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use crate::bounding_volume::AABB;
use crate::math::{Isometry, Real};
use crate::query::sat;
use crate::shape::{Cuboid, Triangle};
pub fn intersection_test_aabb_triangle(aabb1: &AABB, triangle2: &Triangle) -> bool {
let cuboid1 = Cuboid::new(aabb1.half_extents());
let pos12 = Isometry::from_parts((-aabb1.center().coords).into(), na::one());
intersection_test_cuboid_triangle(&pos12, &cuboid1, triangle2)
}
#[inline]
pub fn intersection_test_triangle_cuboid(
pos12: &Isometry<Real>,
triangle1: &Triangle,
cuboid2: &Cuboid,
) -> bool {
intersection_test_cuboid_triangle(&pos12.inverse(), cuboid2, triangle1)
}
#[inline]
pub fn intersection_test_cuboid_triangle(
pos12: &Isometry<Real>,
cube1: &Cuboid,
triangle2: &Triangle,
) -> bool {
let sep1 =
sat::cuboid_support_map_find_local_separating_normal_oneway(cube1, triangle2, &pos12).0;
if sep1 > 0.0 {
return false;
}
let pos21 = pos12.inverse();
let sep2 = sat::triangle_cuboid_find_local_separating_normal_oneway(triangle2, cube1, &pos21).0;
if sep2 > 0.0 {
return false;
}
#[cfg(feature = "dim2")]
let sep3 = -Real::MAX;
#[cfg(feature = "dim3")]
let sep3 = sat::cuboid_triangle_find_local_separating_edge_twoway(cube1, triangle2, &pos12).0;
sep3 <= 0.0
}