From f19491c2740a381b91f93ee59dc23c8942ea9668 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=91=D1=80=D0=B0=D0=BD=D0=B8=D0=BC=D0=B8=D1=80=20=D0=9A?=
 =?UTF-8?q?=D0=B0=D1=80=D0=B0=D1=9F=D0=B8=D1=9B?=
 <branimirkaradzic@gmail.com>
Date: Tue, 5 Feb 2019 19:42:48 -0800
Subject: [PATCH] Adding more bounds overlap tests.

---
 examples/29-debugdraw/debugdraw.cpp | 44 +++++++++++++++++++++++++++++
 examples/common/bounds.cpp          |  9 +++---
 2 files changed, 49 insertions(+), 4 deletions(-)

diff --git a/examples/29-debugdraw/debugdraw.cpp b/examples/29-debugdraw/debugdraw.cpp
index dca437064..c874bd625 100644
--- a/examples/29-debugdraw/debugdraw.cpp
+++ b/examples/29-debugdraw/debugdraw.cpp
@@ -1165,6 +1165,50 @@ public:
 						dde.draw(diskB);
 					}
 
+					{
+						Aabb aabbA;
+						toAabb(aabbA, { px+kStepX*6.0f, py, pz+kStepZ*1.0f }, { 0.5f, 0.5f, 0.5f });
+
+						Capsule capsuleB =
+						{
+							{ xx+kStepX*5.9f, yy-1.0f, zz+kStepZ*1.0f+0.1f },
+							{ xx+kStepX*6.0f, yy+1.0f, zz+kStepZ*1.0f      },
+							0.2f,
+						};
+
+						olp = overlap(aabbA, capsuleB);
+
+						dde.setColor(olp ? kOverlapA : 0xffffffff);
+						dde.setWireframe(false);
+						dde.draw(aabbA);
+
+						dde.setColor(olp ? kOverlapB : 0xffffffff);
+						dde.setWireframe(true);
+						dde.draw(capsuleB);
+					}
+
+					{
+						Aabb aabbA;
+						toAabb(aabbA, { px+kStepX*8.0f, py, pz+kStepZ*1.0f }, { 0.5f, 0.5f, 0.5f });
+
+						Cone coneB =
+						{
+							{ xx+kStepX*7.9f, yy-1.0f, zz+kStepZ*1.0f+0.1f },
+							{ xx+kStepX*8.0f, yy+1.0f, zz+kStepZ*1.0f      },
+							0.25f,
+						};
+
+						olp = overlap(aabbA, coneB);
+
+						dde.setColor(olp ? kOverlapA : 0xffffffff);
+						dde.setWireframe(false);
+						dde.draw(aabbA);
+
+						dde.setColor(olp ? kOverlapB : 0xffffffff);
+						dde.setWireframe(true);
+						dde.draw(coneB);
+					}
+
 					// Triangle ---
 					{
 						Triangle triangleA =
diff --git a/examples/common/bounds.cpp b/examples/common/bounds.cpp
index 42e791f4f..f78a8760a 100644
--- a/examples/common/bounds.cpp
+++ b/examples/common/bounds.cpp
@@ -1259,14 +1259,15 @@ bool overlap(const Aabb& _aabb, const Cylinder& _cylinder)
 
 bool overlap(const Aabb& _aabb, const Capsule& _capsule)
 {
-	BX_UNUSED(_aabb, _capsule);
-	return false;
+	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)
 {
-	BX_UNUSED(_aabb, _cone);
-	return false;
+	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)