Function cuboid_segment_find_local_separating_edge_twoway

pub fn cuboid_segment_find_local_separating_edge_twoway(
    cube1: &Cuboid,
    segment2: &Segment,
    pos12: &Isometry<f32>,
) -> (f32, Vector<f32>)

Finds the best separating axis by testing edge-edge combinations between a cuboid and a segment (3D only).

In 3D, when a box collides with a line segment, the contact might occur along an axis perpendicular to both a cuboid edge and the segment itself. This function tests all such axes (cross products) to find the one with maximum separation.

Parameters

• cube1: The cuboid
• segment2: The line segment
• pos12: The position of the segment relative to the cuboid

Returns

A tuple containing:

• Real: The maximum separation found across all edge-edge axes
  • Positive: Shapes are separated
  • Negative: Shapes are overlapping
• Vector<Real>: The axis direction that gives this separation

The 3 Axes Tested

A segment is a single edge, so we test cross products between:

• The segment’s direction (B - A)
• Each of the 3 cuboid edge directions (X, Y, Z)

This gives 3 potential separating axes. The function delegates to cuboid_support_map_find_local_separating_edge_twoway to perform the actual separation tests.

Example

use parry3d::shape::{Cuboid, Segment};
use parry3d::query::sat::cuboid_segment_find_local_separating_edge_twoway;
use nalgebra::{Point3, Vector3, Isometry3};

let cube = Cuboid::new(Vector3::new(1.0, 1.0, 1.0));
let segment = Segment::new(
    Point3::origin(),
    Point3::new(0.0, 2.0, 0.0)
);

// Position segment to the right of the cube
let pos12 = Isometry3::translation(2.5, 0.0, 0.0);

let (separation, axis) = cuboid_segment_find_local_separating_edge_twoway(
    &cube,
    &segment,
    &pos12
);

println!("Edge-edge separation: {}", separation);

Usage in Complete SAT

For a complete cuboid-segment collision test, you must also test:

1. Cuboid face normals (X, Y, Z axes)
2. Segment normal (in 2D) or face normal (for degenerate 3D cases)
3. Edge-edge axes (this function, 3D only)