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Move vendor functions into clash_utils

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This commit is contained in:
Dion Moult
2024-02-07 23:01:21 +11:00
parent 0b3e9e7c5a
commit 09efd68e6e
3 changed files with 375 additions and 358 deletions
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src/ifcgeom_schema_agnostic/IfcGeomTree.h
+1 -358
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@@ -56,6 +56,7 @@
#include <STEPConstruct_PointHasher.hxx>
#include <boost/stacktrace.hpp>
#include "triangleintersects.hpp"
#include "clash_utils.h"
namespace IfcGeom {
@@ -119,16 +120,6 @@ namespace IfcGeom {
namespace impl {
template <typename T>
class tree {
struct ray {
float origin[3];
float dir[3];
float dir_inv[3];
};
struct box {
float corners[2][3];
};
struct PointHasher {
std::size_t operator()(const gp_Pnt& p) const {
// Assuming theUpperBound is somewhat arbitrary, but should be large enough
@@ -146,118 +137,6 @@ namespace IfcGeom {
}
};
// Branchless slab method. Note that this can still be optimised further by batching boxes.
// From Tavian Barnes - MIT License
// https://tavianator.com/2022/ray_box_boundary.html
bool is_intersect_ray_box(const struct ray *ray, const struct box *box) const {
float tmin = 0.0, tmax = INFINITY;
for (int d = 0; d < 3; ++d) {
bool sign = std::signbit(ray->dir_inv[d]);
float bmin = box->corners[sign][d];
float bmax = box->corners[!sign][d];
float dmin = (bmin - ray->origin[d]) * ray->dir_inv[d];
float dmax = (bmax - ray->origin[d]) * ray->dir_inv[d];
tmin = std::max(dmin, tmin);
tmax = std::min(dmax, tmax);
}
return tmin < tmax;
}
#define GU_CULLING_EPSILON_RAY_TRIANGLE FLT_EPSILON*FLT_EPSILON
// From NVIDIA-Omniverse PhysX - BSD 3-Clause "New" or "Revised" License
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/intersection/GuIntersectionRayTriangle.h
// With minor modifications to use gp_Vec type.
// More reading: https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
bool intersectRayTriangle( const gp_Vec& orig, const gp_Vec& dir,
const gp_Vec& vert0, const gp_Vec& vert1, const gp_Vec& vert2,
Standard_Real& at, Standard_Real& au, Standard_Real& av,
bool cull, float enlarge=0.0f) const
{
// Find vectors for two edges sharing vert0
const gp_Vec edge1 = vert1 - vert0;
const gp_Vec edge2 = vert2 - vert0;
// Begin calculating determinant - also used to calculate U parameter
const gp_Vec pvec = dir.Crossed(edge2); // error ~ |v2-v0|
// If determinant is near zero, ray lies in plane of triangle
const Standard_Real det = edge1.Dot(pvec); // error ~ |v2-v0|*|v1-v0|
if(cull)
{
if(det<GU_CULLING_EPSILON_RAY_TRIANGLE)
return false;
// Calculate distance from vert0 to ray origin
const gp_Vec tvec = orig - vert0;
// Calculate U parameter and test bounds
const Standard_Real u = tvec.Dot(pvec);
const Standard_Real enlargeCoeff = enlarge*det;
const Standard_Real uvlimit = -enlargeCoeff;
const Standard_Real uvlimit2 = det + enlargeCoeff;
if(u<uvlimit || u>uvlimit2)
return false;
// Prepare to test V parameter
const gp_Vec qvec = tvec.Crossed(edge1);
// Calculate V parameter and test bounds
const Standard_Real v = dir.Dot(qvec);
if(v<uvlimit || (u+v)>uvlimit2)
return false;
// Calculate t, scale parameters, ray intersects triangle
const Standard_Real t = edge2.Dot(qvec);
const Standard_Real inv_det = 1.0f / det;
at = t*inv_det;
au = u*inv_det;
av = v*inv_det;
}
else
{
// the non-culling branch
if(std::abs(det)<GU_CULLING_EPSILON_RAY_TRIANGLE)
return false;
const Standard_Real inv_det = 1.0f / det;
// Calculate distance from vert0 to ray origin
const gp_Vec tvec = orig - vert0; // error ~ |orig-v0|
// Calculate U parameter and test bounds
const Standard_Real u = tvec.Dot(pvec) * inv_det;
if(u<-enlarge || u>1.0f+enlarge)
return false;
// prepare to test V parameter
const gp_Vec qvec = tvec.Crossed(edge1);
// Calculate V parameter and test bounds
const Standard_Real v = dir.Dot(qvec) * inv_det;
if(v<-enlarge || (u+v)>1.0f+enlarge)
return false;
// Calculate t, ray intersects triangle
const Standard_Real t = edge2.Dot(qvec) * inv_det;
at = t;
au = u;
av = v;
}
return true;
}
bool is_point_in_shape(
const gp_Pnt& v,
const opencascade::handle<BVH_Tree<double, 3, BVH_BinaryTree>>& bvh,
@@ -514,242 +393,6 @@ namespace IfcGeom {
return true; // The point is on the line segment
}
// Why can't I use std::clamp?
template<typename TC>
const TC& ios_clamp(const TC& v, const TC& lo, const TC& hi) const {
assert(!(hi < lo));
return (v < lo) ? lo : (hi < v) ? hi : v;
}
// From NVIDIA-Omniverse PhysX - BSD 3-Clause "New" or "Revised" License
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/sweep/GuSweepCapsuleCapsule.cpp
// With minor modifications to use gp_Vec type.
void edgeEdgeDist(gp_Vec& x, gp_Vec& y, // closest points
const gp_Vec& p, const gp_Vec& a, // seg 1 origin, vector
const gp_Vec& q, const gp_Vec& b) // seg 2 origin, vector
const {
const gp_Vec Tx = q - p;
const double ADotA = a.Dot(a);
const double BDotB = b.Dot(b);
const double ADotB = a.Dot(b);
const double ADotT = a.Dot(Tx);
const double BDotT = b.Dot(Tx);
// t parameterizes ray (p, a)
// u parameterizes ray (q, b)
// Compute t for the closest point on ray (p, a) to ray (q, b)
const Standard_Real Denom = ADotA*BDotB - ADotB*ADotB;
Standard_Real t; // We will clamp result so t is on the segment (p, a)
if(Denom!=0.0f)
t = ios_clamp((ADotT*BDotB - BDotT*ADotB) / Denom, 0.0, 1.0);
else
t = 0.0f;
// find u for point on ray (q, b) closest to point at t
Standard_Real u;
if(BDotB!=0.0f)
{
u = (t*ADotB - BDotT) / BDotB;
// if u is on segment (q, b), t and u correspond to closest points, otherwise, clamp u, recompute and clamp t
if(u<0.0f)
{
u = 0.0f;
if(ADotA!=0.0f)
t = ios_clamp(ADotT / ADotA, 0.0, 1.0);
else
t = 0.0f;
}
else if(u > 1.0f)
{
u = 1.0f;
if(ADotA!=0.0f)
t = ios_clamp((ADotB + ADotT) / ADotA, 0.0, 1.0);
else
t = 0.0f;
}
}
else
{
u = 0.0f;
if(ADotA!=0.0f)
t = ios_clamp(ADotT / ADotA, 0.0, 1.0);
else
t = 0.0f;
}
x = p + a * t;
y = q + b * u;
}
#define PX_MAX_F32 3.4028234663852885981170418348452e+38F
// From NVIDIA-Omniverse PhysX - BSD 3-Clause "New" or "Revised" License
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/distance/GuDistanceTriangleTriangle.cpp
// With minor modifications to use gp_Vec type.
float distanceTriangleTriangleSquared(gp_Vec& cp, gp_Vec& cq, const std::array<gp_Vec, 3> p, const std::array<gp_Vec, 3> q) const
{
std::array<gp_Vec, 3> Sv;
Sv[0] = p[1] - p[0];
Sv[1] = p[2] - p[1];
Sv[2] = p[0] - p[2];
std::array<gp_Vec, 3> Tv;
Tv[0] = q[1] - q[0];
Tv[1] = q[2] - q[1];
Tv[2] = q[0] - q[2];
gp_Vec minP, minQ;
bool shown_disjoint = false;
float mindd = PX_MAX_F32;
for(int i=0;i<3;i++)
{
for(int j=0;j<3;j++)
{
edgeEdgeDist(cp, cq, p[i], Sv[i], q[j], Tv[j]);
const gp_Vec V = cq - cp;
const float dd = V.Dot(V);
if(dd<=mindd)
{
minP = cp;
minQ = cq;
mindd = dd;
int id = i+2;
if(id>=3)
id-=3;
gp_Vec Z = p[id] - cp;
float a = Z.Dot(V);
id = j+2;
if(id>=3)
id-=3;
Z = q[id] - cq;
float b = Z.Dot(V);
if((a<=0.0f) && (b>=0.0f))
return V.Dot(V);
if(a<=0.0f) a = 0.0f;
else if(b>0.0f) b = 0.0f;
if((mindd - a + b) > 0.0f)
shown_disjoint = true;
}
}
}
gp_Vec Sn = Sv[0].Crossed(Sv[1]);
float Snl = Sn.Dot(Sn);
if(Snl>1e-15f)
{
const std::array<double, 3> Tp = {(p[0] - q[0]).Dot(Sn),
(p[0] - q[1]).Dot(Sn),
(p[0] - q[2]).Dot(Sn)};
int index = -1;
if((Tp[0]>0.0f) && (Tp[1]>0.0f) && (Tp[2]>0.0f))
{
if(Tp[0]<Tp[1]) index = 0; else index = 1;
if(Tp[2]<Tp[index]) index = 2;
}
else if((Tp[0]<0.0f) && (Tp[1]<0.0f) && (Tp[2]<0.0f))
{
if(Tp[0]>Tp[1]) index = 0; else index = 1;
if(Tp[2]>Tp[index]) index = 2;
}
if(index >= 0)
{
shown_disjoint = true;
const gp_Vec& qIndex = q[index];
gp_Vec V = qIndex - p[0];
gp_Vec Z = Sn.Crossed(Sv[0]);
if(V.Dot(Z)>0.0f)
{
V = qIndex - p[1];
Z = Sn.Crossed(Sv[1]);
if(V.Dot(Z)>0.0f)
{
V = qIndex - p[2];
Z = Sn.Crossed(Sv[2]);
if(V.Dot(Z)>0.0f)
{
cp = qIndex + Sn * Tp[index]/Snl;
cq = qIndex;
return (cp - cq).SquareMagnitude();
}
}
}
}
}
gp_Vec Tn = Tv[0].Crossed(Tv[1]);
float Tnl = Tn.Dot(Tn);
if(Tnl>1e-15f)
{
const std::array<double, 3> Sp = {(q[0] - p[0]).Dot(Tn),
(q[0] - p[1]).Dot(Tn),
(q[0] - p[2]).Dot(Tn)};
int index = -1;
if((Sp[0]>0.0f) && (Sp[1]>0.0f) && (Sp[2]>0.0f))
{
if(Sp[0]<Sp[1]) index = 0; else index = 1;
if(Sp[2]<Sp[index]) index = 2;
}
else if((Sp[0]<0.0f) && (Sp[1]<0.0f) && (Sp[2]<0.0f))
{
if(Sp[0]>Sp[1]) index = 0; else index = 1;
if(Sp[2]>Sp[index]) index = 2;
}
if(index >= 0)
{
shown_disjoint = true;
const gp_Vec& pIndex = p[index];
gp_Vec V = pIndex - q[0];
gp_Vec Z = Tn.Crossed(Tv[0]);
if(V.Dot(Z)>0.0f)
{
V = pIndex - q[1];
Z = Tn.Crossed(Tv[1]);
if(V.Dot(Z)>0.0f)
{
V = pIndex - q[2];
Z = Tn.Crossed(Tv[2]);
if(V.Dot(Z)>0.0f)
{
cp = pIndex;
cq = pIndex + Tn * Sp[index]/Tnl;
return (cp - cq).SquareMagnitude();
}
}
}
}
}
if(shown_disjoint)
{
cp = minP;
cq = minQ;
return mindd;
}
else return 0.0f;
}
bool test_intersection(const T& tA, const T& tB, double tolerance, bool check_all = true) const {
// If there are verts of A inside shape B (protrusion):
// 1. For each vert, find the shortest distance to the closest face
src/ifcgeom_schema_agnostic/clash_utils.cpp
+347
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@@ -0,0 +1,347 @@
#include "clash_utils.h"
#include <cassert>
#define GU_CULLING_EPSILON_RAY_TRIANGLE FLT_EPSILON*FLT_EPSILON
#define PX_MAX_F32 3.4028234663852885981170418348452e+38F
// Why can't I use std::clamp?
template<typename TC>
const TC& ios_clamp(const TC& v, const TC& lo, const TC& hi) {
assert(!(hi < lo));
return (v < lo) ? lo : (hi < v) ? hi : v;
}
// Branchless slab method. Note that this can still be optimised further by batching boxes.
// From Tavian Barnes - MIT License
// https://tavianator.com/2022/ray_box_boundary.html
bool is_intersect_ray_box(const struct ray *ray, const struct box *box) {
float tmin = 0.0, tmax = INFINITY;
for (int d = 0; d < 3; ++d) {
bool sign = std::signbit(ray->dir_inv[d]);
float bmin = box->corners[sign][d];
float bmax = box->corners[!sign][d];
float dmin = (bmin - ray->origin[d]) * ray->dir_inv[d];
float dmax = (bmax - ray->origin[d]) * ray->dir_inv[d];
tmin = std::max(dmin, tmin);
tmax = std::min(dmax, tmax);
}
return tmin < tmax;
}
// From NVIDIA-Omniverse PhysX - BSD 3-Clause "New" or "Revised" License
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/intersection/GuIntersectionRayTriangle.h
// With minor modifications to use gp_Vec type.
// More reading: https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
bool intersectRayTriangle( const gp_Vec& orig, const gp_Vec& dir,
const gp_Vec& vert0, const gp_Vec& vert1, const gp_Vec& vert2,
Standard_Real& at, Standard_Real& au, Standard_Real& av,
bool cull, float enlarge) {
// Find vectors for two edges sharing vert0
const gp_Vec edge1 = vert1 - vert0;
const gp_Vec edge2 = vert2 - vert0;
// Begin calculating determinant - also used to calculate U parameter
const gp_Vec pvec = dir.Crossed(edge2); // error ~ |v2-v0|
// If determinant is near zero, ray lies in plane of triangle
const Standard_Real det = edge1.Dot(pvec); // error ~ |v2-v0|*|v1-v0|
if(cull)
{
if(det<GU_CULLING_EPSILON_RAY_TRIANGLE)
return false;
// Calculate distance from vert0 to ray origin
const gp_Vec tvec = orig - vert0;
// Calculate U parameter and test bounds
const Standard_Real u = tvec.Dot(pvec);
const Standard_Real enlargeCoeff = enlarge*det;
const Standard_Real uvlimit = -enlargeCoeff;
const Standard_Real uvlimit2 = det + enlargeCoeff;
if(u<uvlimit || u>uvlimit2)
return false;
// Prepare to test V parameter
const gp_Vec qvec = tvec.Crossed(edge1);
// Calculate V parameter and test bounds
const Standard_Real v = dir.Dot(qvec);
if(v<uvlimit || (u+v)>uvlimit2)
return false;
// Calculate t, scale parameters, ray intersects triangle
const Standard_Real t = edge2.Dot(qvec);
const Standard_Real inv_det = 1.0f / det;
at = t*inv_det;
au = u*inv_det;
av = v*inv_det;
}
else
{
// the non-culling branch
if(std::abs(det)<GU_CULLING_EPSILON_RAY_TRIANGLE)
return false;
const Standard_Real inv_det = 1.0f / det;
// Calculate distance from vert0 to ray origin
const gp_Vec tvec = orig - vert0; // error ~ |orig-v0|
// Calculate U parameter and test bounds
const Standard_Real u = tvec.Dot(pvec) * inv_det;
if(u<-enlarge || u>1.0f+enlarge)
return false;
// prepare to test V parameter
const gp_Vec qvec = tvec.Crossed(edge1);
// Calculate V parameter and test bounds
const Standard_Real v = dir.Dot(qvec) * inv_det;
if(v<-enlarge || (u+v)>1.0f+enlarge)
return false;
// Calculate t, ray intersects triangle
const Standard_Real t = edge2.Dot(qvec) * inv_det;
at = t;
au = u;
av = v;
}
return true;
}
// From NVIDIA-Omniverse PhysX - BSD 3-Clause "New" or "Revised" License
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/sweep/GuSweepCapsuleCapsule.cpp
// With minor modifications to use gp_Vec type.
void edgeEdgeDist(gp_Vec& x, gp_Vec& y, // closest points
const gp_Vec& p, const gp_Vec& a, // seg 1 origin, vector
const gp_Vec& q, const gp_Vec& b) // seg 2 origin, vector
{
const gp_Vec Tx = q - p;
const double ADotA = a.Dot(a);
const double BDotB = b.Dot(b);
const double ADotB = a.Dot(b);
const double ADotT = a.Dot(Tx);
const double BDotT = b.Dot(Tx);
// t parameterizes ray (p, a)
// u parameterizes ray (q, b)
// Compute t for the closest point on ray (p, a) to ray (q, b)
const Standard_Real Denom = ADotA*BDotB - ADotB*ADotB;
Standard_Real t; // We will clamp result so t is on the segment (p, a)
if(Denom!=0.0f)
t = ios_clamp((ADotT*BDotB - BDotT*ADotB) / Denom, 0.0, 1.0);
else
t = 0.0f;
// find u for point on ray (q, b) closest to point at t
Standard_Real u;
if(BDotB!=0.0f)
{
u = (t*ADotB - BDotT) / BDotB;
// if u is on segment (q, b), t and u correspond to closest points, otherwise, clamp u, recompute and clamp t
if(u<0.0f)
{
u = 0.0f;
if(ADotA!=0.0f)
t = ios_clamp(ADotT / ADotA, 0.0, 1.0);
else
t = 0.0f;
}
else if(u > 1.0f)
{
u = 1.0f;
if(ADotA!=0.0f)
t = ios_clamp((ADotB + ADotT) / ADotA, 0.0, 1.0);
else
t = 0.0f;
}
}
else
{
u = 0.0f;
if(ADotA!=0.0f)
t = ios_clamp(ADotT / ADotA, 0.0, 1.0);
else
t = 0.0f;
}
x = p + a * t;
y = q + b * u;
}
// From NVIDIA-Omniverse PhysX - BSD 3-Clause "New" or "Revised" License
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md
// https://github.com/NVIDIA-Omniverse/PhysX/blob/main/physx/source/geomutils/src/distance/GuDistanceTriangleTriangle.cpp
// With minor modifications to use gp_Vec type.
float distanceTriangleTriangleSquared(gp_Vec& cp, gp_Vec& cq, const std::array<gp_Vec, 3> p, const std::array<gp_Vec, 3> q)
{
std::array<gp_Vec, 3> Sv;
Sv[0] = p[1] - p[0];
Sv[1] = p[2] - p[1];
Sv[2] = p[0] - p[2];
std::array<gp_Vec, 3> Tv;
Tv[0] = q[1] - q[0];
Tv[1] = q[2] - q[1];
Tv[2] = q[0] - q[2];
gp_Vec minP, minQ;
bool shown_disjoint = false;
float mindd = PX_MAX_F32;
for(int i=0;i<3;i++)
{
for(int j=0;j<3;j++)
{
edgeEdgeDist(cp, cq, p[i], Sv[i], q[j], Tv[j]);
const gp_Vec V = cq - cp;
const float dd = V.Dot(V);
if(dd<=mindd)
{
minP = cp;
minQ = cq;
mindd = dd;
int id = i+2;
if(id>=3)
id-=3;
gp_Vec Z = p[id] - cp;
float a = Z.Dot(V);
id = j+2;
if(id>=3)
id-=3;
Z = q[id] - cq;
float b = Z.Dot(V);
if((a<=0.0f) && (b>=0.0f))
return V.Dot(V);
if(a<=0.0f) a = 0.0f;
else if(b>0.0f) b = 0.0f;
if((mindd - a + b) > 0.0f)
shown_disjoint = true;
}
}
}
gp_Vec Sn = Sv[0].Crossed(Sv[1]);
float Snl = Sn.Dot(Sn);
if(Snl>1e-15f)
{
const std::array<double, 3> Tp = {(p[0] - q[0]).Dot(Sn),
(p[0] - q[1]).Dot(Sn),
(p[0] - q[2]).Dot(Sn)};
int index = -1;
if((Tp[0]>0.0f) && (Tp[1]>0.0f) && (Tp[2]>0.0f))
{
if(Tp[0]<Tp[1]) index = 0; else index = 1;
if(Tp[2]<Tp[index]) index = 2;
}
else if((Tp[0]<0.0f) && (Tp[1]<0.0f) && (Tp[2]<0.0f))
{
if(Tp[0]>Tp[1]) index = 0; else index = 1;
if(Tp[2]>Tp[index]) index = 2;
}
if(index >= 0)
{
shown_disjoint = true;
const gp_Vec& qIndex = q[index];
gp_Vec V = qIndex - p[0];
gp_Vec Z = Sn.Crossed(Sv[0]);
if(V.Dot(Z)>0.0f)
{
V = qIndex - p[1];
Z = Sn.Crossed(Sv[1]);
if(V.Dot(Z)>0.0f)
{
V = qIndex - p[2];
Z = Sn.Crossed(Sv[2]);
if(V.Dot(Z)>0.0f)
{
cp = qIndex + Sn * Tp[index]/Snl;
cq = qIndex;
return (cp - cq).SquareMagnitude();
}
}
}
}
}
gp_Vec Tn = Tv[0].Crossed(Tv[1]);
float Tnl = Tn.Dot(Tn);
if(Tnl>1e-15f)
{
const std::array<double, 3> Sp = {(q[0] - p[0]).Dot(Tn),
(q[0] - p[1]).Dot(Tn),
(q[0] - p[2]).Dot(Tn)};
int index = -1;
if((Sp[0]>0.0f) && (Sp[1]>0.0f) && (Sp[2]>0.0f))
{
if(Sp[0]<Sp[1]) index = 0; else index = 1;
if(Sp[2]<Sp[index]) index = 2;
}
else if((Sp[0]<0.0f) && (Sp[1]<0.0f) && (Sp[2]<0.0f))
{
if(Sp[0]>Sp[1]) index = 0; else index = 1;
if(Sp[2]>Sp[index]) index = 2;
}
if(index >= 0)
{
shown_disjoint = true;
const gp_Vec& pIndex = p[index];
gp_Vec V = pIndex - q[0];
gp_Vec Z = Tn.Crossed(Tv[0]);
if(V.Dot(Z)>0.0f)
{
V = pIndex - q[1];
Z = Tn.Crossed(Tv[1]);
if(V.Dot(Z)>0.0f)
{
V = pIndex - q[2];
Z = Tn.Crossed(Tv[2]);
if(V.Dot(Z)>0.0f)
{
cp = pIndex;
cq = pIndex + Tn * Sp[index]/Tnl;
return (cp - cq).SquareMagnitude();
}
}
}
}
}
if(shown_disjoint)
{
cp = minP;
cq = minQ;
return mindd;
}
else return 0.0f;
}
src/ifcgeom_schema_agnostic/clash_utils.h
+27
View File
@@ -0,0 +1,27 @@
#pragma once
#include <gp_Vec.hxx>
#include <array>
struct ray {
float origin[3];
float dir[3];
float dir_inv[3];
};
struct box {
float corners[2][3];
};
bool is_intersect_ray_box(const struct ray *ray, const struct box *box);
bool intersectRayTriangle( const gp_Vec& orig, const gp_Vec& dir,
const gp_Vec& vert0, const gp_Vec& vert1, const gp_Vec& vert2,
Standard_Real& at, Standard_Real& au, Standard_Real& av,
bool cull, float enlarge=0.0f);
void edgeEdgeDist(gp_Vec& x, gp_Vec& y, // closest points
const gp_Vec& p, const gp_Vec& a, // seg 1 origin, vector
const gp_Vec& q, const gp_Vec& b); // seg 2 origin, vector
float distanceTriangleTriangleSquared(gp_Vec& cp, gp_Vec& cq, const std::array<gp_Vec, 3> p, const std::array<gp_Vec, 3> q);