TriangleCollisionPoint.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "CoreMinimal.h"
#include "Templates/UnrealTemplate.h"
 
#include "Chaos/Core.h"
 
 
namespace Chaos
{
    template<typename T>
    struct TTriangleCollisionPoint
    {
        // Type of contact (determines meaning of some properties below such as Indices and BarycentricCoordinates)
        enum struct EContactType : uint8
        {
            Invalid = 0,
            PointFace,
            EdgeEdge,
            EdgeFace
        } ContactType;
 
        // Index into Point and Face arrays or Edge arrays
        int32 Indices[2];
 
        // Barycentric coordinates for contacts
        // Point-Face: Bary[0] = 1.0 (Point), Bary[1:3] correspond with coordinates on Face
        // Edge-Edge: Bary[0:1] = coordinates on first edge, [2:3] coordinates on second edge
        // Edge-Face: Bary[0] = second coordinate on edge (first can be calculated as 1-Bary[0], Bary[1:3] correspond with coordinates on Face
        TVec4<T> Bary;
 
        // World space location (which point depends on query type)
        TVec3<T> Location;
 
        // World space normal (which normal depends on query type)
        TVec3<T> Normal;
 
        // Contact separation (negative for overlap)
        T Phi;
 
        TTriangleCollisionPoint()
            : ContactType(EContactType::Invalid)
            , Phi(TNumericLimits<T>::Max())
        {
        }
 
        // Whether the contact point has been set up with contact data
        bool IsSet() const { return ContactType != EContactType::Invalid; }
    };
}