Function xSweptSphereGetResults

src/SB/Core/x/xCollide.cpp:1318–1361

    sws->hitIt = 1;
    sws->worldPos.x = sws->basis.xm.pos.x + sws->curdist * sws->basis.xm.at.x;
    sws->worldPos.y = sws->basis.xm.pos.y + sws->curdist * sws->basis.xm.at.y;
    sws->worldPos.z = sws->basis.xm.pos.z + sws->curdist * sws->basis.xm.at.z;

    xMat4x3Toworld(&sws->worldContact, &sws->basis.xm, &sws->contact);
    xMat3x3RMulVec(&sws->worldPolynorm, &sws->basis.xm, &sws->polynorm);

    sws->worldNormal.x = sws->worldPos.x - sws->worldContact.x;
    sws->worldNormal.y = sws->worldPos.y - sws->worldContact.y;
    sws->worldNormal.z = sws->worldPos.z - sws->worldContact.z;

    xVec3Normalize(&sws->worldNormal, &sws->worldNormal);

    xVec3Cross(&tanplane, &sws->basis.xm.at, &sws->worldNormal);
    if (xVec3Length2(&tanplane) < 1e-7f)
    {
        xVec3Cross(&tanplane, &sws->basis.xm.up, &sws->worldNormal);
    }

    xVec3Cross(&sws->worldTangent, &tanplane, &sws->worldNormal);
    xVec3Normalize(&sws->worldTangent, &sws->worldTangent);

    tandot = sws->worldTangent.x * sws->basis.xm.at.x + sws->worldTangent.y * sws->basis.xm.at.y +
             sws->worldTangent.z * sws->basis.xm.at.z;
    if (tandot < 0.0f)
    {
        sws->worldTangent.x = -sws->worldTangent.x;
        sws->worldTangent.y = -sws->worldTangent.y;
        sws->worldTangent.z = -sws->worldTangent.z;
    }
}

S32 xSweptSphereToTriangle(xSweptSphere* sws, xVec3* v0, xVec3* v1, xVec3* v2)
{
    S32 i;

    if (!sws->dist)
        return 0;

    xVec3 xform[4];
    xMat4x3Toworld(&xform[0], &sws->invbasis.xm, v0);
    xMat4x3Toworld(&xform[1], &sws->invbasis.xm, v1);
    xMat4x3Toworld(&xform[2], &sws->invbasis.xm, v2);

    F32 rad = sws->radius;

    if ((xform[0].x <= -rad && xform[1].x <= -rad && xform[2].x <= -rad) ||