Function IntersectLineTri

core/maths.h:1232–1250

intersects a line (through points p and q, against a triangle a, b, c - mostly taken from Real Time Collision Detection - p186

// intersects a line (through points p and q, against a triangle a, b, c - mostly taken from Real Time Collision Detection - p186
CUDA_CALLABLE inline bool IntersectLineTri(const Vec3& p, const Vec3& q, const Vec3& a, const Vec3& b, const Vec3& c)//,  float& t, float& u, float& v, float& w, Vec3* normal, float expand)
{
	const Vec3 pq = q-p;
	const Vec3 pa = a-p;
	const Vec3 pb = b-p;
	const Vec3 pc = c-p;

	Vec3 m = Cross(pq, pc);
	float u = Dot(pb, m);
	if (u< 0.0f) return false;

	float v = -Dot(pa, m);
	if (v < 0.0f) return false;
	
	float w = ScalarTriple(pq, pb, pa);
	if (w < 0.0f) return false;

	return true;
}

CUDA_CALLABLE inline Vec3 ClosestPointToAABB(const Vec3& p, const Vec3& lower, const Vec3& upper)
{