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Enforce MustIncludeC in GetClosestPointOnTriangle #749

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merged 6 commits into from
Nov 11, 2023
Merged

Enforce MustIncludeC in GetClosestPointOnTriangle #749

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981363e
enforce MustIncludeC
bttner Nov 9, 2023
5309eae
Updating hash for determinism check
jrouwe Nov 9, 2023
8f785ab
adjusted testing order of edges
bttner Nov 9, 2023
a9e939e
Merge branch 'closest-point' of https://github.com/bttner/JoltPhysics…
bttner Nov 9, 2023
6212960
Updating hash
jrouwe Nov 10, 2023
c48b2c2
Preferring vertices over edges
jrouwe Nov 11, 2023
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2 changes: 1 addition & 1 deletion .github/workflows/determinism_check.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ name: Determinism Check

env:
CONVEX_VS_MESH_HASH: '0x10139effe747511'
RAGDOLL_HASH: '0xeb0afdf14f49c318'
RAGDOLL_HASH: '0xcdcbb4da185d1a13'

on:
push:
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40 changes: 23 additions & 17 deletions Jolt/Geometry/ClosestPoint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -184,6 +184,7 @@ namespace ClosestPoint
float best_dist_sq = inC.LengthSq();

// If the closest point must include C then A or B cannot be closest
// Note that we test vertices first because we want to prefer a closest vertex over a closest edge (this results in an outSet with fewer bits set)
if constexpr (!MustIncludeC)
{
// Try vertex A
Expand All @@ -203,21 +204,6 @@ namespace ClosestPoint
closest_point = inB;
best_dist_sq = b_len_sq;
}

// Edge AB
float ab_len_sq = ab.LengthSq();
if (ab_len_sq > Square(FLT_EPSILON))
{
float v = Clamp(-a.Dot(ab) / ab_len_sq, 0.0f, 1.0f);
Vec3 q = a + v * ab;
float dist_sq = q.LengthSq();
if (dist_sq < best_dist_sq)
{
closest_set = swap_ac.GetX()? 0b0110 : 0b0011;
closest_point = q;
best_dist_sq = dist_sq;
}
}
}

// Edge AC
Expand All @@ -236,7 +222,7 @@ namespace ClosestPoint
}

// Edge BC
Vec3 bc = c - inB;
Vec3 bc = inC - inB;
float bc_len_sq = bc.LengthSq();
if (bc_len_sq > Square(FLT_EPSILON))
{
Expand All @@ -245,12 +231,32 @@ namespace ClosestPoint
float dist_sq = q.LengthSq();
if (dist_sq < best_dist_sq)
{
closest_set = swap_ac.GetX()? 0b0011 : 0b0110;
closest_set = 0b0110;
closest_point = q;
best_dist_sq = dist_sq;
}
}

// If the closest point must include C then AB cannot be closest
if constexpr (!MustIncludeC)
{
// Edge AB
ab = inB - inA;
float ab_len_sq = ab.LengthSq();
if (ab_len_sq > Square(FLT_EPSILON))
{
float v = Clamp(-inA.Dot(ab) / ab_len_sq, 0.0f, 1.0f);
Vec3 q = inA + v * ab;
float dist_sq = q.LengthSq();
if (dist_sq < best_dist_sq)
{
closest_set = 0b0011;
closest_point = q;
best_dist_sq = dist_sq;
}
}
}

outSet = closest_set;
return closest_point;
}
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