bool iTest (const AABB2D &ac, const Ray2D &bc)
{
assert(bc.direction[0] + bc.direction[1] != 0);
Ray2D ray = bc;
for (int i = 0; i < 2; ++i)
ray.direction[i] = (ray.direction[i] == 0) ? FLT_EPSILON : ray.direction[i];
Plane2D planes[4];
planes[0] = { Vector2{ ac.min.x , ac.pos().y },Vector2{ -1, 0 } };
planes[1] = { Vector2{ ac.pos().x, ac.min.y },Vector2{ 0,-1 } };
planes[2] = { Vector2{ ac.max.x , ac.pos().y },Vector2{ 1, 0 } };
planes[3] = { Vector2{ ac.pos().x, ac.max.y },Vector2{ 0, 1 } };
float dists[4];
float tmin = FLT_MAX;
float tmax = -FLT_MAX;
for (int i = 0; i < 4; ++i)
{
float deno = -(dot(planes[i].normal, ray.direction));
dists[i] = dot(planes[i].normal, (ray.position - planes[i].position)) / deno;
}
tmin = fmaxf(fminf(dists[0], dists[2]), fminf(dists[1], dists[3]));
tmax = fminf(fmaxf(dists[0], dists[2]), fmaxf(dists[1], dists[3]));
return tmin <= tmax && 0 <= tmin <= bc.length;
}
CollisionData iTest_data(const AABB2D &ac, const Plane2D &bc)
{
if (iTest(ac, bc))
{
CollisionData r;
r.collisionNormal = bc.normal;
r.penDepth = dot(bc.normal, (ac.pos() - bc.position));
if (r.penDepth < 0) r.penDepth = 0;
return r;
}
else return CollisionData{ 0,0 };
}
bool iTest (const AABB2D &ac, const Plane2D &bc)
{
return dot(bc.normal, (ac.pos() - bc.position)) <=
(ac.dim().x / 2) * dot(bc.normal, Vector2{ 1,0 })
+ (ac.dim().y / 2) * dot(bc.normal, Vector2{ 0,1 });
}
