OPC_BoxBoxOverlap.h

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inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb)
{
        // Stats
        mNbBVBVTests++;

        float t,t2;

        // Class I : A's basis vectors
        float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x;
        t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0];
        if(GREATER(Tx, t))      return FALSE;

        float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y;
        t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1];
        if(GREATER(Ty, t))      return FALSE;

        float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z;
        t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2];
        if(GREATER(Tz, t))      return FALSE;

        // Class II : B's basis vectors
        t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2];  t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x;
        if(GREATER(t, t2))      return FALSE;

        t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2];  t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y;
        if(GREATER(t, t2))      return FALSE;

        t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2];  t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z;
        if(GREATER(t, t2))      return FALSE;

        // Class III : 9 cross products
        // Cool trick: always perform the full test for first level, regardless of settings.
        // That way pathological cases (such as the pencils scene) are quickly rejected anyway !
        if(mFullBoxBoxTest || mNbBVBVTests==1)
        {
                t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2];      t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2))      return FALSE;   // L = A0 x B0
                t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2];      t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2))      return FALSE;   // L = A0 x B1
                t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2];      t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2))      return FALSE;   // L = A0 x B2
                t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0];      t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2))      return FALSE;   // L = A1 x B0
                t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0];      t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2))      return FALSE;   // L = A1 x B1
                t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0];      t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2))      return FALSE;   // L = A1 x B2
                t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1];      t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2))      return FALSE;   // L = A2 x B0
                t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1];      t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2))      return FALSE;   // L = A2 x B1
                t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1];      t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2))      return FALSE;   // L = A2 x B2
        }
        return TRUE;
}
// Modified!
// Only AABBTreeCollider
#if 0

inline_ BOOL OBBCollider::BoxBoxOverlap(const Point& extents, const Point& center)
{
        // Stats
        mNbVolumeBVTests++;

        float t,t2;

        // Class I : A's basis vectors
        float Tx = mTBoxToModel.x - center.x;   t = extents.x + mBBx1;  if(GREATER(Tx, t))      return FALSE;
        float Ty = mTBoxToModel.y - center.y;   t = extents.y + mBBy1;  if(GREATER(Ty, t))      return FALSE;
        float Tz = mTBoxToModel.z - center.z;   t = extents.z + mBBz1;  if(GREATER(Tz, t))      return FALSE;

        // Class II : B's basis vectors
        t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2];
        t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x;
        if(GREATER(t, t2))      return FALSE;

        t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2];
        t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y;
        if(GREATER(t, t2))      return FALSE;

        t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2];
        t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z;
        if(GREATER(t, t2))      return FALSE;

        // Class III : 9 cross products
        // Cool trick: always perform the full test for first level, regardless of settings.
        // That way pathological cases (such as the pencils scene) are quickly rejected anyway !
        if(mFullBoxBoxTest || mNbVolumeBVTests==1)
        {
                t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2];  t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1;     if(GREATER(t, t2))      return FALSE;   // L = A0 x B0
                t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2];  t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2;     if(GREATER(t, t2))      return FALSE;   // L = A0 x B1
                t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2];  t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3;     if(GREATER(t, t2))      return FALSE;   // L = A0 x B2
                t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0];  t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4;     if(GREATER(t, t2))      return FALSE;   // L = A1 x B0
                t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0];  t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5;     if(GREATER(t, t2))      return FALSE;   // L = A1 x B1
                t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0];  t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6;     if(GREATER(t, t2))      return FALSE;   // L = A1 x B2
                t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1];  t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7;     if(GREATER(t, t2))      return FALSE;   // L = A2 x B0
                t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1];  t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8;     if(GREATER(t, t2))      return FALSE;   // L = A2 x B1
                t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1];  t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9;     if(GREATER(t, t2))      return FALSE;   // L = A2 x B2
        }
        return TRUE;
}

inline_ BOOL AABBCollider::AABBAABBOverlap(const Point& extents, const Point& center)
{
        // Stats
        mNbVolumeBVTests++;

        float tx = mBox.mCenter.x - center.x;   float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex))     return FALSE;
        float ty = mBox.mCenter.y - center.y;   float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey))     return FALSE;
        float tz = mBox.mCenter.z - center.z;   float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez))     return FALSE;

        return TRUE;
}
#endif