Method Intersects

TombEngine/Physics/Objects/CollisionMesh.cpp:64–104

	}

	bool LocalCollisionTriangle::Intersects(const Ray& ray, float& dist, const std::vector<Vector3>& vertices) const
	{
		// Get vertices.
		const auto& vertex0 = GetVertex0(vertices);
		const auto& vertex1 = GetVertex1(vertices);
		const auto& vertex2 = GetVertex2(vertices);

		// Calculate edges.
		auto edge1 = vertex1 - vertex0;
		auto edge2 = vertex2 - vertex0;

		// Calculate determinant.
		auto rayEdgeCross = ray.direction.Cross(edge2);
		float det = edge1.Dot(rayEdgeCross);

		// Ignore back side.
		if (det < EPSILON)
			return false;

		float invDet = 1.0f / det;

		// Calculate barycentric coordinate U.
		auto rayToVertex = ray.position - vertex0;
		float barycentricU = rayToVertex.Dot(rayEdgeCross) * invDet;
		if (barycentricU < 0.0f || barycentricU > 1.0f)
			return false;

		// Calculate barycentric coordinate V.
		auto cross = rayToVertex.Cross(edge1);
		float barycentricV = ray.direction.Dot(cross) * invDet;
		if (barycentricV < 0.0f || (barycentricU + barycentricV) > 1.0f)
			return false;

		// Calculate intersection distance.
		float intersectDist = edge2.Dot(cross) * invDet;
		if (intersectDist < 0.0f)
			return false;

		dist = intersectDist;
		return true;
	}

	void LocalCollisionTriangle::DrawDebug(const Matrix& transformMatrix, const Matrix& rotMatrix, const std::vector<Vector3>& vertices) const
	{