Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #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_INLINE PX_CUDA_CALLABLE PxVec4 PointOutsideOfPlane4(const PxVec3& p, const PxVec3& _a, const PxVec3& _b,
++ const PxVec3& _c, const PxVec3& _d)
++ {
++ const PxVec3 ap = p - _a;
++ const PxVec3 ab = _b - _a;
++ const PxVec3 ac = _c - _a;
++ const PxVec3 ad = _d - _a;
++
++ const PxVec3 v0 = ab.cross(ac);
++ const float signa0 = v0.dot(ap);
++ const float signd0 = v0.dot(ad);// V3Dot(v0, _d);
++
++ const PxVec3 v1 = ac.cross(ad);
++ const float signa1 = v1.dot(ap);
++ const float signd1 = v1.dot(ab);
++
++ const PxVec3 v2 = ad.cross(ab);
++ const float signa2 = v2.dot(ap);
++ const float signd2 = v2.dot(ac);// V3Dot(v2, _c);
++
++ const PxVec3 bd = _d - _b;
++ const PxVec3 bc = _c - _b;
++
++ const PxVec3 v3 = bd.cross(bc);
++ const float signd3 = v3.dot(p - _b);
++ const float signa3 = v3.dot(_a - _b);
++
++ //if combined signDist is least zero, p is outside of that face
++ PxVec4 result = PxVec4(signa0 * signd0, signa1 * signd1, signa2 * signd2, signa3 * signd3);
++
++ return result;
++ }
++
++ 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;
++ PxComputeBarycentric(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
++