/// Distance between point p and line segment p1, p2
static double distance(math::vec3 const& p, math::vec3 const& p1, math::vec3 const& p2)
{
math::vec3 const v = p2 - p1;
math::vec3 const w = p - p1;
double const c1 = w.dot(v);
double const c2 = v.dot(v);
double const b = c1 / c2;
math::vec3 const pb = p1 + v * b;
return p.distance(pb);
}
void BoundingPolyhedron::positionAround(const math::vec3 desiredCentre, const std::vector<math::vec3>& points)
{
if(!mInitialised)
throw::std::runtime_error("Using uninitialised bounding polyhedron");
if(points.size()==0)
return;
auto bounding = calculateBoundSphere(points);
float radius = (bounding.second + desiredCentre.distance(bounding.first))*mDesc.scaleMultiplier;
setCentreAndRadius(desiredCentre, radius);
}