// BEN-OPTIMISATION: ref axis and ref triangle, BEN-CLEANUP: Renamed min and max variables.
/// <summary>
/// Disjoint Returns true if disjoint. Returns false if intersecting,
/// and sets the overlap depth, d scaled by the axis length
/// </summary>
/// <param name="d"></param>
/// <param name="axis"></param>
/// <param name="box"></param>
/// <param name="triangle"></param>
/// <param name="collTolerance"></param>
/// <returns>bool</returns>
private static bool Disjoint(out float d, ref Vector3 axis, Box box, ref Triangle triangle, float collTolerance)
{
float minBox, maxBox, minTri, maxTri;
// BEN-OPTIMISATION: ref axis
box.GetSpan(out minBox, out maxBox, ref axis);
triangle.GetSpan(out minTri, out maxTri, ref axis);
if (minBox > (maxTri + collTolerance + JiggleMath.Epsilon) || minTri > (maxBox + collTolerance + JiggleMath.Epsilon))
{
d = 0.0f;
return (true);
}
if ((maxBox > maxTri) && (minTri > minBox))
{
// triangle is inside - choose the min dist to move it out
d = System.Math.Min(maxBox - minTri, maxTri - minBox);
}
else if ((maxTri > maxBox) && (minBox > minTri))
{
// box is inside - choose the min dist to move it out
d = System.Math.Min(maxTri - minBox, maxBox - minTri);
}
else
{
// objects overlap
d = (maxBox < maxTri) ? maxBox : maxTri;
d -= (minBox > minTri) ? minBox : minTri;
}
return (false);
}
/// <summary>
/// Disjoint Returns true if disjoint. Returns false if intersecting,
/// and sets the overlap depth, d scaled by the axis length
/// </summary>
/// <param name="d"></param>
/// <param name="axis"></param>
/// <param name="box"></param>
/// <param name="triangle"></param>
/// <param name="collTolerance"></param>
/// <returns></returns>
private static bool Disjoint(out float d, Vector3 axis, Box box, Triangle 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 + JiggleMath.Epsilon) ||
min1 > (max0 + collTolerance + JiggleMath.Epsilon))
{
d = 0.0f;
return true;
}
if ((max0 > max1) && (min1 > min0))
{
// triangle 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;
}
