figure out depth and normal in box/box test

[blank.git] / src / model / geometry.cpp

diff --git a/src/model/geometry.cpp b/src/model/geometry.cpp
index b08d59fe5b556ebcdbc680b568cf36358f89a5f7..c2816b44a0f585f67781ef7e6bbe4e811dcd4fe9 100644 (file)
--- a/src/model/geometry.cpp
+++ b/src/model/geometry.cpp
@@ -70,7 +70,9 @@ bool Intersection(
        const AABB &a_box,
        const glm::mat4 &a_m,
        const AABB &b_box,
-       const glm::mat4 &b_m
+       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)),
@@ -103,6 +105,10 @@ bool Intersection(
                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();
@@ -121,11 +127,17 @@ bool Intersection(
                }
 
                if (a_max < b_min || b_max < a_min) return false;
-       }
 
-       // TODO: find intersection point and normals
-       // normal could be deduced from the axis with the lowest min?
+               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;
 }