HCR - Minimum Distance Point-Surface

It’s easy to know if you are “in” or “out” of a single plane

• Knowing your position ${\bar{x}}_a$ ($a$: avatar) or ${\bar{x}}_h$ ($h$: haptic point), and the formula of the plane: $ax+by+cz+d$ we can calculate:

$$a{x}_{ax}+b{x}_{ay}+c{x}_{az}+d$$

and define as “in” if the result is $<0$ or “out” if the result is $>0$.