public void Reset()
{
_cachedValidClosest = false;
_numVertices = 0;
_needsUpdate = true;
_lastW = TSVector.one * FP.MaxValue;
_cachedBC.Reset();
}
public bool ClosestPtPointTetrahedron(TSVector a, TSVector b, TSVector c, TSVector d,
ref SubSimplexClosestResult finalResult)
{
tempResult.Reset();
// Start out assuming point inside all halfspaces, so closest to itself
finalResult.closestPointOnSimplex = TSVector.zero;
finalResult.usedVertices.Reset();
finalResult.usedVertices.UsedVertexA = true;
finalResult.usedVertices.UsedVertexB = true;
finalResult.usedVertices.UsedVertexC = true;
finalResult.usedVertices.UsedVertexD = true;
int pointOutsideABC = PointOutsideOfPlane(a, b, c, d);
int pointOutsideACD = PointOutsideOfPlane(a, c, d, b);
int pointOutsideADB = PointOutsideOfPlane(a, d, b, c);
int pointOutsideBDC = PointOutsideOfPlane(b, d, c, a);
if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
{
finalResult.degenerate = true;
return(false);
}
if (pointOutsideABC == 0 && pointOutsideACD == 0 && pointOutsideADB == 0 && pointOutsideBDC == 0)
{
return(false);
}
FP bestSqDist = FP.MaxValue;
// If point outside face abc then compute closest point on abc
if (pointOutsideABC != 0)
{
ClosestPtPointTriangle(a, b, c, ref tempResult);
TSVector q = tempResult.closestPointOnSimplex;
FP sqDist = q.sqrMagnitude;
// Update best closest point if (squared) distance is less than current best
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.closestPointOnSimplex = q;
//convert result bitmask!
finalResult.usedVertices.Reset();
finalResult.usedVertices.UsedVertexA = tempResult.usedVertices.UsedVertexA;
finalResult.usedVertices.UsedVertexB = tempResult.usedVertices.UsedVertexB;
finalResult.usedVertices.UsedVertexC = tempResult.usedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(
tempResult.barycentricCoords[VertexA],
tempResult.barycentricCoords[VertexB],
tempResult.barycentricCoords[VertexC],
FP.Zero);
}
}
// Repeat test for face acd
if (pointOutsideACD != 0)
{
ClosestPtPointTriangle(a, c, d, ref tempResult);
TSVector q = tempResult.closestPointOnSimplex;
//convert result bitmask!
FP sqDist = q.sqrMagnitude;
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.closestPointOnSimplex = q;
finalResult.usedVertices.Reset();
finalResult.usedVertices.UsedVertexA = tempResult.usedVertices.UsedVertexA;
finalResult.usedVertices.UsedVertexC = tempResult.usedVertices.UsedVertexB;
finalResult.usedVertices.UsedVertexD = tempResult.usedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(
tempResult.barycentricCoords[VertexA],
FP.Zero,
tempResult.barycentricCoords[VertexB],
tempResult.barycentricCoords[VertexC]);
}
}
// Repeat test for face adb
if (pointOutsideADB != 0)
{
ClosestPtPointTriangle(a, d, b, ref tempResult);
TSVector q = tempResult.closestPointOnSimplex;
//convert result bitmask!
FP sqDist = q.sqrMagnitude;
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.closestPointOnSimplex = q;
finalResult.usedVertices.Reset();
finalResult.usedVertices.UsedVertexA = tempResult.usedVertices.UsedVertexA;
finalResult.usedVertices.UsedVertexD = tempResult.usedVertices.UsedVertexB;
finalResult.usedVertices.UsedVertexB = tempResult.usedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(
tempResult.barycentricCoords[VertexA],
tempResult.barycentricCoords[VertexC],
FP.Zero,
tempResult.barycentricCoords[VertexB]);
}
}
// Repeat test for face bdc
if (pointOutsideBDC != 0)
{
ClosestPtPointTriangle(b, d, c, ref tempResult);
TSVector q = tempResult.closestPointOnSimplex;
//convert result bitmask!
FP sqDist = q.sqrMagnitude;
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.closestPointOnSimplex = q;
finalResult.usedVertices.Reset();
finalResult.usedVertices.UsedVertexB = tempResult.usedVertices.UsedVertexA;
finalResult.usedVertices.UsedVertexD = tempResult.usedVertices.UsedVertexB;
finalResult.usedVertices.UsedVertexC = tempResult.usedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(
FP.Zero,
tempResult.barycentricCoords[VertexA],
tempResult.barycentricCoords[VertexC],
tempResult.barycentricCoords[VertexB]);
}
}
//help! we ended up full !
if (finalResult.usedVertices.UsedVertexA &&
finalResult.usedVertices.UsedVertexB &&
finalResult.usedVertices.UsedVertexC &&
finalResult.usedVertices.UsedVertexD)
{
return(true);
}
return(true);
}