From 0722def4d898903b2fe90701c304d79981e0605d Mon Sep 17 00:00:00 2001
From: Kawe Mazidjatari <48657826+Mauler125@users.noreply.github.com>
Date: Fri, 20 Sep 2024 14:58:22 +0200
Subject: [PATCH] Recast: deduplicate AABB intersection test in CrowdTool

---
 src/naveditor/CrowdTool.cpp | 39 +------------------------------------
 1 file changed, 1 insertion(+), 38 deletions(-)

diff --git a/src/naveditor/CrowdTool.cpp b/src/naveditor/CrowdTool.cpp
index 38b21da9..dba5e317 100644
--- a/src/naveditor/CrowdTool.cpp
+++ b/src/naveditor/CrowdTool.cpp
@@ -27,43 +27,6 @@
 #include "NavEditor/Include/EditorInterfaces.h"
 #include "DetourCrowd/Include/DetourCrowdInternal.h"
 
-static bool isectSegAABB(const float* sp, const float* sq,
-						 const float* amin, const float* amax,
-						 float& tmin, float& tmax)
-{
-	float d[3];
-	rdVsub(d, sq, sp);
-	tmin = 0;  // set to -FLT_MAX to get first hit on line
-	tmax = FLT_MAX;		// set to max distance ray can travel (for segment)
-	
-	// For all three slabs
-	for (int i = 0; i < 3; i++)
-	{
-		if (fabsf(d[i]) < RD_EPS)
-		{
-			// Ray is parallel to slab. No hit if origin not within slab
-			if (sp[i] < amin[i] || sp[i] > amax[i])
-				return false;
-		}
-		else
-		{
-			// Compute intersection t value of ray with near and far plane of slab
-			const float ood = 1.0f / d[i];
-			float t1 = (amin[i] - sp[i]) * ood;
-			float t2 = (amax[i] - sp[i]) * ood;
-			// Make t1 be intersection with near plane, t2 with far plane
-			if (t1 > t2) rdSwap(t1, t2);
-			// Compute the intersection of slab intersections intervals
-			if (t1 > tmin) tmin = t1;
-			if (t2 < tmax) tmax = t2;
-			// Exit with no collision as soon as slab intersection becomes empty
-			if (tmin > tmax) return false;
-		}
-	}
-	
-	return true;
-}
-
 static void getAgentBounds(const dtCrowdAgent* ag, float* bmin, float* bmax)
 {
 	const float* p = ag->npos;
@@ -804,7 +767,7 @@ int CrowdToolState::hitTestAgents(const float* s, const float* p)
 		float bmin[3], bmax[3];
 		getAgentBounds(ag, bmin, bmax);
 		float tmin, tmax;
-		if (isectSegAABB(s, p, bmin,bmax, tmin, tmax))
+		if (rdIntersectSegmentAABB(s, p, bmin,bmax, tmin, tmax))
 		{
 			if (tmin > 0 && tmin < tsel)
 			{