bool AABBInHalfSpace(const AABB & box, const float * plane)
{
/*
Main Idea:
-> Separating-axis test with only normal of the plane.
*/
float radius = box.GetExtent(0) * abs(plane[0])
+ box.GetExtent(1) * abs(plane[1])
+ box.GetExtent(2) * abs(plane[2]);
float signed_distance = box.GetCenter()[0] * plane[0]
+ box.GetCenter()[1] * plane[1]
+ box.GetCenter()[2] * plane[2]
+ plane[3];
return signed_distance + radius >= 0; //Only test if box is in positive side of plane.
}
bool AABB::Intersects(AABB& other)
{
for (int i = 0; i < 3; ++i)
{
if (extents[i].Intersects(other.GetExtent(i)))
return true;
}
return false;
}
