////  TriangleSet.cpp//  libraries/entities/src////  Created by Brad Hefta-Gaub on 3/2/2017.//  Copyright 2017 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "GLMHelpers.h"#include "TriangleSet.h" void TriangleSet::insert(const Triangle& t) {    _triangles.push_back(t);     _bounds += t.v0;    _bounds += t.v1;    _bounds += t.v2;} void TriangleSet::clear() {    _triangles.clear();    _bounds.clear();} // Determine of the given ray (origin/direction) in model space intersects with any triangles// in the set. If an intersection occurs, the distance and surface normal will be provided.bool TriangleSet::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,                    float& distance, BoxFace& face, glm::vec3& surfaceNormal, bool precision) const {     bool intersectedSomething = false;    float boxDistance = std::numeric_limits<float>::max();    float bestDistance = std::numeric_limits<float>::max();     if (_bounds.findRayIntersection(origin, direction, boxDistance, face, surfaceNormal)) {        if (precision) {            for (const auto& triangle : _triangles) {                float thisTriangleDistance;                if (findRayTriangleIntersection(origin, direction, triangle, thisTriangleDistance)) {                    if (thisTriangleDistance < bestDistance) {                        bestDistance = thisTriangleDistance;                        intersectedSomething = true;                        surfaceNormal = triangle.getNormal();                        distance = bestDistance;                    }                }            }        } else {            intersectedSomething = true;            distance = boxDistance;        }    }     return intersectedSomething;}  bool TriangleSet::convexHullContains(const glm::vec3& point) const {    if (!_bounds.contains(point)) {        return false;    }     bool insideMesh = true; // optimistic    for (const auto& triangle : _triangles) {        if (!isPointBehindTrianglesPlane(point, triangle.v0, triangle.v1, triangle.v2)) {            // it's not behind at least one so we bail            insideMesh = false;            break;        }     }    return insideMesh;}