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)),
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();
}
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;
}