parry2d/query/intersection_test/
intersection_test_cuboid_cuboid.rs

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