satForAxes<T extends num> method

bool satForAxes<T extends num>(
  1. List<T> axes,
  2. Vector3 v0,
  3. Vector3 v1,
  4. Vector3 v2,
  5. Vector3 extents,
)

Implementation

bool satForAxes<T extends num>(List<T> axes, Vector3 v0, Vector3 v1, Vector3 v2, Vector3 extents) {
  for (var 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.max3(p0, p1, p2), Math.min3(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;
}