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++ // 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_TRIANGLE_H
++ #define GU_DISTANCE_POINT_TRIANGLE_H
++
++ #include "foundation/PxVec3.h"
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxVecMath.h"
++
++ namespace physx
++ {
++ namespace Gu
++ {
++ // PT: special version:
++ // - inlined
++ // - doesn't compute (s,t) output params
++ // - expects precomputed edges in input
++ PX_FORCE_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointTriangle2(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& ab, const PxVec3& ac)
++ {
++ // Check if P in vertex region outside A
++ //const PxVec3 ab = b - a;
++ //const PxVec3 ac = c - a;
++ const PxVec3 ap = p - a;
++ const float d1 = ab.dot(ap);
++ const float d2 = ac.dot(ap);
++ if(d1<=0.0f && d2<=0.0f)
++ return a; // Barycentric coords 1,0,0
++
++ // Check if P in vertex region outside B
++ const PxVec3 bp = p - b;
++ const float d3 = ab.dot(bp);
++ const float d4 = ac.dot(bp);
++ if(d3>=0.0f && d4<=d3)
++ return b; // Barycentric coords 0,1,0
++
++ // Check if P in edge region of AB, if so return projection of P onto AB
++ const float vc = d1*d4 - d3*d2;
++ if(vc<=0.0f && d1>=0.0f && d3<=0.0f)
++ {
++ const float v = d1 / (d1 - d3);
++ return a + v * ab; // barycentric coords (1-v, v, 0)
++ }
++
++ // Check if P in vertex region outside C
++ const PxVec3 cp = p - c;
++ const float d5 = ab.dot(cp);
++ const float d6 = ac.dot(cp);
++ if(d6>=0.0f && d5<=d6)
++ return c; // Barycentric coords 0,0,1
++
++ // Check if P in edge region of AC, if so return projection of P onto AC
++ const float vb = d5*d2 - d1*d6;
++ if(vb<=0.0f && d2>=0.0f && d6<=0.0f)
++ {
++ const float w = d2 / (d2 - d6);
++ return a + w * ac; // barycentric coords (1-w, 0, w)
++ }
++
++ // Check if P in edge region of BC, if so return projection of P onto BC
++ const float va = d3*d6 - d5*d4;
++ if(va<=0.0f && (d4-d3)>=0.0f && (d5-d6)>=0.0f)
++ {
++ const float w = (d4-d3) / ((d4 - d3) + (d5-d6));
++ return b + w * (c-b); // barycentric coords (0, 1-w, w)
++ }
++
++ // P inside face region. Compute Q through its barycentric coords (u,v,w)
++ const float denom = 1.0f / (va + vb + vc);
++ const float v = vb * denom;
++ const float w = vc * denom;
++ return a + ab*v + ac*w;
++ }
++
++ //Scales and translates triangle and query points to fit into the unit box to make calculations less prone to numerical cancellation.
++ //The returned point will still be in the same space as the input points.
++ PX_FORCE_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointTriangle2UnitBox(const PxVec3& queryPoint, const PxVec3& triA, const PxVec3& triB, const PxVec3& triC)
++ {
++ const PxVec3 min = queryPoint.minimum(triA.minimum(triB.minimum(triC)));
++ const PxVec3 max = queryPoint.maximum(triA.maximum(triB.maximum(triC)));
++ const PxVec3 size = max - min;
++
++ PxReal invScaling = PxMax(PxMax(size.x, size.y), PxMax(1e-12f, size.z));
++ PxReal scaling = 1.0f / invScaling;
++
++ PxVec3 p = (queryPoint - min) * scaling;
++ PxVec3 a = (triA - min) * scaling;
++ PxVec3 b = (triB - min) * scaling;
++ PxVec3 c = (triC - min) * scaling;
++
++ PxVec3 result = closestPtPointTriangle2(p, a, b, c, b - a, c - a);
++
++ return result * invScaling + min;
++ }
++
++ // Given the point `c`, return the closest point on the triangle (1, 0, 0), (0, 1, 0), (0, 0, 1).
++ // This function is a specialization of `Gu::closestPtPointTriangle2` for this specific triangle.
++ PX_FORCE_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointBaryTriangle(PxVec3 c)
++ {
++ const PxReal third = 1.0f / 3.0f; // constexpr
++ c -= PxVec3(third * (c.x + c.y + c.z - 1.0f));
++
++ // two negative: return positive vertex
++ if (c.y < 0.0f && c.z < 0.0f)
++ return PxVec3(1.0f, 0.0f, 0.0f);
++
++ if (c.x < 0.0f && c.z < 0.0f)
++ return PxVec3(0.0f, 1.0f, 0.0f);
++
++ if (c.x < 0.0f && c.y < 0.0f)
++ return PxVec3(0.0f, 0.0f, 1.0f);
++
++ // one negative: return projection onto line if it is on the edge, or the largest vertex otherwise
++ if (c.x < 0.0f)
++ {
++ const PxReal d = c.x * 0.5f;
++ const PxReal y = c.y + d;
++ const PxReal z = c.z + d;
++ if (y > 1.0f)
++ return PxVec3(0.0f, 1.0f, 0.0f);
++ if (z > 1.0f)
++ return PxVec3(0.0f, 0.0f, 1.0f);
++ return PxVec3(0.0f, y, z);
++ }
++ if (c.y < 0.0f)
++ {
++ const PxReal d = c.y * 0.5f;
++ const PxReal x = c.x + d;
++ const PxReal z = c.z + d;
++ if (x > 1.0f)
++ return PxVec3(1.0f, 0.0f, 0.0f);
++ if (z > 1.0f)
++ return PxVec3(0.0f, 0.0f, 1.0f);
++ return PxVec3(x, 0.0f, z);
++ }
++ if (c.z < 0.0f)
++ {
++ const PxReal d = c.z * 0.5f;
++ const PxReal x = c.x + d;
++ const PxReal y = c.y + d;
++ if (x > 1.0f)
++ return PxVec3(1.0f, 0.0f, 0.0f);
++ if (y > 1.0f)
++ return PxVec3(0.0f, 1.0f, 0.0f);
++ return PxVec3(x, y, 0.0f);
++ }
++ return c;
++ }
++
++
++ PX_PHYSX_COMMON_API PxVec3 closestPtPointTriangle(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, float& s, float& t);
++
++ PX_FORCE_INLINE PxReal distancePointTriangleSquared(const PxVec3& point,
++ const PxVec3& triangleOrigin, const PxVec3& triangleEdge0, const PxVec3& triangleEdge1,
++ PxReal* param0=NULL, PxReal* param1=NULL)
++ {
++ const PxVec3 pt0 = triangleEdge0 + triangleOrigin;
++ const PxVec3 pt1 = triangleEdge1 + triangleOrigin;
++ float s,t;
++ const PxVec3 cp = closestPtPointTriangle(point, triangleOrigin, pt0, pt1, s, t);
++ if(param0)
++ *param0 = s;
++ if(param1)
++ *param1 = t;
++ return (cp - point).magnitudeSquared();
++ }
++
++ PX_PHYSX_COMMON_API aos::FloatV distancePointTriangleSquared( const aos::Vec3VArg point,
++ const aos::Vec3VArg a,
++ const aos::Vec3VArg b,
++ const aos::Vec3VArg c,
++ aos::FloatV& u,
++ aos::FloatV& v,
++ aos::Vec3V& closestP);
++
++ //Scales and translates triangle and query points to fit into the unit box to make calculations less prone to numerical cancellation.
++ //The returned point and squared distance will still be in the same space as the input points.
++ PX_PHYSX_COMMON_API aos::FloatV distancePointTriangleSquared2UnitBox(
++ const aos::Vec3VArg point,
++ const aos::Vec3VArg a,
++ const aos::Vec3VArg b,
++ const aos::Vec3VArg c,
++ aos::FloatV& u,
++ aos::FloatV& v,
++ aos::Vec3V& closestP);
++
++ } // namespace Gu
++ }
++
++ #endif