return true;
}
+
+bool Intersection(
+ const AABB &a_box,
+ const glm::mat4 &a_m,
+ const AABB &b_box,
+ const glm::mat4 &b_m,
+ float &depth,
+ glm::vec3 &normal
+) noexcept {
+ glm::vec3 a_corners[8] = {
+ glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.min.y, a_box.min.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.min.y, a_box.max.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.max.y, a_box.min.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.max.y, a_box.max.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.min.y, a_box.min.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.min.y, a_box.max.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.max.y, a_box.min.z, 1)),
+ glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.max.y, a_box.max.z, 1)),
+ };
+
+ glm::vec3 b_corners[8] = {
+ glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.min.y, b_box.min.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.min.y, b_box.max.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.max.y, b_box.min.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.max.y, b_box.max.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.min.y, b_box.min.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.min.y, b_box.max.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.max.y, b_box.min.z, 1)),
+ glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.max.y, b_box.max.z, 1)),
+ };
+
+ glm::vec3 axes[6] = {
+ glm::vec3(a_m * glm::vec4(1, 0, 0, 0)),
+ glm::vec3(a_m * glm::vec4(0, 1, 0, 0)),
+ glm::vec3(a_m * glm::vec4(0, 0, 1, 0)),
+ glm::vec3(b_m * glm::vec4(1, 0, 0, 0)),
+ glm::vec3(b_m * glm::vec4(0, 1, 0, 0)),
+ glm::vec3(b_m * glm::vec4(0, 0, 1, 0)),
+ };
+
+ depth = std::numeric_limits<float>::infinity();
+ int min_axis = 0;
+
+ int cur_axis = 0;
+ for (const glm::vec3 &axis : axes) {
+ float a_min = std::numeric_limits<float>::infinity();
+ float a_max = -std::numeric_limits<float>::infinity();
+ for (const glm::vec3 &corner : a_corners) {
+ float val = glm::dot(corner, axis);
+ a_min = std::min(a_min, val);
+ a_max = std::max(a_max, val);
+ }
+
+ float b_min = std::numeric_limits<float>::infinity();
+ float b_max = -std::numeric_limits<float>::infinity();
+ for (const glm::vec3 &corner : b_corners) {
+ float val = glm::dot(corner, axis);
+ b_min = std::min(b_min, val);
+ b_max = std::max(b_max, val);
+ }
+
+ if (a_max < b_min || b_max < a_min) return false;
+
+ float overlap = std::min(a_max, b_max) - std::max(a_min, b_min);
+ if (overlap < depth) {
+ depth = overlap;
+ min_axis = cur_axis;
+ }
+
+ ++cur_axis;
+ }
+
+ normal = axes[min_axis];
+ return true;
+}
+
+
bool CullTest(const AABB &box, const glm::mat4 &MVP) noexcept {
// transform corners into clip space
glm::vec4 corners[8] = {