Fix Geometry3D::get_closest_points_between_segments() returns NaN

Also fix:
- Geometry3D::get_closest_distance_between_segments() returning
  incorrect values.
- Test for Geometry3D::get_closest_distance_between_segments() testing for
  an incorrect value.

core/math/geometry_3d.cpp

@@ -35,6 +35,111 @@
 #include "thirdparty/misc/clipper.hpp"
 #include "thirdparty/misc/polypartition.h"
 
+void Geometry3D::get_closest_points_between_segments(const Vector3 &p_p0, const Vector3 &p_p1, const Vector3 &p_q0, const Vector3 &p_q1, Vector3 &r_ps, Vector3 &r_qt) {
+	// Based on David Eberly's Computation of Distance Between Line Segments algorithm.
+
+	Vector3 p = p_p1 - p_p0;
+	Vector3 q = p_q1 - p_q0;
+	Vector3 r = p_p0 - p_q0;
+
+	real_t a = p.dot(p);
+	real_t b = p.dot(q);
+	real_t c = q.dot(q);
+	real_t d = p.dot(r);
+	real_t e = q.dot(r);
+
+	real_t s = 0.0f;
+	real_t t = 0.0f;
+
+	real_t det = a * c - b * b;
+	if (det > CMP_EPSILON) {
+		// Non-parallel segments
+		real_t bte = b * e;
+		real_t ctd = c * d;
+
+		if (bte <= ctd) {
+			// s <= 0.0f
+			if (e <= 0.0f) {
+				// t <= 0.0f
+				s = (-d >= a ? 1 : (-d > 0.0f ? -d / a : 0.0f));
+				t = 0.0f;
+			} else if (e < c) {
+				// 0.0f < t < 1
+				s = 0.0f;
+				t = e / c;
+			} else {
+				// t >= 1
+				s = (b - d >= a ? 1 : (b - d > 0.0f ? (b - d) / a : 0.0f));
+				t = 1;
+			}
+		} else {
+			// s > 0.0f
+			s = bte - ctd;
+			if (s >= det) {
+				// s >= 1
+				if (b + e <= 0.0f) {
+					// t <= 0.0f
+					s = (-d <= 0.0f ? 0.0f : (-d < a ? -d / a : 1));
+					t = 0.0f;
+				} else if (b + e < c) {
+					// 0.0f < t < 1
+					s = 1;
+					t = (b + e) / c;
+				} else {
+					// t >= 1
+					s = (b - d <= 0.0f ? 0.0f : (b - d < a ? (b - d) / a : 1));
+					t = 1;
+				}
+			} else {
+				// 0.0f < s < 1
+				real_t ate = a * e;
+				real_t btd = b * d;
+
+				if (ate <= btd) {
+					// t <= 0.0f
+					s = (-d <= 0.0f ? 0.0f : (-d >= a ? 1 : -d / a));
+					t = 0.0f;
+				} else {
+					// t > 0.0f
+					t = ate - btd;
+					if (t >= det) {
+						// t >= 1
+						s = (b - d <= 0.0f ? 0.0f : (b - d >= a ? 1 : (b - d) / a));
+						t = 1;
+					} else {
+						// 0.0f < t < 1
+						s /= det;
+						t /= det;
+					}
+				}
+			}
+		}
+	} else {
+		// Parallel segments
+		if (e <= 0.0f) {
+			s = (-d <= 0.0f ? 0.0f : (-d >= a ? 1 : -d / a));
+			t = 0.0f;
+		} else if (e >= c) {
+			s = (b - d <= 0.0f ? 0.0f : (b - d >= a ? 1 : (b - d) / a));
+			t = 1;
+		} else {
+			s = 0.0f;
+			t = e / c;
+		}
+	}
+
+	r_ps = (1 - s) * p_p0 + s * p_p1;
+	r_qt = (1 - t) * p_q0 + t * p_q1;
+}
+
+real_t Geometry3D::get_closest_distance_between_segments(const Vector3 &p_p0, const Vector3 &p_p1, const Vector3 &p_q0, const Vector3 &p_q1) {
+	Vector3 ps;
+	Vector3 qt;
+	get_closest_points_between_segments(p_p0, p_p1, p_q0, p_q1, ps, qt);
+	Vector3 st = qt - ps;
+	return st.length();
+}
+
 void Geometry3D::MeshData::optimize_vertices() {
 	HashMap<int, int> vtx_remap;
 

core/math/geometry_3d.h

@@ -37,96 +37,8 @@
 
 class Geometry3D {
 public:
-	static void get_closest_points_between_segments(const Vector3 &p1, const Vector3 &p2, const Vector3 &q1, const Vector3 &q2, Vector3 &c1, Vector3 &c2) {
+	static void get_closest_points_between_segments(const Vector3 &p_p0, const Vector3 &p_p1, const Vector3 &p_q0, const Vector3 &p_q1, Vector3 &r_ps, Vector3 &r_qt);
-// Do the function 'd' as defined by pb. I think it's a dot product of some sort.
+	static real_t get_closest_distance_between_segments(const Vector3 &p_p0, const Vector3 &p_p1, const Vector3 &p_q0, const Vector3 &p_q1);
-#define d_of(m, n, o, p) ((m.x - n.x) * (o.x - p.x) + (m.y - n.y) * (o.y - p.y) + (m.z - n.z) * (o.z - p.z))
-
-		// Calculate the parametric position on the 2 curves, mua and mub.
-		real_t mua = (d_of(p1, q1, q2, q1) * d_of(q2, q1, p2, p1) - d_of(p1, q1, p2, p1) * d_of(q2, q1, q2, q1)) / (d_of(p2, p1, p2, p1) * d_of(q2, q1, q2, q1) - d_of(q2, q1, p2, p1) * d_of(q2, q1, p2, p1));
-		real_t mub = (d_of(p1, q1, q2, q1) + mua * d_of(q2, q1, p2, p1)) / d_of(q2, q1, q2, q1);
-
-		// Clip the value between [0..1] constraining the solution to lie on the original curves.
-		if (mua < 0) {
-			mua = 0;
-		}
-		if (mub < 0) {
-			mub = 0;
-		}
-		if (mua > 1) {
-			mua = 1;
-		}
-		if (mub > 1) {
-			mub = 1;
-		}
-		c1 = p1.lerp(p2, mua);
-		c2 = q1.lerp(q2, mub);
-	}
-
-	static real_t get_closest_distance_between_segments(const Vector3 &p_from_a, const Vector3 &p_to_a, const Vector3 &p_from_b, const Vector3 &p_to_b) {
-		Vector3 u = p_to_a - p_from_a;
-		Vector3 v = p_to_b - p_from_b;
-		Vector3 w = p_from_a - p_to_a;
-		real_t a = u.dot(u); // Always >= 0
-		real_t b = u.dot(v);
-		real_t c = v.dot(v); // Always >= 0
-		real_t d = u.dot(w);
-		real_t e = v.dot(w);
-		real_t D = a * c - b * b; // Always >= 0
-		real_t sc, sN, sD = D; // sc = sN / sD, default sD = D >= 0
-		real_t tc, tN, tD = D; // tc = tN / tD, default tD = D >= 0
-
-		// Compute the line parameters of the two closest points.
-		if (D < (real_t)CMP_EPSILON) { // The lines are almost parallel.
-			sN = 0.0f; // Force using point P0 on segment S1
-			sD = 1.0f; // to prevent possible division by 0.0 later.
-			tN = e;
-			tD = c;
-		} else { // Get the closest points on the infinite lines
-			sN = (b * e - c * d);
-			tN = (a * e - b * d);
-			if (sN < 0.0f) { // sc < 0 => the s=0 edge is visible.
-				sN = 0.0f;
-				tN = e;
-				tD = c;
-			} else if (sN > sD) { // sc > 1 => the s=1 edge is visible.
-				sN = sD;
-				tN = e + b;
-				tD = c;
-			}
-		}
-
-		if (tN < 0.0f) { // tc < 0 => the t=0 edge is visible.
-			tN = 0.0f;
-			// Recompute sc for this edge.
-			if (-d < 0.0f) {
-				sN = 0.0f;
-			} else if (-d > a) {
-				sN = sD;
-			} else {
-				sN = -d;
-				sD = a;
-			}
-		} else if (tN > tD) { // tc > 1 => the t=1 edge is visible.
-			tN = tD;
-			// Recompute sc for this edge.
-			if ((-d + b) < 0.0f) {
-				sN = 0;
-			} else if ((-d + b) > a) {
-				sN = sD;
-			} else {
-				sN = (-d + b);
-				sD = a;
-			}
-		}
-		// Finally do the division to get sc and tc.
-		sc = (Math::is_zero_approx(sN) ? 0.0f : sN / sD);
-		tc = (Math::is_zero_approx(tN) ? 0.0f : tN / tD);
-
-		// Get the difference of the two closest points.
-		Vector3 dP = w + (sc * u) - (tc * v); // = S1(sc) - S2(tc)
-
-		return dP.length(); // Return the closest distance.
-	}
 
 	static inline bool ray_intersects_triangle(const Vector3 &p_from, const Vector3 &p_dir, const Vector3 &p_v0, const Vector3 &p_v1, const Vector3 &p_v2, Vector3 *r_res = nullptr) {
 		Vector3 e1 = p_v1 - p_v0;

tests/core/math/test_geometry_3d.h

@@ -63,7 +63,7 @@ TEST_CASE("[Geometry3D] Closest Distance Between Segments") {
 				p_1(p_p_1), p_2(p_p_2), p_3(p_p_3), p_4(p_p_4), want(p_want){};
 	};
 	Vector<Case> tt;
-	tt.push_back(Case(Vector3(1, -2, 0), Vector3(1, 2, 0), Vector3(-1, 2, 0), Vector3(-1, -2, 0), 0.0f));
+	tt.push_back(Case(Vector3(1, -2, 0), Vector3(1, 2, 0), Vector3(-1, 2, 0), Vector3(-1, -2, 0), 2.0f));
 	for (int i = 0; i < tt.size(); ++i) {
 		Case current_case = tt[i];
 		float out = Geometry3D::get_closest_distance_between_segments(current_case.p_1, current_case.p_2, current_case.p_3, current_case.p_4);