public bool Intersects( OBB b ) {
Matrix matB = b.rotation * this.InverseRotation;
Vector3 vPosB = Vector3.Transform( b.center - this.center,
this.inverseRotation );
Vector3 XAxis = new Vector3( matB.M11, matB.M21, matB.M31 );
Vector3 YAxis = new Vector3( matB.M12, matB.M22, matB.M32 );
Vector3 ZAxis = new Vector3( matB.M13, matB.M23, matB.M33 );
//15 tests
//1 (Ra)x
if( (float)Math.Abs( vPosB.X ) >
( this.bounds.X +
b.bounds.X * (float)Math.Abs( XAxis.X ) +
b.bounds.Y * (float)Math.Abs( XAxis.Y ) +
b.bounds.Z * (float)Math.Abs( XAxis.Z ) ) ) {
return false;
}
//2 (Ra)y
if( (float)Math.Abs( vPosB.Y ) >
( this.bounds.Y +
b.bounds.X * (float)Math.Abs( YAxis.X ) +
b.bounds.Y * (float)Math.Abs( YAxis.Y ) +
b.bounds.Z * (float)Math.Abs( YAxis.Z ) ) ) {
return false;
}
//3 (Ra)z
if( (float)Math.Abs( vPosB.Z ) >
( this.bounds.Z +
b.bounds.X * (float)Math.Abs( ZAxis.X ) +
b.bounds.Y * (float)Math.Abs( ZAxis.Y ) +
b.bounds.Z * (float)Math.Abs( ZAxis.Z ) ) ) {
return false;
}
//4 (Rb)x
if( (float)Math.Abs( vPosB.X * XAxis.X +
vPosB.Y * YAxis.X +
vPosB.Z * ZAxis.X ) >
( b.bounds.X +
this.bounds.X * (float)Math.Abs( XAxis.X ) +
this.bounds.Y * (float)Math.Abs( YAxis.X ) +
this.bounds.Z * (float)Math.Abs( ZAxis.X ) ) ) {
return false;
}
//5 (Rb)y
if( (float)Math.Abs( vPosB.X * XAxis.Y +
vPosB.Y * YAxis.Y +
vPosB.Z * ZAxis.Y ) >
( b.bounds.Y +
this.bounds.X * (float)Math.Abs( XAxis.Y ) +
this.bounds.Y * (float)Math.Abs( YAxis.Y ) +
this.bounds.Z * (float)Math.Abs( ZAxis.Y ) ) ) {
return false;
}
//6 (Rb)z
if( (float)Math.Abs( vPosB.X * XAxis.Z +
vPosB.Y * YAxis.Z +
vPosB.Z * ZAxis.Z ) >
( b.bounds.Z +
this.bounds.X * (float)Math.Abs( XAxis.Z ) +
this.bounds.Y * (float)Math.Abs( YAxis.Z ) +
this.bounds.Z * (float)Math.Abs( ZAxis.Z ) ) ) {
return false;
}
//7 (Ra)x X (Rb)x
if( (float)Math.Abs( vPosB.Z * YAxis.X -
vPosB.Y * ZAxis.X ) >
( this.bounds.Y * (float)Math.Abs( ZAxis.X ) +
this.bounds.Z * (float)Math.Abs( YAxis.X ) +
b.bounds.Y * (float)Math.Abs( XAxis.Z ) +
b.bounds.Z * (float)Math.Abs( XAxis.Y ) ) ) {
return false;
}
//8 (Ra)x X (Rb)y
if( (float)Math.Abs( vPosB.Z * YAxis.Y -
vPosB.Y * ZAxis.Y ) >
( this.bounds.Y * (float)Math.Abs( ZAxis.Y ) +
this.bounds.Z * (float)Math.Abs( YAxis.Y ) +
b.bounds.X * (float)Math.Abs( XAxis.Z ) +
b.bounds.Z * (float)Math.Abs( XAxis.X ) ) ) {
return false;
}
//9 (Ra)x X (Rb)z
if( (float)Math.Abs( vPosB.Z * YAxis.Z -
vPosB.Y * ZAxis.Z ) >
( this.bounds.Y * (float)Math.Abs( ZAxis.Z ) +
this.bounds.Z * (float)Math.Abs( YAxis.Z ) +
b.bounds.X * (float)Math.Abs( XAxis.Y ) +
b.bounds.Y * (float)Math.Abs( XAxis.X ) ) ) {
return false;
}
//10 (Ra)y X (Rb)x
if( (float)Math.Abs( vPosB.X * ZAxis.X -
vPosB.Z * XAxis.X ) >
( this.bounds.X * (float)Math.Abs( ZAxis.X ) +
this.bounds.Z * (float)Math.Abs( XAxis.X ) +
b.bounds.Y * (float)Math.Abs( YAxis.Z ) +
b.bounds.Z * (float)Math.Abs( YAxis.Y ) ) ) {
return false;
}
//11 (Ra)y X (Rb)y
if( (float)Math.Abs( vPosB.X * ZAxis.Y -
vPosB.Z * XAxis.Y ) >
( this.bounds.X * (float)Math.Abs( ZAxis.Y ) +
this.bounds.Z * (float)Math.Abs( XAxis.Y ) +
b.bounds.X * (float)Math.Abs( YAxis.Z ) +
b.bounds.Z * (float)Math.Abs( YAxis.X ) ) ) {
return false;
}
//12 (Ra)y X (Rb)z
if( (float)Math.Abs( vPosB.X * ZAxis.Z -
vPosB.Z * XAxis.Z ) >
( this.bounds.X * (float)Math.Abs( ZAxis.Z ) +
this.bounds.Z * (float)Math.Abs( XAxis.Z ) +
b.bounds.X * (float)Math.Abs( YAxis.Y ) +
b.bounds.Y * (float)Math.Abs( YAxis.X ) ) ) {
return false;
}
//13 (Ra)z X (Rb)x
if( (float)Math.Abs( vPosB.Y * XAxis.X -
vPosB.X * YAxis.X ) >
( this.bounds.X * (float)Math.Abs( YAxis.X ) +
this.bounds.Y * (float)Math.Abs( XAxis.X ) +
b.bounds.Y * (float)Math.Abs( ZAxis.Z ) +
b.bounds.Z * (float)Math.Abs( ZAxis.Y ) ) ) {
return false;
}
//14 (Ra)z X (Rb)y
if( (float)Math.Abs( vPosB.Y * XAxis.Y -
vPosB.X * YAxis.Y ) >
( this.bounds.X * (float)Math.Abs( YAxis.Y ) +
this.bounds.Y * (float)Math.Abs( XAxis.Y ) +
b.bounds.X * (float)Math.Abs( ZAxis.Z ) +
b.bounds.Z * (float)Math.Abs( ZAxis.X ) ) ) {
return false;
}
//15 (Ra)z X (Rb)z
if( (float)Math.Abs( vPosB.Y * XAxis.Z -
vPosB.X * YAxis.Z ) >
( this.bounds.X * (float)Math.Abs( YAxis.Z ) +
this.bounds.Y * (float)Math.Abs( XAxis.Z ) +
b.bounds.X * (float)Math.Abs( ZAxis.Y ) +
b.bounds.Y * (float)Math.Abs( ZAxis.X ) ) ) {
return false;
}
return true;
}
public bool Intersects(OBB b)
{
Matrix matB = b.rotation * this.InverseRotation;
Vector3 vPosB = Vector3.Transform(b.center - this.center,
this.inverseRotation);
Vector3 XAxis = new Vector3(matB.M11, matB.M21, matB.M31);
Vector3 YAxis = new Vector3(matB.M12, matB.M22, matB.M32);
Vector3 ZAxis = new Vector3(matB.M13, matB.M23, matB.M33);
//15 tests
//1 (Ra)x
if ((float)Math.Abs(vPosB.X) >
(this.bounds.X +
b.bounds.X * (float)Math.Abs(XAxis.X) +
b.bounds.Y * (float)Math.Abs(XAxis.Y) +
b.bounds.Z * (float)Math.Abs(XAxis.Z)))
{
return(false);
}
//2 (Ra)y
if ((float)Math.Abs(vPosB.Y) >
(this.bounds.Y +
b.bounds.X * (float)Math.Abs(YAxis.X) +
b.bounds.Y * (float)Math.Abs(YAxis.Y) +
b.bounds.Z * (float)Math.Abs(YAxis.Z)))
{
return(false);
}
//3 (Ra)z
if ((float)Math.Abs(vPosB.Z) >
(this.bounds.Z +
b.bounds.X * (float)Math.Abs(ZAxis.X) +
b.bounds.Y * (float)Math.Abs(ZAxis.Y) +
b.bounds.Z * (float)Math.Abs(ZAxis.Z)))
{
return(false);
}
//4 (Rb)x
if ((float)Math.Abs(vPosB.X * XAxis.X +
vPosB.Y * YAxis.X +
vPosB.Z * ZAxis.X) >
(b.bounds.X +
this.bounds.X * (float)Math.Abs(XAxis.X) +
this.bounds.Y * (float)Math.Abs(YAxis.X) +
this.bounds.Z * (float)Math.Abs(ZAxis.X)))
{
return(false);
}
//5 (Rb)y
if ((float)Math.Abs(vPosB.X * XAxis.Y +
vPosB.Y * YAxis.Y +
vPosB.Z * ZAxis.Y) >
(b.bounds.Y +
this.bounds.X * (float)Math.Abs(XAxis.Y) +
this.bounds.Y * (float)Math.Abs(YAxis.Y) +
this.bounds.Z * (float)Math.Abs(ZAxis.Y)))
{
return(false);
}
//6 (Rb)z
if ((float)Math.Abs(vPosB.X * XAxis.Z +
vPosB.Y * YAxis.Z +
vPosB.Z * ZAxis.Z) >
(b.bounds.Z +
this.bounds.X * (float)Math.Abs(XAxis.Z) +
this.bounds.Y * (float)Math.Abs(YAxis.Z) +
this.bounds.Z * (float)Math.Abs(ZAxis.Z)))
{
return(false);
}
//7 (Ra)x X (Rb)x
if ((float)Math.Abs(vPosB.Z * YAxis.X -
vPosB.Y * ZAxis.X) >
(this.bounds.Y * (float)Math.Abs(ZAxis.X) +
this.bounds.Z * (float)Math.Abs(YAxis.X) +
b.bounds.Y * (float)Math.Abs(XAxis.Z) +
b.bounds.Z * (float)Math.Abs(XAxis.Y)))
{
return(false);
}
//8 (Ra)x X (Rb)y
if ((float)Math.Abs(vPosB.Z * YAxis.Y -
vPosB.Y * ZAxis.Y) >
(this.bounds.Y * (float)Math.Abs(ZAxis.Y) +
this.bounds.Z * (float)Math.Abs(YAxis.Y) +
b.bounds.X * (float)Math.Abs(XAxis.Z) +
b.bounds.Z * (float)Math.Abs(XAxis.X)))
{
return(false);
}
//9 (Ra)x X (Rb)z
if ((float)Math.Abs(vPosB.Z * YAxis.Z -
vPosB.Y * ZAxis.Z) >
(this.bounds.Y * (float)Math.Abs(ZAxis.Z) +
this.bounds.Z * (float)Math.Abs(YAxis.Z) +
b.bounds.X * (float)Math.Abs(XAxis.Y) +
b.bounds.Y * (float)Math.Abs(XAxis.X)))
{
return(false);
}
//10 (Ra)y X (Rb)x
if ((float)Math.Abs(vPosB.X * ZAxis.X -
vPosB.Z * XAxis.X) >
(this.bounds.X * (float)Math.Abs(ZAxis.X) +
this.bounds.Z * (float)Math.Abs(XAxis.X) +
b.bounds.Y * (float)Math.Abs(YAxis.Z) +
b.bounds.Z * (float)Math.Abs(YAxis.Y)))
{
return(false);
}
//11 (Ra)y X (Rb)y
if ((float)Math.Abs(vPosB.X * ZAxis.Y -
vPosB.Z * XAxis.Y) >
(this.bounds.X * (float)Math.Abs(ZAxis.Y) +
this.bounds.Z * (float)Math.Abs(XAxis.Y) +
b.bounds.X * (float)Math.Abs(YAxis.Z) +
b.bounds.Z * (float)Math.Abs(YAxis.X)))
{
return(false);
}
//12 (Ra)y X (Rb)z
if ((float)Math.Abs(vPosB.X * ZAxis.Z -
vPosB.Z * XAxis.Z) >
(this.bounds.X * (float)Math.Abs(ZAxis.Z) +
this.bounds.Z * (float)Math.Abs(XAxis.Z) +
b.bounds.X * (float)Math.Abs(YAxis.Y) +
b.bounds.Y * (float)Math.Abs(YAxis.X)))
{
return(false);
}
//13 (Ra)z X (Rb)x
if ((float)Math.Abs(vPosB.Y * XAxis.X -
vPosB.X * YAxis.X) >
(this.bounds.X * (float)Math.Abs(YAxis.X) +
this.bounds.Y * (float)Math.Abs(XAxis.X) +
b.bounds.Y * (float)Math.Abs(ZAxis.Z) +
b.bounds.Z * (float)Math.Abs(ZAxis.Y)))
{
return(false);
}
//14 (Ra)z X (Rb)y
if ((float)Math.Abs(vPosB.Y * XAxis.Y -
vPosB.X * YAxis.Y) >
(this.bounds.X * (float)Math.Abs(YAxis.Y) +
this.bounds.Y * (float)Math.Abs(XAxis.Y) +
b.bounds.X * (float)Math.Abs(ZAxis.Z) +
b.bounds.Z * (float)Math.Abs(ZAxis.X)))
{
return(false);
}
//15 (Ra)z X (Rb)z
if ((float)Math.Abs(vPosB.Y * XAxis.Z -
vPosB.X * YAxis.Z) >
(this.bounds.X * (float)Math.Abs(YAxis.Z) +
this.bounds.Y * (float)Math.Abs(XAxis.Z) +
b.bounds.X * (float)Math.Abs(ZAxis.Y) +
b.bounds.Y * (float)Math.Abs(ZAxis.X)))
{
return(false);
}
return(true);
}
