/// <summary>
/// Disjoint Returns true if disjoint. Returns false if intersecting,
/// and sets the overlap depth, d scaled by the axis length.
/// </summary>
private static bool Disjoint(out float d, ref Vector3 axis, MyBox box0, MyBox box1, float collTolerance)
{
float min0, max0, min1, max1;
box0.GetSpan(out min0, out max0, axis);
box1.GetSpan(out min1, out max1, axis);
if (min0 > (max1 + collTolerance + MyPhysicsConfig.CollisionEpsilon) ||
min1 > (max0 + collTolerance + MyPhysicsConfig.CollisionEpsilon))
{
d = 0.0f;
return true;
}
if ((max0 > max1) && (min1 > min0))
{
// box1 is inside - choose the min dist to move it out
d = MathHelper.Min(max0 - min1, max1 - min0);
}
else if ((max1 > max0) && (min0 > min1))
{
// box0 is inside - choose the min dist to move it out
d = MathHelper.Min(max1 - min0, max0 - min1);
}
else
{
// boxes overlap
d = (max0 < max1) ? max0 : max1;
d -= (min0 > min1) ? min0 : min1;
}
return false;
}
// Disjoint Returns true if disjoint. Returns false if intersecting,
// and sets the overlap depth, d scaled by the axis length
private static bool Disjoint(out float d, Vector3 axis, MyBox box, MyColDetVoxelTriangle triangle, float collTolerance)
{
float min0, max0, min1, max1;
box.GetSpan(out min0, out max0, axis);
triangle.GetSpan(out min1, out max1, axis);
if (min0 > (max1 + collTolerance) ||
min1 > (max0 + collTolerance))
{
d = 0.0f;
return(true);
}
if ((max0 > max1) && (min1 > min0))
{
// triangleVertexes is inside - choose the min dist to move it out
d = System.Math.Min(max0 - min1, max1 - min0);
}
else if ((max1 > max0) && (min0 > min1))
{
// box is inside - choose the min dist to move it out
d = System.Math.Min(max1 - min0, max0 - min1);
}
else
{
// objects overlap
d = (max0 < max1) ? max0 : max1;
d -= (min0 > min1) ? min0 : min1;
}
return(false);
}
/// <summary>
/// Disjoint Returns true if disjoint. Returns false if intersecting,
/// and sets the overlap depth, d scaled by the axis length.
/// </summary>
private static bool Disjoint(out float d, ref Vector3 axis, MyBox box0, MyBox box1, float collTolerance)
{
float min0, max0, min1, max1;
box0.GetSpan(out min0, out max0, axis);
box1.GetSpan(out min1, out max1, axis);
if (min0 > (max1 + collTolerance + MyPhysicsConfig.CollisionEpsilon) ||
min1 > (max0 + collTolerance + MyPhysicsConfig.CollisionEpsilon))
{
d = 0.0f;
return(true);
}
if ((max0 > max1) && (min1 > min0))
{
// box1 is inside - choose the min dist to move it out
d = MathHelper.Min(max0 - min1, max1 - min0);
}
else if ((max1 > max0) && (min0 > min1))
{
// box0 is inside - choose the min dist to move it out
d = MathHelper.Min(max1 - min0, max0 - min1);
}
else
{
// boxes overlap
d = (max0 < max1) ? max0 : max1;
d -= (min0 > min1) ? min0 : min1;
}
return(false);
}
// Disjoint Returns true if disjoint. Returns false if intersecting,
// and sets the overlap depth, d scaled by the axis length
private static bool Disjoint(out float d, Vector3 axis, MyBox box, MyColDetVoxelTriangle triangle, float collTolerance)
{
float min0, max0, min1, max1;
box.GetSpan(out min0, out max0, axis);
triangle.GetSpan(out min1, out max1, axis);
if (min0 > (max1 + collTolerance ) ||
min1 > (max0 + collTolerance ))
{
d = 0.0f;
return true;
}
if ((max0 > max1) && (min1 > min0))
{
// triangleVertexes is inside - choose the min dist to move it out
d = System.Math.Min(max0 - min1, max1 - min0);
}
else if ((max1 > max0) && (min0 > min1))
{
// box is inside - choose the min dist to move it out
d = System.Math.Min(max1 - min0, max0 - min1);
}
else
{
// objects overlap
d = (max0 < max1) ? max0 : max1;
d -= (min0 > min1) ? min0 : min1;
}
return false;
}
