static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB)
{
btScalar Min0, Max0;
btScalar Min1, Max1;
btVector3 witnesPtMinA, witnesPtMaxA;
btVector3 witnesPtMinB, witnesPtMaxB;
hullA.project(transA, sep_axis, Min0, Max0, witnesPtMinA, witnesPtMaxA);
hullB.project(transB, sep_axis, Min1, Max1, witnesPtMinB, witnesPtMaxB);
if(Max0<Min1 || Max1<Min0)
return false;
btScalar d0 = Max0 - Min1;
btAssert(d0>=0.0f);
btScalar d1 = Max1 - Min0;
btAssert(d1>=0.0f);
if (d0<d1)
{
depth = d0;
witnessPointA = witnesPtMaxA;
witnessPointB = witnesPtMinB;
} else
{
depth = d1;
witnessPointA = witnesPtMinA;
witnessPointB = witnesPtMaxB;
}
return true;
}
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
{
btScalar Min0,Max0;
btScalar Min1,Max1;
hullA.project(transA,sep_axis, Min0, Max0);
hullB.project(transB, sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
btScalar d0 = Max0 - Min1;
assert(d0>=0.0f);
btScalar d1 = Max1 - Min0;
assert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
}
