Code:

static inline btVector3BaryCoord(const btVector3& a,  const btVector3& b,  const btVector3& c,  const btVector3& p){const btScalarw[]={btCross(a-p,b-p).length(),btCross(b-p,c-p).length(),btCross(c-p,a-p).length()};const btScalarisum=1/(w[0]+w[1]+w[2]);return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum));}static inline voidProjectOrigin(const btVector3& a,  const btVector3& b,  btVector3& prj,  btScalar& sqd){const btVector3d=b-a;const btScalarm2=d.length2();if(m2>SIMD_EPSILON){const btScalart=Clamp<btScalar>(-btDot(a,d)/m2,0,1);const btVector3p=a+d*t;const btScalarl2=p.length2();if(l2<sqd){prj=p;sqd=l2;}}}static inline voidProjectOrigin(const btVector3& a,  const btVector3& b,  const btVector3& c,  btVector3& prj,  btScalar& sqd){const btVector3&q=btCross(b-a,c-a);const btScalarm2=q.length2();if(m2>SIMD_EPSILON){const btVector3n=q/btSqrt(m2);const btScalark=btDot(a,n);const btScalark2=k*k;if(k2<sqd){const btVector3p=n*k;if((btDot(btCross(a-p,b-p),q)>0)&&(btDot(btCross(b-p,c-p),q)>0)&&(btDot(btCross(c-p,a-p),q)>0)){prj=p;sqd=k2;}else{ProjectOrigin(a,b,prj,sqd);ProjectOrigin(b,c,prj,sqd);ProjectOrigin(c,a,prj,sqd);}}}}