+/*
+ * out penetration distance, normal
+ */
+static int rb_point_in_body( rigidbody *rb, v3f pos, float *pen, v3f normal )
+{
+ v3f local;
+ m4x3_mulv( rb->to_local, pos, local );
+
+ if( local[0] > rb->bbx[0][0] && local[0] < rb->bbx[1][0] &&
+ local[1] > rb->bbx[0][1] && local[1] < rb->bbx[1][1] &&
+ local[2] > rb->bbx[0][2] && local[2] < rb->bbx[1][2] )
+ {
+ v3f area, com, comrel;
+ v3_add( rb->bbx[0], rb->bbx[1], com );
+ v3_muls( com, 0.5f, com );
+
+ v3_sub( rb->bbx[1], rb->bbx[0], area );
+ v3_sub( local, com, comrel );
+ v3_div( comrel, area, comrel );
+
+ int axis = 0;
+ float max_mag = fabsf(comrel[0]);
+
+ if( fabsf(comrel[1]) > max_mag )
+ {
+ axis = 1;
+ max_mag = fabsf(comrel[1]);
+ }
+ if( fabsf(comrel[2]) > max_mag )
+ {
+ axis = 2;
+ max_mag = fabsf(comrel[2]);
+ }
+
+ v3_zero( normal );
+ normal[axis] = vg_signf(comrel[axis]);
+
+ if( normal[axis] < 0.0f )
+ *pen = local[axis] - rb->bbx[0][axis];
+ else
+ *pen = rb->bbx[1][axis] - local[axis];
+
+ m3x3_mulv( rb->to_world, normal, normal );
+ return 1;
+ }
+
+ return 0;
+}
+