@babylonjs/react-native 2.0.0 → 2.0.1-preview

package/shared/BabylonNative/deps/bgfx.cmake-src/bgfx/examples/common/bounds.cpp

@@ -1,2178 +0,0 @@
-/*
- * Copyright 2011-2020 Branimir Karadzic. All rights reserved.
- * License: https://github.com/bkaradzic/bgfx#license-bsd-2-clause
- */
-
-#include <bx/rng.h>
-#include <bx/math.h>
-#include "bounds.h"
-
-using namespace bx;
-
-Vec3 getCenter(const Aabb& _aabb)
-{
-	return mul(add(_aabb.min, _aabb.max), 0.5f);
-}
-
-Vec3 getExtents(const Aabb& _aabb)
-{
-	return mul(sub(_aabb.max, _aabb.min), 0.5f);
-}
-
-Vec3 getCenter(const Triangle& _triangle)
-{
-	return mul(add(add(_triangle.v0, _triangle.v1), _triangle.v2), 1.0f/3.0f);
-}
-
-void toAabb(Aabb& _outAabb, const Vec3& _extents)
-{
-	_outAabb.min = neg(_extents);
-	_outAabb.max =     _extents;
-}
-
-void toAabb(Aabb& _outAabb, const Vec3& _center, const Vec3& _extents)
-{
-	_outAabb.min = sub(_center, _extents);
-	_outAabb.max = add(_center, _extents);
-}
-
-void toAabb(Aabb& _outAabb, const Cylinder& _cylinder)
-{
-	// Reference(s):
-	// - https://web.archive.org/web/20181113055756/http://iquilezles.org/www/articles/diskbbox/diskbbox.htm
-	//
-	const Vec3 axis = sub(_cylinder.end, _cylinder.pos);
-	const Vec3 asq  = mul(axis, axis);
-	const Vec3 nsq  = mul(asq, 1.0f/dot(axis, axis) );
-	const Vec3 tmp  = sub(Vec3(1.0f), nsq);
-
-	const float inv = 1.0f/(tmp.x*tmp.y*tmp.z);
-
-	const Vec3 extent =
-	{
-		_cylinder.radius * tmp.x * bx::sqrt( (nsq.x + nsq.y * nsq.z) * inv),
-		_cylinder.radius * tmp.y * bx::sqrt( (nsq.y + nsq.z * nsq.x) * inv),
-		_cylinder.radius * tmp.z * bx::sqrt( (nsq.z + nsq.x * nsq.y) * inv),
-	};
-
-	const Vec3 minP = sub(_cylinder.pos, extent);
-	const Vec3 minE = sub(_cylinder.end, extent);
-	const Vec3 maxP = add(_cylinder.pos, extent);
-	const Vec3 maxE = add(_cylinder.end, extent);
-
-	_outAabb.min = min(minP, minE);
-	_outAabb.max = max(maxP, maxE);
-}
-
-void toAabb(Aabb& _outAabb, const Disk& _disk)
-{
-	// Reference(s):
-	// - https://web.archive.org/web/20181113055756/http://iquilezles.org/www/articles/diskbbox/diskbbox.htm
-	//
-	const Vec3 nsq = mul(_disk.normal, _disk.normal);
-	const Vec3 one = { 1.0f, 1.0f, 1.0f };
-	const Vec3 tmp = sub(one, nsq);
-	const float inv = 1.0f / (tmp.x*tmp.y*tmp.z);
-
-	const Vec3 extent =
-	{
-		_disk.radius * tmp.x * bx::sqrt( (nsq.x + nsq.y * nsq.z) * inv),
-		_disk.radius * tmp.y * bx::sqrt( (nsq.y + nsq.z * nsq.x) * inv),
-		_disk.radius * tmp.z * bx::sqrt( (nsq.z + nsq.x * nsq.y) * inv),
-	};
-
-	_outAabb.min = sub(_disk.center, extent);
-	_outAabb.max = add(_disk.center, extent);
-}
-
-void toAabb(Aabb& _outAabb, const Obb& _obb)
-{
-	Vec3 xyz = { 1.0f, 1.0f, 1.0f };
-	Vec3 tmp = mul(xyz, _obb.mtx);
-
-	_outAabb.min = tmp;
-	_outAabb.max = tmp;
-
-	for (uint32_t ii = 1; ii < 8; ++ii)
-	{
-		xyz.x = ii & 1 ? -1.0f : 1.0f;
-		xyz.y = ii & 2 ? -1.0f : 1.0f;
-		xyz.z = ii & 4 ? -1.0f : 1.0f;
-		tmp = mul(xyz, _obb.mtx);
-
-		_outAabb.min = min(_outAabb.min, tmp);
-		_outAabb.max = max(_outAabb.max, tmp);
-	}
-}
-
-void toAabb(Aabb& _outAabb, const Sphere& _sphere)
-{
-	const float radius = _sphere.radius;
-	_outAabb.min = sub(_sphere.center, radius);
-	_outAabb.max = add(_sphere.center, radius);
-}
-
-void toAabb(Aabb& _outAabb, const Triangle& _triangle)
-{
-	_outAabb.min = min(_triangle.v0, _triangle.v1, _triangle.v2);
-	_outAabb.max = max(_triangle.v0, _triangle.v1, _triangle.v2);
-}
-
-void aabbTransformToObb(Obb& _obb, const Aabb& _aabb, const float* _mtx)
-{
-	toObb(_obb, _aabb);
-	float result[16];
-	mtxMul(result, _obb.mtx, _mtx);
-	memCopy(_obb.mtx, result, sizeof(result) );
-}
-
-void toAabb(Aabb& _outAabb, const void* _vertices, uint32_t _numVertices, uint32_t _stride)
-{
-	Vec3 mn, mx;
-	uint8_t* vertex = (uint8_t*)_vertices;
-
-	mn = mx = load<Vec3>(vertex);
-	vertex += _stride;
-
-	for (uint32_t ii = 1; ii < _numVertices; ++ii)
-	{
-		const Vec3 pos = load<Vec3>(vertex);
-		vertex += _stride;
-
-		mn = min(pos, mn);
-		mx = max(pos, mx);
-	}
-
-	_outAabb.min = mn;
-	_outAabb.max = mx;
-}
-
-void toAabb(Aabb& _outAabb, const float* _mtx, const void* _vertices, uint32_t _numVertices, uint32_t _stride)
-{
-	Vec3 mn, mx;
-	uint8_t* vertex = (uint8_t*)_vertices;
-	mn = mx = mul(load<Vec3>(vertex), _mtx);
-
-	vertex += _stride;
-
-	for (uint32_t ii = 1; ii < _numVertices; ++ii)
-	{
-		Vec3 pos = mul(load<Vec3>(vertex), _mtx);
-		vertex += _stride;
-
-		mn = min(pos, mn);
-		mx = max(pos, mx);
-	}
-
-	_outAabb.min = mn;
-	_outAabb.max = mx;
-}
-
-float calcAreaAabb(const Aabb& _aabb)
-{
-	const float ww = _aabb.max.x - _aabb.min.x;
-	const float hh = _aabb.max.y - _aabb.min.y;
-	const float dd = _aabb.max.z - _aabb.min.z;
-	return 2.0f * (ww*hh + ww*dd + hh*dd);
-}
-
-void aabbExpand(Aabb& _outAabb, float _factor)
-{
-	_outAabb.min.x -= _factor;
-	_outAabb.min.y -= _factor;
-	_outAabb.min.z -= _factor;
-	_outAabb.max.x += _factor;
-	_outAabb.max.y += _factor;
-	_outAabb.max.z += _factor;
-}
-
-void aabbExpand(Aabb& _outAabb, const Vec3& _pos)
-{
-	_outAabb.min = min(_outAabb.min, _pos);
-	_outAabb.max = max(_outAabb.max, _pos);
-}
-
-void toObb(Obb& _outObb, const Aabb& _aabb)
-{
-	memSet(_outObb.mtx, 0, sizeof(_outObb.mtx) );
-	_outObb.mtx[ 0] = (_aabb.max.x - _aabb.min.x) * 0.5f;
-	_outObb.mtx[ 5] = (_aabb.max.y - _aabb.min.y) * 0.5f;
-	_outObb.mtx[10] = (_aabb.max.z - _aabb.min.z) * 0.5f;
-	_outObb.mtx[12] = (_aabb.min.x + _aabb.max.x) * 0.5f;
-	_outObb.mtx[13] = (_aabb.min.y + _aabb.max.y) * 0.5f;
-	_outObb.mtx[14] = (_aabb.min.z + _aabb.max.z) * 0.5f;
-	_outObb.mtx[15] = 1.0f;
-}
-
-void calcObb(Obb& _outObb, const void* _vertices, uint32_t _numVertices, uint32_t _stride, uint32_t _steps)
-{
-	Aabb aabb;
-	toAabb(aabb, _vertices, _numVertices, _stride);
-	float minArea = calcAreaAabb(aabb);
-
-	Obb best;
-	toObb(best, aabb);
-
-	float angleStep = float(kPiHalf/_steps);
-	float ax = 0.0f;
-	float mtx[16];
-
-	for (uint32_t ii = 0; ii < _steps; ++ii)
-	{
-		float ay = 0.0f;
-
-		for (uint32_t jj = 0; jj < _steps; ++jj)
-		{
-			float az = 0.0f;
-
-			for (uint32_t kk = 0; kk < _steps; ++kk)
-			{
-				mtxRotateXYZ(mtx, ax, ay, az);
-
-				float mtxT[16];
-				mtxTranspose(mtxT, mtx);
-				toAabb(aabb, mtxT, _vertices, _numVertices, _stride);
-
-				float area = calcAreaAabb(aabb);
-				if (area < minArea)
-				{
-					minArea = area;
-					aabbTransformToObb(best, aabb, mtx);
-				}
-
-				az += angleStep;
-			}
-
-			ay += angleStep;
-		}
-
-		ax += angleStep;
-	}
-
-	memCopy(&_outObb, &best, sizeof(Obb) );
-}
-
-void calcMaxBoundingSphere(Sphere& _sphere, const void* _vertices, uint32_t _numVertices, uint32_t _stride)
-{
-	Aabb aabb;
-	toAabb(aabb, _vertices, _numVertices, _stride);
-
-	Vec3 center = getCenter(aabb);
-
-	float maxDistSq = 0.0f;
-	uint8_t* vertex = (uint8_t*)_vertices;
-
-	for (uint32_t ii = 0; ii < _numVertices; ++ii)
-	{
-		const Vec3& pos = load<Vec3>(vertex);
-		vertex += _stride;
-
-		const Vec3 tmp = sub(pos, center);
-		const float distSq = dot(tmp, tmp);
-		maxDistSq = max(distSq, maxDistSq);
-	}
-
-	_sphere.center = center;
-	_sphere.radius = bx::sqrt(maxDistSq);
-}
-
-void calcMinBoundingSphere(Sphere& _sphere, const void* _vertices, uint32_t _numVertices, uint32_t _stride, float _step)
-{
-	RngMwc rng;
-
-	uint8_t* vertex = (uint8_t*)_vertices;
-
-	Vec3 center;
-	float* position = (float*)&vertex[0];
-	center.x = position[0];
-	center.y = position[1];
-	center.z = position[2];
-
-	position = (float*)&vertex[1*_stride];
-	center.x += position[0];
-	center.y += position[1];
-	center.z += position[2];
-
-	center.x *= 0.5f;
-	center.y *= 0.5f;
-	center.z *= 0.5f;
-
-	float xx = position[0] - center.x;
-	float yy = position[1] - center.y;
-	float zz = position[2] - center.z;
-	float maxDistSq = xx*xx + yy*yy + zz*zz;
-
-	float radiusStep = _step * 0.37f;
-
-	bool done;
-	do
-	{
-		done = true;
-		for (uint32_t ii = 0, index = rng.gen()%_numVertices; ii < _numVertices; ++ii, index = (index + 1)%_numVertices)
-		{
-			position = (float*)&vertex[index*_stride];
-
-			xx = position[0] - center.x;
-			yy = position[1] - center.y;
-			zz = position[2] - center.z;
-			float distSq = xx*xx + yy*yy + zz*zz;
-
-			if (distSq > maxDistSq)
-			{
-				done = false;
-
-				center.x += xx * radiusStep;
-				center.y += yy * radiusStep;
-				center.z += zz * radiusStep;
-				maxDistSq = lerp(maxDistSq, distSq, _step);
-
-				break;
-			}
-		}
-
-	} while (!done);
-
-	_sphere.center = center;
-	_sphere.radius = bx::sqrt(maxDistSq);
-}
-
-void buildFrustumPlanes(Plane* _result, const float* _viewProj)
-{
-	const float xw = _viewProj[ 3];
-	const float yw = _viewProj[ 7];
-	const float zw = _viewProj[11];
-	const float ww = _viewProj[15];
-
-	const float xz = _viewProj[ 2];
-	const float yz = _viewProj[ 6];
-	const float zz = _viewProj[10];
-	const float wz = _viewProj[14];
-
-	Plane& near   = _result[0];
-	Plane& far    = _result[1];
-	Plane& left   = _result[2];
-	Plane& right  = _result[3];
-	Plane& top    = _result[4];
-	Plane& bottom = _result[5];
-
-	near.normal.x = xw - xz;
-	near.normal.y = yw - yz;
-	near.normal.z = zw - zz;
-	near.dist     = ww - wz;
-
-	far.normal.x = xw + xz;
-	far.normal.y = yw + yz;
-	far.normal.z = zw + zz;
-	far.dist     = ww + wz;
-
-	const float xx = _viewProj[ 0];
-	const float yx = _viewProj[ 4];
-	const float zx = _viewProj[ 8];
-	const float wx = _viewProj[12];
-
-	left.normal.x = xw - xx;
-	left.normal.y = yw - yx;
-	left.normal.z = zw - zx;
-	left.dist     = ww - wx;
-
-	right.normal.x = xw + xx;
-	right.normal.y = yw + yx;
-	right.normal.z = zw + zx;
-	right.dist     = ww + wx;
-
-	const float xy = _viewProj[ 1];
-	const float yy = _viewProj[ 5];
-	const float zy = _viewProj[ 9];
-	const float wy = _viewProj[13];
-
-	top.normal.x = xw + xy;
-	top.normal.y = yw + yy;
-	top.normal.z = zw + zy;
-	top.dist     = ww + wy;
-
-	bottom.normal.x = xw - xy;
-	bottom.normal.y = yw - yy;
-	bottom.normal.z = zw - zy;
-	bottom.dist     = ww - wy;
-
-	Plane* plane = _result;
-	for (uint32_t ii = 0; ii < 6; ++ii)
-	{
-		const float invLen = 1.0f/length(plane->normal);
-		plane->normal = normalize(plane->normal);
-		plane->dist  *= invLen;
-		++plane;
-	}
-}
-
-Ray makeRay(float _x, float _y, const float* _invVp)
-{
-	Ray ray;
-
-	const Vec3 near = { _x, _y, 0.0f };
-	ray.pos = mulH(near, _invVp);
-
-	const Vec3 far = { _x, _y, 1.0f };
-	Vec3 tmp = mulH(far, _invVp);
-
-	const Vec3 dir = sub(tmp, ray.pos);
-	ray.dir = normalize(dir);
-
-	return ray;
-}
-
-inline Vec3 getPointAt(const Ray& _ray, float _t)
-{
-	return mad(_ray.dir, _t, _ray.pos);
-}
-
-bool intersect(const Ray& _ray, const Aabb& _aabb, Hit* _hit)
-{
-	const Vec3 invDir = rcp(_ray.dir);
-	const Vec3 tmp0   = sub(_aabb.min, _ray.pos);
-	const Vec3 t0     = mul(tmp0, invDir);
-	const Vec3 tmp1   = sub(_aabb.max, _ray.pos);
-	const Vec3 t1     = mul(tmp1, invDir);
-
-	const Vec3 mn = min(t0, t1);
-	const Vec3 mx = max(t0, t1);
-
-	const float tmin = max(mn.x, mn.y, mn.z);
-	const float tmax = min(mx.x, mx.y, mx.z);
-
-	if (0.0f > tmax
-	||  tmin > tmax)
-	{
-		return false;
-	}
-
-	if (NULL != _hit)
-	{
-		_hit->plane.normal.x = float( (t1.x == tmin) - (t0.x == tmin) );
-		_hit->plane.normal.y = float( (t1.y == tmin) - (t0.y == tmin) );
-		_hit->plane.normal.z = float( (t1.z == tmin) - (t0.z == tmin) );
-
-		_hit->plane.dist = tmin;
-		_hit->pos        = getPointAt(_ray, tmin);
-	}
-
-	return true;
-}
-
-static constexpr Aabb kUnitAabb =
-{
-	{ -1.0f, -1.0f, -1.0f },
-	{  1.0f,  1.0f,  1.0f },
-};
-
-bool intersect(const Ray& _ray, const Obb& _obb, Hit* _hit)
-{
-	Aabb aabb;
-	toAabb(aabb, _obb);
-
-	if (!intersect(_ray, aabb) )
-	{
-		return false;
-	}
-
-	float mtxInv[16];
-	mtxInverse(mtxInv, _obb.mtx);
-
-	Ray obbRay;
-	obbRay.pos = mul(_ray.pos, mtxInv);
-	obbRay.dir = mulXyz0(_ray.dir, mtxInv);
-
-	if (intersect(obbRay, kUnitAabb, _hit) )
-	{
-		if (NULL != _hit)
-		{
-			_hit->pos = mul(_hit->pos, _obb.mtx);
-
-			const Vec3 tmp = mulXyz0(_hit->plane.normal, _obb.mtx);
-			_hit->plane.normal = normalize(tmp);
-		}
-
-		return true;
-	}
-
-	return false;
-}
-
-bool intersect(const Ray& _ray, const Disk& _disk, Hit* _hit)
-{
-	Plane plane;
-	plane.normal = _disk.normal;
-	plane.dist   = -dot(_disk.center, _disk.normal);
-
-	Hit tmpHit;
-	_hit = NULL != _hit ? _hit : &tmpHit;
-
-	if (intersect(_ray, plane, _hit) )
-	{
-		const Vec3 tmp = sub(_disk.center, _hit->pos);
-		return dot(tmp, tmp) <= square(_disk.radius);
-	}
-
-	return false;
-}
-
-static bool intersect(const Ray& _ray, const Cylinder& _cylinder, bool _capsule, Hit* _hit)
-{
-	Vec3 axis = sub(_cylinder.end, _cylinder.pos);
-	const Vec3 rc   = sub(_ray.pos, _cylinder.pos);
-	const Vec3 dxa  = cross(_ray.dir, axis);
-
-	const float len    = length(dxa);
-	const Vec3  normal = normalize(dxa);
-	const float dist   = bx::abs(dot(rc, normal) );
-
-	if (dist > _cylinder.radius)
-	{
-		return false;
-	}
-
-	Vec3 vo = cross(rc, axis);
-	const float t0 = -dot(vo, normal) / len;
-
-	vo = normalize(cross(normal, axis) );
-
-	const float rsq   = square(_cylinder.radius);
-	const float ddoto = dot(_ray.dir, vo);
-	const float ss    = t0 - bx::abs(bx::sqrt(rsq - square(dist) ) / ddoto);
-
-	if (0.0f > ss)
-	{
-		return false;
-	}
-
-	const Vec3 point = getPointAt(_ray, ss);
-
-	const float axisLen = length(axis);
-	axis = normalize(axis);
-	const float pdota  = dot(_cylinder.pos, axis);
-	const float height = dot(point, axis) - pdota;
-
-	if (0.0f    < height
-	&&  axisLen > height)
-	{
-		if (NULL != _hit)
-		{
-			const float t1 = height / axisLen;
-			const Vec3 pointOnAxis = lerp(_cylinder.pos, _cylinder.end, t1);
-
-			_hit->pos = point;
-
-			const Vec3 tmp = sub(point, pointOnAxis);
-			_hit->plane.normal = normalize(tmp);
-
-			_hit->plane.dist = ss;
-		}
-
-		return true;
-	}
-
-	if (_capsule)
-	{
-		const float rdota = dot(_ray.pos, axis);
-		const float pp    = rdota - pdota;
-		const float t1    = pp / axisLen;
-
-		const Vec3 pointOnAxis = lerp(_cylinder.pos, _cylinder.end, t1);
-		const Vec3 axisToRay   = sub(_ray.pos, pointOnAxis);
-
-		if (_cylinder.radius < length(axisToRay)
-		&&  0.0f > ss)
-		{
-			return false;
-		}
-
-		Sphere sphere;
-		sphere.radius = _cylinder.radius;
-
-		sphere.center = 0.0f >= height
-			? _cylinder.pos
-			: _cylinder.end
-			;
-
-		return intersect(_ray, sphere, _hit);
-	}
-
-	Plane plane;
-	Vec3 pos;
-
-	if (0.0f >= height)
-	{
-		plane.normal = neg(axis);
-		pos = _cylinder.pos;
-	}
-	else
-	{
-		plane.normal = axis;
-		pos = _cylinder.end;
-	}
-
-	plane.dist = -dot(pos, plane.normal);
-
-	Hit tmpHit;
-	_hit = NULL != _hit ? _hit : &tmpHit;
-
-	if (intersect(_ray, plane, _hit) )
-	{
-		const Vec3 tmp = sub(pos, _hit->pos);
-		return dot(tmp, tmp) <= rsq;
-	}
-
-	return false;
-}
-
-bool intersect(const Ray& _ray, const Cylinder& _cylinder, Hit* _hit)
-{
-	return intersect(_ray, _cylinder, false, _hit);
-}
-
-bool intersect(const Ray& _ray, const Capsule& _capsule, Hit* _hit)
-{
-	BX_STATIC_ASSERT(sizeof(Capsule) == sizeof(Cylinder) );
-	return intersect(_ray, *( (const Cylinder*)&_capsule), true, _hit);
-}
-
-bool intersect(const Ray& _ray, const Cone& _cone, Hit* _hit)
-{
-	const Vec3 axis = sub(_cone.pos, _cone.end);
-
-	const float len = length(axis);
-	const Vec3 normal = normalize(axis);
-
-	Disk disk;
-	disk.center = _cone.pos;
-	disk.normal = normal;
-	disk.radius = _cone.radius;
-
-	Hit tmpInt;
-	Hit* out = NULL != _hit ? _hit : &tmpInt;
-	bool hit = intersect(_ray, disk, out);
-
-	const Vec3 ro = sub(_ray.pos, _cone.end);
-
-	const float hyp    = bx::sqrt(square(_cone.radius) + square(len) );
-	const float cosaSq = square(len/hyp);
-	const float ndoto  = dot(normal, ro);
-	const float ndotd  = dot(normal, _ray.dir);
-
-	const float aa = square(ndotd) - cosaSq;
-	const float bb = 2.0f * (ndotd*ndoto - dot(_ray.dir, ro)*cosaSq);
-	const float cc = square(ndoto) - dot(ro, ro)*cosaSq;
-
-	float det = bb*bb - 4.0f*aa*cc;
-
-	if (0.0f > det)
-	{
-		return hit;
-	}
-
-	det = bx::sqrt(det);
-	const float invA2 = 1.0f / (2.0f*aa);
-	const float t1 = (-bb - det) * invA2;
-	const float t2 = (-bb + det) * invA2;
-
-	float tt = t1;
-	if (0.0f > t1
-	|| (0.0f < t2 && t2 < t1) )
-	{
-		tt = t2;
-	}
-
-	if (0.0f > tt)
-	{
-		return hit;
-	}
-
-	const Vec3 hitPos = getPointAt(_ray, tt);
-	const Vec3 point  = sub(hitPos, _cone.end);
-
-	const float hh = dot(normal, point);
-
-	if (0.0f > hh
-	||  len  < hh)
-	{
-		return hit;
-	}
-
-	if (NULL != _hit)
-	{
-		if (!hit
-		||  tt < _hit->plane.dist)
-		{
-			_hit->plane.dist = tt;
-			_hit->pos  = hitPos;
-
-			const float scale = hh / dot(point, point);
-			const Vec3 pointScaled = mul(point, scale);
-
-			const Vec3 tmp = sub(pointScaled, normal);
-			_hit->plane.normal = normalize(tmp);
-		}
-	}
-
-	return true;
-}
-
-bool intersect(const Ray& _ray, const Plane& _plane, Hit* _hit)
-{
-	const float dist = distance(_plane, _ray.pos);
-	if (0.0f > dist)
-	{
-		return false;
-	}
-
-	const float ndotd = dot(_ray.dir, _plane.normal);
-	if (0.0f < ndotd)
-	{
-		return false;
-	}
-
-	if (NULL != _hit)
-	{
-		_hit->plane.normal = _plane.normal;
-
-		float tt = -dist/ndotd;
-		_hit->plane.dist = tt;
-		_hit->pos = getPointAt(_ray, tt);
-	}
-
-	return true;
-}
-
-bool intersect(const Ray& _ray, const Sphere& _sphere, Hit* _hit)
-{
-	const Vec3 rs = sub(_ray.pos, _sphere.center);
-
-	const float bb = dot(rs, _ray.dir);
-	if (0.0f < bb)
-	{
-		return false;
-	}
-
-	const float aa = dot(_ray.dir, _ray.dir);
-	const float cc = dot(rs, rs) - square(_sphere.radius);
-
-	const float discriminant = bb*bb - aa*cc;
-
-	if (0.0f >= discriminant)
-	{
-		return false;
-	}
-
-	const float sqrtDiscriminant = bx::sqrt(discriminant);
-	const float invA = 1.0f / aa;
-	const float tt = -(bb + sqrtDiscriminant)*invA;
-
-	if (0.0f >= tt)
-	{
-		return false;
-	}
-
-	if (NULL != _hit)
-	{
-		_hit->plane.dist = tt;
-
-		const Vec3 point = getPointAt(_ray, tt);
-		_hit->pos = point;
-
-		const Vec3 tmp = sub(point, _sphere.center);
-		_hit->plane.normal = normalize(tmp);
-	}
-
-	return true;
-}
-
-bool intersect(const Ray& _ray, const Triangle& _triangle, Hit* _hit)
-{
-	const Vec3 edge10 = sub(_triangle.v1, _triangle.v0);
-	const Vec3 edge02 = sub(_triangle.v0, _triangle.v2);
-	const Vec3 normal = cross(edge02, edge10);
-	const Vec3 vo     = sub(_triangle.v0, _ray.pos);
-	const Vec3 dxo    = cross(_ray.dir, vo);
-	const float det = dot(normal, _ray.dir);
-
-	if (0.0f < det)
-	{
-		return false;
-	}
-
-	const float invDet = 1.0f/det;
-	const float bz = dot(dxo, edge02) * invDet;
-	const float by = dot(dxo, edge10) * invDet;
-	const float bx = 1.0f - by - bz;
-
-	if (0.0f > bx
-	||  0.0f > by
-	||  0.0f > bz)
-	{
-		return false;
-	}
-
-	if (NULL != _hit)
-	{
-		_hit->plane.normal = normalize(normal);
-
-		const float tt = dot(normal, vo) * invDet;
-		_hit->plane.dist = tt;
-		_hit->pos  = getPointAt(_ray, tt);
-	}
-
-	return true;
-}
-
-Vec3 barycentric(const Triangle& _triangle, const Vec3& _pos)
-{
-	const Vec3 v0 = sub(_triangle.v1, _triangle.v0);
-	const Vec3 v1 = sub(_triangle.v2, _triangle.v0);
-	const Vec3 v2 = sub(_pos, _triangle.v0);
-
-	const float dot00 = dot(v0, v0);
-	const float dot01 = dot(v0, v1);
-	const float dot02 = dot(v0, v2);
-	const float dot11 = dot(v1, v1);
-	const float dot12 = dot(v1, v2);
-
-	const float invDenom = 1.0f/(dot00*dot11 - square(dot01) );
-
-	const float vv = (dot11*dot02 - dot01*dot12)*invDenom;
-	const float ww = (dot00*dot12 - dot01*dot02)*invDenom;
-	const float uu = 1.0f - vv - ww;
-
-	return { uu, vv, ww };
-}
-
-Vec3 cartesian(const Triangle& _triangle, const Vec3& _uvw)
-{
-	const Vec3 b0 = mul(_triangle.v0, _uvw.x);
-	const Vec3 b1 = mul(_triangle.v1, _uvw.y);
-	const Vec3 b2 = mul(_triangle.v2, _uvw.z);
-
-	return add(add(b0, b1), b2);
-}
-
-void calcPlane(Plane& _outPlane, const Disk& _disk)
-{
-	calcPlane(_outPlane, _disk.normal, _disk.center);
-}
-
-void calcPlane(Plane& _outPlane, const Triangle& _triangle)
-{
-	calcPlane(_outPlane, _triangle.v0, _triangle.v1, _triangle.v2);
-}
-
-struct Interval
-{
-	float start;
-	float end;
-};
-
-bool overlap(const Interval& _a, const Interval& _b)
-{
-	return _a.end > _b.start
-		&& _b.end > _a.start
-		;
-}
-
-float projectToAxis(const Vec3& _axis, const Vec3& _point)
-{
-	return dot(_axis, _point);
-}
-
-Interval projectToAxis(const Vec3& _axis, const Aabb& _aabb)
-{
-	const float extent = bx::abs(dot(abs(_axis), getExtents(_aabb) ) );
-	const float center =         dot(    _axis , getCenter (_aabb) );
-	return
-	{
-		center - extent,
-		center + extent,
-	};
-}
-
-Interval projectToAxis(const Vec3& _axis, const Triangle& _triangle)
-{
-	const float a0 = dot(_axis, _triangle.v0);
-	const float a1 = dot(_axis, _triangle.v1);
-	const float a2 = dot(_axis, _triangle.v2);
-	return
-	{
-		min(a0, a1, a2),
-		max(a0, a1, a2),
-	};
-}
-
-struct Srt
-{
-	Quaternion rotation;
-	Vec3       translation;
-	Vec3       scale;
-};
-
-Srt toSrt(const void* _mtx)
-{
-	Srt result;
-
-	const float* mtx = (const float*)_mtx;
-
-	result.translation = { mtx[12], mtx[13], mtx[14] };
-
-	float xx = mtx[ 0];
-	float xy = mtx[ 1];
-	float xz = mtx[ 2];
-	float yx = mtx[ 4];
-	float yy = mtx[ 5];
-	float yz = mtx[ 6];
-	float zx = mtx[ 8];
-	float zy = mtx[ 9];
-	float zz = mtx[10];
-
-	result.scale =
-	{
-		bx::sqrt(xx*xx + xy*xy + xz*xz),
-		bx::sqrt(yx*yx + yy*yy + yz*yz),
-		bx::sqrt(zx*zx + zy*zy + zz*zz),
-	};
-
-	const Vec3 invScale = rcp(result.scale);
-
-	xx *= invScale.x;
-	xy *= invScale.x;
-	xz *= invScale.x;
-	yx *= invScale.y;
-	yy *= invScale.y;
-	yz *= invScale.y;
-	zx *= invScale.z;
-	zy *= invScale.z;
-	zz *= invScale.z;
-
-	const float trace = xx + yy + zz;
-
-	if (0.0f < trace)
-	{
-		const float invS = 0.5f * rsqrt(trace + 1.0f);
-		result.rotation =
-		{
-			(yz - zy) * invS,
-			(zx - xz) * invS,
-			(xy - yx) * invS,
-			0.25f     / invS,
-		};
-	}
-	else
-	{
-		if (xx > yy
-		&&  xx > zz)
-		{
-			const float invS = 0.5f * bx::sqrt(max(1.0f + xx - yy - zz, 1e-8f) );
-			result.rotation =
-			{
-				0.25f     / invS,
-				(xy + yx) * invS,
-				(xz + zx) * invS,
-				(yz - zy) * invS,
-			};
-		}
-		else if (yy > zz)
-		{
-			const float invS = 0.5f * bx::sqrt(max(1.0f + yy - xx - zz, 1e-8f) );
-			result.rotation =
-			{
-				(xy + yx) * invS,
-				0.25f     / invS,
-				(yz + zy) * invS,
-				(zx - xz) * invS,
-			};
-		}
-		else
-		{
-			const float invS = 0.5f * bx::sqrt(max(1.0f + zz - xx - yy, 1e-8f) );
-			result.rotation =
-			{
-				(xz + zx) * invS,
-				(yz + zy) * invS,
-				0.25f     / invS,
-				(xy - yx) * invS,
-			};
-		}
-	}
-
-	return result;
-}
-
-void mtxFromSrt(float* _outMtx, const Srt& _srt)
-{
-	mtxQuat(_outMtx, _srt.rotation);
-
-	store<Vec3>(&_outMtx[0], mul(load<Vec3>(&_outMtx[0]), _srt.scale.x) );
-	store<Vec3>(&_outMtx[4], mul(load<Vec3>(&_outMtx[4]), _srt.scale.y) );
-	store<Vec3>(&_outMtx[8], mul(load<Vec3>(&_outMtx[8]), _srt.scale.z) );
-
-	store<Vec3>(&_outMtx[12], _srt.translation);
-}
-
-bool isNearZero(float _v)
-{
-	return equal(_v, 0.0f, 0.00001f);
-}
-
-bool isNearZero(const Vec3& _v)
-{
-	return isNearZero(dot(_v, _v) );
-}
-
-struct Line
-{
-	Vec3 pos;
-	Vec3 dir;
-};
-
-inline Vec3 getPointAt(const Line& _line, float _t)
-{
-	return mad(_line.dir, _t, _line.pos);
-}
-
-bool intersect(Line& _outLine, const Plane& _planeA, const Plane& _planeB)
-{
-	const Vec3  axb   = cross(_planeA.normal, _planeB.normal);
-	const float denom = dot(axb, axb);
-
-	if (isNearZero(denom) )
-	{
-		return false;
-	}
-
-	const Vec3 bxaxb = cross(_planeB.normal, axb);
-	const Vec3 axbxa = cross(axb, _planeA.normal);
-	const Vec3 tmp0  = mul(bxaxb, _planeA.dist);
-	const Vec3 tmp1  = mul(axbxa, _planeB.dist);
-	const Vec3 tmp2  = add(tmp0, tmp1);
-
-	_outLine.pos = mul(tmp2, -1.0f/denom);
-	_outLine.dir = normalize(axb);
-
-	return true;
-}
-
-Vec3 intersectPlanes(const Plane& _pa, const Plane& _pb, const Plane& _pc)
-{
-	const Vec3 axb  = cross(_pa.normal, _pb.normal);
-	const Vec3 bxc  = cross(_pb.normal, _pc.normal);
-	const Vec3 cxa  = cross(_pc.normal, _pa.normal);
-	const Vec3 tmp0 = mul(bxc, _pa.dist);
-	const Vec3 tmp1 = mul(cxa, _pb.dist);
-	const Vec3 tmp2 = mul(axb, _pc.dist);
-	const Vec3 tmp3 = add(tmp0, tmp1);
-	const Vec3 tmp4 = add(tmp3, tmp2);
-
-	const float denom = dot(_pa.normal, bxc);
-	const Vec3 result = mul(tmp4, -1.0f/denom);
-
-	return result;
-}
-
-struct LineSegment
-{
-	Vec3 pos;
-	Vec3 end;
-};
-
-inline Vec3 getPointAt(const LineSegment& _line, float _t)
-{
-	return lerp(_line.pos, _line.end, _t);
-}
-
-bool intersect(float& _outTa, float& _outTb, const LineSegment& _a, const LineSegment& _b)
-{
-	// Reference(s):
-	//
-	// - The shortest line between two lines in 3D
-	//   https://web.archive.org/web/20120309093234/http://paulbourke.net/geometry/lineline3d/
-
-	const Vec3 bd = sub(_b.end, _b.pos);
-	if (isNearZero(bd) )
-	{
-		return false;
-	}
-
-	const Vec3 ad = sub(_a.end, _a.pos);
-	if (isNearZero(ad) )
-	{
-		return false;
-	}
-
-	const Vec3  ab = sub(_a.pos, _b.pos);
-
-	const float d0 = projectToAxis(ab, bd);
-	const float d1 = projectToAxis(ad, bd);
-	const float d2 = projectToAxis(ab, ad);
-	const float d3 = projectToAxis(bd, bd);
-	const float d4 = projectToAxis(ad, ad);
-
-	const float denom = d4*d3 - square(d1);
-
-	float ta = 0.0f;
-
-	if (!isNearZero(denom) )
-	{
-		ta = (d0*d1 - d2*d3)/denom;
-	}
-
-	_outTa = ta;
-	_outTb = (d0+d1*ta)/d3;
-
-	return true;
-}
-
-bool intersect(const LineSegment& _a, const LineSegment& _b)
-{
-	float ta, tb;
-	if (!intersect(ta, tb, _a, _b) )
-	{
-		return false;
-	}
-
-	return 0.0f >= ta
-		&& 1.0f <= ta
-		&& 0.0f >= tb
-		&& 1.0f <= tb
-		;
-}
-
-bool intersect(const LineSegment& _line, const Plane& _plane, Hit* _hit)
-{
-	const float dist  = distance(_plane, _line.pos);
-	const float flip  = sign(dist);
-	const Vec3  dir   = normalize(sub(_line.end, _line.pos) );
-	const float ndotd = dot(dir, _plane.normal);
-	const float tt    = -dist/ndotd;
-	const float len   = length(sub(_line.end, _line.pos) );
-
-	if (tt < 0.0f || tt > len)
-	{
-		return false;
-	}
-
-	if (NULL != _hit)
-	{
-		_hit->pos = mad(dir, tt, _line.pos);
-
-		_hit->plane.normal =  mul(_plane.normal, flip);
-		_hit->plane.dist   = -dot(_hit->plane.normal, _hit->pos);
-	}
-
-	return true;
-}
-
-float distance(const Plane& _plane, const LineSegment& _line)
-{
-	const float pd = distance(_plane, _line.pos);
-	const float ed = distance(_plane, _line.end);
-	return min(max(pd*ed, 0.0f), bx::abs(pd), bx::abs(ed) );
-}
-
-Vec3 closestPoint(const Line& _line, const Vec3& _point)
-{
-	const float tt = projectToAxis(_line.dir, sub(_point, _line.pos) );
-	return getPointAt(_line, tt);
-}
-
-Vec3 closestPoint(const LineSegment& _line, const Vec3& _point, float& _outT)
-{
-	const Vec3  axis     = sub(_line.end, _line.pos);
-	const float lengthSq = dot(axis, axis);
-	const float tt       = clamp(projectToAxis(axis, sub(_point, _line.pos) ) / lengthSq, 0.0f, 1.0f);
-	_outT = tt;
-	return mad(axis, tt, _line.pos);
-}
-
-Vec3 closestPoint(const LineSegment& _line, const Vec3& _point)
-{
-	float ignored;
-	return closestPoint(_line, _point, ignored);
-}
-
-Vec3 closestPoint(const Plane& _plane, const Vec3& _point)
-{
-	const float dist = distance(_plane, _point);
-	return sub(_point, mul(_plane.normal, dist) );
-}
-
-Vec3 closestPoint(const Aabb& _aabb, const Vec3& _point)
-{
-	return clamp(_point, _aabb.min, _aabb.max);
-}
-
-Vec3 closestPoint(const Obb& _obb, const Vec3& _point)
-{
-	Srt srt = toSrt(_obb.mtx);
-
-	Aabb aabb;
-	toAabb(aabb, srt.scale);
-
-	const Quaternion invRotation = invert(srt.rotation);
-	const Vec3 obbSpacePos = mul(sub(_point, srt.translation), srt.rotation);
-	const Vec3 pos = closestPoint(aabb, obbSpacePos);
-
-	return add(mul(pos, invRotation), srt.translation);
-}
-
-Vec3 closestPoint(const Triangle& _triangle, const Vec3& _point)
-{
-	Plane plane;
-	calcPlane(plane, _triangle);
-
-	const Vec3 pos = closestPoint(plane, _point);
-	const Vec3 uvw = barycentric(_triangle, pos);
-
-	return cartesian(_triangle, clamp<Vec3>(uvw, Vec3(0.0f), Vec3(1.0f) ) );
-}
-
-bool overlap(const Aabb& _aabb, const Vec3& _pos)
-{
-	const Vec3 ac  = getCenter(_aabb);
-	const Vec3 ae  = getExtents(_aabb);
-	const Vec3 abc = bx::abs(sub(ac, _pos) );
-
-	return abc.x <= ae.x
-		&& abc.y <= ae.y
-		&& abc.z <= ae.z
-		;
-}
-
-bool overlap(const Aabb& _aabb, const Sphere& _sphere)
-{
-	return overlap(_sphere, _aabb);
-}
-
-bool overlap(const Aabb& _aabbA, const Aabb& _aabbB)
-{
-	return true
-		&& _aabbA.max.x > _aabbB.min.x
-		&& _aabbB.max.x > _aabbA.min.x
-		&& _aabbA.max.y > _aabbB.min.y
-		&& _aabbB.max.y > _aabbA.min.y
-		&& _aabbA.max.z > _aabbB.min.z
-		&& _aabbB.max.z > _aabbA.min.z
-		;
-}
-
-bool overlap(const Aabb& _aabb, const Plane& _plane)
-{
-	const Vec3 center = getCenter(_aabb);
-	const float dist  = distance(_plane, center);
-
-	const Vec3 extents = getExtents(_aabb);
-	const Vec3 normal  = bx::abs(_plane.normal);
-	const float radius = dot(extents, normal);
-
-	return bx::abs(dist) <= radius;
-}
-
-static constexpr Vec3 kAxis[] =
-{
-	{ 1.0f, 0.0f, 0.0f },
-	{ 0.0f, 1.0f, 0.0f },
-	{ 0.0f, 0.0f, 1.0f },
-};
-
-bool overlap(const Aabb& _aabb, const Triangle& _triangle)
-{
-	Aabb triAabb;
-	toAabb(triAabb, _triangle);
-
-	if (!overlap(_aabb, triAabb) )
-	{
-		return false;
-	}
-
-	Plane plane;
-	calcPlane(plane, _triangle);
-
-	if (!overlap(_aabb, plane) )
-	{
-		return false;
-	}
-
-	const Vec3 center = getCenter(_aabb);
-	const Vec3 v0 = sub(_triangle.v0, center);
-	const Vec3 v1 = sub(_triangle.v1, center);
-	const Vec3 v2 = sub(_triangle.v2, center);
-
-	const Vec3 edge[] =
-	{
-		sub(v1, v0),
-		sub(v2, v1),
-		sub(v0, v2),
-	};
-
-	for (uint32_t ii = 0; ii < 3; ++ii)
-	{
-		for (uint32_t jj = 0; jj < 3; ++jj)
-		{
-			const Vec3 axis = cross(kAxis[ii], edge[jj]);
-
-			const Interval aabbR = projectToAxis(axis, _aabb);
-			const Interval triR  = projectToAxis(axis, _triangle);
-
-			if (!overlap(aabbR, triR) )
-			{
-				return false;
-			}
-		}
-	}
-
-	return true;
-}
-
-bool overlap(const Aabb& _aabb, const Cylinder& _cylinder)
-{
-	return overlap(_cylinder, _aabb);
-}
-
-bool overlap(const Aabb& _aabb, const Capsule& _capsule)
-{
-	const Vec3 pos = closestPoint(LineSegment{_capsule.pos, _capsule.end}, getCenter(_aabb) );
-	return overlap(_aabb, Sphere{pos, _capsule.radius});
-}
-
-bool overlap(const Aabb& _aabb, const Cone& _cone)
-{
-	float tt;
-	const Vec3 pos = closestPoint(LineSegment{_cone.pos, _cone.end}, getCenter(_aabb), tt);
-	return overlap(_aabb, Sphere{pos, lerp(_cone.radius, 0.0f, tt)});
-}
-
-bool overlap(const Aabb& _aabb, const Disk& _disk)
-{
-	if (!overlap(_aabb, Sphere{_disk.center, _disk.radius}) )
-	{
-		return false;
-	}
-
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	return overlap(_aabb, plane);
-}
-
-bool overlap(const Aabb& _aabb, const Obb& _obb)
-{
-	BX_UNUSED(_aabb, _obb);
-	return false;
-}
-
-bool overlap(const Capsule& _capsule, const Vec3& _pos)
-{
-	const Vec3 pos = closestPoint(LineSegment{_capsule.pos, _capsule.end}, _pos);
-	return overlap(Sphere{pos, _capsule.radius}, _pos);
-}
-
-bool overlap(const Capsule& _capsule, const Sphere& _sphere)
-{
-	return overlap(_sphere, _capsule);
-}
-
-bool overlap(const Capsule& _capsule, const Aabb& _aabb)
-{
-	return overlap(_aabb, _capsule);
-}
-
-bool overlap(const Capsule& _capsule, const Plane& _plane)
-{
-	return distance(_plane, LineSegment{_capsule.pos, _capsule.end}) <= _capsule.radius;
-}
-
-bool overlap(const Capsule& _capsule, const Triangle& _triangle)
-{
-	return overlap(_triangle, _capsule);
-}
-
-bool overlap(const Capsule& _capsule, const Cylinder& _cylinder)
-{
-	return overlap(_cylinder, _capsule);
-}
-
-bool overlap(const Capsule& _capsuleA, const Capsule& _capsuleB)
-{
-	float ta, tb;
-	if (!intersect(ta, tb, {_capsuleA.pos, _capsuleA.end}, {_capsuleB.pos, _capsuleB.end}) )
-	{
-		return false;
-	}
-
-	if (0.0f <= ta
-	&&  1.0f >= ta
-	&&  0.0f <= tb
-	&&  1.0f >= tb)
-	{
-		const Vec3 ad = sub(_capsuleA.end, _capsuleA.pos);
-		const Vec3 bd = sub(_capsuleB.end, _capsuleB.pos);
-
-		return overlap(
-			  Sphere{mad(ad, ta, _capsuleA.pos), _capsuleA.radius}
-			, Sphere{mad(bd, tb, _capsuleB.pos), _capsuleB.radius}
-			);
-	}
-
-	if (0.0f <= ta
-	&&  1.0f >= ta)
-	{
-		return overlap(_capsuleA, Sphere{0.0f >= tb ? _capsuleB.pos : _capsuleB.end, _capsuleB.radius});
-	}
-
-	if (0.0f <= tb
-	&&  1.0f >= tb)
-	{
-		return overlap(_capsuleB, Sphere{0.0f >= ta ? _capsuleA.pos : _capsuleA.end, _capsuleA.radius});
-	}
-
-	const Vec3 pa = 0.0f > ta ? _capsuleA.pos : _capsuleA.end;
-	const Vec3 pb = 0.0f > tb ? _capsuleB.pos : _capsuleB.end;
-	const Vec3 closestA = closestPoint(LineSegment{_capsuleA.pos, _capsuleA.end}, pb);
-	const Vec3 closestB = closestPoint(LineSegment{_capsuleB.pos, _capsuleB.end}, pa);
-
-	if (dot(closestA, pb) <= dot(closestB, pa) )
-	{
-		return overlap(_capsuleA, Sphere{closestB, _capsuleB.radius});
-	}
-
-	return overlap(_capsuleB, Sphere{closestA, _capsuleA.radius});
-}
-
-bool overlap(const Capsule& _capsule, const Cone& _cone)
-{
-	BX_UNUSED(_capsule, _cone);
-	return false;
-}
-
-bool overlap(const Capsule& _capsule, const Disk& _disk)
-{
-	return overlap(_disk, _capsule);
-}
-
-bool overlap(const Capsule& _capsule, const Obb& _obb)
-{
-	return overlap(_obb, _capsule);
-}
-
-bool overlap(const Cone& _cone, const Vec3& _pos)
-{
-	float tt;
-	const Vec3 pos = closestPoint(LineSegment{_cone.pos, _cone.end}, _pos, tt);
-	return overlap(Disk{pos, normalize(sub(_cone.end, _cone.pos) ), lerp(_cone.radius, 0.0f, tt)}, _pos);
-}
-
-bool overlap(const Cone& _cone, const Sphere& _sphere)
-{
-	return overlap(_sphere, _cone);
-}
-
-bool overlap(const Cone& _cone, const Aabb& _aabb)
-{
-	return overlap(_aabb, _cone);
-}
-
-bool overlap(const Cone& _cone, const Plane& _plane)
-{
-	return overlap(_plane, _cone);
-}
-
-bool overlap(const Cone& _cone, const Triangle& _triangle)
-{
-	return overlap(_triangle, _cone);
-}
-
-bool overlap(const Cone& _cone, const Cylinder& _cylinder)
-{
-	BX_UNUSED(_cone, _cylinder);
-	return false;
-}
-
-bool overlap(const Cone& _cone, const Capsule& _capsule)
-{
-	BX_UNUSED(_cone, _capsule);
-	return false;
-}
-
-bool overlap(const Cone& _coneA, const Cone& _coneB)
-{
-	BX_UNUSED(_coneA, _coneB);
-	return false;
-}
-
-bool overlap(const Cone& _cone, const Disk& _disk)
-{
-	BX_UNUSED(_cone, _disk);
-	return false;
-}
-
-bool overlap(const Cone& _cone, const Obb& _obb)
-{
-	BX_UNUSED(_cone, _obb);
-	return false;
-}
-
-bool overlap(const Cylinder& _cylinder, const Vec3& _pos)
-{
-	const Vec3 pos = closestPoint(LineSegment{_cylinder.pos, _cylinder.end}, _pos);
-	return overlap(Disk{pos, normalize(sub(_cylinder.end, _cylinder.pos) ), _cylinder.radius}, _pos);
-}
-
-bool overlap(const Cylinder& _cylinder, const Sphere& _sphere)
-{
-	const Vec3 pos = closestPoint(LineSegment{_cylinder.pos, _cylinder.end}, _sphere.center);
-	return overlap(Disk{pos, normalize(sub(_cylinder.end, _cylinder.pos) ), _cylinder.radius}, _sphere);
-}
-
-bool overlap(const Cylinder& _cylinder, const Aabb& _aabb)
-{
-	const Vec3 pos = closestPoint(LineSegment{_cylinder.pos, _cylinder.end}, getCenter(_aabb) );
-	return overlap(Disk{pos, normalize(sub(_cylinder.end, _cylinder.pos) ), _cylinder.radius}, _aabb);
-}
-
-bool overlap(const Cylinder& _cylinder, const Plane& _plane)
-{
-	BX_UNUSED(_cylinder, _plane);
-	return false;
-}
-
-bool overlap(const Cylinder& _cylinder, const Triangle& _triangle)
-{
-	return overlap(_triangle, _cylinder);
-}
-
-bool overlap(const Cylinder& _cylinderA, const Cylinder& _cylinderB)
-{
-	BX_UNUSED(_cylinderA, _cylinderB);
-	return false;
-}
-
-bool overlap(const Cylinder& _cylinder, const Capsule& _capsule)
-{
-	BX_UNUSED(_cylinder, _capsule);
-	return false;
-}
-
-bool overlap(const Cylinder& _cylinder, const Cone& _cone)
-{
-	BX_UNUSED(_cylinder, _cone);
-	return false;
-}
-
-bool overlap(const Cylinder& _cylinder, const Disk& _disk)
-{
-	BX_UNUSED(_cylinder, _disk);
-	return false;
-}
-
-bool overlap(const Cylinder& _cylinder, const Obb& _obb)
-{
-	BX_UNUSED(_cylinder, _obb);
-	return false;
-}
-
-bool overlap(const Disk& _disk, const Vec3& _pos)
-{
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	if (!isNearZero(distance(plane, _pos) ) )
-	{
-		return false;
-	}
-
-	return distanceSq(_disk.center, _pos) <= square(_disk.radius);
-}
-
-bool overlap(const Disk& _disk, const Sphere& _sphere)
-{
-	return overlap(_sphere, _disk);
-}
-
-bool overlap(const Disk& _disk, const Aabb& _aabb)
-{
-	return overlap(_aabb, _disk);
-}
-
-bool overlap(const Disk& _disk, const Plane& _plane)
-{
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	if (!overlap(plane, _plane) )
-	{
-		return false;
-	}
-
-	return overlap(_plane, Sphere{_disk.center, _disk.radius});
-}
-
-bool overlap(const Disk& _disk, const Triangle& _triangle)
-{
-	return overlap(_triangle, _disk);
-}
-
-bool overlap(const Disk& _disk, const Cylinder& _cylinder)
-{
-	return overlap(_cylinder, _disk);
-}
-
-bool overlap(const Disk& _disk, const Capsule& _capsule)
-{
-	if (!overlap(_capsule, Sphere{_disk.center, _disk.radius}) )
-	{
-		return false;
-	}
-
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	return overlap(_capsule, plane);
-}
-
-bool overlap(const Disk& _disk, const Cone& _cone)
-{
-	BX_UNUSED(_disk, _cone);
-	return false;
-}
-
-bool overlap(const Disk& _diskA, const Disk& _diskB)
-{
-	Plane planeA;
-	calcPlane(planeA, _diskA.normal, _diskA.center);
-
-	Plane planeB;
-	calcPlane(planeB, _diskB);
-
-	Line line;
-
-	if (!intersect(line, planeA, planeB) )
-	{
-		return false;
-	}
-
-	const Vec3 pa = closestPoint(line, _diskA.center);
-	const Vec3 pb = closestPoint(line, _diskB.center);
-
-	const float lenA = distance(pa, _diskA.center);
-	const float lenB = distance(pb, _diskB.center);
-
-	return bx::sqrt(square(_diskA.radius) - square(lenA) )
-		+  bx::sqrt(square(_diskB.radius) - square(lenB) )
-		>= distance(pa, pb)
-		;
-}
-
-bool overlap(const Disk& _disk, const Obb& _obb)
-{
-	if (!overlap(_obb, Sphere{_disk.center, _disk.radius}) )
-	{
-		return false;
-	}
-
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	return overlap(_obb, plane);
-}
-
-bool overlap(const Obb& _obb, const Vec3& _pos)
-{
-	Srt srt = toSrt(_obb.mtx);
-
-	Aabb aabb;
-	toAabb(aabb, srt.scale);
-
-	const Quaternion invRotation = invert(srt.rotation);
-	const Vec3 pos = mul(sub(_pos, srt.translation), invRotation);
-
-	return overlap(aabb, pos);
-}
-
-bool overlap(const Obb& _obb, const Sphere& _sphere)
-{
-	return overlap(_sphere, _obb);
-}
-
-bool overlap(const Obb& _obb, const Aabb& _aabb)
-{
-	return overlap(_aabb, _obb);
-}
-
-bool overlap(const Obb& _obb, const Plane& _plane)
-{
-	Srt srt = toSrt(_obb.mtx);
-
-	const Quaternion invRotation = invert(srt.rotation);
-	const Vec3 axis =
-	{
-		projectToAxis(_plane.normal, mul(Vec3{1.0f, 0.0f, 0.0f}, invRotation) ),
-		projectToAxis(_plane.normal, mul(Vec3{0.0f, 1.0f, 0.0f}, invRotation) ),
-		projectToAxis(_plane.normal, mul(Vec3{0.0f, 0.0f, 1.0f}, invRotation) ),
-	};
-
-	const float dist   = bx::abs(distance(_plane, srt.translation) );
-	const float radius = dot(srt.scale, bx::abs(axis) );
-
-	return dist <= radius;
-}
-
-bool overlap(const Obb& _obb, const Triangle& _triangle)
-{
-	return overlap(_triangle, _obb);
-}
-
-bool overlap(const Obb& _obb, const Cylinder& _cylinder)
-{
-	BX_UNUSED(_obb, _cylinder);
-	return false;
-}
-
-bool overlap(const Obb& _obb, const Capsule& _capsule)
-{
-	Srt srt = toSrt(_obb.mtx);
-
-	Aabb aabb;
-	toAabb(aabb, srt.scale);
-
-	const Quaternion invRotation = invert(srt.rotation);
-
-	const Capsule capsule =
-	{
-		mul(sub(_capsule.pos, srt.translation), invRotation),
-		mul(sub(_capsule.end, srt.translation), invRotation),
-		_capsule.radius,
-	};
-
-	return overlap(aabb, capsule);
-}
-
-bool overlap(const Obb& _obb, const Cone& _cone)
-{
-	BX_UNUSED(_obb, _cone);
-	return false;
-}
-
-bool overlap(const Obb& _obb, const Disk& _disk)
-{
-	return overlap(_disk, _obb);
-}
-
-bool overlap(const Obb& _obbA, const Obb& _obbB)
-{
-	BX_UNUSED(_obbA, _obbB);
-	return false;
-}
-
-bool overlap(const Plane& _plane, const LineSegment& _line)
-{
-	return isNearZero(distance(_plane, _line) );
-}
-
-bool overlap(const Plane& _plane, const Vec3& _pos)
-{
-	return isNearZero(distance(_plane, _pos) );
-}
-
-bool overlap(const Plane& _plane, const Sphere& _sphere)
-{
-	return overlap(_sphere, _plane);
-}
-
-bool overlap(const Plane& _plane, const Aabb& _aabb)
-{
-	return overlap(_aabb, _plane);
-}
-
-bool overlap(const Plane& _planeA, const Plane& _planeB)
-{
-	const Vec3  dir = cross(_planeA.normal, _planeB.normal);
-	const float len = length(dir);
-
-	return !isNearZero(len);
-}
-
-bool overlap(const Plane& _plane, const Triangle& _triangle)
-{
-	return overlap(_triangle, _plane);
-}
-
-bool overlap(const Plane& _plane, const Cylinder& _cylinder)
-{
-	return overlap(_cylinder, _plane);
-}
-
-bool overlap(const Plane& _plane, const Capsule& _capsule)
-{
-	return overlap(_capsule, _plane);
-}
-
-bool overlap(const Plane& _plane, const Cone& _cone)
-{
-	const Vec3 axis = sub(_cone.pos, _cone.end);
-	const float len = length(axis);
-	const Vec3 dir  = normalize(axis);
-
-	const Vec3 v1 = cross(_plane.normal, dir);
-	const Vec3 v2 = cross(v1, dir);
-
-	const float bb = len;
-	const float aa = _cone.radius;
-	const float cc = bx::sqrt(square(aa) + square(bb) );
-
-	const Vec3 pos = add(add(_cone.end
-		, mul(dir, len * bb/cc) )
-		, mul(v2,  len * aa/cc)
-		);
-
-	return overlap(_plane, LineSegment{pos, _cone.end});
-}
-
-bool overlap(const Plane& _plane, const Disk& _disk)
-{
-	return overlap(_disk, _plane);
-}
-
-bool overlap(const Plane& _plane, const Obb& _obb)
-{
-	return overlap(_obb, _plane);
-}
-
-bool overlap(const Sphere& _sphere, const Vec3& _pos)
-{
-	const float distSq   = distanceSq(_sphere.center, _pos);
-	const float radiusSq = square(_sphere.radius);
-	return distSq <= radiusSq;
-}
-
-bool overlap(const Sphere& _sphereA, const Sphere& _sphereB)
-{
-	const float distSq   = distanceSq(_sphereA.center, _sphereB.center);
-	const float radiusSq = square(_sphereA.radius + _sphereB.radius);
-	return distSq <= radiusSq;
-}
-
-bool overlap(const Sphere& _sphere, const Aabb& _aabb)
-{
-	const Vec3 pos = closestPoint(_aabb, _sphere.center);
-	return overlap(_sphere, pos);
-}
-
-bool overlap(const Sphere& _sphere, const Plane& _plane)
-{
-	return bx::abs(distance(_plane, _sphere.center) ) <= _sphere.radius;
-}
-
-bool overlap(const Sphere& _sphere, const Triangle& _triangle)
-{
-	Plane plane;
-	calcPlane(plane, _triangle);
-
-	if (!overlap(_sphere, plane) )
-	{
-		return false;
-	}
-
-	const Vec3 pos = closestPoint(plane, _sphere.center);
-	const Vec3 uvw = barycentric(_triangle, pos);
-	const float nr = -_sphere.radius;
-
-	return uvw.x >= nr
-		&& uvw.y >= nr
-		&& uvw.z >= nr
-		;
-}
-
-bool overlap(const Sphere& _sphere, const Cylinder& _cylinder)
-{
-	return overlap(_cylinder, _sphere);
-}
-
-bool overlap(const Sphere& _sphere, const Capsule& _capsule)
-{
-	const Vec3 pos = closestPoint(LineSegment{_capsule.pos, _capsule.end}, _sphere.center);
-	return overlap(_sphere, Sphere{pos, _capsule.radius});
-}
-
-bool overlap(const Sphere& _sphere, const Cone& _cone)
-{
-	float tt;
-	const Vec3 pos = closestPoint(LineSegment{_cone.pos, _cone.end}, _sphere.center, tt);
-	return overlap(_sphere, Sphere{pos, lerp(_cone.radius, 0.0f, tt)});
-}
-
-bool overlap(const Sphere& _sphere, const Disk& _disk)
-{
-	if (!overlap(_sphere, Sphere{_disk.center, _disk.radius}) )
-	{
-		return false;
-	}
-
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	return overlap(_sphere, plane);
-}
-
-bool overlap(const Sphere& _sphere, const Obb& _obb)
-{
-	const Vec3 pos = closestPoint(_obb, _sphere.center);
-	return overlap(_sphere, pos);
-}
-
-bool overlap(const Triangle& _triangle, const Vec3& _pos)
-{
-	const Vec3 uvw = barycentric(_triangle, _pos);
-
-	return uvw.x >= 0.0f
-		&& uvw.y >= 0.0f
-		&& uvw.z >= 0.0f
-		;
-}
-
-bool overlap(const Triangle& _triangle, const Sphere& _sphere)
-{
-	return overlap(_sphere, _triangle);
-}
-
-bool overlap(const Triangle& _triangle, const Aabb& _aabb)
-{
-	return overlap(_aabb, _triangle);
-}
-
-bool overlap(const Triangle& _triangle, const Plane& _plane)
-{
-	const float dist0 = distance(_plane, _triangle.v0);
-	const float dist1 = distance(_plane, _triangle.v1);
-	const float dist2 = distance(_plane, _triangle.v2);
-
-	const float minDist = min(dist0, dist1, dist2);
-	const float maxDist = max(dist0, dist1, dist2);
-
-	return 0.0f > minDist
-		&& 0.0f < maxDist
-		;
-}
-
-inline bool overlap(const Triangle& _triangleA, const Triangle& _triangleB, const Vec3& _axis)
-{
-	const Interval ia = projectToAxis(_axis, _triangleA);
-	const Interval ib = projectToAxis(_axis, _triangleB);
-	return overlap(ia, ib);
-}
-
-bool overlap(const Triangle& _triangleA, const Triangle& _triangleB)
-{
-	const Vec3 baA = sub(_triangleA.v1, _triangleA.v0);
-	const Vec3 cbA = sub(_triangleA.v2, _triangleA.v1);
-	const Vec3 acA = sub(_triangleA.v0, _triangleA.v2);
-
-	const Vec3 baB = sub(_triangleB.v1, _triangleB.v0);
-	const Vec3 cbB = sub(_triangleB.v2, _triangleB.v1);
-	const Vec3 acB = sub(_triangleB.v0, _triangleB.v2);
-
-	return overlap(_triangleA, _triangleB, cross(baA, cbA) )
-		&& overlap(_triangleA, _triangleB, cross(baB, cbB) )
-		&& overlap(_triangleA, _triangleB, cross(baB, baA) )
-		&& overlap(_triangleA, _triangleB, cross(baB, cbA) )
-		&& overlap(_triangleA, _triangleB, cross(baB, acA) )
-		&& overlap(_triangleA, _triangleB, cross(cbB, baA) )
-		&& overlap(_triangleA, _triangleB, cross(cbB, cbA) )
-		&& overlap(_triangleA, _triangleB, cross(cbB, acA) )
-		&& overlap(_triangleA, _triangleB, cross(acB, baA) )
-		&& overlap(_triangleA, _triangleB, cross(acB, cbA) )
-		&& overlap(_triangleA, _triangleB, cross(acB, acA) )
-		;
-}
-
-template<typename Ty>
-bool overlap(const Triangle& _triangle, const Ty& _ty)
-{
-	Plane plane;
-	calcPlane(plane, _triangle);
-
-	plane.normal = neg(plane.normal);
-	plane.dist   = -plane.dist;
-
-	const LineSegment line =
-	{
-		_ty.pos,
-		_ty.end,
-	};
-
-	Hit hit;
-	if (intersect(line, plane, &hit) )
-	{
-		return true;
-	}
-
-	const Vec3 pos = closestPoint(plane, hit.pos);
-	const Vec3 uvw = barycentric(_triangle, pos);
-
-	const float nr = -_ty.radius;
-
-	if (uvw.x >= nr
-	&&  uvw.y >= nr
-	&&  uvw.z >= nr)
-	{
-		return true;
-	}
-
-	const LineSegment ab = LineSegment{_triangle.v0, _triangle.v1};
-	const LineSegment bc = LineSegment{_triangle.v1, _triangle.v2};
-	const LineSegment ca = LineSegment{_triangle.v2, _triangle.v0};
-
-	float ta0 = 0.0f, tb0 = 0.0f;
-	const bool i0 = intersect(ta0, tb0, ab, line);
-
-	float ta1, tb1;
-	const bool i1 = intersect(ta1, tb1, bc, line);
-
-	float ta2, tb2;
-	const bool i2 = intersect(ta2, tb2, ca, line);
-
-	if (!i0
-	||  !i1
-	||  !i2)
-	{
-		return false;
-	}
-
-	ta0 = clamp(ta0, 0.0f, 1.0f);
-	ta1 = clamp(ta1, 0.0f, 1.0f);
-	ta2 = clamp(ta2, 0.0f, 1.0f);
-	tb0 = clamp(tb0, 0.0f, 1.0f);
-	tb1 = clamp(tb1, 0.0f, 1.0f);
-	tb2 = clamp(tb2, 0.0f, 1.0f);
-
-	const Vec3 pa0 = getPointAt(ab, ta0);
-	const Vec3 pa1 = getPointAt(bc, ta1);
-	const Vec3 pa2 = getPointAt(ca, ta2);
-
-	const Vec3 pb0 = getPointAt(line, tb0);
-	const Vec3 pb1 = getPointAt(line, tb1);
-	const Vec3 pb2 = getPointAt(line, tb2);
-
-	const float d0 = distanceSq(pa0, pb0);
-	const float d1 = distanceSq(pa1, pb1);
-	const float d2 = distanceSq(pa2, pb2);
-
-	if (d0 <= d1
-	&&  d0 <= d2)
-	{
-		return overlap(_ty, pa0);
-	}
-	else if (d1 <= d2)
-	{
-		return overlap(_ty, pa1);
-	}
-
-	return overlap(_ty, pa2);
-}
-
-bool overlap(const Triangle& _triangle, const Cylinder& _cylinder)
-{
-	return overlap<Cylinder>(_triangle, _cylinder);
-}
-
-bool overlap(const Triangle& _triangle, const Capsule& _capsule)
-{
-	return overlap<Capsule>(_triangle, _capsule);
-}
-
-bool overlap(const Triangle& _triangle, const Cone& _cone)
-{
-	const LineSegment ab = LineSegment{_triangle.v0, _triangle.v1};
-	const LineSegment bc = LineSegment{_triangle.v1, _triangle.v2};
-	const LineSegment ca = LineSegment{_triangle.v2, _triangle.v0};
-
-	const LineSegment line =
-	{
-		_cone.pos,
-		_cone.end,
-	};
-
-	float ta0 = 0.0f, tb0 = 0.0f;
-	const bool i0 = intersect(ta0, tb0, ab, line);
-
-	float ta1, tb1;
-	const bool i1 = intersect(ta1, tb1, bc, line);
-
-	float ta2, tb2;
-	const bool i2 = intersect(ta2, tb2, ca, line);
-
-	if (!i0
-	||  !i1
-	||  !i2)
-	{
-		return false;
-	}
-
-	ta0 = clamp(ta0, 0.0f, 1.0f);
-	ta1 = clamp(ta1, 0.0f, 1.0f);
-	ta2 = clamp(ta2, 0.0f, 1.0f);
-	tb0 = clamp(tb0, 0.0f, 1.0f);
-	tb1 = clamp(tb1, 0.0f, 1.0f);
-	tb2 = clamp(tb2, 0.0f, 1.0f);
-
-	const Vec3 pa0 = getPointAt(ab, ta0);
-	const Vec3 pa1 = getPointAt(bc, ta1);
-	const Vec3 pa2 = getPointAt(ca, ta2);
-
-	const Vec3 pb0 = getPointAt(line, tb0);
-	const Vec3 pb1 = getPointAt(line, tb1);
-	const Vec3 pb2 = getPointAt(line, tb2);
-
-	const float d0 = distanceSq(pa0, pb0);
-	const float d1 = distanceSq(pa1, pb1);
-	const float d2 = distanceSq(pa2, pb2);
-
-	if (d0 <= d1
-	&&  d0 <= d2)
-	{
-		return overlap(_cone, pa0);
-	}
-	else if (d1 <= d2)
-	{
-		return overlap(_cone, pa1);
-	}
-
-	return overlap(_cone, pa2);
-}
-
-bool overlap(const Triangle& _triangle, const Disk& _disk)
-{
-	if (!overlap(_triangle, Sphere{_disk.center, _disk.radius}) )
-	{
-		return false;
-	}
-
-	Plane plane;
-	calcPlane(plane, _disk.normal, _disk.center);
-
-	return overlap(_triangle, plane);
-}
-
-bool overlap(const Triangle& _triangle, const Obb& _obb)
-{
-	Srt srt = toSrt(_obb.mtx);
-
-	Aabb aabb;
-	toAabb(aabb, srt.scale);
-
-	const Quaternion invRotation = invert(srt.rotation);
-
-	const Triangle triangle =
-	{
-		mul(sub(_triangle.v0, srt.translation), invRotation),
-		mul(sub(_triangle.v1, srt.translation), invRotation),
-		mul(sub(_triangle.v2, srt.translation), invRotation),
-	};
-
-	return overlap(triangle, aabb);
-}
-