Function xSweptSphereToBox

src/SB/Core/x/xCollide.cpp:1621–1909

    F32 dz = box->upper.z - box->lower.z;

    if (mat)
    {
        xMat4x3Mul(&tmpmat, mat, &sws->invbasis.xm);
        boxinvbasis = &tmpmat;
    }
    else
    {
        boxinvbasis = &sws->invbasis.xm;
    }

    F32 rad, radsqr;
    xVec3 boxPos, boxaX, boxaY, boxaZ;

    boxaX.x = dx * boxinvbasis->right.x;
    boxaX.y = dx * boxinvbasis->right.y;
    boxaX.z = dx * boxinvbasis->right.z;
    boxaY.x = dy * boxinvbasis->up.x;
    boxaY.y = dy * boxinvbasis->up.y;
    boxaY.z = dy * boxinvbasis->up.z;
    boxaZ.x = dz * boxinvbasis->at.x;
    boxaZ.y = dz * boxinvbasis->at.y;
    boxaZ.z = dz * boxinvbasis->at.z;

    xMat4x3Toworld(&boxPos, boxinvbasis, &box->lower);

    if (boxaX.z < 0.0f)
    {
        boxPos.x += boxaX.x;
        boxPos.y += boxaX.y;
        boxPos.z += boxaX.z;
        boxaX.x = -boxaX.x;
        boxaX.y = -boxaX.y;
        boxaX.z = -boxaX.z;
    }
    if (boxaY.z < 0.0f)
    {
        boxPos.x += boxaY.x;
        boxPos.y += boxaY.y;
        boxPos.z += boxaY.z;
        boxaY.x = -boxaY.x;
        boxaY.y = -boxaY.y;
        boxaY.z = -boxaY.z;
    }
    if (boxaZ.z < 0.0f)
    {
        boxPos.x += boxaZ.x;
        boxPos.y += boxaZ.y;
        boxPos.z += boxaZ.z;
        boxaZ.x = -boxaZ.x;
        boxaZ.y = -boxaZ.y;
        boxaZ.z = -boxaZ.z;
    }

    xVec3 boxNorm, boxA1, boxA2;
    S32 quadfound = 0;

    rad = sws->radius;
    radsqr = rad * rad;