void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/,bool /*swapResults*/)
{
const btTransform& transformA = input.m_transformA;
const btTransform& transformB = input.m_transformB;
int skip = 0;
dContactGeom *contact = 0;
dMatrix3 R1;
dMatrix3 R2;
for (int j=0;j<3;j++)
{
R1[0+4*j] = transformA.getBasis()[j].x();
R2[0+4*j] = transformB.getBasis()[j].x();
R1[1+4*j] = transformA.getBasis()[j].y();
R2[1+4*j] = transformB.getBasis()[j].y();
R1[2+4*j] = transformA.getBasis()[j].z();
R2[2+4*j] = transformB.getBasis()[j].z();
}
btVector3 normal;
btScalar depth;
int return_code;
int maxc = 4;
dBoxBox2 (transformA.getOrigin(),
R1,
2.f*m_box1->getHalfExtentsWithMargin(),
transformB.getOrigin(),
R2,
2.f*m_box2->getHalfExtentsWithMargin(),
normal, &depth, &return_code,
maxc, contact, skip,
output
);
}
bool OrientedBoxToOrientedBox(const Obbox& obox1, const Obbox& obox2, Vec3* _contact)
{
int skip = 0;
dContactGeom *contact = 0;
dMatrix3 R1;
dMatrix3 R2;
for(int j = 0; j < 3; j++)
{
R1[0 + 4 * j] = obox1.rot(j, 0);
R2[0 + 4 * j] = obox2.rot(j, 0);
R1[1 + 4 * j] = obox1.rot(j, 1);
R2[1 + 4 * j] = obox2.rot(j, 1);
R1[2 + 4 * j] = obox1.rot(j, 2);
R2[2 + 4 * j] = obox2.rot(j, 2);
}
Vec3 normal;
float depth;
int return_code;
int maxc = 4;
Result output;
dBoxBox2(
obox1.pos, R1, obox1.size,
obox2.pos, R2, obox2.size,
normal, &depth, &return_code,
maxc, contact, skip,
output
);
if(output.HasContact())
{
if(_contact)
*_contact = output.GetContact();
return true;
}
return false;
}
// boxBoxClosestPoints wraps dBoxBox2 so that it can be called from the vu engine.
void boxBoxClosestPoints(BoxBoxInput *in, BoxBoxResults *out)
{
dBoxBox2(in->orgA, in->rotA, in->lenA, in->orgB, in->rotB, in->lenB, out);
}
