public bool _SatForAxes(double[] axes, Vector3 testAxis, Vector3 extents, Vector3 v0, Vector3 v1, Vector3 v2)
{
int i, j;
for (i = 0, j = axes.Length - 3; i <= j; i += 3)
{
testAxis.FromArray(axes, i);
// project the aabb onto the seperating axis
var r = extents.x * _Math.Abs(testAxis.x) + extents.y * _Math.Abs(testAxis.y) + extents.z * _Math.Abs(testAxis.z);
// project all 3 vertices of the triangle onto the seperating axis
var p0 = v0.Dot(testAxis);
var p1 = v1.Dot(testAxis);
var p2 = v2.Dot(testAxis);
// actual test, basically see if either of the most extreme of the triangle points intersects r
if (_Math.Max(-_Math.Max(_Math.Max(p0, p1), p2), _Math.Min(_Math.Min(p0, p1), p2)) > r)
{
// points of the projected triangle are outside the projected half-length of the aabb
// the axis is seperating and we can exit
return(false);
}
}
return(true);
}
