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use crate::math::{Isometry, Real};
use crate::query::sat;
use crate::shape::Cuboid;
#[inline]
pub fn intersection_test_cuboid_cuboid(
pos12: &Isometry<Real>,
cuboid1: &Cuboid,
cuboid2: &Cuboid,
) -> bool {
let sep1 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cuboid1, cuboid2, &pos12).0;
if sep1 > 0.0 {
return false;
}
let pos21 = pos12.inverse();
let sep2 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cuboid2, cuboid1, &pos21).0;
if sep2 > 0.0 {
return false;
}
#[cfg(feature = "dim2")]
let sep3 = -Real::MAX;
#[cfg(feature = "dim3")]
let sep3 = sat::cuboid_cuboid_find_local_separating_edge_twoway(cuboid1, cuboid2, &pos12).0;
sep3 <= 0.0
}