@bloomengine/engine 0.4.0 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Geometry/ConvexHullBuilder.cpp

@@ -1,1467 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Geometry/ConvexHullBuilder.h>
-#include <Jolt/Geometry/ConvexHullBuilder2D.h>
-#include <Jolt/Geometry/ClosestPoint.h>
-#include <Jolt/Core/StringTools.h>
-#include <Jolt/Core/UnorderedSet.h>
-
-#ifdef JPH_CONVEX_BUILDER_DUMP_SHAPE
-JPH_SUPPRESS_WARNINGS_STD_BEGIN
-#include <fstream>
-JPH_SUPPRESS_WARNINGS_STD_END
-#endif // JPH_CONVEX_BUILDER_DUMP_SHAPE
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	#include <Jolt/Renderer/DebugRenderer.h>
-#endif
-
-JPH_NAMESPACE_BEGIN
-
-ConvexHullBuilder::Face::~Face()
-{
-	// Free all edges
-	Edge *e = mFirstEdge;
-	if (e != nullptr)
-	{
-		do
-		{
-			Edge *next = e->mNextEdge;
-			delete e;
-			e = next;
-		} while (e != mFirstEdge);
-	}
-}
-
-void ConvexHullBuilder::Face::CalculateNormalAndCentroid(const Vec3 *inPositions)
-{
-	// Get point that we use to construct a triangle fan
-	Edge *e = mFirstEdge;
-	Vec3 y0 = inPositions[e->mStartIdx];
-
-	// Get the 2nd point
-	e = e->mNextEdge;
-	Vec3 y1 = inPositions[e->mStartIdx];
-
-	// Start accumulating the centroid
-	mCentroid = y0 + y1;
-	int n = 2;
-
-	// Start accumulating the normal
-	mNormal = Vec3::sZero();
-
-	// Loop over remaining edges accumulating normals in a triangle fan fashion
-	for (e = e->mNextEdge; e != mFirstEdge; e = e->mNextEdge)
-	{
-		// Get the 3rd point
-		Vec3 y2 = inPositions[e->mStartIdx];
-
-		// Calculate edges (counter clockwise)
-		Vec3 e0 = y1 - y0;
-		Vec3 e1 = y2 - y1;
-		Vec3 e2 = y0 - y2;
-
-		// The best normal is calculated by using the two shortest edges
-		// See: https://box2d.org/posts/2014/01/troublesome-triangle/
-		// The difference in normals is most pronounced when one edge is much smaller than the others (in which case the others must have roughly the same length).
-		// Therefore we can suffice by just picking the shortest from 2 edges and use that with the 3rd edge to calculate the normal.
-		// We first check which of the edges is shorter: e1 or e2
-		UVec4 e1_shorter_than_e2 = Vec4::sLess(e1.DotV4(e1), e2.DotV4(e2));
-
-		// We calculate both normals and then select the one that had the shortest edge for our normal (this avoids branching)
-		Vec3 normal_e01 = e0.Cross(e1);
-		Vec3 normal_e02 = e2.Cross(e0);
-		mNormal += Vec3::sSelect(normal_e02, normal_e01, e1_shorter_than_e2);
-
-		// Accumulate centroid
-		mCentroid += y2;
-		n++;
-
-		// Update y1 for next triangle
-		y1 = y2;
-	}
-
-	// Finalize centroid
-	mCentroid /= float(n);
-}
-
-void ConvexHullBuilder::Face::Initialize(int inIdx0, int inIdx1, int inIdx2, const Vec3 *inPositions)
-{
-	JPH_ASSERT(mFirstEdge == nullptr);
-	JPH_ASSERT(inIdx0 != inIdx1 && inIdx0 != inIdx2 && inIdx1 != inIdx2);
-
-	// Create 3 edges
-	Edge *e0 = new Edge(this, inIdx0);
-	Edge *e1 = new Edge(this, inIdx1);
-	Edge *e2 = new Edge(this, inIdx2);
-
-	// Link edges
-	e0->mNextEdge = e1;
-	e1->mNextEdge = e2;
-	e2->mNextEdge = e0;
-	mFirstEdge = e0;
-
-	CalculateNormalAndCentroid(inPositions);
-}
-
-ConvexHullBuilder::ConvexHullBuilder(const Positions &inPositions) :
-	mPositions(inPositions)
-{
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	mIteration = 0;
-
-	// Center the drawing of the first hull around the origin and calculate the delta offset between states
-	mOffset = RVec3::sZero();
-	if (mPositions.empty())
-	{
-		// No hull will be generated
-		mDelta = Vec3::sZero();
-	}
-	else
-	{
-		Vec3 maxv = Vec3::sReplicate(-FLT_MAX), minv = Vec3::sReplicate(FLT_MAX);
-		for (Vec3 v : mPositions)
-		{
-			minv = Vec3::sMin(minv, v);
-			maxv = Vec3::sMax(maxv, v);
-			mOffset -= v;
-		}
-		mOffset /= Real(mPositions.size());
-		mDelta = Vec3((maxv - minv).GetX() + 0.5f, 0, 0);
-		mOffset += mDelta; // Don't start at origin, we're already drawing the final hull there
-	}
-#endif
-}
-
-void ConvexHullBuilder::FreeFaces()
-{
-	for (Face *f : mFaces)
-		delete f;
-	mFaces.clear();
-}
-
-void ConvexHullBuilder::GetFaceForPoint(Vec3Arg inPoint, const Faces &inFaces, Face *&outFace, float &outDistSq) const
-{
-	outFace = nullptr;
-	outDistSq = 0.0f;
-
-	for (Face *f : inFaces)
-		if (!f->mRemoved)
-		{
-			// Determine distance to face
-			float dot = f->mNormal.Dot(inPoint - f->mCentroid);
-			if (dot > 0.0f)
-			{
-				float dist_sq = dot * dot / f->mNormal.LengthSq();
-				if (dist_sq > outDistSq)
-				{
-					outFace = f;
-					outDistSq = dist_sq;
-				}
-			}
-		}
-}
-
-float ConvexHullBuilder::GetDistanceToEdgeSq(Vec3Arg inPoint, const Face *inFace) const
-{
-	bool all_inside = true;
-	float edge_dist_sq = FLT_MAX;
-
-	// Test if it is inside the edges of the polygon
-	Edge *edge = inFace->mFirstEdge;
-	Vec3 p1 = mPositions[edge->GetPreviousEdge()->mStartIdx];
-	do
-	{
-		Vec3 p2 = mPositions[edge->mStartIdx];
-		if ((p2 - p1).Cross(inPoint - p1).Dot(inFace->mNormal) < 0.0f)
-		{
-			// It is outside
-			all_inside = false;
-
-			// Measure distance to this edge
-			uint32 s;
-			edge_dist_sq = min(edge_dist_sq, ClosestPoint::GetClosestPointOnLine(p1 - inPoint, p2 - inPoint, s).LengthSq());
-		}
-		p1 = p2;
-		edge = edge->mNextEdge;
-	} while (edge != inFace->mFirstEdge);
-
-	return all_inside? 0.0f : edge_dist_sq;
-}
-
-bool ConvexHullBuilder::AssignPointToFace(int inPositionIdx, const Faces &inFaces, float inToleranceSq)
-{
-	Vec3 point = mPositions[inPositionIdx];
-
-	// Find the face for which the point is furthest away
-	Face *best_face;
-	float best_dist_sq;
-	GetFaceForPoint(point, inFaces, best_face, best_dist_sq);
-
-	if (best_face != nullptr)
-	{
-		// Check if this point is within the tolerance margin to the plane
-		if (best_dist_sq <= inToleranceSq)
-		{
-			// Check distance to edges
-			float dist_to_edge_sq = GetDistanceToEdgeSq(point, best_face);
-			if (dist_to_edge_sq > inToleranceSq)
-			{
-				// Point is outside of the face and too far away to discard
-				mCoplanarList.push_back({ inPositionIdx, dist_to_edge_sq });
-			}
-		}
-		else
-		{
-			// This point is in front of the face, add it to the conflict list
-			if (best_dist_sq > best_face->mFurthestPointDistanceSq)
-			{
-				// This point is further away than any others, update the distance and add point as last point
-				best_face->mFurthestPointDistanceSq = best_dist_sq;
-				best_face->mConflictList.push_back(inPositionIdx);
-			}
-			else
-			{
-				// Not the furthest point, add it as the before last point
-				best_face->mConflictList.insert(best_face->mConflictList.begin() + best_face->mConflictList.size() - 1, inPositionIdx);
-			}
-
-			return true;
-		}
-	}
-
-	return false;
-}
-
-float ConvexHullBuilder::DetermineCoplanarDistance() const
-{
-	// Formula as per: Implementing Quickhull - Dirk Gregorius.
-	Vec3 vmax = Vec3::sZero();
-	for (Vec3 v : mPositions)
-		vmax = Vec3::sMax(vmax, v.Abs());
-	return 3.0f * FLT_EPSILON * (vmax.GetX() + vmax.GetY() + vmax.GetZ());
-}
-
-int ConvexHullBuilder::GetNumVerticesUsed() const
-{
-	UnorderedSet<int> used_verts;
-	used_verts.reserve(UnorderedSet<int>::size_type(mPositions.size()));
-	for (Face *f : mFaces)
-	{
-		Edge *e = f->mFirstEdge;
-		do
-		{
-			used_verts.insert(e->mStartIdx);
-			e = e->mNextEdge;
-		} while (e != f->mFirstEdge);
-	}
-	return (int)used_verts.size();
-}
-
-bool ConvexHullBuilder::ContainsFace(const Array<int> &inIndices) const
-{
-	for (Face *f : mFaces)
-	{
-		Edge *e = f->mFirstEdge;
-		Array<int>::const_iterator index = std::find(inIndices.begin(), inIndices.end(), e->mStartIdx);
-		if (index != inIndices.end())
-		{
-			size_t matches = 0;
-
-			do
-			{
-				// Check if index matches
-				if (*index != e->mStartIdx)
-					break;
-
-				// Increment number of matches
-				matches++;
-
-				// Next index in list of inIndices
-				index++;
-				if (index == inIndices.end())
-					index = inIndices.begin();
-
-				// Next edge
-				e = e->mNextEdge;
-			} while (e != f->mFirstEdge);
-
-			if (matches == inIndices.size())
-				return true;
-		}
-	}
-
-	return false;
-}
-
-ConvexHullBuilder::EResult ConvexHullBuilder::Initialize(int inMaxVertices, float inTolerance, const char *&outError)
-{
-	// Free the faces possibly left over from an earlier hull
-	FreeFaces();
-
-	// Test that we have at least 3 points
-	if (mPositions.size() < 3)
-	{
-		outError = "Need at least 3 points to make a hull";
-		return EResult::TooFewPoints;
-	}
-
-	// Determine a suitable tolerance for detecting that points are coplanar
-	float coplanar_tolerance_sq = Square(DetermineCoplanarDistance());
-
-	// Increase desired tolerance if accuracy doesn't allow it
-	float tolerance_sq = max(coplanar_tolerance_sq, Square(inTolerance));
-
-	// Find point furthest from the origin
-	int idx1 = -1;
-	float max_dist_sq = -1.0f;
-	for (int i = 0; i < (int)mPositions.size(); ++i)
-	{
-		float dist_sq = mPositions[i].LengthSq();
-		if (dist_sq > max_dist_sq)
-		{
-			max_dist_sq = dist_sq;
-			idx1 = i;
-		}
-	}
-	JPH_ASSERT(idx1 >= 0);
-
-	// Find point that is furthest away from this point
-	int idx2 = -1;
-	max_dist_sq = -1.0f;
-	for (int i = 0; i < (int)mPositions.size(); ++i)
-		if (i != idx1)
-		{
-			float dist_sq = (mPositions[i] - mPositions[idx1]).LengthSq();
-			if (dist_sq > max_dist_sq)
-			{
-				max_dist_sq = dist_sq;
-				idx2 = i;
-			}
-		}
-	JPH_ASSERT(idx2 >= 0);
-
-	// Find point that forms the biggest triangle
-	int idx3 = -1;
-	float best_triangle_area_sq = -1.0f;
-	for (int i = 0; i < (int)mPositions.size(); ++i)
-		if (i != idx1 && i != idx2)
-		{
-			float triangle_area_sq = (mPositions[idx1] - mPositions[i]).Cross(mPositions[idx2] - mPositions[i]).LengthSq();
-			if (triangle_area_sq > best_triangle_area_sq)
-			{
-				best_triangle_area_sq = triangle_area_sq;
-				idx3 = i;
-			}
-		}
-	JPH_ASSERT(idx3 >= 0);
-	if (best_triangle_area_sq < cMinTriangleAreaSq)
-	{
-		outError = "Could not find a suitable initial triangle because its area was too small";
-		return EResult::Degenerate;
-	}
-
-	// Check if we have only 3 vertices
-	if (mPositions.size() == 3)
-	{
-		// Create two triangles (back to back)
-		Face *t1 = CreateTriangle(idx1, idx2, idx3);
-		Face *t2 = CreateTriangle(idx1, idx3, idx2);
-
-		// Link faces edges
-		sLinkFace(t1->mFirstEdge, t2->mFirstEdge->mNextEdge->mNextEdge);
-		sLinkFace(t1->mFirstEdge->mNextEdge, t2->mFirstEdge->mNextEdge);
-		sLinkFace(t1->mFirstEdge->mNextEdge->mNextEdge, t2->mFirstEdge);
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-		// Draw current state
-		DrawState();
-#endif
-
-		return EResult::Success;
-	}
-
-	// Find point that forms the biggest tetrahedron
-	Vec3 initial_plane_normal = (mPositions[idx2] - mPositions[idx1]).Cross(mPositions[idx3] - mPositions[idx1]).Normalized();
-	Vec3 initial_plane_centroid = (mPositions[idx1] + mPositions[idx2] + mPositions[idx3]) / 3.0f;
-	int idx4 = -1;
-	float max_dist = 0.0f;
-	for (int i = 0; i < (int)mPositions.size(); ++i)
-		if (i != idx1 && i != idx2 && i != idx3)
-		{
-			float dist = (mPositions[i] - initial_plane_centroid).Dot(initial_plane_normal);
-			if (abs(dist) > abs(max_dist))
-			{
-				max_dist = dist;
-				idx4 = i;
-			}
-		}
-
-	// Check if the hull is coplanar
-	if (Square(max_dist) <= 25.0f * coplanar_tolerance_sq)
-	{
-		// First project all points in 2D space
-		Vec3 base1 = initial_plane_normal.GetNormalizedPerpendicular();
-		Vec3 base2 = initial_plane_normal.Cross(base1);
-		Array<Vec3> positions_2d;
-		positions_2d.reserve(mPositions.size());
-		for (Vec3 v : mPositions)
-			positions_2d.emplace_back(base1.Dot(v), base2.Dot(v), 0.0f);
-
-		// Build hull
-		Array<int> edges_2d;
-		ConvexHullBuilder2D builder_2d(positions_2d);
-		ConvexHullBuilder2D::EResult result = builder_2d.Initialize(idx1, idx2, idx3, inMaxVertices, inTolerance, edges_2d);
-
-		// Create faces (back to back)
-		Face *f1 = CreateFace();
-		Face *f2 = CreateFace();
-
-		// Create edges for face 1
-		Array<Edge *> edges_f1;
-		edges_f1.reserve(edges_2d.size());
-		for (int start_idx : edges_2d)
-		{
-			Edge *edge = new Edge(f1, start_idx);
-			if (edges_f1.empty())
-				f1->mFirstEdge = edge;
-			else
-				edges_f1.back()->mNextEdge = edge;
-			edges_f1.push_back(edge);
-		}
-		edges_f1.back()->mNextEdge = f1->mFirstEdge;
-
-		// Create edges for face 2
-		Array<Edge *> edges_f2;
-		edges_f2.reserve(edges_2d.size());
-		for (int i = (int)edges_2d.size() - 1; i >= 0; --i)
-		{
-			Edge *edge = new Edge(f2, edges_2d[i]);
-			if (edges_f2.empty())
-				f2->mFirstEdge = edge;
-			else
-				edges_f2.back()->mNextEdge = edge;
-			edges_f2.push_back(edge);
-		}
-		edges_f2.back()->mNextEdge = f2->mFirstEdge;
-
-		// Link edges
-		for (size_t i = 0; i < edges_2d.size(); ++i)
-			sLinkFace(edges_f1[i], edges_f2[(2 * edges_2d.size() - 2 - i) % edges_2d.size()]);
-
-		// Calculate the plane for both faces
-		f1->CalculateNormalAndCentroid(mPositions.data());
-		f2->mNormal = -f1->mNormal;
-		f2->mCentroid = f1->mCentroid;
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-		// Draw current state
-		DrawState();
-#endif
-
-		return result == ConvexHullBuilder2D::EResult::MaxVerticesReached? EResult::MaxVerticesReached : EResult::Success;
-	}
-
-	// Ensure the planes are facing outwards
-	if (max_dist < 0.0f)
-		std::swap(idx2, idx3);
-
-	// Create tetrahedron
-	Face *t1 = CreateTriangle(idx1, idx2, idx4);
-	Face *t2 = CreateTriangle(idx2, idx3, idx4);
-	Face *t3 = CreateTriangle(idx3, idx1, idx4);
-	Face *t4 = CreateTriangle(idx1, idx3, idx2);
-
-	// Link face edges
-	sLinkFace(t1->mFirstEdge, t4->mFirstEdge->mNextEdge->mNextEdge);
-	sLinkFace(t1->mFirstEdge->mNextEdge, t2->mFirstEdge->mNextEdge->mNextEdge);
-	sLinkFace(t1->mFirstEdge->mNextEdge->mNextEdge, t3->mFirstEdge->mNextEdge);
-	sLinkFace(t2->mFirstEdge, t4->mFirstEdge->mNextEdge);
-	sLinkFace(t2->mFirstEdge->mNextEdge, t3->mFirstEdge->mNextEdge->mNextEdge);
-	sLinkFace(t3->mFirstEdge, t4->mFirstEdge);
-
-	// Build the initial conflict lists
-	Faces faces { t1, t2, t3, t4 };
-	for (int idx = 0; idx < (int)mPositions.size(); ++idx)
-		if (idx != idx1 && idx != idx2 && idx != idx3 && idx != idx4)
-			AssignPointToFace(idx, faces, tolerance_sq);
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	// Draw current state including conflict list
-	DrawState(true);
-
-	// Increment iteration counter
-	++mIteration;
-#endif
-
-	// Overestimate of the actual amount of vertices we use, for limiting the amount of vertices in the hull
-	int num_vertices_used = 4;
-
-	// Loop through the remainder of the points and add them
-	for (;;)
-	{
-		// Find the face with the furthest point on it
-		Face *face_with_furthest_point = nullptr;
-		float furthest_dist_sq = 0.0f;
-		for (Face *f : mFaces)
-			if (f->mFurthestPointDistanceSq > furthest_dist_sq)
-			{
-				furthest_dist_sq = f->mFurthestPointDistanceSq;
-				face_with_furthest_point = f;
-			}
-
-		int furthest_point_idx;
-		if (face_with_furthest_point != nullptr)
-		{
-			// Take the furthest point
-			furthest_point_idx = face_with_furthest_point->mConflictList.back();
-			face_with_furthest_point->mConflictList.pop_back();
-		}
-		else if (!mCoplanarList.empty())
-		{
-			// Try to assign points to faces (this also recalculates the distance to the hull for the coplanar vertices)
-			CoplanarList coplanar;
-			mCoplanarList.swap(coplanar);
-			bool added = false;
-			for (const Coplanar &c : coplanar)
-				added |= AssignPointToFace(c.mPositionIdx, mFaces, tolerance_sq);
-
-			// If we were able to assign a point, loop again to pick it up
-			if (added)
-				continue;
-
-			// If the coplanar list is empty, there are no points left and we're done
-			if (mCoplanarList.empty())
-				break;
-
-			do
-			{
-				// Find the vertex that is furthest from the hull
-				CoplanarList::size_type best_idx = 0;
-				float best_dist_sq = mCoplanarList.front().mDistanceSq;
-				for (CoplanarList::size_type idx = 1; idx < mCoplanarList.size(); ++idx)
-				{
-					const Coplanar &c = mCoplanarList[idx];
-					if (c.mDistanceSq > best_dist_sq)
-					{
-						best_idx = idx;
-						best_dist_sq = c.mDistanceSq;
-					}
-				}
-
-				// Swap it to the end
-				std::swap(mCoplanarList[best_idx], mCoplanarList.back());
-
-				// Remove it
-				furthest_point_idx = mCoplanarList.back().mPositionIdx;
-				mCoplanarList.pop_back();
-
-				// Find the face for which the point is furthest away
-				GetFaceForPoint(mPositions[furthest_point_idx], mFaces, face_with_furthest_point, best_dist_sq);
-			} while (!mCoplanarList.empty() && face_with_furthest_point == nullptr);
-
-			if (face_with_furthest_point == nullptr)
-				break;
-		}
-		else
-		{
-			// If there are no more vertices, we're done
-			break;
-		}
-
-		// Check if we have a limit on the max vertices that we should produce
-		if (num_vertices_used >= inMaxVertices)
-		{
-			// Count the actual amount of used vertices (we did not take the removal of any vertices into account)
-			num_vertices_used = GetNumVerticesUsed();
-
-			// Check if there are too many
-			if (num_vertices_used >= inMaxVertices)
-				return EResult::MaxVerticesReached;
-		}
-
-		// We're about to add another vertex
-		++num_vertices_used;
-
-		// Add the point to the hull
-		Faces new_faces;
-		AddPoint(face_with_furthest_point, furthest_point_idx, coplanar_tolerance_sq, new_faces);
-
-		// Redistribute points on conflict lists belonging to removed faces
-		for (const Face *face : mFaces)
-			if (face->mRemoved)
-				for (int idx : face->mConflictList)
-					AssignPointToFace(idx, new_faces, tolerance_sq);
-
-		// Permanently delete faces that we removed in AddPoint()
-		GarbageCollectFaces();
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-		// Draw state at the end of this step including conflict list
-		DrawState(true);
-
-		// Increment iteration counter
-		++mIteration;
-#endif
-	}
-
-	// Check if we are left with a hull. It is possible that hull building fails if the points are nearly coplanar.
-	if (mFaces.size() < 2)
-	{
-		outError = "Too few faces in hull";
-		return EResult::TooFewFaces;
-	}
-
-	return EResult::Success;
-}
-
-void ConvexHullBuilder::AddPoint(Face *inFacingFace, int inIdx, float inCoplanarToleranceSq, Faces &outNewFaces)
-{
-	// Get position
-	Vec3 pos = mPositions[inIdx];
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	// Draw point to be added
-	DebugRenderer::sInstance->DrawMarker(cDrawScale * (mOffset + pos), Color::sYellow, 0.1f);
-	DebugRenderer::sInstance->DrawText3D(cDrawScale * (mOffset + pos), ConvertToString(inIdx), Color::sWhite);
-#endif
-
-#ifdef JPH_ENABLE_ASSERTS
-	// Check if structure is intact
-	ValidateFaces();
-#endif
-
-	// Find edge of convex hull of faces that are not facing the new vertex
-	FullEdges edges;
-	FindEdge(inFacingFace, pos, edges);
-	JPH_ASSERT(edges.size() >= 3);
-
-	// Create new faces
-	outNewFaces.reserve(edges.size());
-	for (const FullEdge &e : edges)
-	{
-		JPH_ASSERT(e.mStartIdx != e.mEndIdx);
-		Face *f = CreateTriangle(e.mStartIdx, e.mEndIdx, inIdx);
-		outNewFaces.push_back(f);
-	}
-
-	// Link edges
-	for (Faces::size_type i = 0; i < outNewFaces.size(); ++i)
-	{
-		sLinkFace(outNewFaces[i]->mFirstEdge, edges[i].mNeighbourEdge);
-		sLinkFace(outNewFaces[i]->mFirstEdge->mNextEdge, outNewFaces[(i + 1) % outNewFaces.size()]->mFirstEdge->mNextEdge->mNextEdge);
-	}
-
-	// Loop on faces that were modified until nothing needs to be checked anymore
-	Faces affected_faces = outNewFaces;
-	while (!affected_faces.empty())
-	{
-		// Take the next face
-		Face *face = affected_faces.back();
-		affected_faces.pop_back();
-
-		if (!face->mRemoved)
-		{
-			// Merge with neighbour if this is a degenerate face
-			MergeDegenerateFace(face, affected_faces);
-
-			// Merge with coplanar neighbours (or when the neighbour forms a concave edge)
-			if (!face->mRemoved)
-				MergeCoplanarOrConcaveFaces(face, inCoplanarToleranceSq, affected_faces);
-		}
-	}
-
-#ifdef JPH_ENABLE_ASSERTS
-	// Check if structure is intact
-	ValidateFaces();
-#endif
-}
-
-void ConvexHullBuilder::GarbageCollectFaces()
-{
-	for (int i = (int)mFaces.size() - 1; i >= 0; --i)
-	{
-		Face *f = mFaces[i];
-		if (f->mRemoved)
-		{
-			FreeFace(f);
-			mFaces.erase(mFaces.begin() + i);
-		}
-	}
-}
-
-ConvexHullBuilder::Face *ConvexHullBuilder::CreateFace()
-{
-	// Call provider to create face
-	Face *f = new Face();
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	// Remember iteration counter
-	f->mIteration = mIteration;
-#endif
-
-	// Add to list
-	mFaces.push_back(f);
-	return f;
-}
-
-ConvexHullBuilder::Face *ConvexHullBuilder::CreateTriangle(int inIdx1, int inIdx2, int inIdx3)
-{
-	Face *f = CreateFace();
-	f->Initialize(inIdx1, inIdx2, inIdx3, mPositions.data());
-	return f;
-}
-
-void ConvexHullBuilder::FreeFace(Face *inFace)
-{
-	JPH_ASSERT(inFace->mRemoved);
-
-#ifdef JPH_ENABLE_ASSERTS
-	// Make sure that this face is not connected
-	Edge *e = inFace->mFirstEdge;
-	if (e != nullptr)
-		do
-		{
-			JPH_ASSERT(e->mNeighbourEdge == nullptr);
-			e = e->mNextEdge;
-		} while (e != inFace->mFirstEdge);
-#endif
-
-	// Free the face
-	delete inFace;
-}
-
-void ConvexHullBuilder::sLinkFace(Edge *inEdge1, Edge *inEdge2)
-{
-	// Check not connected yet
-	JPH_ASSERT(inEdge1->mNeighbourEdge == nullptr);
-	JPH_ASSERT(inEdge2->mNeighbourEdge == nullptr);
-	JPH_ASSERT(inEdge1->mFace != inEdge2->mFace);
-
-	// Check vertices match
-	JPH_ASSERT(inEdge1->mStartIdx == inEdge2->mNextEdge->mStartIdx);
-	JPH_ASSERT(inEdge2->mStartIdx == inEdge1->mNextEdge->mStartIdx);
-
-	// Link up
-	inEdge1->mNeighbourEdge = inEdge2;
-	inEdge2->mNeighbourEdge = inEdge1;
-}
-
-void ConvexHullBuilder::sUnlinkFace(Face *inFace)
-{
-	// Unlink from neighbours
-	Edge *e = inFace->mFirstEdge;
-	do
-	{
-		if (e->mNeighbourEdge != nullptr)
-		{
-			// Validate that neighbour points to us
-			JPH_ASSERT(e->mNeighbourEdge->mNeighbourEdge == e);
-
-			// Unlink
-			e->mNeighbourEdge->mNeighbourEdge = nullptr;
-			e->mNeighbourEdge = nullptr;
-		}
-		e = e->mNextEdge;
-	} while (e != inFace->mFirstEdge);
-}
-
-void ConvexHullBuilder::FindEdge(Face *inFacingFace, Vec3Arg inVertex, FullEdges &outEdges) const
-{
-	// Assert that we were given an empty array
-	JPH_ASSERT(outEdges.empty());
-
-	// Should start with a facing face
-	JPH_ASSERT(inFacingFace->IsFacing(inVertex));
-
-	// Flag as removed
-	inFacingFace->mRemoved = true;
-
-	// Instead of recursing, we build our own stack with the information we need
-	struct StackEntry
-	{
-		Edge *		mFirstEdge;
-		Edge *		mCurrentEdge;
-	};
-	constexpr int cMaxEdgeLength = 128;
-	StackEntry stack[cMaxEdgeLength];
-	int cur_stack_pos = 0;
-
-	static_assert(alignof(Edge) >= 2, "Need lowest bit to indicate to tell if we completed the loop");
-
-	// Start with the face / edge provided
-	stack[0].mFirstEdge = inFacingFace->mFirstEdge;
-	stack[0].mCurrentEdge = reinterpret_cast<Edge *>(reinterpret_cast<uintptr_t>(inFacingFace->mFirstEdge) | 1); // Set lowest bit of pointer to make it different from the first edge
-
-	for (;;)
-	{
-		StackEntry &cur_entry = stack[cur_stack_pos];
-
-		// Next edge
-		Edge *raw_e = cur_entry.mCurrentEdge;
-		Edge *e = reinterpret_cast<Edge *>(reinterpret_cast<uintptr_t>(raw_e) & ~uintptr_t(1)); // Remove the lowest bit which was used to indicate that this is the first edge we're testing
-		cur_entry.mCurrentEdge = e->mNextEdge;
-
-		// If we're back at the first edge we've completed the face and we're done
-		if (raw_e == cur_entry.mFirstEdge)
-		{
-			// This face needs to be removed, unlink it now, caller will free
-			sUnlinkFace(e->mFace);
-
-			// Pop from stack
-			if (--cur_stack_pos < 0)
-				break;
-		}
-		else
-		{
-			// Visit neighbour face
-			Edge *ne = e->mNeighbourEdge;
-			if (ne != nullptr)
-			{
-				Face *n = ne->mFace;
-				if (!n->mRemoved)
-				{
-					// Check if vertex is on the front side of this face
-					if (n->IsFacing(inVertex))
-					{
-						// Vertex on front, this face needs to be removed
-						n->mRemoved = true;
-
-						// Add element to the stack of elements to visit
-						cur_stack_pos++;
-						JPH_ASSERT(cur_stack_pos < cMaxEdgeLength);
-						StackEntry &new_entry = stack[cur_stack_pos];
-						new_entry.mFirstEdge = ne;
-						new_entry.mCurrentEdge = ne->mNextEdge; // We don't need to test this edge again since we came from it
-					}
-					else
-					{
-						// Vertex behind, keep edge
-						FullEdge full;
-						full.mNeighbourEdge = ne;
-						full.mStartIdx = e->mStartIdx;
-						full.mEndIdx = ne->mStartIdx;
-						outEdges.push_back(full);
-					}
-				}
-			}
-		}
-	}
-
-	// Assert that we have a fully connected loop
-#ifdef JPH_ENABLE_ASSERTS
-	for (int i = 0; i < (int)outEdges.size(); ++i)
-		JPH_ASSERT(outEdges[i].mEndIdx == outEdges[(i + 1) % outEdges.size()].mStartIdx);
-#endif
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	// Draw edge of facing faces
-	for (int i = 0; i < (int)outEdges.size(); ++i)
-		DebugRenderer::sInstance->DrawArrow(cDrawScale * (mOffset + mPositions[outEdges[i].mStartIdx]), cDrawScale * (mOffset + mPositions[outEdges[i].mEndIdx]), Color::sWhite, 0.01f);
-	DrawState();
-#endif
-}
-
-void ConvexHullBuilder::MergeFaces(Edge *inEdge)
-{
-	// Get the face
-	Face *face = inEdge->mFace;
-
-	// Find the previous and next edge
-	Edge *next_edge = inEdge->mNextEdge;
-	Edge *prev_edge = inEdge->GetPreviousEdge();
-
-	// Get the other face
-	Edge *other_edge = inEdge->mNeighbourEdge;
-	Face *other_face = other_edge->mFace;
-
-	// Check if attempting to merge with self
-	JPH_ASSERT(face != other_face);
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	DrawWireFace(face, Color::sGreen);
-	DrawWireFace(other_face, Color::sRed);
-	DrawState();
-#endif
-
-	// Loop over the edges of the other face and make them belong to inFace
-	Edge *edge = other_edge->mNextEdge;
-	prev_edge->mNextEdge = edge;
-	for (;;)
-	{
-		edge->mFace = face;
-		if (edge->mNextEdge == other_edge)
-		{
-			// Terminate when we are back at other_edge
-			edge->mNextEdge = next_edge;
-			break;
-		}
-		edge = edge->mNextEdge;
-	}
-
-	// If the first edge happens to be inEdge we need to fix it because this edge is no longer part of the face.
-	// Note that we replace it with the first edge of the merged face so that if the MergeFace function is called
-	// from a loop that loops around the face that it will still terminate after visiting all edges once.
-	if (face->mFirstEdge == inEdge)
-		face->mFirstEdge = prev_edge->mNextEdge;
-
-	// Free the edges
-	delete inEdge;
-	delete other_edge;
-
-	// Mark the other face as removed
-	other_face->mFirstEdge = nullptr;
-	other_face->mRemoved = true;
-
-	// Recalculate plane
-	face->CalculateNormalAndCentroid(mPositions.data());
-
-	// Merge conflict lists
-	if (face->mFurthestPointDistanceSq > other_face->mFurthestPointDistanceSq)
-	{
-		// This face has a point that's further away, make sure it remains the last one as we add the other points to this faces list
-		face->mConflictList.insert(face->mConflictList.end() - 1, other_face->mConflictList.begin(), other_face->mConflictList.end());
-	}
-	else
-	{
-		// The other face has a point that's furthest away, add that list at the end.
-		face->mConflictList.insert(face->mConflictList.end(), other_face->mConflictList.begin(), other_face->mConflictList.end());
-		face->mFurthestPointDistanceSq = other_face->mFurthestPointDistanceSq;
-	}
-	other_face->mConflictList.clear();
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-	DrawWireFace(face, Color::sWhite);
-	DrawState();
-#endif
-}
-
-void ConvexHullBuilder::MergeDegenerateFace(Face *inFace, Faces &ioAffectedFaces)
-{
-	// Check area of face
-	if (inFace->mNormal.LengthSq() < cMinTriangleAreaSq)
-	{
-		// Find longest edge, since this face is a sliver this should keep the face convex
-		float max_length_sq = 0.0f;
-		Edge *longest_edge = nullptr;
-		Edge *e = inFace->mFirstEdge;
-		Vec3 p1 = mPositions[e->mStartIdx];
-		do
-		{
-			Edge *next = e->mNextEdge;
-			Vec3 p2 = mPositions[next->mStartIdx];
-			float length_sq = (p2 - p1).LengthSq();
-			if (length_sq >= max_length_sq)
-			{
-				max_length_sq = length_sq;
-				longest_edge = e;
-			}
-			p1 = p2;
-			e = next;
-		} while (e != inFace->mFirstEdge);
-
-		// Merge with face on longest edge
-		MergeFaces(longest_edge);
-
-		// Remove any invalid edges
-		RemoveInvalidEdges(inFace, ioAffectedFaces);
-	}
-}
-
-void ConvexHullBuilder::MergeCoplanarOrConcaveFaces(Face *inFace, float inCoplanarToleranceSq, Faces &ioAffectedFaces)
-{
-	bool merged = false;
-
-	Edge *edge = inFace->mFirstEdge;
-	do
-	{
-		// Store next edge since this edge can be removed
-		Edge *next_edge = edge->mNextEdge;
-
-		// Test if centroid of one face is above plane of the other face by inCoplanarToleranceSq.
-		// If so we need to merge other face into inFace.
-		const Face *other_face = edge->mNeighbourEdge->mFace;
-		Vec3 delta_centroid = other_face->mCentroid - inFace->mCentroid;
-		float dist_other_face_centroid = inFace->mNormal.Dot(delta_centroid);
-		float signed_dist_other_face_centroid_sq = abs(dist_other_face_centroid) * dist_other_face_centroid;
-		float dist_face_centroid = -other_face->mNormal.Dot(delta_centroid);
-		float signed_dist_face_centroid_sq = abs(dist_face_centroid) * dist_face_centroid;
-		float face_normal_len_sq = inFace->mNormal.LengthSq();
-		float other_face_normal_len_sq = other_face->mNormal.LengthSq();
-		if ((signed_dist_other_face_centroid_sq > -inCoplanarToleranceSq * face_normal_len_sq
-			|| signed_dist_face_centroid_sq > -inCoplanarToleranceSq * other_face_normal_len_sq)
-			&& inFace->mNormal.Dot(other_face->mNormal) > 0.0f) // Never merge faces that are back to back
-		{
-			MergeFaces(edge);
-			merged = true;
-		}
-
-		edge = next_edge;
-	} while (edge != inFace->mFirstEdge);
-
-	if (merged)
-		RemoveInvalidEdges(inFace, ioAffectedFaces);
-}
-
-void ConvexHullBuilder::sMarkAffected(Face *inFace, Faces &ioAffectedFaces)
-{
-	if (std::find(ioAffectedFaces.begin(), ioAffectedFaces.end(), inFace) == ioAffectedFaces.end())
-		ioAffectedFaces.push_back(inFace);
-}
-
-void ConvexHullBuilder::RemoveInvalidEdges(Face *inFace, Faces &ioAffectedFaces)
-{
-	// This marks that the plane needs to be recalculated (we delay this until the end of the
-	// function since we don't use the plane and we want to avoid calculating it multiple times)
-	bool recalculate_plane = false;
-
-	// We keep going through this loop until no more edges were removed
-	bool removed;
-	do
-	{
-		removed = false;
-
-		// Loop over all edges in this face
-		Edge *edge = inFace->mFirstEdge;
-		Face *neighbour_face = edge->mNeighbourEdge->mFace;
-		do
-		{
-			Edge *next_edge = edge->mNextEdge;
-			Face *next_neighbour_face = next_edge->mNeighbourEdge->mFace;
-
-			if (neighbour_face == inFace)
-			{
-				// We only remove 1 edge at a time, check if this edge's next edge is our neighbour.
-				// If this check fails, we will continue to scan along the edge until we find an edge where this is the case.
-				if (edge->mNeighbourEdge == next_edge)
-				{
-					// This edge leads back to the starting point, this means the edge is interior and needs to be removed
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-					DrawWireFace(inFace, Color::sBlue);
-					DrawState();
-#endif
-
-					// Remove edge
-					Edge *prev_edge = edge->GetPreviousEdge();
-					prev_edge->mNextEdge = next_edge->mNextEdge;
-					if (inFace->mFirstEdge == edge || inFace->mFirstEdge == next_edge)
-						inFace->mFirstEdge = prev_edge;
-					delete edge;
-					delete next_edge;
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-					DrawWireFace(inFace, Color::sGreen);
-					DrawState();
-#endif
-
-					// Check if inFace now has only 2 edges left
-					if (RemoveTwoEdgeFace(inFace, ioAffectedFaces))
-						return; // Bail if face no longer exists
-
-					// Restart the loop
-					recalculate_plane = true;
-					removed = true;
-					break;
-				}
-			}
-			else if (neighbour_face == next_neighbour_face)
-			{
-				// There are two edges that connect to the same face, we will remove the second one
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-				DrawWireFace(inFace, Color::sYellow);
-				DrawWireFace(neighbour_face, Color::sRed);
-				DrawState();
-#endif
-
-				// First merge the neighbours edges
-				Edge *neighbour_edge = next_edge->mNeighbourEdge;
-				Edge *next_neighbour_edge = neighbour_edge->mNextEdge;
-				if (neighbour_face->mFirstEdge == next_neighbour_edge)
-					neighbour_face->mFirstEdge = neighbour_edge;
-				neighbour_edge->mNextEdge = next_neighbour_edge->mNextEdge;
-				neighbour_edge->mNeighbourEdge = edge;
-				delete next_neighbour_edge;
-
-				// Then merge my own edges
-				if (inFace->mFirstEdge == next_edge)
-					inFace->mFirstEdge = edge;
-				edge->mNextEdge = next_edge->mNextEdge;
-				edge->mNeighbourEdge = neighbour_edge;
-				delete next_edge;
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-				DrawWireFace(inFace, Color::sYellow);
-				DrawWireFace(neighbour_face, Color::sGreen);
-				DrawState();
-#endif
-
-				// Check if neighbour has only 2 edges left
-				if (!RemoveTwoEdgeFace(neighbour_face, ioAffectedFaces))
-				{
-					// No, we need to recalculate its plane
-					neighbour_face->CalculateNormalAndCentroid(mPositions.data());
-
-					// Mark neighbour face as affected
-					sMarkAffected(neighbour_face, ioAffectedFaces);
-				}
-
-				// Check if inFace now has only 2 edges left
-				if (RemoveTwoEdgeFace(inFace, ioAffectedFaces))
-					return; // Bail if face no longer exists
-
-				// Restart loop
-				recalculate_plane = true;
-				removed = true;
-				break;
-			}
-
-			// This edge is ok, go to the next edge
-			edge = next_edge;
-			neighbour_face = next_neighbour_face;
-
-		} while (edge != inFace->mFirstEdge);
-	} while (removed);
-
-	// Recalculate plane?
-	if (recalculate_plane)
-		inFace->CalculateNormalAndCentroid(mPositions.data());
-}
-
-bool ConvexHullBuilder::RemoveTwoEdgeFace(Face *inFace, Faces &ioAffectedFaces) const
-{
-	// Check if this face contains only 2 edges
-	Edge *edge = inFace->mFirstEdge;
-	Edge *next_edge = edge->mNextEdge;
-	JPH_ASSERT(edge != next_edge); // 1 edge faces should not exist
-	if (next_edge->mNextEdge == edge)
-	{
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-		DrawWireFace(inFace, Color::sRed);
-		DrawState();
-#endif
-
-		// Schedule both neighbours for re-checking
-		Edge *neighbour_edge = edge->mNeighbourEdge;
-		Face *neighbour_face = neighbour_edge->mFace;
-		Edge *next_neighbour_edge = next_edge->mNeighbourEdge;
-		Face *next_neighbour_face = next_neighbour_edge->mFace;
-		sMarkAffected(neighbour_face, ioAffectedFaces);
-		sMarkAffected(next_neighbour_face, ioAffectedFaces);
-
-		// Link my neighbours to each other
-		neighbour_edge->mNeighbourEdge = next_neighbour_edge;
-		next_neighbour_edge->mNeighbourEdge = neighbour_edge;
-
-		// Unlink my edges
-		edge->mNeighbourEdge = nullptr;
-		next_edge->mNeighbourEdge = nullptr;
-
-		// Mark this face as removed
-		inFace->mRemoved = true;
-
-		return true;
-	}
-
-	return false;
-}
-
-#ifdef JPH_ENABLE_ASSERTS
-
-void ConvexHullBuilder::DumpFace(const Face *inFace) const
-{
-	Trace("f:0x%p", inFace);
-
-	const Edge *e = inFace->mFirstEdge;
-	do
-	{
-		Trace("\te:0x%p { i:%d e:0x%p f:0x%p }", e, e->mStartIdx, e->mNeighbourEdge, e->mNeighbourEdge->mFace);
-		e = e->mNextEdge;
-	} while (e != inFace->mFirstEdge);
-}
-
-void ConvexHullBuilder::DumpFaces() const
-{
-	Trace("Dump Faces:");
-
-	for (const Face *f : mFaces)
-		if (!f->mRemoved)
-			DumpFace(f);
-}
-
-void ConvexHullBuilder::ValidateFace(const Face *inFace) const
-{
-	if (inFace->mRemoved)
-	{
-		const Edge *e = inFace->mFirstEdge;
-		if (e != nullptr)
-			do
-			{
-				JPH_ASSERT(e->mNeighbourEdge == nullptr);
-				e = e->mNextEdge;
-			} while (e != inFace->mFirstEdge);
-	}
-	else
-	{
-		int edge_count = 0;
-
-		const Edge *e = inFace->mFirstEdge;
-		do
-		{
-			// Count edge
-			++edge_count;
-
-			// Validate that adjacent faces are all different
-			if (mFaces.size() > 2)
-				for (const Edge *other_edge = e->mNextEdge; other_edge != inFace->mFirstEdge; other_edge = other_edge->mNextEdge)
-					JPH_ASSERT(e->mNeighbourEdge->mFace != other_edge->mNeighbourEdge->mFace);
-
-			// Assert that the face is correct
-			JPH_ASSERT(e->mFace == inFace);
-
-			// Assert that we have a neighbour
-			const Edge *nb_edge = e->mNeighbourEdge;
-			JPH_ASSERT(nb_edge != nullptr);
-			if (nb_edge != nullptr)
-			{
-				// Assert that our neighbours edge points to us
-				JPH_ASSERT(nb_edge->mNeighbourEdge == e);
-
-				// Assert that it belongs to a different face
-				JPH_ASSERT(nb_edge->mFace != inFace);
-
-				// Assert that the next edge of the neighbour points to the same vertex as this edge's vertex
-				JPH_ASSERT(nb_edge->mNextEdge->mStartIdx == e->mStartIdx);
-
-				// Assert that my next edge points to the same vertex as my neighbours vertex
-				JPH_ASSERT(e->mNextEdge->mStartIdx == nb_edge->mStartIdx);
-			}
-			e = e->mNextEdge;
-		} while (e != inFace->mFirstEdge);
-
-		// Assert that we have 3 or more edges
-		JPH_ASSERT(edge_count >= 3);
-	}
-}
-
-void ConvexHullBuilder::ValidateFaces() const
-{
-	for (const Face *f : mFaces)
-		ValidateFace(f);
-}
-
-#endif // JPH_ENABLE_ASSERTS
-
-void ConvexHullBuilder::GetCenterOfMassAndVolume(Vec3 &outCenterOfMass, float &outVolume) const
-{
-	// Fourth point is the average of all face centroids
-	Vec3 v4 = Vec3::sZero();
-	for (const Face *f : mFaces)
-		v4 += f->mCentroid;
-	v4 /= float(mFaces.size());
-
-	// Calculate mass and center of mass of this convex hull by summing all tetrahedrons
-	outVolume = 0.0f;
-	outCenterOfMass = Vec3::sZero();
-	for (const Face *f : mFaces)
-	{
-		// Get the first vertex that we'll use to create a triangle fan
-		Edge *e = f->mFirstEdge;
-		Vec3 v1 = mPositions[e->mStartIdx];
-
-		// Get the second vertex
-		e = e->mNextEdge;
-		Vec3 v2 = mPositions[e->mStartIdx];
-
-		for (e = e->mNextEdge; e != f->mFirstEdge; e = e->mNextEdge)
-		{
-			// Fetch the last point of the triangle
-			Vec3 v3 = mPositions[e->mStartIdx];
-
-			// Calculate center of mass and mass of this tetrahedron,
-			// see: https://en.wikipedia.org/wiki/Tetrahedron#Volume
-			float volume_tetrahedron = (v1 - v4).Dot((v2 - v4).Cross(v3 - v4)); // Needs to be divided by 6, postpone this until the end of the loop
-			Vec3 center_of_mass_tetrahedron = v1 + v2 + v3 + v4; // Needs to be divided by 4, postpone this until the end of the loop
-
-			// Accumulate results
-			outVolume += volume_tetrahedron;
-			outCenterOfMass += volume_tetrahedron * center_of_mass_tetrahedron;
-
-			// Update v2 for next triangle
-			v2 = v3;
-		}
-	}
-
-	// Calculate center of mass, fall back to average point in case there is no volume (everything is on a plane in this case)
-	if (outVolume > FLT_EPSILON)
-		outCenterOfMass /= 4.0f * outVolume;
-	else
-		outCenterOfMass = v4;
-
-	outVolume /= 6.0f;
-}
-
-void ConvexHullBuilder::DetermineMaxError(Face *&outFaceWithMaxError, float &outMaxError, int &outMaxErrorPositionIdx, float &outCoplanarDistance) const
-{
-	outCoplanarDistance = DetermineCoplanarDistance();
-
-	// This measures the distance from a polygon to the furthest point outside of the hull
-	float max_error = 0.0f;
-	Face *max_error_face = nullptr;
-	int max_error_point = -1;
-
-	for (int i = 0; i < (int)mPositions.size(); ++i)
-	{
-		Vec3 v = mPositions[i];
-
-		// This measures the closest edge from all faces to point v
-		// Note that we take the min of all faces since there may be multiple near coplanar faces so if we were to test this per face
-		// we may find that a point is outside of a polygon and mark it as an error, while it is actually inside a nearly coplanar
-		// polygon.
-		float min_edge_dist_sq = FLT_MAX;
-		Face *min_edge_dist_face = nullptr;
-
-		for (Face *f : mFaces)
-		{
-			// Check if point is on or in front of plane
-			float normal_len = f->mNormal.Length();
-			JPH_ASSERT(normal_len > 0.0f);
-			float plane_dist = f->mNormal.Dot(v - f->mCentroid) / normal_len;
-			if (plane_dist > -outCoplanarDistance)
-			{
-				// Check distance to the edges of this face
-				float edge_dist_sq = GetDistanceToEdgeSq(v, f);
-				if (edge_dist_sq < min_edge_dist_sq)
-				{
-					min_edge_dist_sq = edge_dist_sq;
-					min_edge_dist_face = f;
-				}
-
-				// If the point is inside the polygon and the point is in front of the plane, measure the distance
-				if (edge_dist_sq == 0.0f && plane_dist > max_error)
-				{
-					max_error = plane_dist;
-					max_error_face = f;
-					max_error_point = i;
-				}
-			}
-		}
-
-		// If the minimum distance to an edge is further than our current max error, we use that as max error
-		float min_edge_dist = sqrt(min_edge_dist_sq);
-		if (min_edge_dist_face != nullptr && min_edge_dist > max_error)
-		{
-			max_error = min_edge_dist;
-			max_error_face = min_edge_dist_face;
-			max_error_point = i;
-		}
-	}
-
-	outFaceWithMaxError = max_error_face;
-	outMaxError = max_error;
-	outMaxErrorPositionIdx = max_error_point;
-}
-
-#ifdef JPH_CONVEX_BUILDER_DEBUG
-
-void ConvexHullBuilder::DrawState(bool inDrawConflictList) const
-{
-	// Draw origin
-	DebugRenderer::sInstance->DrawMarker(cDrawScale * mOffset, Color::sRed, 0.2f);
-
-	int face_idx = 0;
-
-	// Draw faces
-	for (const Face *f : mFaces)
-		if (!f->mRemoved)
-		{
-			Color iteration_color = Color::sGetDistinctColor(f->mIteration);
-			Color face_color = Color::sGetDistinctColor(face_idx++);
-
-			// First point
-			const Edge *e = f->mFirstEdge;
-			RVec3 p1 = cDrawScale * (mOffset + mPositions[e->mStartIdx]);
-
-			// Second point
-			e = e->mNextEdge;
-			RVec3 p2 = cDrawScale * (mOffset + mPositions[e->mStartIdx]);
-
-			// First line
-			DebugRenderer::sInstance->DrawLine(p1, p2, Color::sGrey);
-
-			do
-			{
-				// Third point
-				e = e->mNextEdge;
-				RVec3 p3 = cDrawScale * (mOffset + mPositions[e->mStartIdx]);
-
-				DebugRenderer::sInstance->DrawTriangle(p1, p2, p3, iteration_color);
-
-				DebugRenderer::sInstance->DrawLine(p2, p3, Color::sGrey);
-
-				p2 = p3;
-			}
-			while (e != f->mFirstEdge);
-
-			// Draw normal
-			RVec3 centroid = cDrawScale * (mOffset + f->mCentroid);
-			DebugRenderer::sInstance->DrawArrow(centroid, centroid + f->mNormal.NormalizedOr(Vec3::sZero()), face_color, 0.01f);
-
-			// Draw conflict list
-			if (inDrawConflictList)
-				for (int idx : f->mConflictList)
-					DebugRenderer::sInstance->DrawMarker(cDrawScale * (mOffset + mPositions[idx]), face_color, 0.05f);
-		}
-
-	// Offset to the right
-	mOffset += mDelta;
-}
-
-void ConvexHullBuilder::DrawWireFace(const Face *inFace, ColorArg inColor) const
-{
-	const Edge *e = inFace->mFirstEdge;
-	RVec3 prev = cDrawScale * (mOffset + mPositions[e->mStartIdx]);
-	do
-	{
-		const Edge *next = e->mNextEdge;
-		RVec3 cur = cDrawScale * (mOffset + mPositions[next->mStartIdx]);
-		DebugRenderer::sInstance->DrawArrow(prev, cur, inColor, 0.01f);
-		DebugRenderer::sInstance->DrawText3D(prev, ConvertToString(e->mStartIdx), inColor);
-		e = next;
-		prev = cur;
-	} while (e != inFace->mFirstEdge);
-}
-
-void ConvexHullBuilder::DrawEdge(const Edge *inEdge, ColorArg inColor) const
-{
-	RVec3 p1 = cDrawScale * (mOffset + mPositions[inEdge->mStartIdx]);
-	RVec3 p2 = cDrawScale * (mOffset + mPositions[inEdge->mNextEdge->mStartIdx]);
-	DebugRenderer::sInstance->DrawArrow(p1, p2, inColor, 0.01f);
-}
-
-#endif // JPH_CONVEX_BUILDER_DEBUG
-
-#ifdef JPH_CONVEX_BUILDER_DUMP_SHAPE
-
-void ConvexHullBuilder::DumpShape() const
-{
-	static atomic<int> sShapeNo = 1;
-	int shape_no = sShapeNo++;
-
-	std::ofstream f;
-	f.open(StringFormat("dumped_shape%d.cpp", shape_no).c_str(), std::ofstream::out | std::ofstream::trunc);
-	if (!f.is_open())
-		return;
-
-	f << "{\n";
-	for (Vec3 v : mPositions)
-		f << StringFormat("\tVec3(%.9gf, %.9gf, %.9gf),\n", (double)v.GetX(), (double)v.GetY(), (double)v.GetZ());
-	f << "},\n";
-}
-
-#endif // JPH_CONVEX_BUILDER_DUMP_SHAPE
-
-JPH_NAMESPACE_END