/// <summary>
/// constructor clears everything
/// </summary>
/// <param name="aabb"></param>
public Cell(AABox aabb)
{
mAABox = aabb;
mTriangleIndices = new List <int>();
mChildCellIndices = new int[NumChildren];
Clear();
}
public void Clear(bool NOTUSED)
{
positions = null;
triBoxes = null;
tris = null;
nodes = null;
boundingBox = null;
}
public static bool OverlapTest(AABox box0, AABox box1)
{
return(((box0.minPos.Z >= box1.maxPos.Z) ||
(box0.maxPos.Z <= box1.minPos.Z) ||
(box0.minPos.Y >= box1.maxPos.Y) ||
(box0.maxPos.Y <= box1.minPos.Y) ||
(box0.minPos.X >= box1.maxPos.X) ||
(box0.maxPos.X <= box1.minPos.X)) ? false : true);
}
public static bool OverlapTest(AABox box0, AABox box1, float tol)
{
return(((box0.minPos.Z >= box1.maxPos.Z + tol) ||
(box0.maxPos.Z <= box1.minPos.Z - tol) ||
(box0.minPos.Y >= box1.maxPos.Y + tol) ||
(box0.maxPos.Y <= box1.minPos.Y - tol) ||
(box0.minPos.X >= box1.maxPos.X + tol) ||
(box0.maxPos.X <= box1.minPos.X - tol)) ? false : true);
}
// Missing: SweptSpherePlaneOverlap
#region SegmentAABoxOverlap
/// <summary>
/// Indicates if a segment overlaps an AABox
/// </summary>
/// <param name="seg"></param>
/// <param name="AABox"></param>
/// <returns>bool</returns>
public static bool SegmentAABoxOverlap(Segment seg, AABox AABox)
{
Vector3 p0 = seg.Origin;
Vector3 p1 = seg.GetEnd();
float[] faceOffsets = new float[2];
// The AABox faces are aligned with the world directions. Loop
// over the 3 directions and do the two tests.
for (int iDir = 0; iDir < 3; iDir++)
{
int jDir = (iDir + 1) % 3;
int kDir = (iDir + 2) % 3;
// one plane goes through the origin, one is offset
faceOffsets[0] = JiggleUnsafe.Get(AABox.MinPos, iDir);
faceOffsets[1] = JiggleUnsafe.Get(AABox.MaxPos, iDir);
for (int iFace = 0; iFace < 2; iFace++)
{
// distance of each point from to the face plane
float dist0 = JiggleUnsafe.Get(ref p0, iDir) - faceOffsets[iFace];
float dist1 = JiggleUnsafe.Get(ref p1, iDir) - faceOffsets[iFace];
float frac = -1.0f;
if (dist0 * dist1 < -JiggleMath.Epsilon)
{
frac = -dist0 / (dist1 - dist0);
}
else if (System.Math.Abs(dist0) < JiggleMath.Epsilon)
{
frac = 0.0f;
}
else if (System.Math.Abs(dist1) < JiggleMath.Epsilon)
{
frac = 1.0f;
}
if (frac >= 0.0f)
{
//Assert(frac <= 1.0f);
Vector3 pt = seg.GetPoint(frac);
// check the point is within the face rectangle
if ((JiggleUnsafe.Get(ref pt, jDir) > JiggleUnsafe.Get(AABox.MinPos, jDir) - JiggleMath.Epsilon) &&
(JiggleUnsafe.Get(ref pt, jDir) < JiggleUnsafe.Get(AABox.MaxPos, jDir) + JiggleMath.Epsilon) &&
(JiggleUnsafe.Get(ref pt, kDir) > JiggleUnsafe.Get(AABox.MinPos, kDir) - JiggleMath.Epsilon) &&
(JiggleUnsafe.Get(ref pt, kDir) < JiggleUnsafe.Get(AABox.MaxPos, kDir) + JiggleMath.Epsilon))
{
return(true);
}
}
}
}
return(false);
}
public static bool SegmentAABoxOverlap(Segment seg, AABox AABox)
{
var p0 = seg.Origin;
var p1 = seg.GetEnd();
var faceOffsets = new float[2];
for (var iDir = 0; iDir < 3; iDir++)
{
var jDir = (iDir + 1) % 3;
var kDir = (iDir + 2) % 3;
faceOffsets[0] = JiggleUnsafe.Get(AABox.MinPos, iDir);
faceOffsets[1] = JiggleUnsafe.Get(AABox.MaxPos, iDir);
for (var iFace = 0; iFace < 2; iFace++)
{
var dist0 = JiggleUnsafe.Get(ref p0, iDir) - faceOffsets[iFace];
var dist1 = JiggleUnsafe.Get(ref p1, iDir) - faceOffsets[iFace];
var frac = -1.0f;
if (dist0 * dist1 < -JiggleMath.Epsilon)
{
frac = -dist0 / (dist1 - dist0);
}
else if (System.Math.Abs(dist0) < JiggleMath.Epsilon)
{
frac = 0.0f;
}
else if (System.Math.Abs(dist1) < JiggleMath.Epsilon)
{
frac = 1.0f;
}
if (frac >= 0.0f)
{
var pt = seg.GetPoint(frac);
if (JiggleUnsafe.Get(ref pt, jDir) > JiggleUnsafe.Get(AABox.MinPos, jDir) - JiggleMath.Epsilon && JiggleUnsafe.Get(ref pt, jDir) < JiggleUnsafe.Get(AABox.MaxPos, jDir) + JiggleMath.Epsilon && JiggleUnsafe.Get(ref pt, kDir) > JiggleUnsafe.Get(AABox.MinPos, kDir) - JiggleMath.Epsilon && JiggleUnsafe.Get(ref pt, kDir) < JiggleUnsafe.Get(AABox.MaxPos, kDir) + JiggleMath.Epsilon)
{
return(true);
}
}
}
}
return(false);
}
/// <summary>
/// Indicates if a segment overlaps an AABox
/// </summary>
/// <param name="seg"></param>
/// <param name="AABox"></param>
/// <returns>bool</returns>
public static bool SegmentAABoxOverlap(Segment seg, AABox AABox)
{
Vector3 p0 = seg.Origin;
Vector3 p1 = seg.GetEnd();
float[] faceOffsets = new float[2];
// The AABox faces are aligned with the world directions. Loop
// over the 3 directions and do the two tests.
for (int iDir = 0; iDir < 3; iDir++)
{
int jDir = (iDir + 1) % 3;
int kDir = (iDir + 2) % 3;
// one plane goes through the origin, one is offset
faceOffsets[0] = JiggleUnsafe.Get(AABox.MinPos, iDir);
faceOffsets[1] = JiggleUnsafe.Get(AABox.MaxPos, iDir);
for (int iFace = 0; iFace < 2; iFace++)
{
// distance of each point from to the face plane
float dist0 = JiggleUnsafe.Get(ref p0, iDir) - faceOffsets[iFace];
float dist1 = JiggleUnsafe.Get(ref p1, iDir) - faceOffsets[iFace];
float frac = -1.0f;
if (dist0 * dist1 < -JiggleMath.Epsilon)
frac = -dist0 / (dist1 - dist0);
else if (System.Math.Abs(dist0) < JiggleMath.Epsilon)
frac = 0.0f;
else if (System.Math.Abs(dist1) < JiggleMath.Epsilon)
frac = 1.0f;
if (frac >= 0.0f)
{
//Assert(frac <= 1.0f);
Vector3 pt = seg.GetPoint(frac);
// check the point is within the face rectangle
if ((JiggleUnsafe.Get(ref pt, jDir) > JiggleUnsafe.Get(AABox.MinPos, jDir) - JiggleMath.Epsilon) &&
(JiggleUnsafe.Get(ref pt, jDir) < JiggleUnsafe.Get(AABox.MaxPos, jDir) + JiggleMath.Epsilon) &&
(JiggleUnsafe.Get(ref pt, kDir) > JiggleUnsafe.Get(AABox.MinPos, kDir) - JiggleMath.Epsilon) &&
(JiggleUnsafe.Get(ref pt, kDir) < JiggleUnsafe.Get(AABox.MaxPos, kDir) + JiggleMath.Epsilon))
{
return true;
}
}
}
}
return false;
}
public override void GetBoundingBox(out AABox box)
{
box = octree.BoundingBox.Clone() as AABox;
box.Transform = Transform;
}
public void BuildOctree( int _maxTrisPerCellNOTUSED, float _minCellSizeNOTUSED)
{
// create tri and tri bounding box arrays
triBoxes = new BoundingBox[tris.Length];
// create an infinite size root box
rootNodeBox = new BoundingBox(new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity),
new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity));
for (int i = 0; i < tris.Length; i++)
{
triBoxes[i].Min = Vector3.Min(positions[tris[i].I0], Vector3.Min(positions[tris[i].I1], positions[tris[i].I2]));
triBoxes[i].Max = Vector3.Max(positions[tris[i].I0], Vector3.Max(positions[tris[i].I1], positions[tris[i].I2]));
// get size of the root box
rootNodeBox.Min = Vector3.Min(rootNodeBox.Min, triBoxes[i].Min);
rootNodeBox.Max = Vector3.Max(rootNodeBox.Max, triBoxes[i].Max);
}
boundingBox = new AABox(rootNodeBox.Min, rootNodeBox.Max);
List<BuildNode> buildNodes = new List<BuildNode>();
buildNodes.Add(new BuildNode());
buildNodes[0].box = rootNodeBox;
BoundingBox[] children = new BoundingBox[8];
for (int triNum = 0; triNum < tris.Length; triNum++)
{
int nodeIndex = 0;
BoundingBox box = rootNodeBox;
while (box.Contains(triBoxes[triNum]) == ContainmentType.Contains)
{
int childCon = -1;
for (int i = 0; i < 8; ++i)
{
children[i] = CreateAABox(box, (EChild)i);
if (children[i].Contains(triBoxes[triNum]) == ContainmentType.Contains)
{
// this box contains the tri, it can be the only one that does,
// so we can stop our child search now and recurse into it
childCon = i;
break;
}
}
// no child contains this tri completely, so it belong in this node
if (childCon == -1)
{
buildNodes[nodeIndex].triIndices.Add(triNum);
break;
}
else
{
// do we already have this child
int childIndex = -1;
for (int index = 0; index < buildNodes[nodeIndex].nodeIndices.Count; ++index)
{
if (buildNodes[buildNodes[nodeIndex].nodeIndices[index]].childType == childCon)
{
childIndex = index;
break;
}
}
if (childIndex == -1)
{
// nope create child
BuildNode parentNode = buildNodes[nodeIndex];
BuildNode newNode = new BuildNode();
newNode.childType = childCon;
newNode.box = children[childCon];
buildNodes.Add(newNode);
nodeIndex = buildNodes.Count - 1;
box = children[childCon];
parentNode.nodeIndices.Add(nodeIndex);
}
else
{
nodeIndex = buildNodes[nodeIndex].nodeIndices[childIndex];
box = children[childCon];
}
}
}
}
Debug.Assert(buildNodes.Count < 0xFFFF);
// now convert to the tighter Node from BuildNodes
nodes = new Node[buildNodes.Count];
nodeStack = new UInt16[buildNodes.Count];
for (int i = 0; i < nodes.Length; i++)
{
nodes[i].nodeIndices = new UInt16[buildNodes[i].nodeIndices.Count];
for (int index = 0; index < nodes[i].nodeIndices.Length; ++index)
{
nodes[i].nodeIndices[index] = (UInt16)buildNodes[i].nodeIndices[index];
}
nodes[i].triIndices = new int[buildNodes[i].triIndices.Count];
buildNodes[i].triIndices.CopyTo(nodes[i].triIndices);
nodes[i].box = buildNodes[i].box;
}
buildNodes = null;
}
/// <summary>
/// constructor clears everything
/// </summary>
/// <param name="aabb"></param>
public Cell(AABox aabb)
{
mAABox = aabb;
mTriangleIndices = new List<int>();
mChildCellIndices = new int[NumChildren];
Clear();
}
public void Clear( bool NOTUSED )
{
positions = null;
triBoxes = null;
tris = null;
nodes = null;
boundingBox = null;
}
/// <summary>
/// Initializes a new CollisionSystem which uses a grid to speed up collision detection.
/// Use this system for larger scenes with many objects.
/// </summary>
/// <param name="nx">Number of GridEntries in X Direction.</param>
/// <param name="ny">Number of GridEntries in Y Direction.</param>
/// <param name="nz">Number of GridEntries in Z Direction.</param>
/// <param name="dx">Size of a single GridEntry in X Direction.</param>
/// <param name="dy">Size of a single GridEntry in Y Direction.</param>
/// <param name="dz">Size of a single GridEntry in Z Direction.</param>
public CollisionSystemGrid(int nx, int ny, int nz, float dx, float dy, float dz)
{
this.nx = nx; this.ny = ny; this.nz = nz;
this.dx = dx; this.dy = dy; this.dz = dz;
this.sizeX = nx * dx;
this.sizeY = ny * dy;
this.sizeZ = nz * dz;
this.minDelta = System.Math.Min(System.Math.Min(dx, dy), dz);
int numEntries = nx * ny * nz * 2; // we allocate twice as many as need for collision skins
gridEntries = new List<GridEntry>(numEntries);
gridBoxes = new List<AABox>(numEntries);
tempGridLists = new List<GridEntry>(numEntries);
freeGrids = new Stack<GridEntry>(numEntries);
for (int i = 0; i < numEntries; ++i)
{
GridEntry entry = new GridEntry();
entry.GridIndex = -2;
freeGrids.Push(entry);
}
for (int i = 0; i < (nx * ny * nz); ++i)
{
GridEntry gridEntry = freeGrids.Pop();
gridEntry.GridIndex = i;
gridEntries.Add(gridEntry);
gridBoxes.Add(null);
}
overflowEntries = freeGrids.Pop();
overflowEntries.GridIndex = -1;
for (int iX = 0; iX < nx; ++iX)
{
for (int iY = 0; iY < ny; ++iY)
{
for (int iZ = 0; iZ < nz; ++iZ)
{
AABox box = new AABox();
box.AddPoint(new Vector3(iX * dx, iY * dy, iZ + dz));
box.AddPoint(new Vector3(iX * dx + dx, iY * dy + dy, iZ * dz + dz));
int index = CalcIndex(iX, iY, iZ);
gridBoxes[index] = box;
}
}
}
}
/// <summary>
/// GetBoundingBox
/// </summary>
/// <param name="box"></param>
public override void GetBoundingBox(out AABox box)
{
box = octree.BoundingBox.Clone() as AABox;
box.Transform = Transform;
}
/// <summary>
/// OverlapTest
/// </summary>
/// <param name="box0"></param>
/// <param name="box1"></param>
/// <returns>bool</returns>
public static bool OverlapTest(AABox box0, AABox box1)
{
return ((box0.minPos.Z >= box1.maxPos.Z) ||
(box0.maxPos.Z <= box1.minPos.Z) ||
(box0.minPos.Y >= box1.maxPos.Y) ||
(box0.maxPos.Y <= box1.minPos.Y) ||
(box0.minPos.X >= box1.maxPos.X) ||
(box0.maxPos.X <= box1.minPos.X)) ? false : true;
}
/// <summary>
/// Returns a bounding box that covers this primitive. Default returns a huge box, so
/// implement this in the derived class for efficiency
/// </summary>
public virtual void GetBoundingBox(out AABox box)
{
box = AABox.HugeBox;
}
/// <summary>
/// GetBoundingBox
/// </summary>
/// <param name="box"></param>
public override void GetBoundingBox(out AABox box)
{
box = new AABox(this.Min, this.Max);
}
/// <summary>
/// Returns a bounding box that covers this primitive. Default returns a huge box, so
/// implement this in the derived class for efficiency
/// </summary>
public virtual void GetBoundingBox(out AABox box)
{
box = AABox.HugeBox;
}
public override void GetBoundingBox(out AABox box)
{
if (octree == null)
{
BoundingBox bounds = kdTree.GetRoot().boundingBox;
box = new AABox(bounds.Min, bounds.Max);
box.Transform = Transform;
}
else
{
box = octree.BoundingBox.GetBoundingBox();
}
}
/// <summary>
/// AddAABox
/// </summary>
/// <param name="aabox"></param>
/// <param name="bb"></param>
public static void AddAABox(AABox aabox, ref BoundingBox bb)
{
bb.Min = Vector3Extensions.Min(aabox.MinPos, bb.Min);
bb.Max = Vector3Extensions.Max(aabox.MaxPos, bb.Max);
}
/// <summary>
/// OverlapTest
/// </summary>
/// <param name="box0"></param>
/// <param name="box1"></param>
/// <param name="tol"></param>
/// <returns>bool</returns>
public static bool OverlapTest(AABox box0, AABox box1, float tol)
{
return ((box0.minPos.Z >= box1.maxPos.Z + tol) ||
(box0.maxPos.Z <= box1.minPos.Z - tol) ||
(box0.minPos.Y >= box1.maxPos.Y + tol) ||
(box0.maxPos.Y <= box1.minPos.Y - tol) ||
(box0.minPos.X >= box1.maxPos.X + tol) ||
(box0.maxPos.X <= box1.minPos.X - tol)) ? false : true;
}
public void BuildOctree(int _maxTrisPerCellNOTUSED, float _minCellSizeNOTUSED)
{
triBoxes = new BoundingBox[tris.Length];
rootNodeBox = new BoundingBox(new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity), new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity));
for (var i = 0; i < tris.Length; i++)
{
triBoxes[i].Min = Vector3.Min(positions[tris[i].I0], Vector3.Min(positions[tris[i].I1], positions[tris[i].I2]));
triBoxes[i].Max = Vector3.Max(positions[tris[i].I0], Vector3.Max(positions[tris[i].I1], positions[tris[i].I2]));
rootNodeBox.Min = Vector3.Min(rootNodeBox.Min, triBoxes[i].Min);
rootNodeBox.Max = Vector3.Max(rootNodeBox.Max, triBoxes[i].Max);
}
BoundingBox = new AABox(rootNodeBox.Min, rootNodeBox.Max);
var buildNodes = new List <BuildNode>();
buildNodes.Add(new BuildNode());
buildNodes[0].box = rootNodeBox;
var children = new BoundingBox[8];
for (var triNum = 0; triNum < tris.Length; triNum++)
{
var nodeIndex = 0;
var box = rootNodeBox;
while (box.Contains(triBoxes[triNum]) == ContainmentType.Contains)
{
var childCon = -1;
for (var i = 0; i < 8; ++i)
{
children[i] = CreateAABox(box, (EChild)i);
if (children[i].Contains(triBoxes[triNum]) == ContainmentType.Contains)
{
childCon = i;
break;
}
}
if (childCon == -1)
{
buildNodes[nodeIndex].triIndices.Add(triNum);
break;
}
else
{
var childIndex = -1;
for (var index = 0; index < buildNodes[nodeIndex].nodeIndices.Count; ++index)
{
if (buildNodes[buildNodes[nodeIndex].nodeIndices[index]].childType == childCon)
{
childIndex = index;
break;
}
}
if (childIndex == -1)
{
var parentNode = buildNodes[nodeIndex];
var newNode = new BuildNode();
newNode.childType = childCon;
newNode.box = children[childCon];
buildNodes.Add(newNode);
nodeIndex = buildNodes.Count - 1;
box = children[childCon];
parentNode.nodeIndices.Add(nodeIndex);
}
else
{
nodeIndex = buildNodes[nodeIndex].nodeIndices[childIndex];
box = children[childCon];
}
}
}
}
Debug.Assert(buildNodes.Count < 0xFFFF);
nodes = new Node[buildNodes.Count];
nodeStack = new ushort[buildNodes.Count];
for (var i = 0; i < nodes.Length; i++)
{
nodes[i].nodeIndices = new ushort[buildNodes[i].nodeIndices.Count];
for (var index = 0; index < nodes[i].nodeIndices.Length; ++index)
{
nodes[i].nodeIndices[index] = (ushort)buildNodes[i].nodeIndices[index];
}
nodes[i].triIndices = new int[buildNodes[i].triIndices.Count];
buildNodes[i].triIndices.CopyTo(nodes[i].triIndices);
nodes[i].box = buildNodes[i].box;
}
buildNodes = null;
}
/// <summary>
/// AddAABox
/// </summary>
/// <param name="aabox"></param>
/// <param name="bb"></param>
static public void AddAABox(AABox aabox, ref BoundingBox bb)
{
bb.Min = Vector3Extensions.Min(aabox.MinPos, bb.Min);
bb.Max = Vector3Extensions.Max(aabox.MaxPos, bb.Max);
}
/// <summary>
/// BuildOctree
/// </summary>
/// <param name="_maxTrisPerCellNOTUSED"></param>
/// <param name="_minCellSizeNOTUSED"></param>
public void BuildOctree(int _maxTrisPerCellNOTUSED, float _minCellSizeNOTUSED)
{
// create tri and tri bounding box arrays
triBoxes = new BoundingBox[tris.Length];
// create an infinite size root box
rootNodeBox = new BoundingBox(new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity),
new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity));
for (int i = 0; i < tris.Length; i++)
{
triBoxes[i].Min = Vector3.Min(positions[tris[i].I0], Vector3.Min(positions[tris[i].I1], positions[tris[i].I2]));
triBoxes[i].Max = Vector3.Max(positions[tris[i].I0], Vector3.Max(positions[tris[i].I1], positions[tris[i].I2]));
// get size of the root box
rootNodeBox.Min = Vector3.Min(rootNodeBox.Min, triBoxes[i].Min);
rootNodeBox.Max = Vector3.Max(rootNodeBox.Max, triBoxes[i].Max);
}
boundingBox = new AABox(rootNodeBox.Min, rootNodeBox.Max);
List <BuildNode> buildNodes = new List <BuildNode>();
buildNodes.Add(new BuildNode());
buildNodes[0].box = rootNodeBox;
BoundingBox[] children = new BoundingBox[8];
for (int triNum = 0; triNum < tris.Length; triNum++)
{
int nodeIndex = 0;
BoundingBox box = rootNodeBox;
while (box.Contains(triBoxes[triNum]) == ContainmentType.Contains)
{
int childCon = -1;
for (int i = 0; i < 8; ++i)
{
children[i] = CreateAABox(box, (EChild)i);
if (children[i].Contains(triBoxes[triNum]) == ContainmentType.Contains)
{
// this box contains the tri, it can be the only one that does,
// so we can stop our child search now and recurse into it
childCon = i;
break;
}
}
// no child contains this tri completely, so it belong in this node
if (childCon == -1)
{
buildNodes[nodeIndex].triIndices.Add(triNum);
break;
}
else
{
// do we already have this child
int childIndex = -1;
for (int index = 0; index < buildNodes[nodeIndex].nodeIndices.Count; ++index)
{
if (buildNodes[buildNodes[nodeIndex].nodeIndices[index]].childType == childCon)
{
childIndex = index;
break;
}
}
if (childIndex == -1)
{
// nope create child
BuildNode parentNode = buildNodes[nodeIndex];
BuildNode newNode = new BuildNode();
newNode.childType = childCon;
newNode.box = children[childCon];
buildNodes.Add(newNode);
nodeIndex = buildNodes.Count - 1;
box = children[childCon];
parentNode.nodeIndices.Add(nodeIndex);
}
else
{
nodeIndex = buildNodes[nodeIndex].nodeIndices[childIndex];
box = children[childCon];
}
}
}
}
Debug.Assert(buildNodes.Count < 0xFFFF);
// now convert to the tighter Node from BuildNodes
nodes = new Node[buildNodes.Count];
nodeStack = new UInt16[buildNodes.Count];
for (int i = 0; i < nodes.Length; i++)
{
nodes[i].nodeIndices = new UInt16[buildNodes[i].nodeIndices.Count];
for (int index = 0; index < nodes[i].nodeIndices.Length; ++index)
{
nodes[i].nodeIndices[index] = (UInt16)buildNodes[i].nodeIndices[index];
}
nodes[i].triIndices = new int[buildNodes[i].triIndices.Count];
buildNodes[i].triIndices.CopyTo(nodes[i].triIndices);
nodes[i].box = buildNodes[i].box;
}
buildNodes = null;
}
static public void AddAABox(AABox aabox, ref BoundingBox bb)
{
AddPoint(aabox.MaxPos, ref bb);
AddPoint(aabox.MinPos, ref bb);
}
/// <summary>
/// GetBoundingBox
/// </summary>
/// <param name="box"></param>
public override void GetBoundingBox(out AABox box)
{
box = new AABox(this.Min, this.Max);
}
public static void AddAABox(AABox aabox, ref BoundingBox bb)
{
AddPoint(aabox.MaxPos, ref bb);
AddPoint(aabox.MinPos, ref bb);
}