parry3d_f64/query/intersection_test/
intersection_test_cuboid_cuboid.rs

1use crate::math::{Isometry, Real};
2use crate::query::sat;
3use crate::shape::Cuboid;
4
5/// Intersection test between cuboids.
6#[inline]
7pub fn intersection_test_cuboid_cuboid(
8    pos12: &Isometry<Real>,
9    cuboid1: &Cuboid,
10    cuboid2: &Cuboid,
11) -> bool {
12    let sep1 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cuboid1, cuboid2, pos12).0;
13
14    if sep1 > 0.0 {
15        return false;
16    }
17
18    let pos21 = pos12.inverse();
19    let sep2 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cuboid2, cuboid1, &pos21).0;
20    if sep2 > 0.0 {
21        return false;
22    }
23
24    #[cfg(feature = "dim2")]
25    return true; // This case does not exist in 2D.
26    #[cfg(feature = "dim3")]
27    {
28        let sep3 = sat::cuboid_cuboid_find_local_separating_edge_twoway(cuboid1, cuboid2, pos12).0;
29        sep3 <= 0.0
30    }
31}