struct PROJECTION {
		float fMin;
		float fMax;
		bool Overlap(const PROJECTION& _pOther) const {
			return !(fMax < _pOther.fMin || _pOther.fMax < fMin);
		}
};

bool CSat::TestFaces(const CShapeInstance* _psiShape0, const CShapeInstance* _psiShape1) const {
	const CConvexPolyhedron* pcpConvex0 = static_cast<const CConvexPolyhedron*>(_psiShape0->m_psShape);
	const CConvexPolyhedron* pcpConvex1 = static_cast<const CConvexPolyhedron*>(_psiShape1->m_psShape);

	for (unsigned int I = 0; I < pcpConvex0->m_ui32TotalFaces; ++I) {
		CVector3 vAxis = _psiShape0->m_mTransform * pcpConvex0->m_pvFaces[I];

		PROJECTION pProj0;
		PROJECTION pProj1;
		Project(pcpConvex0, _psiShape0->m_mTransform, vAxis, pProj0);
		Project(pcpConvex1, _psiShape1->m_mTransform, vAxis, pProj1);

		if (!pProj0.Overlap(pProj1)) {
			return false;
		}
	}

	return true;
}

void CSat::Project(const CConvexPolyhedron* _pcpHull, const CMatrix4x4& _mTransform, const CVector3& _vAxis, PROJECTION& _pProj) const {
	_pProj.fMin = _pProj.fMax = _vAxis.Dot(_mTransform * _pcpHull->m_pvVerts[0]);
	for (unsigned int I = 1; I < _pcpHull->m_ui32TotalVerts; ++I) {
		float fProj = _vAxis.Dot(_mTransform * _pcpHull->m_pvVerts[I]);
		if (fProj < _pProj.fMin) {
			_pProj.fMin = fProj;
		}
		if (fProj > _pProj.fMax) {
			_pProj.fMax = fProj;
		}
	}
}

bool CSat::TestEdges(const CShapeInstance* _psiShape0, const CShapeInstance* _psiShape1) const {
	const CConvexPolyhedron* pcpConvex0 = static_cast<const CConvexPolyhedron*>(_psiShape0->m_psShape);
	const CConvexPolyhedron* pcpConvex1 = static_cast<const CConvexPolyhedron*>(_psiShape1->m_psShape);

	for (unsigned int I = 0; I < pcpConvex0->m_ui32TotalEdges; ++I) {
		CVector3 vAxis0 = _psiShape0->m_mTransform * pcpConvex0->m_pvEdges[I].vNormal;

		for (unsigned int J = 0; J < pcpConvex1->m_ui32TotalEdges; ++J) {
			CVector3 vAxis1 = _psiShape1->m_mTransform * pcpConvex1->m_pvEdges[J].vNormal;

			CVector3 vAxis = vAxis0.Cross(vAxis1);

			PROJECTION pProj0;
			PROJECTION pProj1;
			Project(pcpConvex0, _psiShape0->m_mTransform, vAxis, pProj0);
			Project(pcpConvex1, _psiShape1->m_mTransform, vAxis, pProj1);

			if (!pProj0.Overlap(pProj1)) {
				return false;
			}
		}
	}

	return true;
}

bool CSat::Intersect(const CShapeInstance* _psiShape0, const CShapeInstance* _psiShape1) {
	if (TestFaces(_psiShape0, _psiShape1)) {
		return true;
	}
        if (TestFaces(_psiShape1, _psiShape0)) {
                return true;
        }
	if (TestEdges(_psiShape0, _psiShape1)) {
		return true;
	}

	return false;
}