Merge branch 'main' into dev

src/maths/util.hpp

@@ -118,6 +118,11 @@ namespace util {
         return x * x + y * y + z * z;
     }
 
+    /// @return integer dot product of two vectors
+    inline int dot(const glm::ivec3& a, const glm::ivec3& b) {
+        return a.x * b.x + a.y * b.y + a.z * b.z;
+    }
+
     /// @brief Find nearest point on segment to given
     /// @param a segment point A
     /// @param b segment point B
@@ -144,12 +149,17 @@ namespace util {
     inline glm::ivec3 closest_point_on_segment(
         const glm::ivec3& a, const glm::ivec3& b, const glm::ivec3& point
     ) {
-        auto vec = b - a;
-        float da = distance2(point, a);
-        float db = distance2(point, b);
-        float len = length2(vec);
-        float t = (((da - db) / len) * 0.5f + 0.5f);
-        t = std::min(1.0f, std::max(0.0f, t));
-        return a + glm::ivec3(glm::vec3(vec) * t);
+        glm::ivec3 vec = b - a;
+        int len2 = length2(vec);
+    
+        if (len2 == 0) return a;
+    
+        glm::ivec3 ap = point - a;
+        int dot_product = dot(ap, vec);
+    
+        float t = static_cast<float>(dot_product) / static_cast<float>(len2);
+        t = glm::clamp(t, 0.0f, 1.0f);
+    
+        return a + glm::ivec3(glm::round(glm::vec3(vec) * t));
     }
 }