public static bool sweepSphereBox(SphereShape sphere, VInt3 fromPos, VInt3 ToPos, BoxShape box, VIntTransform boxTransform,
ref VFixedPoint dist, ref VInt3 normal)
{
VFixedPoint tmp;
VInt3 dir = ToPos - fromPos;
if (SphereBoxCollisionAlgorithm.getSphereDistance(box, boxTransform, fromPos, sphere.getRadius(), out normal, out tmp))
{
normal = (fromPos - ToPos).Normalize();
dist = VFixedPoint.Zero;
return(true);
}
VInt3 aabbMin = boxTransform.position - box.getHalfExtent(), aabbMax = boxTransform.position + box.getHalfExtent();
aabbMax += VInt3.one * sphere.getRadius();
aabbMin -= VInt3.one * sphere.getRadius();
return(BoxRaytestAlgorithm.rayTestBox(fromPos, ToPos, aabbMax, boxTransform, ref dist, ref normal));
}