closestPointTo method
Find the closest point q
on the OBB to the point p
and store it in q
.
Implementation
void closestPointTo(Vector3 p, Vector3 q) {
final d = p - _center;
q.setFrom(_center);
var dist = d.dot(_axis0);
dist = dist.clamp(-_halfExtents.x, _halfExtents.x).toDouble();
q.addScaled(_axis0, dist);
dist = d.dot(_axis1);
dist = dist.clamp(-_halfExtents.y, _halfExtents.y).toDouble();
q.addScaled(_axis1, dist);
dist = d.dot(_axis2);
dist = dist.clamp(-_halfExtents.z, _halfExtents.z).toDouble();
q.addScaled(_axis2, dist);
}