int triBoxOverlap(float boxcenter[3],float boxhalfsize[3],float triverts[3][3])
{
/* use separating axis theorem to test overlap between triangle and box */
/* need to test for overlap in these directions: */
/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
/* we do not even need to test these) */
/* 2) normal of the triangle */
/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
/* this gives 3x3=9 more tests */
float v0[3],v1[3],v2[3];
// float axis[3];
float min,max,p0,p1,p2,rad,fex,fey,fez; // -NJMP- "d" local variable removed
float normal[3],e0[3],e1[3],e2[3];
/* This is the fastest branch on Sun */
/* move everything so that the boxcenter is in (0,0,0) */
SUB(v0,triverts[0],boxcenter);
SUB(v1,triverts[1],boxcenter);
SUB(v2,triverts[2],boxcenter);
/* compute triangle edges */
SUB(e0,v1,v0); /* tri edge 0 */
SUB(e1,v2,v1); /* tri edge 1 */
SUB(e2,v0,v2); /* tri edge 2 */
/* Bullet 3: */
/* test the 9 tests first (this was faster) */
fex = fabsf(e0[X]);
fey = fabsf(e0[Y]);
fez = fabsf(e0[Z]);
AXISTEST_X01(e0[Z], e0[Y], fez, fey);
AXISTEST_Y02(e0[Z], e0[X], fez, fex);
AXISTEST_Z12(e0[Y], e0[X], fey, fex);
fex = fabsf(e1[X]);
fey = fabsf(e1[Y]);
fez = fabsf(e1[Z]);
AXISTEST_X01(e1[Z], e1[Y], fez, fey);
AXISTEST_Y02(e1[Z], e1[X], fez, fex);
AXISTEST_Z0(e1[Y], e1[X], fey, fex);
fex = fabsf(e2[X]);
fey = fabsf(e2[Y]);
fez = fabsf(e2[Z]);
AXISTEST_X2(e2[Z], e2[Y], fez, fey);
AXISTEST_Y1(e2[Z], e2[X], fez, fex);
AXISTEST_Z12(e2[Y], e2[X], fey, fex);
/* Bullet 1: */
/* first test overlap in the {x,y,z}-directions */
/* find min, max of the triangle each direction, and test for overlap in */
/* that direction -- this is equivalent to testing a minimal AABB around */
/* the triangle against the AABB */
/* test in X-direction */
FINDMINMAX(v0[X],v1[X],v2[X],min,max);
if(min>boxhalfsize[X] || max<-boxhalfsize[X]) return 0;
/* test in Y-direction */
FINDMINMAX(v0[Y],v1[Y],v2[Y],min,max);
if(min>boxhalfsize[Y] || max<-boxhalfsize[Y]) return 0;
/* test in Z-direction */
FINDMINMAX(v0[Z],v1[Z],v2[Z],min,max);
if(min>boxhalfsize[Z] || max<-boxhalfsize[Z]) return 0;
/* Bullet 2: */
/* test if the box intersects the plane of the triangle */
/* compute plane equation of triangle: normal*x+d=0 */
CROSS(normal,e0,e1);
// -NJMP- (line removed here)
if(!planeBoxOverlap(normal,v0,boxhalfsize)) return 0; // -NJMP-
return 1; /* box and triangle overlaps */
}
static bool fast_tri_box_overlap(const Vector3& boxcenter,const Vector3 boxhalfsize,const Vector3 *triverts) {
/* use separating axis theorem to test overlap between triangle and box */
/* need to test for overlap in these directions: */
/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
/* we do not even need to test these) */
/* 2) normal of the triangle */
/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
/* this gives 3x3=9 more tests */
Vector3 v0,v1,v2;
float min,max,d,p0,p1,p2,rad,fex,fey,fez;
Vector3 normal,e0,e1,e2;
/* This is the fastest branch on Sun */
/* move everything so that the boxcenter is in (0,0,0) */
v0=triverts[0]-boxcenter;
v1=triverts[1]-boxcenter;
v2=triverts[2]-boxcenter;
/* compute triangle edges */
e0=v1-v0; /* tri edge 0 */
e1=v2-v1; /* tri edge 1 */
e2=v0-v2; /* tri edge 2 */
/* Bullet 3: */
/* test the 9 tests first (this was faster) */
fex = Math::abs(e0.x);
fey = Math::abs(e0.y);
fez = Math::abs(e0.z);
AXISTEST_X01(e0.z, e0.y, fez, fey);
AXISTEST_Y02(e0.z, e0.x, fez, fex);
AXISTEST_Z12(e0.y, e0.x, fey, fex);
fex = Math::abs(e1.x);
fey = Math::abs(e1.y);
fez = Math::abs(e1.z);
AXISTEST_X01(e1.z, e1.y, fez, fey);
AXISTEST_Y02(e1.z, e1.x, fez, fex);
AXISTEST_Z0(e1.y, e1.x, fey, fex);
fex = Math::abs(e2.x);
fey = Math::abs(e2.y);
fez = Math::abs(e2.z);
AXISTEST_X2(e2.z, e2.y, fez, fey);
AXISTEST_Y1(e2.z, e2.x, fez, fex);
AXISTEST_Z12(e2.y, e2.x, fey, fex);
/* Bullet 1: */
/* first test overlap in the {x,y,z}-directions */
/* find min, max of the triangle each direction, and test for overlap in */
/* that direction -- this is equivalent to testing a minimal AABB around */
/* the triangle against the AABB */
/* test in X-direction */
FINDMINMAX(v0.x,v1.x,v2.x,min,max);
if(min>boxhalfsize.x || max<-boxhalfsize.x) return false;
/* test in Y-direction */
FINDMINMAX(v0.y,v1.y,v2.y,min,max);
if(min>boxhalfsize.y || max<-boxhalfsize.y) return false;
/* test in Z-direction */
FINDMINMAX(v0.z,v1.z,v2.z,min,max);
if(min>boxhalfsize.z || max<-boxhalfsize.z) return false;
/* Bullet 2: */
/* test if the box intersects the plane of the triangle */
/* compute plane equation of triangle: normal*x+d=0 */
normal=e0.cross(e1);
d=-normal.dot(v0); /* plane eq: normal.x+d=0 */
if(!planeBoxOverlap(normal,d,boxhalfsize)) return false;
return true; /* box and triangle overlaps */
}
bool Octree::boxTriangleIntersection(BoundingBox Box, Triangle triangle)
{
//This algorithm is a composition of 13 tests to determine intersection
//if all pass, there is overlap
float min,max,d,p0,p1,p2,rad,fex,fey,fez;
//center the box at (0,0,0) with respect to the triangle
//translate triangle vertices
Vector v0,v1,v2;
//edges of new triangle
Vector e0,e1,e2;
//Vector that goes half the diagonal of the bounding box
Vector boxHalfSize = (Box.boxMaxExtent - Box.boxMinExtent) / 2.0;
point boxCenter( (Box.boxMinExtent.px + Box.boxMaxExtent.px)/2.0,
(Box.boxMinExtent.py + Box.boxMaxExtent.py)/2.0,
(Box.boxMinExtent.pz + Box.boxMaxExtent.pz)/2.0 );
/*v0.set(triangle.Vertex[0].px-boxCenter.px,triangle.Vertex[0].py-boxCenter.py,triangle.Vertex[0].pz-boxCenter.pz);
v1.set(triangle.Vertex[1].px-boxCenter.px,triangle.Vertex[1].py-boxCenter.py,triangle.Vertex[1].pz-boxCenter.pz);
v2.set(triangle.Vertex[2].px-boxCenter.px,triangle.Vertex[2].py-boxCenter.py,triangle.Vertex[2].pz-boxCenter.pz);*/
v0 = triangle.Vertex[0] - boxCenter;
v1 = triangle.Vertex[1] - boxCenter;
v2 = triangle.Vertex[2] - boxCenter;
e0 = v1 - v0;
e1 = v2 - v1;
e2 = v0 - v2;
//the first 9 tests
fex = fabs(e0.px);
fey = fabs(e0.py);
fez = fabs(e0.pz);
AXISTEST_X01(e0.pz, e0.py, fez, fey);
AXISTEST_Y02(e0.pz, e0.px, fez, fex);
AXISTEST_Z12(e0.py, e0.px, fey, fex);
fex = fabs(e1.px);
fey = fabs(e1.py);
fez = fabs(e1.pz);
AXISTEST_X01(e1.pz, e1.py, fez, fey);
AXISTEST_Y02(e1.pz, e1.px, fez, fex);
AXISTEST_Z0(e1.py, e1.px, fey, fex);
fex = fabs(e2.px);
fey = fabs(e2.py);
fez = fabs(e2.pz);
AXISTEST_X2(e2.pz, e2.py, fez, fey);
AXISTEST_Y1(e2.pz, e2.px, fez, fex);
AXISTEST_Z12(e2.py, e2.px, fey, fex);
//now the 3 tests
//X test
FINDMINMAX(v0.px,v1.px,v2.px,min,max);
if(min>boxHalfSize.px || max<-boxHalfSize.px)
return false;
//Y test
FINDMINMAX(v0.py,v1.py,v2.py,min,max);
if(min>boxHalfSize.py || max<-boxHalfSize.py)
return false;
//Z test
FINDMINMAX(v0.pz,v1.pz,v2.pz,min,max);
if(min>boxHalfSize.pz || max<-boxHalfSize.pz)
return false;
Vector normal = e0.crossProduct(e1);
d = -(normal.dotProduct(v0));
if(!planeBoxOverlap(normal,d,boxHalfSize))
return false;
return true;
}
// main function for triangle box overlaping
bool triBoxOverlap(Vector4 boxcenter, float boxhalfsize, Vector4 p0, Vector4 p1, Vector4 p2)
{
/* use separating axis theorem to test overlap between triangle and box */
/* need to test for overlap in these directions: */
/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
/* we do not even need to test these) */
/* 2) normal of the triangle */
/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
/* this gives 3x3=9 more tests */
Vector4 v0,v1,v2;
Vector4 e0,e1,e2;
Vector4 normal;
float min,max,fex,fey,fez;
/* This is the fastest branch on Sun */
/* move everything so that the boxcenter is in (0,0,0) */
v0 = p0 - boxcenter;
v1 = p1 - boxcenter;
v2 = p2 - boxcenter;
/* compute triangle edges */
e0 = v1 - v0; /* tri edge 0 */
e1 = v2 - v1; /* tri edge 1 */
e2 = v0 - v2; /* tri edge 2 */
/* Bullet 3: */
/* test the 9 tests first (this was faster) */
fex = fabs(e0.X);
fey = fabs(e0.Y);
fez = fabs(e0.Z);
if (!AXISTEST(e0.Z, e0.Y, fez, fey, boxhalfsize, v0.Y, v0.Z, v2.Y, v2.Z)) return false;
if (!AXISTEST(e0.Z, e0.X, fez, fex, boxhalfsize, -v0.X, -v0.Z, -v2.X, -v2.Z)) return false;
if (!AXISTEST(e0.Y, e0.X, fey, fex, boxhalfsize, v1.X, v1.Y, v2.X, v2.Y)) return false;
fex = fabs(e1.X);
fey = fabs(e1.Y);
fez = fabs(e1.Z);
if (!AXISTEST(e1.Z, e1.Y, fez, fey, boxhalfsize, v0.Y, v0.Z, v2.Y, v2.Z)) return false;
if (!AXISTEST(e1.Z, e1.X, fez, fex, boxhalfsize, -v0.X, -v0.Z, -v2.X, -v2.Z)) return false;
if (!AXISTEST(e1.Y, e1.X, fey, fex, boxhalfsize, v0.X, v0.Y, v1.X, v1.Y)) return false;
fex = fabs(e2.X);
fey = fabs(e2.Y);
fez = fabs(e2.Z);
if (!AXISTEST(e2.Z, e2.Y, fez, fey, boxhalfsize, v0.Y, v0.Z, v1.Y, v1.Z)) return false;
if (!AXISTEST(e2.Z, e2.X, fez, fex, boxhalfsize, -v0.X, -v0.Z, -v1.X, -v1.Z)) return false;
if (!AXISTEST(e2.Y, e2.X, fey, fex, boxhalfsize, v1.X, v1.Y, v2.X, v2.Y)) return false;
/* Bullet 1: */
/* first test overlap in the {x,y,z}-directions */
/* find min, max of the triangle each direction, and test for overlap in */
/* that direction -- this is equivalent to testing a minimal AABB around */
/* the triangle against the AABB */
/* test in X-direction */
FINDMINMAX(v0.X,v1.X,v2.X,min,max);
if(min>boxhalfsize || max<-boxhalfsize)
return false;
/* test in Y-direction */
FINDMINMAX(v0.Y,v1.Y,v2.Y,min,max);
if(min>boxhalfsize || max<-boxhalfsize)
return false;
/* test in Z-direction */
FINDMINMAX(v0.Z,v1.Z,v2.Z,min,max);
if(min>boxhalfsize || max<-boxhalfsize)
return false;
/* Bullet 2: */
/* test if the box intersects the plane of the triangle */
/* compute plane equation of triangle: normal*x+d=0 */
normal = e0 % e1;
if(!planeBoxOverlap(normal,v0,boxhalfsize))
return false;
return true; /* box and triangle overlaps */
}
/* by Tomas Akenine-Möller */
bool BoundingBox::containsTriangle( const Vec& tv0, const Vec& tv1, const Vec& tv2 ) const
{
Vec boxcenter(center);
Vec boxhalfsize(xExtent, yExtent, zExtent);
int X = 0, Y = 1, Z = 2;
/* use separating axis theorem to test overlap between triangle and box */
/* need to test for overlap in these directions: */
/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
/* we do not even need to test these) */
/* 2) normal of the triangle */
/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
/* this gives 3x3=9 more tests */
Vec v0,v1,v2;
double min,max,p0,p1,p2,rad,fex,fey,fez;
Vec normal,e0,e1,e2;
/* This is the fastest branch on Sun */
/* move everything so that the box center is in (0,0,0) */
v0=tv0-boxcenter;
v1=tv1-boxcenter;
v2=tv2-boxcenter;
/* compute triangle edges */
e0=v1-v0; /* tri edge 0 */
e1=v2-v1; /* tri edge 1 */
e2=v0-v2; /* tri edge 2 */
/* Bullet 3: */
/* test the 9 tests first (this was faster) */
fex = fabsf(e0[X]);
fey = fabsf(e0[Y]);
fez = fabsf(e0[Z]);
AXISTEST_X01(e0[Z], e0[Y], fez, fey);
AXISTEST_Y02(e0[Z], e0[X], fez, fex);
AXISTEST_Z12(e0[Y], e0[X], fey, fex);
fex = fabsf(e1[X]);
fey = fabsf(e1[Y]);
fez = fabsf(e1[Z]);
AXISTEST_X01(e1[Z], e1[Y], fez, fey);
AXISTEST_Y02(e1[Z], e1[X], fez, fex);
AXISTEST_Z0(e1[Y], e1[X], fey, fex);
fex = fabsf(e2[X]);
fey = fabsf(e2[Y]);
fez = fabsf(e2[Z]);
AXISTEST_X2(e2[Z], e2[Y], fez, fey);
AXISTEST_Y1(e2[Z], e2[X], fez, fex);
AXISTEST_Z12(e2[Y], e2[X], fey, fex);
/* Bullet 1: */
/* first test overlap in the {x,y,z}-directions */
/* find min, max of the triangle each direction, and test for overlap in */
/* that direction -- this is equivalent to testing a minimal AABB around */
/* the triangle against the AABB */
/* test in X-direction */
FINDMINMAX(v0[X],v1[X],v2[X],min,max);
if(min>boxhalfsize[X] || max<-boxhalfsize[X]) return 0;
/* test in Y-direction */
FINDMINMAX(v0[Y],v1[Y],v2[Y],min,max);
if(min>boxhalfsize[Y] || max<-boxhalfsize[Y]) return 0;
/* test in Z-direction */
FINDMINMAX(v0[Z],v1[Z],v2[Z],min,max);
if(min>boxhalfsize[Z] || max<-boxhalfsize[Z]) return 0;
/* Bullet 2: */
/* test if the box intersects the plane of the triangle */
/* compute plane equation of triangle: normal*x+d=0 */
normal = e0 ^ e1;
if(!planeBoxOverlap(normal,v0,boxhalfsize)) return 0;
return 1; /* box and triangle overlaps */
}
int IsTriangleIntersectBox(float boxcenter[3], float boxhalf[3], float triverts[3][3])
{
/* use separating axis theorem to test overlap between triangle and box */
/* need to test for overlap in these directions: */
/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
/* we do not even need to test these) */
/* 2) normal of the triangle */
/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
/* this gives 3x3=9 more tests */
float v0[3],v1[3],v2[3];
float min,max,d,p0,p1,p2,rad,fex,fey,fez;
float normal[3],e0[3],e1[3],e2[3];
/* 1) first test overlap in the {x,y,z}-directions */
/* find min, max of the triangle each direction, and test for overlap in */
/* that direction -- this is equivalent to testing a minimal AABB around */
/* the triangle against the AABB */
/* test in X */
v0[X]=triverts[0][X]-boxcenter[X];
v1[X]=triverts[1][X]-boxcenter[X];
v2[X]=triverts[2][X]-boxcenter[X];
FINDMINMAX(v0[X],v1[X],v2[X],min,max);
if(min>boxhalf[X] || max<-boxhalf[X]) return 0;
/* test in Y */
v0[Y]=triverts[0][Y]-boxcenter[Y];
v1[Y]=triverts[1][Y]-boxcenter[Y];
v2[Y]=triverts[2][Y]-boxcenter[Y];
FINDMINMAX(v0[Y],v1[Y],v2[Y],min,max);
if(min>boxhalf[Y] || max<-boxhalf[Y]) return 0;
/* test in Z */
v0[Z]=triverts[0][Z]-boxcenter[Z];
v1[Z]=triverts[1][Z]-boxcenter[Z];
v2[Z]=triverts[2][Z]-boxcenter[Z];
FINDMINMAX(v0[Z],v1[Z],v2[Z],min,max);
if(min>boxhalf[Z] || max<-boxhalf[Z]) return 0;
/* 2) */
/* test if the box intersects the plane of the triangle */
/* compute plane equation of triangle: normal*x+d=0 */
SUB(e0,v1,v0); /* tri edge 0 */
SUB(e1,v2,v1); /* tri edge 1 */
CROSS(normal,e0,e1);
d=-DOT(normal,v0); /* plane eq: normal.x+d=0 */
if(!planeBoxOverlap(normal,d,boxhalf)) return 0;
/* compute the last triangle edge */
SUB(e2,v0,v2);
/* 3) */
fex = fabsf(e0[X]);
fey = fabsf(e0[Y]);
fez = fabsf(e0[Z]);
AXISTEST_X01(e0[Z], e0[Y], fez, fey);
AXISTEST_Y02(e0[Z], e0[X], fez, fex);
AXISTEST_Z12(e0[Y], e0[X], fey, fex);
fex = fabsf(e1[X]);
fey = fabsf(e1[Y]);
fez = fabsf(e1[Z]);
AXISTEST_X01(e1[Z], e1[Y], fez, fey);
AXISTEST_Y02(e1[Z], e1[X], fez, fex);
AXISTEST_Z0(e1[Y], e1[X], fey, fex);
fex = fabsf(e2[X]);
fey = fabsf(e2[Y]);
fez = fabsf(e2[Z]);
AXISTEST_X2(e2[Z], e2[Y], fez, fey);
AXISTEST_Y1(e2[Z], e2[X], fez, fex);
AXISTEST_Z12(e2[Y], e2[X], fey, fex);
return 1;
}
int IntersectionTests::triBoxOverlap(float boxhalfsize[3],float v0[3], float v1[3],float v2[3])
{
/* use separating axis theorem to test overlap between triangle and box */
/* need to test for overlap in these directions: */
/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
/* we do not even need to test these) */
/* 2) normal of the triangle */
/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
/* this gives 3x3=9 more tests */
//double v0[3],v1[3],v2[3];
// double axis[3];
float min,max,d,p0,p1,p2,rad,fex,fey,fez;
float normal[3],e0[3],e1[3],e2[3];
/* This is the fastest branch on Sun */
/* move everything so that the boxcenter is in (0,0,0) */
// SUB(v0,trivertsA,boxcenter);
// SUB(v1,trivertsB,boxcenter);
// SUB(v2,trivertsC,boxcenter);
/* compute triangle edges */
//e0[0] = v1[0] - v0[0]; e0[1] = v1[1] - v0[1]; e0[2] = v1[2] - v0[2];
//e1[0] = v2[0] - v1[0]; e1[1] = v2[1] - v1[1]; e1[2] = v2[2] - v1[2];
//e2[0] = v0[0] - v2[0]; e2[1] = v0[1] - v2[1]; e2[2] = v0[2] - v2[2];
SUB(e0,v1,v0); /* tri edge 0 */
SUB(e1,v2,v1); /* tri edge 1 */
SUB(e2,v0,v2); /* tri edge 2 */
/* Bullet 3: */
/* test the 9 tests first (this was faster) */
fex = e0[X];//fabs(e0[X]);
fey = e0[Y];//fabs(e0[Y]);
fez = e0[Z];//fabs(e0[Z]);
if(e0[X] < 0)
fex = -e0[X];
if(e0[Y] < 0)
fey = -e0[Y];
if(e0[Z] < 0)
fez = -e0[Z];
AXISTEST_X01(e0[Z], e0[Y], fez, fey);
AXISTEST_Y02(e0[Z], e0[X], fez, fex);
AXISTEST_Z12(e0[Y], e0[X], fey, fex);
fex = e1[X];//fabs(e1[X]);
fey = e1[Y];//fabs(e1[Y]);
fez = e1[Z];//fabs(e1[Z]);
if(e1[X] < 0)
fex = -e1[X];
if(e1[Y] < 0)
fey = -e1[Y];
if(e1[Z] < 0)
fez = -e1[Z];
AXISTEST_X01(e1[Z], e1[Y], fez, fey);
AXISTEST_Y02(e1[Z], e1[X], fez, fex);
AXISTEST_Z0(e1[Y], e1[X], fey, fex);
fex = e2[X];//fabs(e2[X]);
fey = e2[Y];//fabs(e2[Y]);
fez = e2[Z];//fabs(e2[Z]);
if(e2[X] < 0)
fex = -e2[X];
if(e2[Y] < 0)
fey = -e2[Y];
if(e2[Z] < 0)
fez = -e2[Z];
AXISTEST_X2(e2[Z], e2[Y], fez, fey);
AXISTEST_Y1(e2[Z], e2[X], fez, fex);
AXISTEST_Z12(e2[Y], e2[X], fey, fex);
/* Bullet 1: */
/* first test overlap in the {x,y,z}-directions */
/* find min, max of the triangle each direction, and test for overlap in */
/* that direction -- this is equivalent to testing a minimal AABB around */
/* the triangle against the AABB */
/* test in X-direction */
FINDMINMAX(v0[X],v1[X],v2[X],min,max);
if(min>boxhalfsize[X] || max<-boxhalfsize[X]) return 0;
/* test in Y-direction */
FINDMINMAX(v0[Y],v1[Y],v2[Y],min,max);
if(min>boxhalfsize[Y] || max<-boxhalfsize[Y]) return 0;
/* test in Z-direction */
FINDMINMAX(v0[Z],v1[Z],v2[Z],min,max);
if(min>boxhalfsize[Z] || max<-boxhalfsize[Z]) return 0;
/* Bullet 2: */
/* test if the box intersects the plane of the triangle */
/* compute plane equation of triangle: normal*x+d=0 */
CROSS(normal,e0,e1);
d=-DOT(normal,v0); /* plane eq: normal.x+d=0 */
if(!planeBoxOverlap(normal,d,boxhalfsize)) return 0;
return 1; /* box and triangle overlaps */
}
bool LinkedNode::triangleIntersect(Triangle p_tri)
{
DirectX::XMFLOAT3 boxCenter = div(add(m_max, m_min), 2);
DirectX::XMFLOAT3 boxHalfSize = div(sub(m_max, m_min), 2);
//Move everything so that boxCenter is in (0, 0, 0)
DirectX::XMFLOAT3 vertex0 = sub(p_tri.vertices[0].m_position, boxCenter);
DirectX::XMFLOAT3 vertex1 = sub(p_tri.vertices[1].m_position, boxCenter);
DirectX::XMFLOAT3 vertex2 = sub(p_tri.vertices[2].m_position, boxCenter);
//Compute triangle edges
DirectX::XMFLOAT3 edge0 = sub(vertex1, vertex0);
DirectX::XMFLOAT3 edge1 = sub(vertex2, vertex1);
DirectX::XMFLOAT3 edge2 = sub(vertex0, vertex2);
float fex = fabsf(edge0.x);
float fey = fabsf(edge0.y);
float fez = fabsf(edge0.z);
if(axisTestX(edge0.z, edge0.y, fez, fey, vertex0, vertex2, boxHalfSize) == false)
return false;
if(axisTestY(edge0.z, edge0.x, fez, fex, vertex0, vertex2, boxHalfSize) == false)
return false;
if(axisTestZ(edge0.y, edge0.x, fey, fex, vertex1, vertex2, boxHalfSize) == false)
return false;
fex = fabsf(edge1.x);
fey = fabsf(edge1.y);
fez = fabsf(edge1.z);
if(axisTestX(edge1.z, edge1.y, fez, fey, vertex0, vertex2, boxHalfSize) == false)
return false;
if(axisTestY(edge1.z, edge1.x, fez, fex, vertex0, vertex2, boxHalfSize) == false)
return false;
if(axisTestZ(edge1.y, edge1.x, fey, fex, vertex0, vertex1, boxHalfSize) == false)
return false;
fex = fabsf(edge2.x);
fey = fabsf(edge2.y);
fez = fabsf(edge2.z);
if(axisTestX(edge2.z, edge2.y, fez, fey, vertex0, vertex1, boxHalfSize) == false)
return false;
if(axisTestY(edge2.z, edge2.x, fez, fex, vertex0, vertex1, boxHalfSize) == false)
return false;
if(axisTestZ(edge2.y, edge2.x, fey, fex, vertex1, vertex2, boxHalfSize) == false)
return false;
float min, max;
findMinMax(vertex0.x, vertex1.x, vertex2.x, min, max);
if(min > boxHalfSize.x || max < -boxHalfSize.x)
return false;
findMinMax(vertex0.y, vertex1.y, vertex2.y, min, max);
if(min > boxHalfSize.y || max < -boxHalfSize.y)
return false;
findMinMax(vertex0.z, vertex1.z, vertex2.z, min, max);
if(min > boxHalfSize.z || max < -boxHalfSize.z)
return false;
DirectX::XMFLOAT3 normal = cross(edge0, edge1);
if(planeBoxOverlap(normal, vertex0, boxHalfSize) == false)
return false;
return true;
}