@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Geometry/AABox.h

@@ -0,0 +1,313 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Geometry/Triangle.h>
+#include <Jolt/Geometry/IndexedTriangle.h>
+#include <Jolt/Geometry/Plane.h>
+#include <Jolt/Math/Mat44.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Axis aligned box
+class [[nodiscard]] AABox
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+					AABox()												: mMin(Vec3::sReplicate(FLT_MAX)), mMax(Vec3::sReplicate(-FLT_MAX)) { }
+					AABox(Vec3Arg inMin, Vec3Arg inMax)					: mMin(inMin), mMax(inMax) { }
+					AABox(DVec3Arg inMin, DVec3Arg inMax)				: mMin(inMin.ToVec3RoundDown()), mMax(inMax.ToVec3RoundUp()) { }
+					AABox(Vec3Arg inCenter, float inRadius)				: mMin(inCenter - Vec3::sReplicate(inRadius)), mMax(inCenter + Vec3::sReplicate(inRadius)) { }
+
+	/// Create box from 2 points
+	static AABox	sFromTwoPoints(Vec3Arg inP1, Vec3Arg inP2)			{ return AABox(Vec3::sMin(inP1, inP2), Vec3::sMax(inP1, inP2)); }
+
+	/// Create box from indexed triangle
+	static AABox	sFromTriangle(const VertexList &inVertices, const IndexedTriangle &inTriangle)
+	{
+		AABox box = sFromTwoPoints(Vec3(inVertices[inTriangle.mIdx[0]]), Vec3(inVertices[inTriangle.mIdx[1]]));
+		box.Encapsulate(Vec3(inVertices[inTriangle.mIdx[2]]));
+		return box;
+	}
+
+	/// Get bounding box of size FLT_MAX
+	static AABox	sBiggest()
+	{
+		/// Max half extent of AABox is 0.5 * FLT_MAX so that GetSize() remains finite
+		return AABox(Vec3::sReplicate(-0.5f * FLT_MAX), Vec3::sReplicate(0.5f * FLT_MAX));
+	}
+
+	/// Comparison operators
+	bool			operator == (const AABox &inRHS) const				{ return mMin == inRHS.mMin && mMax == inRHS.mMax; }
+	bool			operator != (const AABox &inRHS) const				{ return mMin != inRHS.mMin || mMax != inRHS.mMax; }
+
+	/// Reset the bounding box to an empty bounding box
+	void			SetEmpty()
+	{
+		mMin = Vec3::sReplicate(FLT_MAX);
+		mMax = Vec3::sReplicate(-FLT_MAX);
+	}
+
+	/// Check if the bounding box is valid (max >= min)
+	bool			IsValid() const
+	{
+		return mMin.GetX() <= mMax.GetX() && mMin.GetY() <= mMax.GetY() && mMin.GetZ() <= mMax.GetZ();
+	}
+
+	/// Encapsulate point in bounding box
+	void			Encapsulate(Vec3Arg inPos)
+	{
+		mMin = Vec3::sMin(mMin, inPos);
+		mMax = Vec3::sMax(mMax, inPos);
+	}
+
+	/// Encapsulate bounding box in bounding box
+	void			Encapsulate(const AABox &inRHS)
+	{
+		mMin = Vec3::sMin(mMin, inRHS.mMin);
+		mMax = Vec3::sMax(mMax, inRHS.mMax);
+	}
+
+	/// Encapsulate triangle in bounding box
+	void			Encapsulate(const Triangle &inRHS)
+	{
+		Vec3 v = Vec3::sLoadFloat3Unsafe(inRHS.mV[0]);
+		Encapsulate(v);
+		v = Vec3::sLoadFloat3Unsafe(inRHS.mV[1]);
+		Encapsulate(v);
+		v = Vec3::sLoadFloat3Unsafe(inRHS.mV[2]);
+		Encapsulate(v);
+	}
+
+	/// Encapsulate triangle in bounding box
+	void			Encapsulate(const VertexList &inVertices, const IndexedTriangle &inTriangle)
+	{
+		for (uint32 idx : inTriangle.mIdx)
+			Encapsulate(Vec3(inVertices[idx]));
+	}
+
+	/// Intersect this bounding box with inOther, returns the intersection
+	AABox			Intersect(const AABox &inOther) const
+	{
+		return AABox(Vec3::sMax(mMin, inOther.mMin), Vec3::sMin(mMax, inOther.mMax));
+	}
+
+	/// Make sure that each edge of the bounding box has a minimal length
+	void			EnsureMinimalEdgeLength(float inMinEdgeLength)
+	{
+		Vec3 min_length = Vec3::sReplicate(inMinEdgeLength);
+		mMax = Vec3::sSelect(mMax, mMin + min_length, Vec3::sLess(mMax - mMin, min_length));
+	}
+
+	/// Widen the box on both sides by inVector
+	void			ExpandBy(Vec3Arg inVector)
+	{
+		mMin -= inVector;
+		mMax += inVector;
+	}
+
+	/// Get center of bounding box
+	Vec3			GetCenter() const
+	{
+		return 0.5f * (mMin + mMax);
+	}
+
+	/// Get extent of bounding box (half of the size)
+	Vec3			GetExtent() const
+	{
+		return 0.5f * (mMax - mMin);
+	}
+
+	/// Get size of bounding box
+	Vec3			GetSize() const
+	{
+		return mMax - mMin;
+	}
+
+	/// Get surface area of bounding box
+	float			GetSurfaceArea() const
+	{
+		Vec3 extent = mMax - mMin;
+		return 2.0f * (extent.GetX() * extent.GetY() + extent.GetX() * extent.GetZ() + extent.GetY() * extent.GetZ());
+	}
+
+	/// Get volume of bounding box
+	float			GetVolume() const
+	{
+		Vec3 extent = mMax - mMin;
+		return extent.GetX() * extent.GetY() * extent.GetZ();
+	}
+
+	/// Check if this box contains another box
+	bool			Contains(const AABox &inOther) const
+	{
+		return UVec4::sAnd(Vec3::sLessOrEqual(mMin, inOther.mMin), Vec3::sGreaterOrEqual(mMax, inOther.mMax)).TestAllXYZTrue();
+	}
+
+	/// Check if this box contains a point
+	bool			Contains(Vec3Arg inOther) const
+	{
+		return UVec4::sAnd(Vec3::sLessOrEqual(mMin, inOther), Vec3::sGreaterOrEqual(mMax, inOther)).TestAllXYZTrue();
+	}
+
+	/// Check if this box contains a point
+	bool			Contains(DVec3Arg inOther) const
+	{
+		return Contains(Vec3(inOther));
+	}
+
+	/// Check if this box overlaps with another box
+	bool			Overlaps(const AABox &inOther) const
+	{
+		return !UVec4::sOr(Vec3::sGreater(mMin, inOther.mMax), Vec3::sLess(mMax, inOther.mMin)).TestAnyXYZTrue();
+	}
+
+	/// Check if this box overlaps with a plane
+	bool			Overlaps(const Plane &inPlane) const
+	{
+		Vec3 normal = inPlane.GetNormal();
+		float dist_normal = inPlane.SignedDistance(GetSupport(normal));
+		float dist_min_normal = inPlane.SignedDistance(GetSupport(-normal));
+		return dist_normal * dist_min_normal <= 0.0f; // If both support points are on the same side of the plane we don't overlap
+	}
+
+	/// Translate bounding box
+	void			Translate(Vec3Arg inTranslation)
+	{
+		mMin += inTranslation;
+		mMax += inTranslation;
+	}
+
+	/// Translate bounding box
+	void			Translate(DVec3Arg inTranslation)
+	{
+		mMin = (DVec3(mMin) + inTranslation).ToVec3RoundDown();
+		mMax = (DVec3(mMax) + inTranslation).ToVec3RoundUp();
+	}
+
+	/// Transform bounding box
+	AABox			Transformed(Mat44Arg inMatrix) const
+	{
+		// Start with the translation of the matrix
+		Vec3 new_min, new_max;
+		new_min = new_max = inMatrix.GetTranslation();
+
+		// Now find the extreme points by considering the product of the min and max with each column of inMatrix
+		for (int c = 0; c < 3; ++c)
+		{
+			Vec3 col = inMatrix.GetColumn3(c);
+
+			Vec3 a = col * mMin[c];
+			Vec3 b = col * mMax[c];
+
+			new_min += Vec3::sMin(a, b);
+			new_max += Vec3::sMax(a, b);
+		}
+
+		// Return the new bounding box
+		return AABox(new_min, new_max);
+	}
+
+	/// Transform bounding box
+	AABox			Transformed(DMat44Arg inMatrix) const
+	{
+		AABox transformed = Transformed(inMatrix.GetRotation());
+		transformed.Translate(inMatrix.GetTranslation());
+		return transformed;
+	}
+
+	/// Scale this bounding box, can handle non-uniform and negative scaling
+	AABox			Scaled(Vec3Arg inScale) const
+	{
+		return AABox::sFromTwoPoints(mMin * inScale, mMax * inScale);
+	}
+
+	/// Calculate the support vector for this convex shape.
+	Vec3			GetSupport(Vec3Arg inDirection) const
+	{
+		return Vec3::sSelect(mMax, mMin, Vec3::sLess(inDirection, Vec3::sZero()));
+	}
+
+	/// Get the vertices of the face that faces inDirection the most
+	template <class VERTEX_ARRAY>
+	void			GetSupportingFace(Vec3Arg inDirection, VERTEX_ARRAY &outVertices) const
+	{
+		outVertices.resize(4);
+
+		int axis = inDirection.Abs().GetHighestComponentIndex();
+		if (inDirection[axis] < 0.0f)
+		{
+			switch (axis)
+			{
+			case 0:
+				outVertices[0] = Vec3(mMax.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMax.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMax.GetX(), mMin.GetY(), mMax.GetZ());
+				break;
+
+			case 1:
+				outVertices[0] = Vec3(mMin.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMin.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMax.GetX(), mMax.GetY(), mMin.GetZ());
+				break;
+
+			case 2:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[1] = Vec3(mMax.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMin.GetX(), mMax.GetY(), mMax.GetZ());
+				break;
+			}
+		}
+		else
+		{
+			switch (axis)
+			{
+			case 0:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMin.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[2] = Vec3(mMin.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMin.GetX(), mMax.GetY(), mMin.GetZ());
+				break;
+
+			case 1:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMax.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMin.GetX(), mMin.GetY(), mMax.GetZ());
+				break;
+
+			case 2:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMin.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[3] = Vec3(mMax.GetX(), mMin.GetY(), mMin.GetZ());
+				break;
+			}
+		}
+	}
+
+	/// Get the closest point on or in this box to inPoint
+	Vec3			GetClosestPoint(Vec3Arg inPoint) const
+	{
+		return Vec3::sMin(Vec3::sMax(inPoint, mMin), mMax);
+	}
+
+	/// Get the squared distance between inPoint and this box (will be 0 if in Point is inside the box)
+	inline float	GetSqDistanceTo(Vec3Arg inPoint) const
+	{
+		return (GetClosestPoint(inPoint) - inPoint).LengthSq();
+	}
+
+	/// Bounding box min and max
+	Vec3			mMin;
+	Vec3			mMax;
+};
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Geometry/AABox4.h

@@ -0,0 +1,224 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Geometry/OrientedBox.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Helper functions that process 4 axis aligned boxes at the same time using SIMD
+/// Test if 4 bounding boxes overlap with 1 bounding box, splat 1 box
+JPH_INLINE UVec4 AABox4VsBox(const AABox &inBox1, Vec4Arg inBox2MinX, Vec4Arg inBox2MinY, Vec4Arg inBox2MinZ, Vec4Arg inBox2MaxX, Vec4Arg inBox2MaxY, Vec4Arg inBox2MaxZ)
+{
+	// Splat values of box 1
+	Vec4 box1_minx = inBox1.mMin.SplatX();
+	Vec4 box1_miny = inBox1.mMin.SplatY();
+	Vec4 box1_minz = inBox1.mMin.SplatZ();
+	Vec4 box1_maxx = inBox1.mMax.SplatX();
+	Vec4 box1_maxy = inBox1.mMax.SplatY();
+	Vec4 box1_maxz = inBox1.mMax.SplatZ();
+
+	// Test separation over each axis
+	UVec4 nooverlapx = UVec4::sOr(Vec4::sGreater(box1_minx, inBox2MaxX), Vec4::sGreater(inBox2MinX, box1_maxx));
+	UVec4 nooverlapy = UVec4::sOr(Vec4::sGreater(box1_miny, inBox2MaxY), Vec4::sGreater(inBox2MinY, box1_maxy));
+	UVec4 nooverlapz = UVec4::sOr(Vec4::sGreater(box1_minz, inBox2MaxZ), Vec4::sGreater(inBox2MinZ, box1_maxz));
+
+	// Return overlap
+	return UVec4::sNot(UVec4::sOr(UVec4::sOr(nooverlapx, nooverlapy), nooverlapz));
+}
+
+/// Scale 4 axis aligned boxes
+JPH_INLINE void AABox4Scale(Vec3Arg inScale, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ, Vec4 &outBoundsMinX, Vec4 &outBoundsMinY, Vec4 &outBoundsMinZ, Vec4 &outBoundsMaxX, Vec4 &outBoundsMaxY, Vec4 &outBoundsMaxZ)
+{
+	Vec4 scale_x = inScale.SplatX();
+	Vec4 scaled_min_x = scale_x * inBoxMinX;
+	Vec4 scaled_max_x = scale_x * inBoxMaxX;
+	outBoundsMinX = Vec4::sMin(scaled_min_x, scaled_max_x); // Negative scale can flip min and max
+	outBoundsMaxX = Vec4::sMax(scaled_min_x, scaled_max_x);
+
+	Vec4 scale_y = inScale.SplatY();
+	Vec4 scaled_min_y = scale_y * inBoxMinY;
+	Vec4 scaled_max_y = scale_y * inBoxMaxY;
+	outBoundsMinY = Vec4::sMin(scaled_min_y, scaled_max_y);
+	outBoundsMaxY = Vec4::sMax(scaled_min_y, scaled_max_y);
+
+	Vec4 scale_z = inScale.SplatZ();
+	Vec4 scaled_min_z = scale_z * inBoxMinZ;
+	Vec4 scaled_max_z = scale_z * inBoxMaxZ;
+	outBoundsMinZ = Vec4::sMin(scaled_min_z, scaled_max_z);
+	outBoundsMaxZ = Vec4::sMax(scaled_min_z, scaled_max_z);
+}
+
+/// Enlarge 4 bounding boxes with extent (add to both sides)
+JPH_INLINE void AABox4EnlargeWithExtent(Vec3Arg inExtent, Vec4 &ioBoundsMinX, Vec4 &ioBoundsMinY, Vec4 &ioBoundsMinZ, Vec4 &ioBoundsMaxX, Vec4 &ioBoundsMaxY, Vec4 &ioBoundsMaxZ)
+{
+	Vec4 extent_x = inExtent.SplatX();
+	ioBoundsMinX -= extent_x;
+	ioBoundsMaxX += extent_x;
+
+	Vec4 extent_y = inExtent.SplatY();
+	ioBoundsMinY -= extent_y;
+	ioBoundsMaxY += extent_y;
+
+	Vec4 extent_z = inExtent.SplatZ();
+	ioBoundsMinZ -= extent_z;
+	ioBoundsMaxZ += extent_z;
+}
+
+/// Test if 4 bounding boxes overlap with a point
+JPH_INLINE UVec4 AABox4VsPoint(Vec3Arg inPoint, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ)
+{
+	// Splat point to 4 component vectors
+	Vec4 point_x = Vec4(inPoint).SplatX();
+	Vec4 point_y = Vec4(inPoint).SplatY();
+	Vec4 point_z = Vec4(inPoint).SplatZ();
+
+	// Test if point overlaps with box
+	UVec4 overlapx = UVec4::sAnd(Vec4::sGreaterOrEqual(point_x, inBoxMinX), Vec4::sLessOrEqual(point_x, inBoxMaxX));
+	UVec4 overlapy = UVec4::sAnd(Vec4::sGreaterOrEqual(point_y, inBoxMinY), Vec4::sLessOrEqual(point_y, inBoxMaxY));
+	UVec4 overlapz = UVec4::sAnd(Vec4::sGreaterOrEqual(point_z, inBoxMinZ), Vec4::sLessOrEqual(point_z, inBoxMaxZ));
+
+	// Test if all are overlapping
+	return UVec4::sAnd(UVec4::sAnd(overlapx, overlapy), overlapz);
+}
+
+/// Test if 4 bounding boxes overlap with an oriented box
+JPH_INLINE UVec4 AABox4VsBox(Mat44Arg inOrientation, Vec3Arg inHalfExtents, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ, float inEpsilon = 1.0e-6f)
+{
+	// Taken from: Real Time Collision Detection - Christer Ericson
+	// Chapter 4.4.1, page 103-105.
+	// Note that the code is swapped around: A is the aabox and B is the oriented box (this saves us from having to invert the orientation of the oriented box)
+
+	// Compute translation vector t (the translation of B in the space of A)
+	Vec4 t[3] {
+		inOrientation.GetTranslation().SplatX() - 0.5f * (inBoxMinX + inBoxMaxX),
+		inOrientation.GetTranslation().SplatY() - 0.5f * (inBoxMinY + inBoxMaxY),
+		inOrientation.GetTranslation().SplatZ() - 0.5f * (inBoxMinZ + inBoxMaxZ) };
+
+	// Compute common subexpressions. Add in an epsilon term to
+	// counteract arithmetic errors when two edges are parallel and
+	// their cross product is (near) null (see text for details)
+	Vec3 epsilon = Vec3::sReplicate(inEpsilon);
+	Vec3 abs_r[3] { inOrientation.GetAxisX().Abs() + epsilon, inOrientation.GetAxisY().Abs() + epsilon, inOrientation.GetAxisZ().Abs() + epsilon };
+
+	// Half extents for a
+	Vec4 a_half_extents[3] {
+		0.5f * (inBoxMaxX - inBoxMinX),
+		0.5f * (inBoxMaxY - inBoxMinY),
+		0.5f * (inBoxMaxZ - inBoxMinZ) };
+
+	// Half extents of b
+	Vec4 b_half_extents_x = inHalfExtents.SplatX();
+	Vec4 b_half_extents_y = inHalfExtents.SplatY();
+	Vec4 b_half_extents_z = inHalfExtents.SplatZ();
+
+	// Each component corresponds to 1 overlapping OBB vs ABB
+	UVec4 overlaps = UVec4(0xffffffff, 0xffffffff, 0xffffffff, 0xffffffff);
+
+	// Test axes L = A0, L = A1, L = A2
+	Vec4 ra, rb;
+	for (int i = 0; i < 3; i++)
+	{
+		ra = a_half_extents[i];
+		rb = b_half_extents_x * abs_r[0][i] + b_half_extents_y * abs_r[1][i] + b_half_extents_z * abs_r[2][i];
+		overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual(t[i].Abs(), ra + rb));
+	}
+
+	// Test axes L = B0, L = B1, L = B2
+	for (int i = 0; i < 3; i++)
+	{
+		ra = a_half_extents[0] * abs_r[i][0] + a_half_extents[1] * abs_r[i][1] + a_half_extents[2] * abs_r[i][2];
+		rb = Vec4::sReplicate(inHalfExtents[i]);
+		overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[0] * inOrientation(0, i) + t[1] * inOrientation(1, i) + t[2] * inOrientation(2, i)).Abs(), ra + rb));
+	}
+
+	// Test axis L = A0 x B0
+	ra = a_half_extents[1] * abs_r[0][2] + a_half_extents[2] * abs_r[0][1];
+	rb = b_half_extents_y * abs_r[2][0] + b_half_extents_z * abs_r[1][0];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[2] * inOrientation(1, 0) - t[1] * inOrientation(2, 0)).Abs(), ra + rb));
+
+	// Test axis L = A0 x B1
+	ra = a_half_extents[1] * abs_r[1][2] + a_half_extents[2] * abs_r[1][1];
+	rb = b_half_extents_x * abs_r[2][0] + b_half_extents_z * abs_r[0][0];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[2] * inOrientation(1, 1) - t[1] * inOrientation(2, 1)).Abs(), ra + rb));
+
+	// Test axis L = A0 x B2
+	ra = a_half_extents[1] * abs_r[2][2] + a_half_extents[2] * abs_r[2][1];
+	rb = b_half_extents_x * abs_r[1][0] + b_half_extents_y * abs_r[0][0];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[2] * inOrientation(1, 2) - t[1] * inOrientation(2, 2)).Abs(), ra + rb));
+
+	// Test axis L = A1 x B0
+	ra = a_half_extents[0] * abs_r[0][2] + a_half_extents[2] * abs_r[0][0];
+	rb = b_half_extents_y * abs_r[2][1] + b_half_extents_z * abs_r[1][1];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[0] * inOrientation(2, 0) - t[2] * inOrientation(0, 0)).Abs(), ra + rb));
+
+	// Test axis L = A1 x B1
+	ra = a_half_extents[0] * abs_r[1][2] + a_half_extents[2] * abs_r[1][0];
+	rb = b_half_extents_x * abs_r[2][1] + b_half_extents_z * abs_r[0][1];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[0] * inOrientation(2, 1) - t[2] * inOrientation(0, 1)).Abs(), ra + rb));
+
+	// Test axis L = A1 x B2
+	ra = a_half_extents[0] * abs_r[2][2] + a_half_extents[2] * abs_r[2][0];
+	rb = b_half_extents_x * abs_r[1][1] + b_half_extents_y * abs_r[0][1];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[0] * inOrientation(2, 2) - t[2] * inOrientation(0, 2)).Abs(), ra + rb));
+
+	// Test axis L = A2 x B0
+	ra = a_half_extents[0] * abs_r[0][1] + a_half_extents[1] * abs_r[0][0];
+	rb = b_half_extents_y * abs_r[2][2] + b_half_extents_z * abs_r[1][2];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[1] * inOrientation(0, 0) - t[0] * inOrientation(1, 0)).Abs(), ra + rb));
+
+	// Test axis L = A2 x B1
+	ra = a_half_extents[0] * abs_r[1][1] + a_half_extents[1] * abs_r[1][0];
+	rb = b_half_extents_x * abs_r[2][2] + b_half_extents_z * abs_r[0][2];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[1] * inOrientation(0, 1) - t[0] * inOrientation(1, 1)).Abs(), ra + rb));
+
+	// Test axis L = A2 x B2
+	ra = a_half_extents[0] * abs_r[2][1] + a_half_extents[1] * abs_r[2][0];
+	rb = b_half_extents_x * abs_r[1][2] + b_half_extents_y * abs_r[0][2];
+	overlaps = UVec4::sAnd(overlaps, Vec4::sLessOrEqual((t[1] * inOrientation(0, 2) - t[0] * inOrientation(1, 2)).Abs(), ra + rb));
+
+	// Return if the OBB vs AABBs are intersecting
+	return overlaps;
+}
+
+/// Convenience function that tests 4 AABoxes vs OrientedBox
+JPH_INLINE UVec4 AABox4VsBox(const OrientedBox &inBox, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ, float inEpsilon = 1.0e-6f)
+{
+	return AABox4VsBox(inBox.mOrientation, inBox.mHalfExtents, inBoxMinX, inBoxMinY, inBoxMinZ, inBoxMaxX, inBoxMaxY, inBoxMaxZ, inEpsilon);
+}
+
+/// Get the squared distance between 4 AABoxes and a point
+JPH_INLINE Vec4 AABox4DistanceSqToPoint(Vec4Arg inPointX, Vec4Arg inPointY, Vec4Arg inPointZ, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ)
+{
+	// Get closest point on box
+	Vec4 closest_x = Vec4::sMin(Vec4::sMax(inPointX, inBoxMinX), inBoxMaxX);
+	Vec4 closest_y = Vec4::sMin(Vec4::sMax(inPointY, inBoxMinY), inBoxMaxY);
+	Vec4 closest_z = Vec4::sMin(Vec4::sMax(inPointZ, inBoxMinZ), inBoxMaxZ);
+
+	// Return the squared distance between the box and point
+	return Square(closest_x - inPointX) + Square(closest_y - inPointY) + Square(closest_z - inPointZ);
+}
+
+/// Get the squared distance between 4 AABoxes and a point
+JPH_INLINE Vec4 AABox4DistanceSqToPoint(Vec3 inPoint, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ)
+{
+	return AABox4DistanceSqToPoint(inPoint.SplatX(), inPoint.SplatY(), inPoint.SplatZ(), inBoxMinX, inBoxMinY, inBoxMinZ, inBoxMaxX, inBoxMaxY, inBoxMaxZ);
+}
+
+/// Test 4 AABoxes vs a sphere
+JPH_INLINE UVec4 AABox4VsSphere(Vec4Arg inCenterX, Vec4Arg inCenterY, Vec4Arg inCenterZ, Vec4Arg inRadiusSq, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ)
+{
+	// Test the distance from the center of the sphere to the box is smaller than the radius
+	Vec4 distance_sq = AABox4DistanceSqToPoint(inCenterX, inCenterY, inCenterZ, inBoxMinX, inBoxMinY, inBoxMinZ, inBoxMaxX, inBoxMaxY, inBoxMaxZ);
+	return Vec4::sLessOrEqual(distance_sq, inRadiusSq);
+}
+
+/// Test 4 AABoxes vs a sphere
+JPH_INLINE UVec4 AABox4VsSphere(Vec3Arg inCenter, float inRadiusSq, Vec4Arg inBoxMinX, Vec4Arg inBoxMinY, Vec4Arg inBoxMinZ, Vec4Arg inBoxMaxX, Vec4Arg inBoxMaxY, Vec4Arg inBoxMaxZ)
+{
+	return AABox4VsSphere(inCenter.SplatX(), inCenter.SplatY(), inCenter.SplatZ(), Vec4::sReplicate(inRadiusSq), inBoxMinX, inBoxMinY, inBoxMinZ, inBoxMaxX, inBoxMaxY, inBoxMaxZ);
+}
+
+JPH_NAMESPACE_END