%d]| = %g&quot;</span>, i, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(mY[i]).c_str(), i, (<span class="keywordtype">double</span>)mY[i].Length());</div>
    139. 

  139. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#endif</span></div>
    140. 

  140. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
    141. 

  141. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;</div>
    142. 

  142. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v;</div>
    143. 

  143. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
    144. 

  144. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>        <span class="keywordflow">switch</span> (mNumPoints)</div>
    145. 

  145. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        {</div>
    146. 

  146. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <span class="keywordflow">case</span> 1:</div>
    147. 

  147. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            <span class="comment">// Single point</span></div>
    148. 

  148. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            set = 0b0001;</div>
    149. 

  149. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            v = mY[0];</div>
    150. 

  150. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            <span class="keywordflow">break</span>;</div>
    151. 

  151. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
    152. 

  152. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordflow">case</span> 2:</div>
    153. 

  153. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            <span class="comment">// Line segment</span></div>
    154. 

  154. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            v = <a class="code hl_function" href="namespace_closest_point.html#ad687ef98922a03b7128a5d3a5a64ab39">ClosestPoint::GetClosestPointOnLine</a>(mY[0], mY[1], set);</div>
    155. 

  155. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            <span class="keywordflow">break</span>;</div>
    156. 

  156. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
    157. 

  157. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">case</span> 3:</div>
    158. 

  158. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            <span class="comment">// Triangle</span></div>
    159. 

  159. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            v = <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">ClosestPoint::GetClosestPointOnTriangle&lt;LastPointPartOfClosestFeature&gt;</a>(mY[0], mY[1], mY[2], set);</div>
    160. 

  160. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            <span class="keywordflow">break</span>;</div>
    161. 

  161. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
    162. 

  162. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordflow">case</span> 4:</div>
    163. 

  163. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>            <span class="comment">// Tetrahedron</span></div>
    164. 

  164. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            v = <a class="code hl_function" href="namespace_closest_point.html#abafebdbe3dea0fe6674c20fc9ccc8540">ClosestPoint::GetClosestPointOnTetrahedron&lt;LastPointPartOfClosestFeature&gt;</a>(mY[0], mY[1], mY[2], mY[3], set);</div>
    165. 

  165. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>            <span class="keywordflow">break</span>;</div>
    166. 

  166. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
    167. 

  167. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">default</span>:</div>
    168. 

  168. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
    169. 

  169. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    170. 

  170. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        }</div>
    171. 

  171. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
    172. 

  172. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    173. 

  173. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;GetClosest: set = 0b%s, v = [%s], |v| = %g&quot;</span>, <a class="code hl_function" href="_string_tools_8cpp.html#a479eac2df35b47887f8dbfa014f6923d">NibbleToBinary</a>(set), <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(v).c_str(), (<span class="keywordtype">double</span>)v.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>());</div>
    174. 

  174. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span><span class="preprocessor">#endif</span></div>
    175. 

  175. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
    176. 

  176. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keywordtype">float</span> v_len_sq = v.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    177. 

  177. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keywordflow">if</span> (v_len_sq &lt; inPrevVLenSq) <span class="comment">// Note, comparison order important: If v_len_sq is NaN then this expression will be false so we will return false</span></div>
    178. 

  178. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        {</div>
    179. 

  179. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>            <span class="comment">// Return closest point</span></div>
    180. 

  180. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            outV = v;</div>
    181. 

  181. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            outVLenSq = v_len_sq;</div>
    182. 

  182. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            outSet = set;</div>
    183. 

  183. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    184. 

  184. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        }</div>
    185. 

  185. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
    186. 

  186. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        <span class="comment">// No better match found</span></div>
    187. 

  187. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    188. 

  188. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;New closer point is further away, failed to converge&quot;</span>);</div>
    189. 

  189. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span><span class="preprocessor">#endif</span></div>
    190. 

  190. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    191. 

  191. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
    192. 

  192. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
    193. 

  193. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="comment">// Get max(|Y_0|^2 .. |Y_n|^2)</span></div>
    194. 

  194. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keywordtype">float</span>       GetMaxYLengthSq()<span class="keyword"> const</span></div>
    195. 

  195. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="keyword">    </span>{</div>
    196. 

  196. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keywordtype">float</span> y_len_sq = mY[0].<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    197. 

  197. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; mNumPoints; ++i)</div>
    198. 

  198. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>            y_len_sq = max(y_len_sq, mY[i].LengthSq());</div>
    199. 

  199. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <span class="keywordflow">return</span> y_len_sq;</div>
    200. 

  200. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    }</div>
    201. 

  201. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
    202. 

  202. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="comment">// Remove points that are not in the set, only updates mY</span></div>
    203. 

  203. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordtype">void</span>        UpdatePointSetY(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inSet)</div>
    204. 

  204. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
    205. 

  205. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="keywordtype">int</span> num_points = 0;</div>
    206. 

  206. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    207. 

  207. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <span class="keywordflow">if</span> ((inSet &amp; (1 &lt;&lt; i)) != 0)</div>
    208. 

  208. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            {</div>
    209. 

  209. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>                mY[num_points] = mY[i];</div>
    210. 

  210. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                ++num_points;</div>
    211. 

  211. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>            }</div>
    212. 

  212. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        mNumPoints = num_points;</div>
    213. 

  213. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    }</div>
    214. 

  214. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
    215. 

  215. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <span class="comment">// Remove points that are not in the set, only updates mP</span></div>
    216. 

  216. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">void</span>        UpdatePointSetP(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inSet)</div>
    217. 

  217. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    {</div>
    218. 

  218. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="keywordtype">int</span> num_points = 0;</div>
    219. 

  219. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    220. 

  220. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            <span class="keywordflow">if</span> ((inSet &amp; (1 &lt;&lt; i)) != 0)</div>
    221. 

  221. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>            {</div>
    222. 

  222. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>                mP[num_points] = mP[i];</div>
    223. 

  223. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>                ++num_points;</div>
    224. 

  224. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>            }</div>
    225. 

  225. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        mNumPoints = num_points;</div>
    226. 

  226. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    }</div>
    227. 

  227. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
    228. 

  228. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="comment">// Remove points that are not in the set, only updates mP and mQ</span></div>
    229. 

  229. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <span class="keywordtype">void</span>        UpdatePointSetPQ(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inSet)</div>
    230. 

  230. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    {</div>
    231. 

  231. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordtype">int</span> num_points = 0;</div>
    232. 

  232. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    233. 

  233. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>            <span class="keywordflow">if</span> ((inSet &amp; (1 &lt;&lt; i)) != 0)</div>
    234. 

  234. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>            {</div>
    235. 

  235. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>                mP[num_points] = mP[i];</div>
    236. 

  236. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>                mQ[num_points] = mQ[i];</div>
    237. 

  237. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>                ++num_points;</div>
    238. 

  238. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>            }</div>
    239. 

  239. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        mNumPoints = num_points;</div>
    240. 

  240. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    }</div>
    241. 

  241. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
    242. 

  242. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="comment">// Remove points that are not in the set, updates mY, mP and mQ</span></div>
    243. 

  243. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="keywordtype">void</span>        UpdatePointSetYPQ(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inSet)</div>
    244. 

  244. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    {</div>
    245. 

  245. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="keywordtype">int</span> num_points = 0;</div>
    246. 

  246. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    247. 

  247. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            <span class="keywordflow">if</span> ((inSet &amp; (1 &lt;&lt; i)) != 0)</div>
    248. 

  248. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            {</div>
    249. 

  249. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>                mY[num_points] = mY[i];</div>
    250. 

  250. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>                mP[num_points] = mP[i];</div>
    251. 

  251. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>                mQ[num_points] = mQ[i];</div>
    252. 

  252. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>                ++num_points;</div>
    253. 

  253. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>            }</div>
    254. 

  254. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        mNumPoints = num_points;</div>
    255. 

  255. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    }</div>
    256. 

  256. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
    257. 

  257. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="comment">// Calculate closest points on A and B</span></div>
    258. 

  258. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <span class="keywordtype">void</span>        CalculatePointAAndB(<a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outPointB)<span class="keyword"> const</span></div>
    259. 

  259. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span><span class="keyword">    </span>{</div>
    260. 

  260. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="keywordflow">switch</span> (mNumPoints)</div>
    261. 

  261. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        {</div>
    262. 

  262. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        <span class="keywordflow">case</span> 1:</div>
    263. 

  263. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>            outPointA = mP[0];</div>
    264. 

  264. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>            outPointB = mQ[0];</div>
    265. 

  265. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>            <span class="keywordflow">break</span>;</div>
    266. 

  266. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
    267. 

  267. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        <span class="keywordflow">case</span> 2:</div>
    268. 

  268. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>            {</div>
    269. 

  269. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>                <span class="keywordtype">float</span> u, v;</div>
    270. 

  270. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>                <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">ClosestPoint::GetBaryCentricCoordinates</a>(mY[0], mY[1], u, v);</div>
    271. 

  271. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>                outPointA = u * mP[0] + v * mP[1];</div>
    272. 

  272. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>                outPointB = u * mQ[0] + v * mQ[1];</div>
    273. 

  273. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>            }</div>
    274. 

  274. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <span class="keywordflow">break</span>;</div>
    275. 

  275. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
    276. 

  276. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">case</span> 3:</div>
    277. 

  277. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>            {</div>
    278. 

  278. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>                <span class="keywordtype">float</span> u, v, w;</div>
    279. 

  279. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>                <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">ClosestPoint::GetBaryCentricCoordinates</a>(mY[0], mY[1], mY[2], u, v, w);</div>
    280. 

  280. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>                outPointA = u * mP[0] + v * mP[1] + w * mP[2];</div>
    281. 

  281. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>                outPointB = u * mQ[0] + v * mQ[1] + w * mQ[2];</div>
    282. 

  282. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>            }</div>
    283. 

  283. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>            <span class="keywordflow">break</span>;</div>
    284. 

  284. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
    285. 

  285. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        <span class="keywordflow">case</span> 4:</div>
    286. 

  286. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span><span class="preprocessor">        #ifdef JPH_DEBUG</span></div>
    287. 

  287. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            memset(&amp;outPointA, 0xcd, <span class="keyword">sizeof</span>(outPointA));</div>
    288. 

  288. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>            memset(&amp;outPointB, 0xcd, <span class="keyword">sizeof</span>(outPointB));</div>
    289. 

  289. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span><span class="preprocessor">        #endif</span></div>
    290. 

  290. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>            <span class="keywordflow">break</span>;</div>
    291. 

  291. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        }</div>
    292. 

  292. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    }</div>
    293. 

  293. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span> </div>
    294. 

  294. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span><span class="keyword">public</span>:</div>
    295. 

  295. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> A, <span class="keyword">typename</span> B&gt;</div>
    296. 

  296. <div class="foldopen" id="foldopen00207" data-start="{" data-end="}">
    297. 

  297. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html#a20ab4d36efcf62ceae244ec75eb4bc23">  207</a></span>    <span class="keywordtype">bool</span>        <a class="code hl_function" href="class_g_j_k_closest_point.html#a20ab4d36efcf62ceae244ec75eb4bc23">Intersects</a>(<span class="keyword">const</span> A &amp;inA, <span class="keyword">const</span> B &amp;inB, <span class="keywordtype">float</span> inTolerance, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;ioV)</div>
    298. 

  298. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    {</div>
    299. 

  299. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        <span class="keywordtype">float</span> tolerance_sq = <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(inTolerance);</div>
    300. 

  300. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span> </div>
    301. 

  301. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>        <span class="comment">// Reset state</span></div>
    302. 

  302. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        mNumPoints = 0;</div>
    303. 

  303. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span> </div>
    304. 

  304. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    305. 

  305. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    306. 

  306. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>            mY[i] = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    307. 

  307. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span><span class="preprocessor">#endif</span></div>
    308. 

  308. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
    309. 

  309. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>        <span class="comment">// Previous length^2 of v</span></div>
    310. 

  310. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        <span class="keywordtype">float</span> prev_v_len_sq = FLT_MAX;</div>
    311. 

  311. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
    312. 

  312. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>        <span class="keywordflow">for</span> (;;)</div>
    313. 

  313. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>        {</div>
    314. 

  314. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    315. 

  315. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v = [%s], num_points = %d&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(ioV).c_str(), mNumPoints);</div>
    316. 

  316. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="preprocessor">#endif</span></div>
    317. 

  317. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span> </div>
    318. 

  318. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>            <span class="comment">// Get support points for shape A and B in the direction of v</span></div>
    319. 

  319. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> p = inA.GetSupport(ioV);</div>
    320. 

  320. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> q = inB.GetSupport(-ioV);</div>
    321. 

  321. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span> </div>
    322. 

  322. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>            <span class="comment">// Get support point of the minkowski sum A - B of v</span></div>
    323. 

  323. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> w = p - q;</div>
    324. 

  324. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
    325. 

  325. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>            <span class="comment">// If the support point sA-B(v) is in the opposite direction as v, then we have found a separating axis and there is no intersection</span></div>
    326. 

  326. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>            <span class="keywordflow">if</span> (ioV.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(w) &lt; 0.0f)</div>
    327. 

  327. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>            {</div>
    328. 

  328. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                <span class="comment">// Separating axis found</span></div>
    329. 

  329. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    330. 

  330. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Separating axis&quot;</span>);</div>
    331. 

  331. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span><span class="preprocessor">#endif</span></div>
    332. 

  332. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    333. 

  333. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>            }</div>
    334. 

  334. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span> </div>
    335. 

  335. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>            <span class="comment">// Store the point for later use</span></div>
    336. 

  336. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>            mY[mNumPoints] = w;</div>
    337. 

  337. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>            ++mNumPoints;</div>
    338. 

  338. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
    339. 

  339. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    340. 

  340. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;w = [%s]&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(w).c_str());</div>
    341. 

  341. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span><span class="preprocessor">#endif</span></div>
    342. 

  342. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
    343. 

  343. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>            <span class="comment">// Determine the new closest point</span></div>
    344. 

  344. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>            <span class="keywordtype">float</span> v_len_sq;         <span class="comment">// Length^2 of v</span></div>
    345. 

  345. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;             <span class="comment">// Set of points that form the new simplex</span></div>
    346. 

  346. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>            <span class="keywordflow">if</span> (!GetClosest&lt;true&gt;(prev_v_len_sq, ioV, v_len_sq, set))</div>
    347. 

  347. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    348. 

  348. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
    349. 

  349. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>            <span class="comment">// If there are 4 points, the origin is inside the tetrahedron and we&#39;re done</span></div>
    350. 

  350. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>            <span class="keywordflow">if</span> (set == 0xf)</div>
    351. 

  351. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>            {</div>
    352. 

  352. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    353. 

  353. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Full simplex&quot;</span>);</div>
    354. 

  354. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span><span class="preprocessor">#endif</span></div>
    355. 

  355. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>                ioV = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    356. 

  356. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    357. 

  357. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>            }</div>
    358. 

  358. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span> </div>
    359. 

  359. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>            <span class="comment">// If v is very close to zero, we consider this a collision</span></div>
    360. 

  360. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>            <span class="keywordflow">if</span> (v_len_sq &lt;= tolerance_sq)</div>
    361. 

  361. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>            {</div>
    362. 

  362. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    363. 

  363. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Distance zero&quot;</span>);</div>
    364. 

  364. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span><span class="preprocessor">#endif</span></div>
    365. 

  365. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>                ioV = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    366. 

  366. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    367. 

  367. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            }</div>
    368. 

  368. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span> </div>
    369. 

  369. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>            <span class="comment">// If v is very small compared to the length of y, we also consider this a collision</span></div>
    370. 

  370. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>            <span class="keywordflow">if</span> (v_len_sq &lt;= FLT_EPSILON * GetMaxYLengthSq())</div>
    371. 

  371. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            {</div>
    372. 

  372. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    373. 

  373. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Machine precision reached&quot;</span>);</div>
    374. 

  374. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span><span class="preprocessor">#endif</span></div>
    375. 

  375. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>                ioV = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    376. 

  376. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    377. 

  377. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>            }</div>
    378. 

  378. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span> </div>
    379. 

  379. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>            <span class="comment">// The next separation axis to test is the negative of the closest point of the Minkowski sum to the origin</span></div>
    380. 

  380. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>            <span class="comment">// Note: This must be done before terminating as converged since the separating axis is -v</span></div>
    381. 

  381. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>            ioV = -ioV;</div>
    382. 

  382. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
    383. 

  383. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>            <span class="comment">// If the squared length of v is not changing enough, we&#39;ve converged and there is no collision</span></div>
    384. 

  384. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(prev_v_len_sq &gt;= v_len_sq);</div>
    385. 

  385. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>            <span class="keywordflow">if</span> (prev_v_len_sq - v_len_sq &lt;= FLT_EPSILON * prev_v_len_sq)</div>
    386. 

  386. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>            {</div>
    387. 

  387. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>                <span class="comment">// v is a separating axis</span></div>
    388. 

  388. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    389. 

  389. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Converged&quot;</span>);</div>
    390. 

  390. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span><span class="preprocessor">#endif</span></div>
    391. 

  391. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    392. 

  392. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>            }</div>
    393. 

  393. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>            prev_v_len_sq = v_len_sq;</div>
    394. 

  394. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
    395. 

  395. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>            <span class="comment">// Update the points of the simplex</span></div>
    396. 

  396. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>            UpdatePointSetY(set);</div>
    397. 

  397. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>        }</div>
    398. 

  398. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>    }</div>
    399. 

  399. </div>
    400. 

  400. <div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span> </div>
    401. 

  401. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> A, <span class="keyword">typename</span> B&gt;</div>
    402. 

  402. <div class="foldopen" id="foldopen00327" data-start="{" data-end="}">
    403. 

  403. <div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html#abb7cfdd49d708007d75b4c2e9b90ebb9">  327</a></span>    <span class="keywordtype">float</span>       <a class="code hl_function" href="class_g_j_k_closest_point.html#abb7cfdd49d708007d75b4c2e9b90ebb9">GetClosestPoints</a>(<span class="keyword">const</span> A &amp;inA, <span class="keyword">const</span> B &amp;inB, <span class="keywordtype">float</span> inTolerance, <span class="keywordtype">float</span> inMaxDistSq, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;ioV, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outPointB)</div>
    404. 

  404. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    {</div>
    405. 

  405. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>        <span class="keywordtype">float</span> tolerance_sq = <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(inTolerance);</div>
    406. 

  406. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
    407. 

  407. <div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>        <span class="comment">// Reset state</span></div>
    408. 

  408. <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        mNumPoints = 0;</div>
    409. 

  409. <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span> </div>
    410. 

  410. <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    411. 

  411. <div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>        <span class="comment">// Generate the hull of the Minkowski difference for visualization</span></div>
    412. 

  412. <div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>        <a class="code hl_struct" href="struct_minkowski_difference.html">MinkowskiDifference</a> diff(inA, inB);</div>
    413. 

  413. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>        mGeometry = <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#a10539e59c9323113348a85744d1ca054">CreateTriangleGeometryForConvex</a>([&amp;diff](<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection) { <span class="keywordflow">return</span> diff.<a class="code hl_function" href="struct_minkowski_difference.html#ad9e15e934b19be1df6e09a926a1e26dd">GetSupport</a>(inDirection); });</div>
    414. 

  414. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span> </div>
    415. 

  415. <div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    416. 

  416. <div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>        {</div>
    417. 

  417. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>            mY[i] = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    418. 

  418. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>            mP[i] = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    419. 

  419. <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>            mQ[i] = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    420. 

  420. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        }</div>
    421. 

  421. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span><span class="preprocessor">#endif</span></div>
    422. 

  422. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span> </div>
    423. 

  423. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>        <span class="comment">// Length^2 of v</span></div>
    424. 

  424. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>        <span class="keywordtype">float</span> v_len_sq = ioV.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    425. 

  425. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span> </div>
    426. 

  426. <div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>        <span class="comment">// Previous length^2 of v</span></div>
    427. 

  427. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>        <span class="keywordtype">float</span> prev_v_len_sq = FLT_MAX;</div>
    428. 

  428. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span> </div>
    429. 

  429. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>        <span class="keywordflow">for</span> (;;)</div>
    430. 

  430. <div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>        {</div>
    431. 

  431. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    432. 

  432. <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v = [%s], num_points = %d&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(ioV).c_str(), mNumPoints);</div>
    433. 

  433. <div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span><span class="preprocessor">#endif</span></div>
    434. 

  434. <div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span> </div>
    435. 

  435. <div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>            <span class="comment">// Get support points for shape A and B in the direction of v</span></div>
    436. 

  436. <div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> p = inA.GetSupport(ioV);</div>
    437. 

  437. <div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> q = inB.GetSupport(-ioV);</div>
    438. 

  438. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span> </div>
    439. 

  439. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>            <span class="comment">// Get support point of the minkowski sum A - B of v</span></div>
    440. 

  440. <div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> w = p - q;</div>
    441. 

  441. <div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span> </div>
    442. 

  442. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>            <span class="keywordtype">float</span> dot = ioV.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(w);</div>
    443. 

  443. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
    444. 

  444. <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    445. 

  445. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>            <span class="comment">// Draw -ioV to show the closest point to the origin from the previous simplex</span></div>
    446. 

  446. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</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>(mOffset, mOffset - ioV, <a class="code hl_variable" href="class_color.html#a990ba9412e70ae76b1108c2447b62744">Color::sOrange</a>, 0.05f);</div>
    447. 

  447. <div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span> </div>
    448. 

  448. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>            <span class="comment">// Draw ioV to show where we&#39;re probing next</span></div>
    449. 

  449. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</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>(mOffset, mOffset + ioV, <a class="code hl_variable" href="class_color.html#ae05e0e94f2d5b891869b444bbb29ad59">Color::sCyan</a>, 0.05f);</div>
    450. 

  450. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span> </div>
    451. 

  451. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>            <span class="comment">// Draw w, the support point</span></div>
    452. 

  452. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</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>(mOffset, mOffset + w, <a class="code hl_variable" href="class_color.html#a36eb714e97155bdeda7bc276acf007e2">Color::sGreen</a>, 0.05f);</div>
    453. 

  453. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</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>(mOffset + w, <a class="code hl_variable" href="class_color.html#a36eb714e97155bdeda7bc276acf007e2">Color::sGreen</a>, 1.0f);</div>
    454. 

  454. <div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span> </div>
    455. 

  455. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>            <span class="comment">// Draw the simplex and the Minkowski difference around it</span></div>
    456. 

  456. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>            DrawState();</div>
    457. 

  457. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span><span class="preprocessor">#endif</span></div>
    458. 

  458. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span> </div>
    459. 

  459. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>            <span class="comment">// Test if we have a separation of more than inMaxDistSq, in which case we terminate early</span></div>
    460. 

  460. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>            <span class="keywordflow">if</span> (dot &lt; 0.0f &amp;&amp; dot * dot &gt; v_len_sq * inMaxDistSq)</div>
    461. 

  461. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>            {</div>
    462. 

  462. <div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    463. 

  463. <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Distance bigger than max&quot;</span>);</div>
    464. 

  464. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span><span class="preprocessor">#endif</span></div>
    465. 

  465. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span><span class="preprocessor">#ifdef JPH_DEBUG</span></div>
    466. 

  466. <div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>                memset(&amp;outPointA, 0xcd, <span class="keyword">sizeof</span>(outPointA));</div>
    467. 

  467. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>                memset(&amp;outPointB, 0xcd, <span class="keyword">sizeof</span>(outPointB));</div>
    468. 

  468. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span><span class="preprocessor">#endif</span></div>
    469. 

  469. <div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>                <span class="keywordflow">return</span> FLT_MAX;</div>
    470. 

  470. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>            }</div>
    471. 

  471. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span> </div>
    472. 

  472. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>            <span class="comment">// Store the point for later use</span></div>
    473. 

  473. <div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>            mY[mNumPoints] = w;</div>
    474. 

  474. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>            mP[mNumPoints] = p;</div>
    475. 

  475. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>            mQ[mNumPoints] = q;</div>
    476. 

  476. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>            ++mNumPoints;</div>
    477. 

  477. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span> </div>
    478. 

  478. <div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    479. 

  479. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;w = [%s]&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(w).c_str());</div>
    480. 

  480. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span><span class="preprocessor">#endif</span></div>
    481. 

  481. <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span> </div>
    482. 

  482. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;</div>
    483. 

  483. <div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>            <span class="keywordflow">if</span> (!GetClosest&lt;true&gt;(prev_v_len_sq, ioV, v_len_sq, set))</div>
    484. 

  484. <div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>            {</div>
    485. 

  485. <div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>                --mNumPoints; <span class="comment">// Undo add last point</span></div>
    486. 

  486. <div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>                <span class="keywordflow">break</span>;</div>
    487. 

  487. <div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>            }</div>
    488. 

  488. <div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span> </div>
    489. 

  489. <div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>            <span class="comment">// If there are 4 points, the origin is inside the tetrahedron and we&#39;re done</span></div>
    490. 

  490. <div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>            <span class="keywordflow">if</span> (set == 0xf)</div>
    491. 

  491. <div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>            {</div>
    492. 

  492. <div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    493. 

  493. <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Full simplex&quot;</span>);</div>
    494. 

  494. <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span><span class="preprocessor">#endif</span></div>
    495. 

  495. <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>                ioV = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    496. 

  496. <div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>                v_len_sq = 0.0f;</div>
    497. 

  497. <div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>                <span class="keywordflow">break</span>;</div>
    498. 

  498. <div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>            }</div>
    499. 

  499. <div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span> </div>
    500. 

  500. <div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>            <span class="comment">// Update the points of the simplex</span></div>
    501. 

  501. <div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>            UpdatePointSetYPQ(set);</div>
    502. 

  502. <div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span> </div>
    503. 

  503. <div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>            <span class="comment">// If v is very close to zero, we consider this a collision</span></div>
    504. 

  504. <div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>            <span class="keywordflow">if</span> (v_len_sq &lt;= tolerance_sq)</div>
    505. 

  505. <div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>            {</div>
    506. 

  506. <div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    507. 

  507. <div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Distance zero&quot;</span>);</div>
    508. 

  508. <div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span><span class="preprocessor">#endif</span></div>
    509. 

  509. <div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>                ioV = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    510. 

  510. <div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>                v_len_sq = 0.0f;</div>
    511. 

  511. <div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>                <span class="keywordflow">break</span>;</div>
    512. 

  512. <div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>            }</div>
    513. 

  513. <div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
    514. 

  514. <div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>            <span class="comment">// If v is very small compared to the length of y, we also consider this a collision</span></div>
    515. 

  515. <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    516. 

  516. <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Check v small compared to y: %g &lt;= %g&quot;</span>, (<span class="keywordtype">double</span>)v_len_sq, (<span class="keywordtype">double</span>)(FLT_EPSILON * GetMaxYLengthSq()));</div>
    517. 

  517. <div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span><span class="preprocessor">#endif</span></div>
    518. 

  518. <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>            <span class="keywordflow">if</span> (v_len_sq &lt;= FLT_EPSILON * GetMaxYLengthSq())</div>
    519. 

  519. <div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>            {</div>
    520. 

  520. <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    521. 

  521. <div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Machine precision reached&quot;</span>);</div>
    522. 

  522. <div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span><span class="preprocessor">#endif</span></div>
    523. 

  523. <div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>                ioV = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    524. 

  524. <div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>                v_len_sq = 0.0f;</div>
    525. 

  525. <div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>                <span class="keywordflow">break</span>;</div>
    526. 

  526. <div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>            }</div>
    527. 

  527. <div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span> </div>
    528. 

  528. <div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>            <span class="comment">// The next separation axis to test is the negative of the closest point of the Minkowski sum to the origin</span></div>
    529. 

  529. <div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>            <span class="comment">// Note: This must be done before terminating as converged since the separating axis is -v</span></div>
    530. 

  530. <div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>            ioV = -ioV;</div>
    531. 

  531. <div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span> </div>
    532. 

  532. <div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>            <span class="comment">// If the squared length of v is not changing enough, we&#39;ve converged and there is no collision</span></div>
    533. 

  533. <div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    534. 

  534. <div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Check v not changing enough: %g &lt;= %g&quot;</span>, (<span class="keywordtype">double</span>)(prev_v_len_sq - v_len_sq), (<span class="keywordtype">double</span>)(FLT_EPSILON * prev_v_len_sq));</div>
    535. 

  535. <div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span><span class="preprocessor">#endif</span></div>
    536. 

  536. <div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(prev_v_len_sq &gt;= v_len_sq);</div>
    537. 

  537. <div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>            <span class="keywordflow">if</span> (prev_v_len_sq - v_len_sq &lt;= FLT_EPSILON * prev_v_len_sq)</div>
    538. 

  538. <div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>            {</div>
    539. 

  539. <div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>                <span class="comment">// v is a separating axis</span></div>
    540. 

  540. <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    541. 

  541. <div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Converged&quot;</span>);</div>
    542. 

  542. <div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span><span class="preprocessor">#endif</span></div>
    543. 

  543. <div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>                <span class="keywordflow">break</span>;</div>
    544. 

  544. <div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>            }</div>
    545. 

  545. <div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>            prev_v_len_sq = v_len_sq;</div>
    546. 

  546. <div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>        }</div>
    547. 

  547. <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span> </div>
    548. 

  548. <div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>        <span class="comment">// Get the closest points</span></div>
    549. 

  549. <div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        CalculatePointAAndB(outPointA, outPointB);</div>
    550. 

  550. <div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span> </div>
    551. 

  551. <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    552. 

  552. <div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>        <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Return: v = [%s], |v| = %g&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(ioV).c_str(), (<span class="keywordtype">double</span>)ioV.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>());</div>
    553. 

  553. <div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span> </div>
    554. 

  554. <div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>        <span class="comment">// Draw -ioV to show the closest point to the origin from the previous simplex</span></div>
    555. 

  555. <div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</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>(mOffset, mOffset - ioV, <a class="code hl_variable" href="class_color.html#a990ba9412e70ae76b1108c2447b62744">Color::sOrange</a>, 0.05f);</div>
    556. 

  556. <div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span> </div>
    557. 

  557. <div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>        <span class="comment">// Draw the closest points</span></div>
    558. 

  558. <div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</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>(mOffset + outPointA, <a class="code hl_variable" href="class_color.html#a36eb714e97155bdeda7bc276acf007e2">Color::sGreen</a>, 1.0f);</div>
    559. 

  559. <div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</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>(mOffset + outPointB, <a class="code hl_variable" href="class_color.html#a34ab2471dec755f2317e02acae189efb">Color::sPurple</a>, 1.0f);</div>
    560. 

  560. <div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
    561. 

  561. <div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>        <span class="comment">// Draw the simplex and the Minkowski difference around it</span></div>
    562. 

  562. <div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>        DrawState();</div>
    563. 

  563. <div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span><span class="preprocessor">#endif</span></div>
    564. 

  564. <div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span> </div>
    565. 

  565. <div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(ioV.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>() == v_len_sq);</div>
    566. 

  566. <div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>        <span class="keywordflow">return</span> v_len_sq;</div>
    567. 

  567. <div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>    }</div>
    568. 

  568. </div>
    569. 

  569. <div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span> </div>
    570. 

  570. <div class="foldopen" id="foldopen00495" data-start="{" data-end="}">
    571. 

  571. <div class="line"><a id="l00495" name="l00495"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html#a73d6f276fb275026a0126ca7361fb2bf">  495</a></span>    <span class="keywordtype">void</span>        <a class="code hl_function" href="class_g_j_k_closest_point.html#a73d6f276fb275026a0126ca7361fb2bf">GetClosestPointsSimplex</a>(<a class="code hl_class" href="class_vec3.html">Vec3</a> *outY, <a class="code hl_class" href="class_vec3.html">Vec3</a> *outP, <a class="code hl_class" href="class_vec3.html">Vec3</a> *outQ, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> &amp;outNumPoints)<span class="keyword"> const</span></div>
    572. 

  572. <div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span><span class="keyword">    </span>{</div>
    573. 

  573. <div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> size = <span class="keyword">sizeof</span>(<a class="code hl_class" href="class_vec3.html">Vec3</a>) * mNumPoints;</div>
    574. 

  574. <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        memcpy(outY, mY, size);</div>
    575. 

  575. <div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>        memcpy(outP, mP, size);</div>
    576. 

  576. <div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>        memcpy(outQ, mQ, size);</div>
    577. 

  577. <div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>        outNumPoints = mNumPoints;</div>
    578. 

  578. <div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>    }</div>
    579. 

  579. </div>
    580. 

  580. <div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span> </div>
    581. 

  581. <div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> A&gt;</div>
    582. 

  582. <div class="foldopen" id="foldopen00516" data-start="{" data-end="}">
    583. 

  583. <div class="line"><a id="l00516" name="l00516"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html#ade3cde48252b6f77f749f9ac29685ec7">  516</a></span>    <span class="keywordtype">bool</span>        <a class="code hl_function" href="class_g_j_k_closest_point.html#ade3cde48252b6f77f749f9ac29685ec7">CastRay</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inRayOrigin, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inRayDirection, <span class="keywordtype">float</span> inTolerance, <span class="keyword">const</span> A &amp;inA, <span class="keywordtype">float</span> &amp;ioLambda)</div>
    584. 

  584. <div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    {</div>
    585. 

  585. <div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>        <span class="keywordtype">float</span> tolerance_sq = <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(inTolerance);</div>
    586. 

  586. <div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span> </div>
    587. 

  587. <div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>        <span class="comment">// Reset state</span></div>
    588. 

  588. <div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        mNumPoints = 0;</div>
    589. 

  589. <div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span> </div>
    590. 

  590. <div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>        <span class="keywordtype">float</span> lambda = 0.0f;</div>
    591. 

  591. <div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> x = inRayOrigin;</div>
    592. 

  592. <div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v = x - inA.GetSupport(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>());</div>
    593. 

  593. <div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>        <span class="keywordtype">float</span> v_len_sq = FLT_MAX;</div>
    594. 

  594. <div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>        <span class="keywordtype">bool</span> allow_restart = <span class="keyword">false</span>;</div>
    595. 

  595. <div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span> </div>
    596. 

  596. <div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>        <span class="keywordflow">for</span> (;;)</div>
    597. 

  597. <div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>        {</div>
    598. 

  598. <div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    599. 

  599. <div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v = [%s], num_points = %d&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(v).c_str(), mNumPoints);</div>
    600. 

  600. <div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span><span class="preprocessor">#endif</span></div>
    601. 

  601. <div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span> </div>
    602. 

  602. <div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>            <span class="comment">// Get new support point</span></div>
    603. 

  603. <div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> p = inA.GetSupport(v);</div>
    604. 

  604. <div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> w = x - p;</div>
    605. 

  605. <div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span> </div>
    606. 

  606. <div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    607. 

  607. <div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;w = [%s]&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(w).c_str());</div>
    608. 

  608. <div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span><span class="preprocessor">#endif</span></div>
    609. 

  609. <div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span> </div>
    610. 

  610. <div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>            <span class="keywordtype">float</span> v_dot_w = v.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(w);</div>
    611. 

  611. <div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    612. 

  612. <div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v . w = %g&quot;</span>, (<span class="keywordtype">double</span>)v_dot_w);</div>
    613. 

  613. <div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span><span class="preprocessor">#endif</span></div>
    614. 

  614. <div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>            <span class="keywordflow">if</span> (v_dot_w &gt; 0.0f)</div>
    615. 

  615. <div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>            {</div>
    616. 

  616. <div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>                <span class="comment">// If ray and normal are in the same direction, we&#39;ve passed A and there&#39;s no collision</span></div>
    617. 

  617. <div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>                <span class="keywordtype">float</span> v_dot_r = v.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inRayDirection);</div>
    618. 

  618. <div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    619. 

  619. <div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v . r = %g&quot;</span>, (<span class="keywordtype">double</span>)v_dot_r);</div>
    620. 

  620. <div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span><span class="preprocessor">#endif</span></div>
    621. 

  621. <div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>                <span class="keywordflow">if</span> (v_dot_r &gt;= -1.0e-18f) <span class="comment">// Instead of checking &gt;= 0, check with epsilon as we don&#39;t want the division below to overflow to infinity as it can cause a float exception</span></div>
    622. 

  622. <div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>                    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    623. 

  623. <div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span> </div>
    624. 

  624. <div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>                <span class="comment">// Update the lower bound for lambda</span></div>
    625. 

  625. <div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>                <span class="keywordtype">float</span> delta = v_dot_w / v_dot_r;</div>
    626. 

  626. <div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>                <span class="keywordtype">float</span> old_lambda = lambda;</div>
    627. 

  627. <div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>                lambda -= delta;</div>
    628. 

  628. <div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    629. 

  629. <div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;lambda = %g, delta = %g&quot;</span>, (<span class="keywordtype">double</span>)lambda, (<span class="keywordtype">double</span>)delta);</div>
    630. 

  630. <div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span><span class="preprocessor">#endif</span></div>
    631. 

  631. <div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span> </div>
    632. 

  632. <div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>                <span class="comment">// If lambda didn&#39;t change, we cannot converge any further and we assume a hit</span></div>
    633. 

  633. <div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>                <span class="keywordflow">if</span> (old_lambda == lambda)</div>
    634. 

  634. <div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>                    <span class="keywordflow">break</span>;</div>
    635. 

  635. <div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span> </div>
    636. 

  636. <div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>                <span class="comment">// If lambda is bigger or equal than max, we don&#39;t have a hit</span></div>
    637. 

  637. <div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>                <span class="keywordflow">if</span> (lambda &gt;= ioLambda)</div>
    638. 

  638. <div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>                    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    639. 

  639. <div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span> </div>
    640. 

  640. <div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>                <span class="comment">// Update x to new closest point on the ray</span></div>
    641. 

  641. <div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>                x = inRayOrigin + lambda * inRayDirection;</div>
    642. 

  642. <div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span> </div>
    643. 

  643. <div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>                <span class="comment">// We&#39;ve shifted x, so reset v_len_sq so that it is not used as early out for GetClosest</span></div>
    644. 

  644. <div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>                v_len_sq = FLT_MAX;</div>
    645. 

  645. <div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span> </div>
    646. 

  646. <div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>                <span class="comment">// We allow rebuilding the simplex once after x changes because the simplex was built</span></div>
    647. 

  647. <div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>                <span class="comment">// for another x and numerical round off builds up as you keep adding points to an</span></div>
    648. 

  648. <div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>                <span class="comment">// existing simplex</span></div>
    649. 

  649. <div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>                allow_restart = <span class="keyword">true</span>;</div>
    650. 

  650. <div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>            }</div>
    651. 

  651. <div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span> </div>
    652. 

  652. <div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>            <span class="comment">// Add p to set P: P = P U {p}</span></div>
    653. 

  653. <div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>            mP[mNumPoints] = p;</div>
    654. 

  654. <div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>            ++mNumPoints;</div>
    655. 

  655. <div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span> </div>
    656. 

  656. <div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>            <span class="comment">// Calculate Y = {x} - P</span></div>
    657. 

  657. <div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    658. 

  658. <div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>                mY[i] = x - mP[i];</div>
    659. 

  659. <div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span> </div>
    660. 

  660. <div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>            <span class="comment">// Determine the new closest point from Y to origin</span></div>
    661. 

  661. <div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;                     <span class="comment">// Set of points that form the new simplex</span></div>
    662. 

  662. <div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>            <span class="keywordflow">if</span> (!GetClosest&lt;false&gt;(v_len_sq, v, v_len_sq, set))</div>
    663. 

  663. <div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>            {</div>
    664. 

  664. <div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    665. 

  665. <div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Failed to converge&quot;</span>);</div>
    666. 

  666. <div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span><span class="preprocessor">#endif</span></div>
    667. 

  667. <div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span> </div>
    668. 

  668. <div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>                <span class="comment">// Only allow 1 restart, if we still can&#39;t get a closest point</span></div>
    669. 

  669. <div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>                <span class="comment">// we&#39;re so close that we return this as a hit</span></div>
    670. 

  670. <div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>                <span class="keywordflow">if</span> (!allow_restart)</div>
    671. 

  671. <div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span>                    <span class="keywordflow">break</span>;</div>
    672. 

  672. <div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span> </div>
    673. 

  673. <div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>                <span class="comment">// If we fail to converge, we start again with the last point as simplex</span></div>
    674. 

  674. <div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    675. 

  675. <div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Restarting&quot;</span>);</div>
    676. 

  676. <div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span><span class="preprocessor">#endif</span></div>
    677. 

  677. <div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>                allow_restart = <span class="keyword">false</span>;</div>
    678. 

  678. <div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>                mP[0] = p;</div>
    679. 

  679. <div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>                mNumPoints = 1;</div>
    680. 

  680. <div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>                v = x - p;</div>
    681. 

  681. <div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>                v_len_sq = FLT_MAX;</div>
    682. 

  682. <div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>                <span class="keywordflow">continue</span>;</div>
    683. 

  683. <div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>            }</div>
    684. 

  684. <div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (set == 0xf)</div>
    685. 

  685. <div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span>            {</div>
    686. 

  686. <div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    687. 

  687. <div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Full simplex&quot;</span>);</div>
    688. 

  688. <div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span><span class="preprocessor">#endif</span></div>
    689. 

  689. <div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span> </div>
    690. 

  690. <div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>                <span class="comment">// We&#39;re inside the tetrahedron, we have a hit (verify that length of v is 0)</span></div>
    691. 

  691. <div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>                <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(v_len_sq == 0.0f);</div>
    692. 

  692. <div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>                <span class="keywordflow">break</span>;</div>
    693. 

  693. <div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>            }</div>
    694. 

  694. <div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span> </div>
    695. 

  695. <div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span>            <span class="comment">// Update the points P to form the new simplex</span></div>
    696. 

  696. <div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span>            <span class="comment">// Note: We&#39;re not updating Y as Y will shift with x so we have to calculate it every iteration</span></div>
    697. 

  697. <div class="line"><a id="l00630" name="l00630"></a><span class="lineno">  630</span>            UpdatePointSetP(set);</div>
    698. 

  698. <div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span> </div>
    699. 

  699. <div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span>            <span class="comment">// Check if x is close enough to inA</span></div>
    700. 

  700. <div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>            <span class="keywordflow">if</span> (v_len_sq &lt;= tolerance_sq)</div>
    701. 

  701. <div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>            {</div>
    702. 

  702. <div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    703. 

  703. <div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Converged&quot;</span>);</div>
    704. 

  704. <div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span><span class="preprocessor">#endif</span></div>
    705. 

  705. <div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>                <span class="keywordflow">break</span>;</div>
    706. 

  706. <div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>            }</div>
    707. 

  707. <div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>        }</div>
    708. 

  708. <div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span> </div>
    709. 

  709. <div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>        <span class="comment">// Store hit fraction</span></div>
    710. 

  710. <div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>        ioLambda = lambda;</div>
    711. 

  711. <div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    712. 

  712. <div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>    }</div>
    713. 

  713. </div>
    714. 

  714. <div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span> </div>
    715. 

  715. <div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> A, <span class="keyword">typename</span> B&gt;</div>
    716. 

  716. <div class="foldopen" id="foldopen00658" data-start="{" data-end="}">
    717. 

  717. <div class="line"><a id="l00658" name="l00658"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html#a66d20557ad6d34a1c1f29b6df058b523">  658</a></span>    <span class="keywordtype">bool</span>        <a class="code hl_function" href="class_g_j_k_closest_point.html#a66d20557ad6d34a1c1f29b6df058b523">CastShape</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inStart, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection, <span class="keywordtype">float</span> inTolerance, <span class="keyword">const</span> A &amp;inA, <span class="keyword">const</span> B &amp;inB, <span class="keywordtype">float</span> &amp;ioLambda)</div>
    718. 

  718. <div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>    {</div>
    719. 

  719. <div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>        <span class="comment">// Transform the shape to be cast to the starting position</span></div>
    720. 

  720. <div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span>        <a class="code hl_struct" href="struct_transformed_convex_object.html">TransformedConvexObject</a> transformed_a(inStart, inA);</div>
    721. 

  721. <div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span> </div>
    722. 

  722. <div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>        <span class="comment">// Calculate the minkowski difference inB - inA</span></div>
    723. 

  723. <div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>        <span class="comment">// inA is moving, so we need to add the back side of inB to the front side of inA</span></div>
    724. 

  724. <div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>        <a class="code hl_struct" href="struct_minkowski_difference.html">MinkowskiDifference</a> difference(inB, transformed_a);</div>
    725. 

  725. <div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
    726. 

  726. <div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>        <span class="comment">// Do a raycast against the Minkowski difference</span></div>
    727. 

  727. <div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_g_j_k_closest_point.html#ade3cde48252b6f77f749f9ac29685ec7">CastRay</a>(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>(), inDirection, inTolerance, difference, ioLambda);</div>
    728. 

  728. <div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span>    }</div>
    729. 

  729. </div>
    730. 

  730. <div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span> </div>
    731. 

  731. <div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> A, <span class="keyword">typename</span> B&gt;</div>
    732. 

  732. <div class="foldopen" id="foldopen00689" data-start="{" data-end="}">
    733. 

  733. <div class="line"><a id="l00689" name="l00689"></a><span class="lineno"><a class="line" href="class_g_j_k_closest_point.html#aa5b19da7e23744cb5c1af8fe2fee2940">  689</a></span>    <span class="keywordtype">bool</span>        <a class="code hl_function" href="class_g_j_k_closest_point.html#aa5b19da7e23744cb5c1af8fe2fee2940">CastShape</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inStart, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection, <span class="keywordtype">float</span> inTolerance, <span class="keyword">const</span> A &amp;inA, <span class="keyword">const</span> B &amp;inB, <span class="keywordtype">float</span> inConvexRadiusA, <span class="keywordtype">float</span> inConvexRadiusB, <span class="keywordtype">float</span> &amp;ioLambda, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outPointB, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outSeparatingAxis)</div>
    734. 

  734. <div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>    {</div>
    735. 

  735. <div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span>        <span class="keywordtype">float</span> tolerance_sq = <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(inTolerance);</div>
    736. 

  736. <div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span> </div>
    737. 

  737. <div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>        <span class="comment">// Calculate how close A and B (without their convex radius) need to be to each other in order for us to consider this a collision</span></div>
    738. 

  738. <div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>        <span class="keywordtype">float</span> sum_convex_radius = inConvexRadiusA + inConvexRadiusB;</div>
    739. 

  739. <div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span> </div>
    740. 

  740. <div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>        <span class="comment">// Transform the shape to be cast to the starting position</span></div>
    741. 

  741. <div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>        <a class="code hl_struct" href="struct_transformed_convex_object.html">TransformedConvexObject</a> transformed_a(inStart, inA);</div>
    742. 

  742. <div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span> </div>
    743. 

  743. <div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span>        <span class="comment">// Reset state</span></div>
    744. 

  744. <div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>        mNumPoints = 0;</div>
    745. 

  745. <div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span> </div>
    746. 

  746. <div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span>        <span class="keywordtype">float</span> lambda = 0.0f;</div>
    747. 

  747. <div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> x = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>(); <span class="comment">// Since A is already transformed we can start the cast from zero</span></div>
    748. 

  748. <div class="line"><a id="l00704" name="l00704"></a><span class="lineno">  704</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v = -inB.GetSupport(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>()) + transformed_a.<a class="code hl_function" href="struct_transformed_convex_object.html#a0fa745b8d15e71629ebb719716d16fa8">GetSupport</a>(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>()); <span class="comment">// See CastRay: v = x - inA.GetSupport(Vec3::sZero()) where inA is the Minkowski difference inB - transformed_a (see CastShape above) and x is zero</span></div>
    749. 

  749. <div class="line"><a id="l00705" name="l00705"></a><span class="lineno">  705</span>        <span class="keywordtype">float</span> v_len_sq = FLT_MAX;</div>
    750. 

  750. <div class="line"><a id="l00706" name="l00706"></a><span class="lineno">  706</span>        <span class="keywordtype">bool</span> allow_restart = <span class="keyword">false</span>;</div>
    751. 

  751. <div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span> </div>
    752. 

  752. <div class="line"><a id="l00708" name="l00708"></a><span class="lineno">  708</span>        <span class="comment">// Keeps track of separating axis of the previous iteration.</span></div>
    753. 

  753. <div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span>        <span class="comment">// Initialized at zero as we don&#39;t know if our first v is actually a separating axis.</span></div>
    754. 

  754. <div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> prev_v = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    755. 

  755. <div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span> </div>
    756. 

  756. <div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>        <span class="keywordflow">for</span> (;;)</div>
    757. 

  757. <div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span>        {</div>
    758. 

  758. <div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    759. 

  759. <div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v = [%s], num_points = %d&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(v).c_str(), mNumPoints);</div>
    760. 

  760. <div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span><span class="preprocessor">#endif</span></div>
    761. 

  761. <div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span> </div>
    762. 

  762. <div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>            <span class="comment">// Calculate the minkowski difference inB - inA</span></div>
    763. 

  763. <div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span>            <span class="comment">// inA is moving, so we need to add the back side of inB to the front side of inA</span></div>
    764. 

  764. <div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>            <span class="comment">// Keep the support points on A and B separate so that in the end we can calculate a contact point</span></div>
    765. 

  765. <div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> p = transformed_a.<a class="code hl_function" href="struct_transformed_convex_object.html#a0fa745b8d15e71629ebb719716d16fa8">GetSupport</a>(-v);</div>
    766. 

  766. <div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> q = inB.GetSupport(v);</div>
    767. 

  767. <div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> w = x - (q - p);</div>
    768. 

  768. <div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span> </div>
    769. 

  769. <div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    770. 

  770. <div class="line"><a id="l00726" name="l00726"></a><span class="lineno">  726</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;w = [%s]&quot;</span>, <a class="code hl_function" href="_string_tools_8h.html#a12b5bdab675fcd7004cbf9dbf2197538">ConvertToString</a>(w).c_str());</div>
    771. 

  771. <div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span><span class="preprocessor">#endif</span></div>
    772. 

  772. <div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span> </div>
    773. 

  773. <div class="line"><a id="l00729" name="l00729"></a><span class="lineno">  729</span>            <span class="comment">// Difference from article to this code:</span></div>
    774. 

  774. <div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span>            <span class="comment">// We did not include the convex radius in p and q in order to be able to calculate a good separating axis at the end of the algorithm.</span></div>
    775. 

  775. <div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span>            <span class="comment">// However when moving forward along inDirection we do need to take this into account so that we keep A and B separated by the sum of their convex radii.</span></div>
    776. 

  776. <div class="line"><a id="l00732" name="l00732"></a><span class="lineno">  732</span>            <span class="comment">// From p we have to subtract: inConvexRadiusA * v / |v|</span></div>
    777. 

  777. <div class="line"><a id="l00733" name="l00733"></a><span class="lineno">  733</span>            <span class="comment">// To q we have to add: inConvexRadiusB * v / |v|</span></div>
    778. 

  778. <div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span>            <span class="comment">// This means that to w we have to add: -(inConvexRadiusA + inConvexRadiusB) * v / |v|</span></div>
    779. 

  779. <div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>            <span class="comment">// So to v . w we have to add: v . (-(inConvexRadiusA + inConvexRadiusB) * v / |v|) = -(inConvexRadiusA + inConvexRadiusB) * |v|</span></div>
    780. 

  780. <div class="line"><a id="l00736" name="l00736"></a><span class="lineno">  736</span>            <span class="keywordtype">float</span> v_dot_w = v.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(w) - sum_convex_radius * v.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>();</div>
    781. 

  781. <div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    782. 

  782. <div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>            <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v . w = %g&quot;</span>, (<span class="keywordtype">double</span>)v_dot_w);</div>
    783. 

  783. <div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span><span class="preprocessor">#endif</span></div>
    784. 

  784. <div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span>            <span class="keywordflow">if</span> (v_dot_w &gt; 0.0f)</div>
    785. 

  785. <div class="line"><a id="l00741" name="l00741"></a><span class="lineno">  741</span>            {</div>
    786. 

  786. <div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span>                <span class="comment">// If ray and normal are in the same direction, we&#39;ve passed A and there&#39;s no collision</span></div>
    787. 

  787. <div class="line"><a id="l00743" name="l00743"></a><span class="lineno">  743</span>                <span class="keywordtype">float</span> v_dot_r = v.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inDirection);</div>
    788. 

  788. <div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    789. 

  789. <div class="line"><a id="l00745" name="l00745"></a><span class="lineno">  745</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;v . r = %g&quot;</span>, (<span class="keywordtype">double</span>)v_dot_r);</div>
    790. 

  790. <div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span><span class="preprocessor">#endif</span></div>
    791. 

  791. <div class="line"><a id="l00747" name="l00747"></a><span class="lineno">  747</span>                <span class="keywordflow">if</span> (v_dot_r &gt;= -1.0e-18f) <span class="comment">// Instead of checking &gt;= 0, check with epsilon as we don&#39;t want the division below to overflow to infinity as it can cause a float exception</span></div>
    792. 

  792. <div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>                    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    793. 

  793. <div class="line"><a id="l00749" name="l00749"></a><span class="lineno">  749</span> </div>
    794. 

  794. <div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span>                <span class="comment">// Update the lower bound for lambda</span></div>
    795. 

  795. <div class="line"><a id="l00751" name="l00751"></a><span class="lineno">  751</span>                <span class="keywordtype">float</span> delta = v_dot_w / v_dot_r;</div>
    796. 

  796. <div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span>                <span class="keywordtype">float</span> old_lambda = lambda;</div>
    797. 

  797. <div class="line"><a id="l00753" name="l00753"></a><span class="lineno">  753</span>                lambda -= delta;</div>
    798. 

  798. <div class="line"><a id="l00754" name="l00754"></a><span class="lineno">  754</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    799. 

  799. <div class="line"><a id="l00755" name="l00755"></a><span class="lineno">  755</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;lambda = %g, delta = %g&quot;</span>, (<span class="keywordtype">double</span>)lambda, (<span class="keywordtype">double</span>)delta);</div>
    800. 

  800. <div class="line"><a id="l00756" name="l00756"></a><span class="lineno">  756</span><span class="preprocessor">#endif</span></div>
    801. 

  801. <div class="line"><a id="l00757" name="l00757"></a><span class="lineno">  757</span> </div>
    802. 

  802. <div class="line"><a id="l00758" name="l00758"></a><span class="lineno">  758</span>                <span class="comment">// If lambda didn&#39;t change, we cannot converge any further and we assume a hit</span></div>
    803. 

  803. <div class="line"><a id="l00759" name="l00759"></a><span class="lineno">  759</span>                <span class="keywordflow">if</span> (old_lambda == lambda)</div>
    804. 

  804. <div class="line"><a id="l00760" name="l00760"></a><span class="lineno">  760</span>                    <span class="keywordflow">break</span>;</div>
    805. 

  805. <div class="line"><a id="l00761" name="l00761"></a><span class="lineno">  761</span> </div>
    806. 

  806. <div class="line"><a id="l00762" name="l00762"></a><span class="lineno">  762</span>                <span class="comment">// If lambda is bigger or equal than max, we don&#39;t have a hit</span></div>
    807. 

  807. <div class="line"><a id="l00763" name="l00763"></a><span class="lineno">  763</span>                <span class="keywordflow">if</span> (lambda &gt;= ioLambda)</div>
    808. 

  808. <div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>                    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    809. 

  809. <div class="line"><a id="l00765" name="l00765"></a><span class="lineno">  765</span> </div>
    810. 

  810. <div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>                <span class="comment">// Update x to new closest point on the ray</span></div>
    811. 

  811. <div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span>                x = lambda * inDirection;</div>
    812. 

  812. <div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span> </div>
    813. 

  813. <div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>                <span class="comment">// We&#39;ve shifted x, so reset v_len_sq so that it is not used as early out when GetClosest returns false</span></div>
    814. 

  814. <div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span>                v_len_sq = FLT_MAX;</div>
    815. 

  815. <div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span> </div>
    816. 

  816. <div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>                <span class="comment">// Now that we&#39;ve moved, we know that A and B are not intersecting at lambda = 0, so we can update our tolerance to stop iterating</span></div>
    817. 

  817. <div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span>                <span class="comment">// as soon as A and B are inConvexRadiusA + inConvexRadiusB apart</span></div>
    818. 

  818. <div class="line"><a id="l00774" name="l00774"></a><span class="lineno">  774</span>                tolerance_sq = <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(inTolerance + sum_convex_radius);</div>
    819. 

  819. <div class="line"><a id="l00775" name="l00775"></a><span class="lineno">  775</span> </div>
    820. 

  820. <div class="line"><a id="l00776" name="l00776"></a><span class="lineno">  776</span>                <span class="comment">// We allow rebuilding the simplex once after x changes because the simplex was built</span></div>
    821. 

  821. <div class="line"><a id="l00777" name="l00777"></a><span class="lineno">  777</span>                <span class="comment">// for another x and numerical round off builds up as you keep adding points to an</span></div>
    822. 

  822. <div class="line"><a id="l00778" name="l00778"></a><span class="lineno">  778</span>                <span class="comment">// existing simplex</span></div>
    823. 

  823. <div class="line"><a id="l00779" name="l00779"></a><span class="lineno">  779</span>                allow_restart = <span class="keyword">true</span>;</div>
    824. 

  824. <div class="line"><a id="l00780" name="l00780"></a><span class="lineno">  780</span>            }</div>
    825. 

  825. <div class="line"><a id="l00781" name="l00781"></a><span class="lineno">  781</span> </div>
    826. 

  826. <div class="line"><a id="l00782" name="l00782"></a><span class="lineno">  782</span>            <span class="comment">// Add p to set P, q to set Q: P = P U {p}, Q = Q U {q}</span></div>
    827. 

  827. <div class="line"><a id="l00783" name="l00783"></a><span class="lineno">  783</span>            mP[mNumPoints] = p;</div>
    828. 

  828. <div class="line"><a id="l00784" name="l00784"></a><span class="lineno">  784</span>            mQ[mNumPoints] = q;</div>
    829. 

  829. <div class="line"><a id="l00785" name="l00785"></a><span class="lineno">  785</span>            ++mNumPoints;</div>
    830. 

  830. <div class="line"><a id="l00786" name="l00786"></a><span class="lineno">  786</span> </div>
    831. 

  831. <div class="line"><a id="l00787" name="l00787"></a><span class="lineno">  787</span>            <span class="comment">// Calculate Y = {x} - (Q - P)</span></div>
    832. 

  832. <div class="line"><a id="l00788" name="l00788"></a><span class="lineno">  788</span>            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    833. 

  833. <div class="line"><a id="l00789" name="l00789"></a><span class="lineno">  789</span>                mY[i] = x - (mQ[i] - mP[i]);</div>
    834. 

  834. <div class="line"><a id="l00790" name="l00790"></a><span class="lineno">  790</span> </div>
    835. 

  835. <div class="line"><a id="l00791" name="l00791"></a><span class="lineno">  791</span>            <span class="comment">// Determine the new closest point from Y to origin</span></div>
    836. 

  836. <div class="line"><a id="l00792" name="l00792"></a><span class="lineno">  792</span>            <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;                     <span class="comment">// Set of points that form the new simplex</span></div>
    837. 

  837. <div class="line"><a id="l00793" name="l00793"></a><span class="lineno">  793</span>            <span class="keywordflow">if</span> (!GetClosest&lt;false&gt;(v_len_sq, v, v_len_sq, set))</div>
    838. 

  838. <div class="line"><a id="l00794" name="l00794"></a><span class="lineno">  794</span>            {</div>
    839. 

  839. <div class="line"><a id="l00795" name="l00795"></a><span class="lineno">  795</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    840. 

  840. <div class="line"><a id="l00796" name="l00796"></a><span class="lineno">  796</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Failed to converge&quot;</span>);</div>
    841. 

  841. <div class="line"><a id="l00797" name="l00797"></a><span class="lineno">  797</span><span class="preprocessor">#endif</span></div>
    842. 

  842. <div class="line"><a id="l00798" name="l00798"></a><span class="lineno">  798</span> </div>
    843. 

  843. <div class="line"><a id="l00799" name="l00799"></a><span class="lineno">  799</span>                <span class="comment">// Only allow 1 restart, if we still can&#39;t get a closest point</span></div>
    844. 

  844. <div class="line"><a id="l00800" name="l00800"></a><span class="lineno">  800</span>                <span class="comment">// we&#39;re so close that we return this as a hit</span></div>
    845. 

  845. <div class="line"><a id="l00801" name="l00801"></a><span class="lineno">  801</span>                <span class="keywordflow">if</span> (!allow_restart)</div>
    846. 

  846. <div class="line"><a id="l00802" name="l00802"></a><span class="lineno">  802</span>                    <span class="keywordflow">break</span>;</div>
    847. 

  847. <div class="line"><a id="l00803" name="l00803"></a><span class="lineno">  803</span> </div>
    848. 

  848. <div class="line"><a id="l00804" name="l00804"></a><span class="lineno">  804</span>                <span class="comment">// If we fail to converge, we start again with the last point as simplex</span></div>
    849. 

  849. <div class="line"><a id="l00805" name="l00805"></a><span class="lineno">  805</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    850. 

  850. <div class="line"><a id="l00806" name="l00806"></a><span class="lineno">  806</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Restarting&quot;</span>);</div>
    851. 

  851. <div class="line"><a id="l00807" name="l00807"></a><span class="lineno">  807</span><span class="preprocessor">#endif</span></div>
    852. 

  852. <div class="line"><a id="l00808" name="l00808"></a><span class="lineno">  808</span>                allow_restart = <span class="keyword">false</span>;</div>
    853. 

  853. <div class="line"><a id="l00809" name="l00809"></a><span class="lineno">  809</span>                mP[0] = p;</div>
    854. 

  854. <div class="line"><a id="l00810" name="l00810"></a><span class="lineno">  810</span>                mQ[0] = q;</div>
    855. 

  855. <div class="line"><a id="l00811" name="l00811"></a><span class="lineno">  811</span>                mNumPoints = 1;</div>
    856. 

  856. <div class="line"><a id="l00812" name="l00812"></a><span class="lineno">  812</span>                v = x - q;</div>
    857. 

  857. <div class="line"><a id="l00813" name="l00813"></a><span class="lineno">  813</span>                v_len_sq = FLT_MAX;</div>
    858. 

  858. <div class="line"><a id="l00814" name="l00814"></a><span class="lineno">  814</span>                <span class="keywordflow">continue</span>;</div>
    859. 

  859. <div class="line"><a id="l00815" name="l00815"></a><span class="lineno">  815</span>            }</div>
    860. 

  860. <div class="line"><a id="l00816" name="l00816"></a><span class="lineno">  816</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (set == 0xf)</div>
    861. 

  861. <div class="line"><a id="l00817" name="l00817"></a><span class="lineno">  817</span>            {</div>
    862. 

  862. <div class="line"><a id="l00818" name="l00818"></a><span class="lineno">  818</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    863. 

  863. <div class="line"><a id="l00819" name="l00819"></a><span class="lineno">  819</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Full simplex&quot;</span>);</div>
    864. 

  864. <div class="line"><a id="l00820" name="l00820"></a><span class="lineno">  820</span><span class="preprocessor">#endif</span></div>
    865. 

  865. <div class="line"><a id="l00821" name="l00821"></a><span class="lineno">  821</span> </div>
    866. 

  866. <div class="line"><a id="l00822" name="l00822"></a><span class="lineno">  822</span>                <span class="comment">// We&#39;re inside the tetrahedron, we have a hit (verify that length of v is 0)</span></div>
    867. 

  867. <div class="line"><a id="l00823" name="l00823"></a><span class="lineno">  823</span>                <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(v_len_sq == 0.0f);</div>
    868. 

  868. <div class="line"><a id="l00824" name="l00824"></a><span class="lineno">  824</span>                <span class="keywordflow">break</span>;</div>
    869. 

  869. <div class="line"><a id="l00825" name="l00825"></a><span class="lineno">  825</span>            }</div>
    870. 

  870. <div class="line"><a id="l00826" name="l00826"></a><span class="lineno">  826</span> </div>
    871. 

  871. <div class="line"><a id="l00827" name="l00827"></a><span class="lineno">  827</span>            <span class="comment">// Update the points P and Q to form the new simplex</span></div>
    872. 

  872. <div class="line"><a id="l00828" name="l00828"></a><span class="lineno">  828</span>            <span class="comment">// Note: We&#39;re not updating Y as Y will shift with x so we have to calculate it every iteration</span></div>
    873. 

  873. <div class="line"><a id="l00829" name="l00829"></a><span class="lineno">  829</span>            UpdatePointSetPQ(set);</div>
    874. 

  874. <div class="line"><a id="l00830" name="l00830"></a><span class="lineno">  830</span> </div>
    875. 

  875. <div class="line"><a id="l00831" name="l00831"></a><span class="lineno">  831</span>            <span class="comment">// Check if A and B are touching according to our tolerance</span></div>
    876. 

  876. <div class="line"><a id="l00832" name="l00832"></a><span class="lineno">  832</span>            <span class="keywordflow">if</span> (v_len_sq &lt;= tolerance_sq)</div>
    877. 

  877. <div class="line"><a id="l00833" name="l00833"></a><span class="lineno">  833</span>            {</div>
    878. 

  878. <div class="line"><a id="l00834" name="l00834"></a><span class="lineno">  834</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    879. 

  879. <div class="line"><a id="l00835" name="l00835"></a><span class="lineno">  835</span>                <a class="code hl_variable" href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a>(<span class="stringliteral">&quot;Converged&quot;</span>);</div>
    880. 

  880. <div class="line"><a id="l00836" name="l00836"></a><span class="lineno">  836</span><span class="preprocessor">#endif</span></div>
    881. 

  881. <div class="line"><a id="l00837" name="l00837"></a><span class="lineno">  837</span>                <span class="keywordflow">break</span>;</div>
    882. 

  882. <div class="line"><a id="l00838" name="l00838"></a><span class="lineno">  838</span>            }</div>
    883. 

  883. <div class="line"><a id="l00839" name="l00839"></a><span class="lineno">  839</span> </div>
    884. 

  884. <div class="line"><a id="l00840" name="l00840"></a><span class="lineno">  840</span>            <span class="comment">// Store our v to return as separating axis</span></div>
    885. 

  885. <div class="line"><a id="l00841" name="l00841"></a><span class="lineno">  841</span>            prev_v = v;</div>
    886. 

  886. <div class="line"><a id="l00842" name="l00842"></a><span class="lineno">  842</span>        }</div>
    887. 

  887. <div class="line"><a id="l00843" name="l00843"></a><span class="lineno">  843</span> </div>
    888. 

  888. <div class="line"><a id="l00844" name="l00844"></a><span class="lineno">  844</span>        <span class="comment">// Calculate Y = {x} - (Q - P) again so we can calculate the contact points</span></div>
    889. 

  889. <div class="line"><a id="l00845" name="l00845"></a><span class="lineno">  845</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    890. 

  890. <div class="line"><a id="l00846" name="l00846"></a><span class="lineno">  846</span>            mY[i] = x - (mQ[i] - mP[i]);</div>
    891. 

  891. <div class="line"><a id="l00847" name="l00847"></a><span class="lineno">  847</span> </div>
    892. 

  892. <div class="line"><a id="l00848" name="l00848"></a><span class="lineno">  848</span>        <span class="comment">// Calculate the offset we need to apply to A and B to correct for the convex radius</span></div>
    893. 

  893. <div class="line"><a id="l00849" name="l00849"></a><span class="lineno">  849</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> normalized_v = v.<a class="code hl_function" href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">NormalizedOr</a>(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>());</div>
    894. 

  894. <div class="line"><a id="l00850" name="l00850"></a><span class="lineno">  850</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> convex_radius_a = inConvexRadiusA * normalized_v;</div>
    895. 

  895. <div class="line"><a id="l00851" name="l00851"></a><span class="lineno">  851</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> convex_radius_b = inConvexRadiusB * normalized_v;</div>
    896. 

  896. <div class="line"><a id="l00852" name="l00852"></a><span class="lineno">  852</span> </div>
    897. 

  897. <div class="line"><a id="l00853" name="l00853"></a><span class="lineno">  853</span>        <span class="comment">// Get the contact point</span></div>
    898. 

  898. <div class="line"><a id="l00854" name="l00854"></a><span class="lineno">  854</span>        <span class="comment">// Note that A and B will coincide when lambda &gt; 0. In this case we calculate only B as it is more accurate as it contains less terms.</span></div>
    899. 

  899. <div class="line"><a id="l00855" name="l00855"></a><span class="lineno">  855</span>        <span class="keywordflow">switch</span> (mNumPoints)</div>
    900. 

  900. <div class="line"><a id="l00856" name="l00856"></a><span class="lineno">  856</span>        {</div>
    901. 

  901. <div class="line"><a id="l00857" name="l00857"></a><span class="lineno">  857</span>        <span class="keywordflow">case</span> 1:</div>
    902. 

  902. <div class="line"><a id="l00858" name="l00858"></a><span class="lineno">  858</span>            outPointB = mQ[0] + convex_radius_b;</div>
    903. 

  903. <div class="line"><a id="l00859" name="l00859"></a><span class="lineno">  859</span>            outPointA = lambda &gt; 0.0f? outPointB : mP[0] - convex_radius_a;</div>
    904. 

  904. <div class="line"><a id="l00860" name="l00860"></a><span class="lineno">  860</span>            <span class="keywordflow">break</span>;</div>
    905. 

  905. <div class="line"><a id="l00861" name="l00861"></a><span class="lineno">  861</span> </div>
    906. 

  906. <div class="line"><a id="l00862" name="l00862"></a><span class="lineno">  862</span>        <span class="keywordflow">case</span> 2:</div>
    907. 

  907. <div class="line"><a id="l00863" name="l00863"></a><span class="lineno">  863</span>            {</div>
    908. 

  908. <div class="line"><a id="l00864" name="l00864"></a><span class="lineno">  864</span>                <span class="keywordtype">float</span> bu, bv;</div>
    909. 

  909. <div class="line"><a id="l00865" name="l00865"></a><span class="lineno">  865</span>                <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">ClosestPoint::GetBaryCentricCoordinates</a>(mY[0], mY[1], bu, bv);</div>
    910. 

  910. <div class="line"><a id="l00866" name="l00866"></a><span class="lineno">  866</span>                outPointB = bu * mQ[0] + bv * mQ[1] + convex_radius_b;</div>
    911. 

  911. <div class="line"><a id="l00867" name="l00867"></a><span class="lineno">  867</span>                outPointA = lambda &gt; 0.0f? outPointB : bu * mP[0] + bv * mP[1] - convex_radius_a;</div>
    912. 

  912. <div class="line"><a id="l00868" name="l00868"></a><span class="lineno">  868</span>            }</div>
    913. 

  913. <div class="line"><a id="l00869" name="l00869"></a><span class="lineno">  869</span>            <span class="keywordflow">break</span>;</div>
    914. 

  914. <div class="line"><a id="l00870" name="l00870"></a><span class="lineno">  870</span> </div>
    915. 

  915. <div class="line"><a id="l00871" name="l00871"></a><span class="lineno">  871</span>        <span class="keywordflow">case</span> 3:</div>
    916. 

  916. <div class="line"><a id="l00872" name="l00872"></a><span class="lineno">  872</span>        <span class="keywordflow">case</span> 4: <span class="comment">// A full simplex, we can&#39;t properly determine a contact point! As contact point we take the closest point of the previous iteration.</span></div>
    917. 

  917. <div class="line"><a id="l00873" name="l00873"></a><span class="lineno">  873</span>            {</div>
    918. 

  918. <div class="line"><a id="l00874" name="l00874"></a><span class="lineno">  874</span>                <span class="keywordtype">float</span> bu, bv, bw;</div>
    919. 

  919. <div class="line"><a id="l00875" name="l00875"></a><span class="lineno">  875</span>                <a class="code hl_function" href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">ClosestPoint::GetBaryCentricCoordinates</a>(mY[0], mY[1], mY[2], bu, bv, bw);</div>
    920. 

  920. <div class="line"><a id="l00876" name="l00876"></a><span class="lineno">  876</span>                outPointB = bu * mQ[0] + bv * mQ[1] + bw * mQ[2] + convex_radius_b;</div>
    921. 

  921. <div class="line"><a id="l00877" name="l00877"></a><span class="lineno">  877</span>                outPointA = lambda &gt; 0.0f? outPointB : bu * mP[0] + bv * mP[1] + bw * mP[2] - convex_radius_a;</div>
    922. 

  922. <div class="line"><a id="l00878" name="l00878"></a><span class="lineno">  878</span>            }</div>
    923. 

  923. <div class="line"><a id="l00879" name="l00879"></a><span class="lineno">  879</span>            <span class="keywordflow">break</span>;</div>
    924. 

  924. <div class="line"><a id="l00880" name="l00880"></a><span class="lineno">  880</span>        }</div>
    925. 

  925. <div class="line"><a id="l00881" name="l00881"></a><span class="lineno">  881</span> </div>
    926. 

  926. <div class="line"><a id="l00882" name="l00882"></a><span class="lineno">  882</span>        <span class="comment">// Store separating axis, in case we have a convex radius we can just return v,</span></div>
    927. 

  927. <div class="line"><a id="l00883" name="l00883"></a><span class="lineno">  883</span>        <span class="comment">// otherwise v will be very small and we resort to returning previous v as an approximation.</span></div>
    928. 

  928. <div class="line"><a id="l00884" name="l00884"></a><span class="lineno">  884</span>        outSeparatingAxis = sum_convex_radius &gt; 0.0f? -v : -prev_v;</div>
    929. 

  929. <div class="line"><a id="l00885" name="l00885"></a><span class="lineno">  885</span> </div>
    930. 

  930. <div class="line"><a id="l00886" name="l00886"></a><span class="lineno">  886</span>        <span class="comment">// Store hit fraction</span></div>
    931. 

  931. <div class="line"><a id="l00887" name="l00887"></a><span class="lineno">  887</span>        ioLambda = lambda;</div>
    932. 

  932. <div class="line"><a id="l00888" name="l00888"></a><span class="lineno">  888</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    933. 

  933. <div class="line"><a id="l00889" name="l00889"></a><span class="lineno">  889</span>    }</div>
    934. 

  934. </div>
    935. 

  935. <div class="line"><a id="l00890" name="l00890"></a><span class="lineno">  890</span> </div>
    936. 

  936. <div class="line"><a id="l00891" name="l00891"></a><span class="lineno">  891</span><span class="keyword">private</span>:</div>
    937. 

  937. <div class="line"><a id="l00892" name="l00892"></a><span class="lineno">  892</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    938. 

  938. <div class="line"><a id="l00894" name="l00894"></a><span class="lineno">  894</span>    <span class="keywordtype">void</span>        DrawState()</div>
    939. 

  939. <div class="line"><a id="l00895" name="l00895"></a><span class="lineno">  895</span>    {</div>
    940. 

  940. <div class="line"><a id="l00896" name="l00896"></a><span class="lineno">  896</span>        <a class="code hl_class" href="class_mat44.html">RMat44</a> origin = <a class="code hl_function" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">RMat44::sTranslation</a>(mOffset);</div>
    941. 

  941. <div class="line"><a id="l00897" name="l00897"></a><span class="lineno">  897</span> </div>
    942. 

  942. <div class="line"><a id="l00898" name="l00898"></a><span class="lineno">  898</span>        <span class="comment">// Draw origin</span></div>
    943. 

  943. <div class="line"><a id="l00899" name="l00899"></a><span class="lineno">  899</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>(origin, 1.0f);</div>
    944. 

  944. <div class="line"><a id="l00900" name="l00900"></a><span class="lineno">  900</span> </div>
    945. 

  945. <div class="line"><a id="l00901" name="l00901"></a><span class="lineno">  901</span>        <span class="comment">// Draw the hull</span></div>
    946. 

  946. <div class="line"><a id="l00902" name="l00902"></a><span class="lineno">  902</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, mGeometry-&gt;mBounds.Transformed(origin), mGeometry-&gt;mBounds.GetExtent().LengthSq(), <a class="code hl_variable" href="class_color.html#afbce637a66704fc3e3cf7d26819d4ab5">Color::sYellow</a>, mGeometry);</div>
    947. 

  947. <div class="line"><a id="l00903" name="l00903"></a><span class="lineno">  903</span> </div>
    948. 

  948. <div class="line"><a id="l00904" name="l00904"></a><span class="lineno">  904</span>        <span class="comment">// Draw Y</span></div>
    949. 

  949. <div class="line"><a id="l00905" name="l00905"></a><span class="lineno">  905</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mNumPoints; ++i)</div>
    950. 

  950. <div class="line"><a id="l00906" name="l00906"></a><span class="lineno">  906</span>        {</div>
    951. 

  951. <div class="line"><a id="l00907" name="l00907"></a><span class="lineno">  907</span>            <span class="comment">// Draw support point</span></div>
    952. 

  952. <div class="line"><a id="l00908" name="l00908"></a><span class="lineno">  908</span>            <a class="code hl_class" href="class_vec3.html">RVec3</a> y_i = origin * mY[i];</div>
    953. 

  953. <div class="line"><a id="l00909" name="l00909"></a><span class="lineno">  909</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>(y_i, <a class="code hl_variable" href="class_color.html#afa2aabd04284f9231b26176663f67083">Color::sRed</a>, 1.0f);</div>
    954. 

  954. <div class="line"><a id="l00910" name="l00910"></a><span class="lineno">  910</span>            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = i + 1; j &lt; mNumPoints; ++j)</div>
    955. 

  955. <div class="line"><a id="l00911" name="l00911"></a><span class="lineno">  911</span>            {</div>
    956. 

  956. <div class="line"><a id="l00912" name="l00912"></a><span class="lineno">  912</span>                <span class="comment">// Draw edge</span></div>
    957. 

  957. <div class="line"><a id="l00913" name="l00913"></a><span class="lineno">  913</span>                <a class="code hl_class" href="class_vec3.html">RVec3</a> y_j = origin * mY[j];</div>
    958. 

  958. <div class="line"><a id="l00914" name="l00914"></a><span class="lineno">  914</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#acea9470f13a1d50b677e2aaaeb9eeaed">DrawLine</a>(y_i, y_j, <a class="code hl_variable" href="class_color.html#afa2aabd04284f9231b26176663f67083">Color::sRed</a>);</div>
    959. 

  959. <div class="line"><a id="l00915" name="l00915"></a><span class="lineno">  915</span>                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = j + 1; k &lt; mNumPoints; ++k)</div>
    960. 

  960. <div class="line"><a id="l00916" name="l00916"></a><span class="lineno">  916</span>                {</div>
    961. 

  961. <div class="line"><a id="l00917" name="l00917"></a><span class="lineno">  917</span>                    <span class="comment">// Make sure triangle faces the origin</span></div>
    962. 

  962. <div class="line"><a id="l00918" name="l00918"></a><span class="lineno">  918</span>                    <a class="code hl_class" href="class_vec3.html">RVec3</a> y_k = origin * mY[k];</div>
    963. 

  963. <div class="line"><a id="l00919" name="l00919"></a><span class="lineno">  919</span>                    <a class="code hl_class" href="class_vec3.html">RVec3</a> center = (y_i + y_j + y_k) / <a class="code hl_typedef" href="_real_8h.html#a6baabe9790f3842ab73110ab342c5c5e">Real</a>(3);</div>
    964. 

  964. <div class="line"><a id="l00920" name="l00920"></a><span class="lineno">  920</span>                    <a class="code hl_class" href="class_vec3.html">RVec3</a> normal = (y_j - y_i).Cross(y_k - y_i);</div>
    965. 

  965. <div class="line"><a id="l00921" name="l00921"></a><span class="lineno">  921</span>                    <span class="keywordflow">if</span> (normal.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(center) &lt; <a class="code hl_typedef" href="_real_8h.html#a6baabe9790f3842ab73110ab342c5c5e">Real</a>(0))</div>
    966. 

  966. <div class="line"><a id="l00922" name="l00922"></a><span class="lineno">  922</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>(y_i, y_j, y_k, <a class="code hl_variable" href="class_color.html#a952b07c63d2b23a6b3c81efcd9fad9fe">Color::sLightGrey</a>);</div>
    967. 

  967. <div class="line"><a id="l00923" name="l00923"></a><span class="lineno">  923</span>                    <span class="keywordflow">else</span></div>
    968. 

  968. <div class="line"><a id="l00924" name="l00924"></a><span class="lineno">  924</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>(y_i, y_k, y_j, <a class="code hl_variable" href="class_color.html#a952b07c63d2b23a6b3c81efcd9fad9fe">Color::sLightGrey</a>);</div>
    969. 

  969. <div class="line"><a id="l00925" name="l00925"></a><span class="lineno">  925</span>                }</div>
    970. 

  970. <div class="line"><a id="l00926" name="l00926"></a><span class="lineno">  926</span>            }</div>
    971. 

  971. <div class="line"><a id="l00927" name="l00927"></a><span class="lineno">  927</span>        }</div>
    972. 

  972. <div class="line"><a id="l00928" name="l00928"></a><span class="lineno">  928</span> </div>
    973. 

  973. <div class="line"><a id="l00929" name="l00929"></a><span class="lineno">  929</span>        <span class="comment">// Offset to the right</span></div>
    974. 

  974. <div class="line"><a id="l00930" name="l00930"></a><span class="lineno">  930</span>        mOffset += <a class="code hl_class" href="class_vec3.html">Vec3</a>(mGeometry-&gt;mBounds.GetSize().GetX() + 2.0f, 0, 0);</div>
    975. 

  975. <div class="line"><a id="l00931" name="l00931"></a><span class="lineno">  931</span>    }</div>
    976. 

  976. <div class="line"><a id="l00932" name="l00932"></a><span class="lineno">  932</span><span class="preprocessor">#endif </span><span class="comment">// JPH_GJK_DEBUG</span></div>
    977. 

  977. <div class="line"><a id="l00933" name="l00933"></a><span class="lineno">  933</span> </div>
    978. 

  978. <div class="line"><a id="l00934" name="l00934"></a><span class="lineno">  934</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>        mY[4];                      </div>
    979. 

  979. <div class="line"><a id="l00935" name="l00935"></a><span class="lineno">  935</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>        mP[4];                      </div>
    980. 

  980. <div class="line"><a id="l00936" name="l00936"></a><span class="lineno">  936</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>        mQ[4];                      </div>
    981. 

  981. <div class="line"><a id="l00937" name="l00937"></a><span class="lineno">  937</span>    <span class="keywordtype">int</span>         mNumPoints = 0;             </div>
    982. 

  982. <div class="line"><a id="l00938" name="l00938"></a><span class="lineno">  938</span> </div>
    983. 

  983. <div class="line"><a id="l00939" name="l00939"></a><span class="lineno">  939</span><span class="preprocessor">#ifdef JPH_GJK_DEBUG</span></div>
    984. 

  984. <div class="line"><a id="l00940" name="l00940"></a><span class="lineno">  940</span>    <a class="code hl_class" href="class_ref.html">DebugRenderer::GeometryRef</a>  mGeometry;  </div>
    985. 

  985. <div class="line"><a id="l00941" name="l00941"></a><span class="lineno">  941</span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>       mOffset = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">RVec3::sZero</a>();   </div>
    986. 

  986. <div class="line"><a id="l00942" name="l00942"></a><span class="lineno">  942</span><span class="preprocessor">#endif</span></div>
    987. 

  987. <div class="line"><a id="l00943" name="l00943"></a><span class="lineno">  943</span>};</div>
    988. 

  988. </div>
    989. 

  989. <div class="line"><a id="l00944" name="l00944"></a><span class="lineno">  944</span> </div>
    990. 

  990. <div class="line"><a id="l00945" name="l00945"></a><span class="lineno">  945</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    991. 

  991. <div class="ttc" id="a_closest_point_8h_html"><div class="ttname"><a href="_closest_point_8h.html">ClosestPoint.h</a></div></div>
    992. 

  992. <div class="ttc" id="a_convex_support_8h_html"><div class="ttname"><a href="_convex_support_8h.html">ConvexSupport.h</a></div></div>
    993. 

  993. <div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
    994. 

  994. <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>
    995. 

  995. <div class="ttc" id="a_core_8h_html_a8f95e75e58492e87412191fabadd8ca8"><div class="ttname"><a href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></div><div class="ttdeci">std::uint32_t uint32</div><div class="ttdef"><b>Definition</b> Core.h:503</div></div>
    996. 

  996. <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>
    997. 

  997. <div class="ttc" id="a_debug_renderer_8h_html"><div class="ttname"><a href="_debug_renderer_8h.html">DebugRenderer.h</a></div></div>
    998. 

  998. <div class="ttc" id="a_issue_reporting_8cpp_html_a5b9da8153a0850dccf744d526486ebd2"><div class="ttname"><a href="_issue_reporting_8cpp.html#a5b9da8153a0850dccf744d526486ebd2">Trace</a></div><div class="ttdeci">TraceFunction Trace</div><div class="ttdef"><b>Definition</b> IssueReporting.cpp:14</div></div>
    999. 

  999. <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>
    1000. 

  1000. <div class="ttc" id="a_math_8h_html_a61379b8b743a16fe823daeebc1482570"><div class="ttname"><a href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a></div><div class="ttdeci">JPH_INLINE constexpr T Square(T inV)</div><div class="ttdoc">Square a value.</div><div class="ttdef"><b>Definition</b> Math.h:55</div></div>
    1001. 

  1001. <div class="ttc" id="a_non_copyable_8h_html"><div class="ttname"><a href="_non_copyable_8h.html">NonCopyable.h</a></div></div>
    1002. 

  1002. <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>
    1003. 

  1003. <div class="ttc" id="a_string_tools_8cpp_html_a479eac2df35b47887f8dbfa014f6923d"><div class="ttname"><a href="_string_tools_8cpp.html#a479eac2df35b47887f8dbfa014f6923d">NibbleToBinary</a></div><div class="ttdeci">const char * NibbleToBinary(uint32 inNibble)</div><div class="ttdoc">Converts the lower 4 bits of inNibble to a string that represents the number in binary format.</div><div class="ttdef"><b>Definition</b> StringTools.cpp:95</div></div>
    1004. 

  1004. <div class="ttc" id="a_string_tools_8h_html"><div class="ttname"><a href="_string_tools_8h.html">StringTools.h</a></div></div>
    1005. 

  1005. <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>
    1006. 

  1006. <div class="ttc" id="aclass_color_html_a34ab2471dec755f2317e02acae189efb"><div class="ttname"><a href="class_color.html#a34ab2471dec755f2317e02acae189efb">Color::sPurple</a></div><div class="ttdeci">static const Color sPurple</div><div class="ttdef"><b>Definition</b> Color.h:75</div></div>
    1007. 

  1007. <div class="ttc" id="aclass_color_html_a36eb714e97155bdeda7bc276acf007e2"><div class="ttname"><a href="class_color.html#a36eb714e97155bdeda7bc276acf007e2">Color::sGreen</a></div><div class="ttdeci">static const Color sGreen</div><div class="ttdef"><b>Definition</b> Color.h:71</div></div>
    1008. 

  1008. <div class="ttc" id="aclass_color_html_a952b07c63d2b23a6b3c81efcd9fad9fe"><div class="ttname"><a href="class_color.html#a952b07c63d2b23a6b3c81efcd9fad9fe">Color::sLightGrey</a></div><div class="ttdeci">static const Color sLightGrey</div><div class="ttdef"><b>Definition</b> Color.h:80</div></div>
    1009. 

  1009. <div class="ttc" id="aclass_color_html_a990ba9412e70ae76b1108c2447b62744"><div class="ttname"><a href="class_color.html#a990ba9412e70ae76b1108c2447b62744">Color::sOrange</a></div><div class="ttdeci">static const Color sOrange</div><div class="ttdef"><b>Definition</b> Color.h:77</div></div>
    1010. 

  1010. <div class="ttc" id="aclass_color_html_ae05e0e94f2d5b891869b444bbb29ad59"><div class="ttname"><a href="class_color.html#ae05e0e94f2d5b891869b444bbb29ad59">Color::sCyan</a></div><div class="ttdeci">static const Color sCyan</div><div class="ttdef"><b>Definition</b> Color.h:76</div></div>
    1011. 

  1011. <div class="ttc" id="aclass_color_html_afa2aabd04284f9231b26176663f67083"><div class="ttname"><a href="class_color.html#afa2aabd04284f9231b26176663f67083">Color::sRed</a></div><div class="ttdeci">static const Color sRed</div><div class="ttdef"><b>Definition</b> Color.h:69</div></div>
    1012. 

  1012. <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>
    1013. 

  1013. <div class="ttc" id="aclass_debug_renderer_html_a10539e59c9323113348a85744d1ca054"><div class="ttname"><a href="class_debug_renderer.html#a10539e59c9323113348a85744d1ca054">DebugRenderer::CreateTriangleGeometryForConvex</a></div><div class="ttdeci">GeometryRef CreateTriangleGeometryForConvex(SupportFunction inGetSupport)</div><div class="ttdef"><b>Definition</b> DebugRenderer.cpp:698</div></div>
    1014. 

  1014. <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>
    1015. 

  1015. <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>
    1016. 

  1016. <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>
    1017. 

  1017. <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>
    1018. 

  1018. <div class="ttc" id="aclass_debug_renderer_html_acea9470f13a1d50b677e2aaaeb9eeaed"><div class="ttname"><a href="class_debug_renderer.html#acea9470f13a1d50b677e2aaaeb9eeaed">DebugRenderer::DrawLine</a></div><div class="ttdeci">virtual void DrawLine(RVec3Arg inFrom, RVec3Arg inTo, ColorArg inColor)=0</div><div class="ttdoc">Draw line.</div></div>
    1019. 

  1019. <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>
    1020. 

  1020. <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>
    1021. 

  1021. <div class="ttc" id="aclass_g_j_k_closest_point_html"><div class="ttname"><a href="class_g_j_k_closest_point.html">GJKClosestPoint</a></div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:22</div></div>
    1022. 

  1022. <div class="ttc" id="aclass_g_j_k_closest_point_html_a20ab4d36efcf62ceae244ec75eb4bc23"><div class="ttname"><a href="class_g_j_k_closest_point.html#a20ab4d36efcf62ceae244ec75eb4bc23">GJKClosestPoint::Intersects</a></div><div class="ttdeci">bool Intersects(const A &amp;inA, const B &amp;inB, float inTolerance, Vec3 &amp;ioV)</div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:207</div></div>
    1023. 

  1023. <div class="ttc" id="aclass_g_j_k_closest_point_html_a66d20557ad6d34a1c1f29b6df058b523"><div class="ttname"><a href="class_g_j_k_closest_point.html#a66d20557ad6d34a1c1f29b6df058b523">GJKClosestPoint::CastShape</a></div><div class="ttdeci">bool CastShape(Mat44Arg inStart, Vec3Arg inDirection, float inTolerance, const A &amp;inA, const B &amp;inB, float &amp;ioLambda)</div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:658</div></div>
    1024. 

  1024. <div class="ttc" id="aclass_g_j_k_closest_point_html_a73d6f276fb275026a0126ca7361fb2bf"><div class="ttname"><a href="class_g_j_k_closest_point.html#a73d6f276fb275026a0126ca7361fb2bf">GJKClosestPoint::GetClosestPointsSimplex</a></div><div class="ttdeci">void GetClosestPointsSimplex(Vec3 *outY, Vec3 *outP, Vec3 *outQ, uint &amp;outNumPoints) const</div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:495</div></div>
    1025. 

  1025. <div class="ttc" id="aclass_g_j_k_closest_point_html_aa5b19da7e23744cb5c1af8fe2fee2940"><div class="ttname"><a href="class_g_j_k_closest_point.html#aa5b19da7e23744cb5c1af8fe2fee2940">GJKClosestPoint::CastShape</a></div><div class="ttdeci">bool CastShape(Mat44Arg inStart, Vec3Arg inDirection, float inTolerance, const A &amp;inA, const B &amp;inB, float inConvexRadiusA, float inConvexRadiusB, float &amp;ioLambda, Vec3 &amp;outPointA, Vec3 &amp;outPointB, Vec3 &amp;outSeparatingAxis)</div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:689</div></div>
    1026. 

  1026. <div class="ttc" id="aclass_g_j_k_closest_point_html_abb7cfdd49d708007d75b4c2e9b90ebb9"><div class="ttname"><a href="class_g_j_k_closest_point.html#abb7cfdd49d708007d75b4c2e9b90ebb9">GJKClosestPoint::GetClosestPoints</a></div><div class="ttdeci">float GetClosestPoints(const A &amp;inA, const B &amp;inB, float inTolerance, float inMaxDistSq, Vec3 &amp;ioV, Vec3 &amp;outPointA, Vec3 &amp;outPointB)</div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:327</div></div>
    1027. 

  1027. <div class="ttc" id="aclass_g_j_k_closest_point_html_ade3cde48252b6f77f749f9ac29685ec7"><div class="ttname"><a href="class_g_j_k_closest_point.html#ade3cde48252b6f77f749f9ac29685ec7">GJKClosestPoint::CastRay</a></div><div class="ttdeci">bool CastRay(Vec3Arg inRayOrigin, Vec3Arg inRayDirection, float inTolerance, const A &amp;inA, float &amp;ioLambda)</div><div class="ttdef"><b>Definition</b> GJKClosestPoint.h:516</div></div>
    1028. 

  1028. <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>
    1029. 

  1029. <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>
    1030. 

  1030. <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>
    1031. 

  1031. <div class="ttc" id="aclass_ref_html"><div class="ttname"><a href="class_ref.html">Ref&lt; Geometry &gt;</a></div></div>
    1032. 

  1032. <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>
    1033. 

  1033. <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>
    1034. 

  1034. <div class="ttc" id="aclass_vec3_html_a38a9efffc3f9413f3dd702abc73eb9a2"><div class="ttname"><a href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Vec3::Length</a></div><div class="ttdeci">JPH_INLINE float Length() const</div><div class="ttdoc">Length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:682</div></div>
    1035. 

  1035. <div class="ttc" id="aclass_vec3_html_a6c6409cad56e4e357f73d43cd719ffe8"><div class="ttname"><a href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">Vec3::NormalizedOr</a></div><div class="ttdeci">JPH_INLINE Vec3 NormalizedOr(Vec3Arg inZeroValue) const</div><div class="ttdoc">Normalize vector or return inZeroValue if the length of the vector is zero.</div><div class="ttdef"><b>Definition</b> Vec3.inl:721</div></div>
    1036. 

  1036. <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>
    1037. 

  1037. <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>
    1038. 

  1038. <div class="ttc" id="anamespace_closest_point_html_a194f91c80641bfd1071c5316705a2c85"><div class="ttname"><a href="namespace_closest_point.html#a194f91c80641bfd1071c5316705a2c85">ClosestPoint::GetBaryCentricCoordinates</a></div><div class="ttdeci">bool GetBaryCentricCoordinates(Vec3Arg inA, Vec3Arg inB, float &amp;outU, float &amp;outV)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:18</div></div>
    1039. 

  1039. <div class="ttc" id="anamespace_closest_point_html_a25fcaaf786d8724b11d02406ab74e0bc"><div class="ttname"><a href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">ClosestPoint::GetClosestPointOnTriangle</a></div><div class="ttdeci">Vec3 GetClosestPointOnTriangle(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:160</div></div>
    1040. 

  1040. <div class="ttc" id="anamespace_closest_point_html_abafebdbe3dea0fe6674c20fc9ccc8540"><div class="ttname"><a href="namespace_closest_point.html#abafebdbe3dea0fe6674c20fc9ccc8540">ClosestPoint::GetClosestPointOnTetrahedron</a></div><div class="ttdeci">Vec3 GetClosestPointOnTetrahedron(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, Vec3Arg inD, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:413</div></div>
    1041. 

  1041. <div class="ttc" id="anamespace_closest_point_html_ad687ef98922a03b7128a5d3a5a64ab39"><div class="ttname"><a href="namespace_closest_point.html#ad687ef98922a03b7128a5d3a5a64ab39">ClosestPoint::GetClosestPointOnLine</a></div><div class="ttdeci">Vec3 GetClosestPointOnLine(Vec3Arg inA, Vec3Arg inB, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:132</div></div>
    1042. 

  1042. <div class="ttc" id="astruct_minkowski_difference_html"><div class="ttname"><a href="struct_minkowski_difference.html">MinkowskiDifference</a></div><div class="ttdoc">Structure that performs a Minkowski difference A - B.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:67</div></div>
    1043. 

  1043. <div class="ttc" id="astruct_minkowski_difference_html_ad9e15e934b19be1df6e09a926a1e26dd"><div class="ttname"><a href="struct_minkowski_difference.html#ad9e15e934b19be1df6e09a926a1e26dd">MinkowskiDifference::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:75</div></div>
    1044. 

  1044. <div class="ttc" id="astruct_transformed_convex_object_html"><div class="ttname"><a href="struct_transformed_convex_object.html">TransformedConvexObject</a></div><div class="ttdef"><b>Definition</b> ConvexSupport.h:15</div></div>
    1045. 

  1045. <div class="ttc" id="astruct_transformed_convex_object_html_a0fa745b8d15e71629ebb719716d16fa8"><div class="ttname"><a href="struct_transformed_convex_object.html#a0fa745b8d15e71629ebb719716d16fa8">TransformedConvexObject::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:24</div></div>
    1046. 

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