Skip origin enclosed checks if origin had been enclosed before

src/Drawables/Showcase.cs

@@ -1,23 +1,23 @@
 /* Copyright <2021> <Thorben Linneweber>
-* 
+*
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
-* 
+*
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
-* 
+*
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
-* 
+*
 */
 using System;
 using System.Reflection;
@@ -160,8 +160,8 @@ public void Detect()
             }
 
             // crude way of saving distances to file
-            // if(success) System.IO.File.AppendAllText("data.txt", separation.ToString() + "\n");
-            // else System.IO.File.AppendAllText("data.txt", 0.ToString() + "\n");
+            if(success) System.IO.File.AppendAllText("data.txt", separation.ToString() + "\n");
+            else System.IO.File.AppendAllText("data.txt", 0.ToString() + "\n");
         }
 
         private void HandleInput(FrameEventArgs e)
@@ -173,7 +173,7 @@ private void HandleInput(FrameEventArgs e)
 
             if (KeyState.IsKeyDown(Keys.K)) distance -= 0.03f * timescale;
             if (KeyState.IsKeyDown(Keys.L)) distance += 0.03f * timescale;
-        
+
             if (IsSwitched(Keys.R)) autorotate = !autorotate;
             if (IsSwitched(Keys.T)) advancerotation = true;
             if (IsSwitched(Keys.N)) NextRandomShapes();

src/GJKEPA.cs

@@ -310,6 +310,11 @@ public bool Solve(out JVector point1, out JVector point2, out JVector normal, ou
                     // search for the closest triangle and check if the origin is enclosed
                     int closestIndex = -1;
                     double currentMin = double.MaxValue;
+
+                    // We can skip the test for enclosed origin if the origin was
+                    // already enclosed once.
+                    bool skipTest = originEnclosed;
+
                     originEnclosed = true;
 
                     for (int i = 0; i < tCount; i++)
@@ -320,7 +325,7 @@ public bool Solve(out JVector point1, out JVector point2, out JVector normal, ou
                             closestIndex = i;
                         }
 
-                        if(!Triangles[i].FacingOrigin) originEnclosed = false;
+                        if(!Triangles[i].FacingOrigin) originEnclosed = skipTest;
                     }
 
                     ctri = Triangles[closestIndex];

src/Program.cs

@@ -1,23 +1,23 @@
 /* Copyright <2021> <Thorben Linneweber>
-* 
+*
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
-* 
+*
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
-* 
+*
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
-* 
+*
 */
 using System;
 
@@ -92,6 +92,24 @@ static void Main()
             return;
 #endif
 
+            JVector a = new(-94.250046d, 0.123543d, - 90.249962d);
+            JVector b = new(106.249962d, 0.123360d, 110.250031d);
+            JVector c = new JVector(105.749954d, 0.123543d, 109.750038d);
+            JVector center = new(5.999900d, -100.126549d, 10.000000d);
+
+            JVector.Subtract(a, b, out JVector u);
+            JVector.Subtract(a, c, out JVector v);
+
+            float uX = (float)a.X - (float)b.X;
+            float uY = (float)a.Y - (float)b.Y;
+            float uZ = (float)a.Z - (float)b.Z;
+
+            JVector.Cross(u, v, out JVector normal);
+
+            double delta = JVector.Dot(normal, a - center);
+
+            double delta2 = JVector.Dot(normal, a);
+
 
             GameWindowSettings gws = GameWindowSettings.Default;
             NativeWindowSettings nws = NativeWindowSettings.Default;