//collision move elipsoid with box
bool kgmCollision::collision(vec3& start, vec3& end, float rx, float ry, float rz,
box3& b, mtx4& btr)
{
int i = 0;
vec3 box_points[8];
vec3 box_sides[6][4];
b.points(box_points);
for(i = 0; i < 8; i++)
box_points[i] = btr * box_points[i];
box_sides[0][0] = box_points[0];
box_sides[0][1] = box_points[1];
box_sides[0][2] = box_points[5];
box_sides[0][3] = box_points[4];
box_sides[1][0] = box_points[1];
box_sides[1][1] = box_points[3];
box_sides[1][2] = box_points[7];
box_sides[1][3] = box_points[5];
box_sides[2][0] = box_points[3];
box_sides[2][1] = box_points[2];
box_sides[2][2] = box_points[6];
box_sides[2][3] = box_points[7];
box_sides[3][0] = box_points[2];
box_sides[3][1] = box_points[0];
box_sides[3][2] = box_points[4];
box_sides[3][3] = box_points[6];
box_sides[4][0] = box_points[0];
box_sides[4][1] = box_points[2];
box_sides[4][2] = box_points[3];
box_sides[4][3] = box_points[1];
box_sides[5][0] = box_points[4];
box_sides[5][1] = box_points[5];
box_sides[5][2] = box_points[7];
box_sides[5][3] = box_points[6];
float dist = -1.0f;
vec3 ptins;
m_collision = false;
for(i = 0; i < 6; i++)
{
plane pln(box_sides[i][0], box_sides[i][1], box_sides[i][2]);
float edist = pln.distance(end);
if(collision(start, end, rx, ry, rz, box_sides[i], 4))
{
ptins = m_point;
m_collision = true;
if(edist > 0.0f)
break;
}
}
return m_collision;
}
