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								/*******************************************************************************************

								*

								*   raylib [models] example - Mesh picking in 3d mode, ground plane, triangle, mesh

								*

								*   This example has been created using raylib 1.7 (www.raylib.com)

								*   raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details)

								*

								*   Example contributed by Joel Davis (@joeld42) and reviewed by Ramon Santamaria (@raysan5)

								*

								*   Copyright (c) 2017 Joel Davis (@joeld42) and Ramon Santamaria (@raysan5)

								*

								********************************************************************************************/


								#include "raylib.h"

								#include "raymath.h"


								#define FLT_MAX     340282346638528859811704183484516925440.0f     // Maximum value of a float, from bit pattern 01111111011111111111111111111111


								int main(void)

								{

								    // Initialization

								    //--------------------------------------------------------------------------------------

								    const int screenWidth = 800;

								    const int screenHeight = 450;


								    InitWindow(screenWidth, screenHeight, "raylib [models] example - mesh picking");


								    // Define the camera to look into our 3d world

								    Camera camera = { 0 };

								    camera.position = (Vector3){ 20.0f, 20.0f, 20.0f }; // Camera position

								    camera.target = (Vector3){ 0.0f, 8.0f, 0.0f };      // Camera looking at point

								    camera.up = (Vector3){ 0.0f, 1.6f, 0.0f };          // Camera up vector (rotation towards target)

								    camera.fovy = 45.0f;                                // Camera field-of-view Y

								    camera.type = CAMERA_PERSPECTIVE;                   // Camera mode type


								    Ray ray = { 0 };        // Picking ray


								    Model tower = LoadModel("resources/models/turret.obj");                 // Load OBJ model

								    Texture2D texture = LoadTexture("resources/models/turret_diffuse.png"); // Load model texture

								    tower.materials[0].maps[MAP_DIFFUSE].texture = texture;                 // Set model diffuse texture


								    Vector3 towerPos = { 0.0f, 0.0f, 0.0f };                    // Set model position

								    BoundingBox towerBBox = MeshBoundingBox(tower.meshes[0]);   // Get mesh bounding box

								    bool hitMeshBBox = false;

								    bool hitTriangle = false;


								    // Test triangle

								    Vector3 ta = (Vector3){ -25.0, 0.5, 0.0 };

								    Vector3 tb = (Vector3){ -4.0, 2.5, 1.0 };

								    Vector3 tc = (Vector3){ -8.0, 6.5, 0.0 };


								    Vector3 bary = { 0.0f, 0.0f, 0.0f };


								    SetCameraMode(camera, CAMERA_FREE); // Set a free camera mode


								    SetTargetFPS(60);                   // Set our game to run at 60 frames-per-second

								    //--------------------------------------------------------------------------------------

								    // Main game loop

								    while (!WindowShouldClose())        // Detect window close button or ESC key

								    {

								        // Update

								        //----------------------------------------------------------------------------------

								        UpdateCamera(&camera);          // Update camera


								        // Display information about closest hit

								        RayHitInfo nearestHit = { 0 };

								        char *hitObjectName = "None";

								        nearestHit.distance = FLT_MAX;

								        nearestHit.hit = false;

								        Color cursorColor = WHITE;


								        // Get ray and test against ground, triangle, and mesh

								        ray = GetMouseRay(GetMousePosition(), camera);


								        // Check ray collision aginst ground plane

								        RayHitInfo groundHitInfo = GetCollisionRayGround(ray, 0.0f);


								        if ((groundHitInfo.hit) && (groundHitInfo.distance < nearestHit.distance))

								        {

								            nearestHit = groundHitInfo;

								            cursorColor = GREEN;

								            hitObjectName = "Ground";

								        }


								        // Check ray collision against test triangle

								        RayHitInfo triHitInfo = GetCollisionRayTriangle(ray, ta, tb, tc);


								        if ((triHitInfo.hit) && (triHitInfo.distance < nearestHit.distance))

								        {

								            nearestHit = triHitInfo;

								            cursorColor = PURPLE;

								            hitObjectName = "Triangle";


								            bary = Vector3Barycenter(nearestHit.position, ta, tb, tc);

								            hitTriangle = true;

								        }

								        else hitTriangle = false;


								        RayHitInfo meshHitInfo = { 0 };


								        // Check ray collision against bounding box first, before trying the full ray-mesh test

								        if (CheckCollisionRayBox(ray, towerBBox))

								        {

								            hitMeshBBox = true;


								            // Check ray collision against model

								            // NOTE: It considers model.transform matrix!

								            meshHitInfo = GetCollisionRayModel(ray, tower);


								            if ((meshHitInfo.hit) && (meshHitInfo.distance < nearestHit.distance))

								            {

								                nearestHit = meshHitInfo;

								                cursorColor = ORANGE;

								                hitObjectName = "Mesh";

								            }

								        }


								        hitMeshBBox = false;

								        //----------------------------------------------------------------------------------


								        // Draw

								        //----------------------------------------------------------------------------------

								        BeginDrawing();


								            ClearBackground(RAYWHITE);


								            BeginMode3D(camera);


								                // Draw the tower

								                // WARNING: If scale is different than 1.0f,

								                // not considered by GetCollisionRayModel()

								                DrawModel(tower, towerPos, 1.0f, WHITE);


								                // Draw the test triangle

								                DrawLine3D(ta, tb, PURPLE);

								                DrawLine3D(tb, tc, PURPLE);

								                DrawLine3D(tc, ta, PURPLE);


								                // Draw the mesh bbox if we hit it

								                if (hitMeshBBox) DrawBoundingBox(towerBBox, LIME);


								                // If we hit something, draw the cursor at the hit point

								                if (nearestHit.hit)

								                {

								                    DrawCube(nearestHit.position, 0.3, 0.3, 0.3, cursorColor);

								                    DrawCubeWires(nearestHit.position, 0.3, 0.3, 0.3, RED);


								                    Vector3 normalEnd;

								                    normalEnd.x = nearestHit.position.x + nearestHit.normal.x;

								                    normalEnd.y = nearestHit.position.y + nearestHit.normal.y;

								                    normalEnd.z = nearestHit.position.z + nearestHit.normal.z;


								                    DrawLine3D(nearestHit.position, normalEnd, RED);

								                }


								                DrawRay(ray, MAROON);


								                DrawGrid(10, 10.0f);


								            EndMode3D();


								            // Draw some debug GUI text

								            DrawText(FormatText("Hit Object: %s", hitObjectName), 10, 50, 10, BLACK);


								            if (nearestHit.hit)

								            {

								                int ypos = 70;


								                DrawText(FormatText("Distance: %3.2f", nearestHit.distance), 10, ypos, 10, BLACK);


								                DrawText(FormatText("Hit Pos: %3.2f %3.2f %3.2f",

								                                    nearestHit.position.x,

								                                    nearestHit.position.y,

								                                    nearestHit.position.z), 10, ypos + 15, 10, BLACK);


								                DrawText(FormatText("Hit Norm: %3.2f %3.2f %3.2f",

								                                    nearestHit.normal.x,

								                                    nearestHit.normal.y,

								                                    nearestHit.normal.z), 10, ypos + 30, 10, BLACK);


								                if (hitTriangle) DrawText(FormatText("Barycenter: %3.2f %3.2f %3.2f",  bary.x, bary.y, bary.z), 10, ypos + 45, 10, BLACK);

								            }


								            DrawText("Use Mouse to Move Camera", 10, 430, 10, GRAY);


								            DrawText("(c) Turret 3D model by Alberto Cano", screenWidth - 200, screenHeight - 20, 10, GRAY);


								            DrawFPS(10, 10);


								        EndDrawing();

								        //----------------------------------------------------------------------------------

								    }


								    // De-Initialization

								    //--------------------------------------------------------------------------------------

								    UnloadModel(tower);         // Unload model

								    UnloadTexture(texture);     // Unload texture


								    CloseWindow();              // Close window and OpenGL context

								    //--------------------------------------------------------------------------------------


								    return 0;

								}