bool jfCollisionDetector_x86::tryAxis(
const jfCollisionBox& one,
const jfCollisionBox& two,
jfVector3& axis,
const jfVector3& toCentre,
unsigned index,
// These values may be updated
jfReal& smallestPenetration,
unsigned& smallestCase
) const
{
// Make sure we have a normalized axis, and don't check almost parallel axes
if (axis.squareMagnitude() < 0.0001)
{
return true;
}
axis.normalize();
jfReal penetration = penetrationOnAxis(one, two, axis, toCentre);
if (penetration < 0)
{
return false;
}
if (penetration < smallestPenetration)
{
smallestPenetration = penetration;
smallestCase = index;
}
return true;
}
static inline bool tryAxis(
const CollisionBox &one,
const CollisionBox &two,
Vector3 axis,
const Vector3& toCentre,
unsigned index,
// These values may be updated
real& smallestPenetration,
unsigned &smallestCase
)
{
// Make sure we have a normalized axis, and don't check almost parallel axes
if (axis.squareMagnitude() < 0.0001) return true;
axis.normalise();
real penetration = penetrationOnAxis(one, two, axis, toCentre);
if (penetration < 0) return false;
if (penetration < smallestPenetration) {
smallestPenetration = penetration;
smallestCase = index;
}
return true;
}
static inline bool tryAxis(const ShapeBox &boxA, const Transform &boxATransform,
const ShapeBox &boxB, const Transform &boxBTransform, Vec3 axis,
const Vec3 &separation, unsigned int index, Scalar &smallestPenetration, unsigned int &smallestCase)
{
// Omit almost parallel axes and normalize
if (axis.dot(axis) < 0.0001) return true;
axis.normalize();
Scalar penetration = penetrationOnAxis(boxA, boxATransform, boxB, boxBTransform, axis, separation);
if (penetration < 0) return false;
if(penetration < smallestPenetration)
{
smallestPenetration = penetration;
smallestCase = index;
}
return true;
}