cairnc

// A float which remains large when you modify its least significant bits
const Vec4f VEC4_LARGE_FLOAT = Vec4f::fromF32(8589934592);
const Vec4f VEC4_INDEX_MASK = Vec4f::fromI32(~1, ~1, 0, 0);
const Vec4f VEC4_INDEX_VALS = Vec4f::fromI32(0, 1, 0x50000000, 0x50000000);
const Vec4f VEC4_ZERO = Vec4f::fromF32(0.0f);


constexpr int BIG_FLOAT_INTEGER = 0x50000000;

template <size_t n, size_t i, size_t indexBits = 3> 

cairnc

void satCollideReference(const SatShape *a, Transform xfA, const SatShape *b, Transform xfB, SatResult *res)
{
    ASSERT(b->numFaces != 2);
    Transform bToA = xfA.inverse().mul(xfB);
    Transform aToB = bToA.inverse();

    res->vert = -1;
    res->face = -1;
    res->support = INFINITY;
    // Test MD against planes of a