Fix CollisionsHelper::ClosestPointPointTriangle

Source/Engine/Core/Math/CollisionsHelper.cpp

@@ -93,14 +93,20 @@ void CollisionsHelper::ClosestPointPointTriangle(const Vector3& point, const Vec
     const float d1 = Vector3::Dot(ab, ap);
     const float d2 = Vector3::Dot(ac, ap);
     if (d1 <= 0.0f && d2 <= 0.0f)
+    {
         result = vertex1; //Barycentric coordinates (1,0,0)
+        return;
+    }
 
     // Check if P in vertex region outside B
     const Vector3 bp = point - vertex2;
     const float d3 = Vector3::Dot(ab, bp);
     const float d4 = Vector3::Dot(ac, bp);
     if (d3 >= 0.0f && d4 <= d3)
+    {
         result = vertex2; // Barycentric coordinates (0,1,0)
+        return;
+    }
 
     // Check if P in edge region of AB, if so return projection of P onto AB
     const float vc = d1 * d4 - d3 * d2;
@@ -108,6 +114,7 @@ void CollisionsHelper::ClosestPointPointTriangle(const Vector3& point, const Vec
     {
         const float v = d1 / (d1 - d3);
         result = vertex1 + v * ab; //Barycentric coordinates (1-v,v,0)
+        return;
     }
 
     //Check if P in vertex region outside C
@@ -115,7 +122,10 @@ void CollisionsHelper::ClosestPointPointTriangle(const Vector3& point, const Vec
     const float d5 = Vector3::Dot(ab, cp);
     const float d6 = Vector3::Dot(ac, cp);
     if (d6 >= 0.0f && d5 <= d6)
+    {
         result = vertex3; //Barycentric coordinates (0,0,1)
+        return;
+    }
 
     //Check if P in edge region of AC, if so return projection of P onto AC
     const float vb = d5 * d2 - d1 * d6;
@@ -123,6 +133,7 @@ void CollisionsHelper::ClosestPointPointTriangle(const Vector3& point, const Vec
     {
         const float w = d2 / (d2 - d6);
         result = vertex1 + w * ac; //Barycentric coordinates (1-w,0,w)
+        return;
     }
 
     //Check if P in edge region of BC, if so return projection of P onto BC
@@ -131,6 +142,7 @@ void CollisionsHelper::ClosestPointPointTriangle(const Vector3& point, const Vec
     {
         const float w = (d4 - d3) / (d4 - d3 + (d5 - d6));
         result = vertex2 + w * (vertex3 - vertex2); //Barycentric coordinates (0,1-w,w)
+        return;
     }
 
     //P inside face region. Compute Q through its Barycentric coordinates (u,v,w)