GuDistancePointTetrahedron.h

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#ifndef GU_DISTANCE_POINT_TETRAHEDRON_H
#define GU_DISTANCE_POINT_TETRAHEDRON_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxVec4.h"
#include "common/PxPhysXCommonConfig.h"
#include "GuDistancePointTriangle.h"
#include "foundation/PxMathUtils.h"
 
namespace physx
{
    namespace Gu
    {
        PX_PHYSX_COMMON_API PxVec4 PointOutsideOfPlane4(const PxVec3& p, const PxVec3& _a, const PxVec3& _b,
            const PxVec3& _c, const PxVec3& _d);
 
        PX_PHYSX_COMMON_API PxVec3 closestPtPointTetrahedron(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d, const PxVec4& result);
 
        PX_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointTetrahedron(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d)
        {
            const PxVec3 ab = b - a;
            const PxVec3 ac = c - a;
            const PxVec3 ad = d - a;
            const PxVec3 bc = c - b;
            const PxVec3 bd = d - b;
 
            //point to face 0, 1, 2
            PxVec3 bestClosestPt = closestPtPointTriangle2(p, a, b, c, ab, ac);
            PxVec3 diff = bestClosestPt - p;
            PxReal bestSqDist = diff.dot(diff);
 
            // 0, 2, 3
            PxVec3 closestPt = closestPtPointTriangle2(p, a, c, d, ac, ad);
            diff = closestPt - p;
            PxReal sqDist = diff.dot(diff);
            if (sqDist < bestSqDist)
            {
                bestClosestPt = closestPt;
                bestSqDist = sqDist;
            }
 
            // 0, 3, 1
            closestPt = closestPtPointTriangle2(p, a, d, b, ad, ab);
            diff = closestPt - p;
            sqDist = diff.dot(diff);
            if (sqDist < bestSqDist)
            {
                bestClosestPt = closestPt;
                bestSqDist = sqDist;
            }
 
            // 1, 3, 2
            closestPt = closestPtPointTriangle2(p, b, d, c, bd, bc);
            diff = closestPt - p;
            sqDist = diff.dot(diff);
            if (sqDist < bestSqDist)
            {
                bestClosestPt = closestPt;
                bestSqDist = sqDist;
            }
 
            return bestClosestPt;
        }
 
        PX_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointTetrahedronWithInsideCheck(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d, const PxReal eps = 0)
        {
            PxVec4 tmpBarycentric;
            computeBarycentric(a, b, c, d, p, tmpBarycentric);
            if ((tmpBarycentric.x >= -eps && tmpBarycentric.x <= 1.f + eps) && (tmpBarycentric.y >= -eps && tmpBarycentric.y <= 1.f + eps) &&
                (tmpBarycentric.z >= -eps && tmpBarycentric.z <= 1.f + eps) && (tmpBarycentric.w >= -eps && tmpBarycentric.w <= 1.f + eps))
                return p;
            return closestPtPointTetrahedron(p, a, b, c, d);
        }
    }
}
 
#endif