| 456 | } |
| 457 | |
| 458 | static bool computeMTD_BoxBox(PxVec3& _mtd, PxF32& _depth, const Box& box0, const Box& box1) |
| 459 | { |
| 460 | PxVec3 mtd; |
| 461 | PxF32 depth = PX_MAX_F32; |
| 462 | |
| 463 | if(!testBoxBoxAxis(mtd, depth, box0.rot.column0, box0, box1)) |
| 464 | return false; |
| 465 | if(!testBoxBoxAxis(mtd, depth, box0.rot.column1, box0, box1)) |
| 466 | return false; |
| 467 | if(!testBoxBoxAxis(mtd, depth, box0.rot.column2, box0, box1)) |
| 468 | return false; |
| 469 | |
| 470 | if(!testBoxBoxAxis(mtd, depth, box1.rot.column0, box0, box1)) |
| 471 | return false; |
| 472 | if(!testBoxBoxAxis(mtd, depth, box1.rot.column1, box0, box1)) |
| 473 | return false; |
| 474 | if(!testBoxBoxAxis(mtd, depth, box1.rot.column2, box0, box1)) |
| 475 | return false; |
| 476 | |
| 477 | for(PxU32 j=0;j<3;j++) |
| 478 | { |
| 479 | for(PxU32 i=0;i<3;i++) |
| 480 | { |
| 481 | PxVec3 cross = box0.rot[i].cross(box1.rot[j]); |
| 482 | if(!Ps::isAlmostZero(cross)) |
| 483 | { |
| 484 | cross = cross.getNormalized(); |
| 485 | |
| 486 | if(!testBoxBoxAxis(mtd, depth, cross, box0, box1)) |
| 487 | return false; |
| 488 | } |
| 489 | } |
| 490 | } |
| 491 | |
| 492 | |
| 493 | reorderMTD(mtd, box1.center, box0.center); |
| 494 | |
| 495 | _mtd = -mtd; |
| 496 | _depth = validateDepth(depth); |
| 497 | |
| 498 | return true; |
| 499 | } |
| 500 | |
| 501 | /////////////////////////////////////////////////////////////////////////////// |
| 502 |
no test coverage detected