/// <summary>
/// Merge an OrientedBoundingBox B into another OrientedBoundingBox A, by expanding A to contain B and keeping A orientation.
/// </summary>
/// <param name="A">The <see cref="MyOrientedBoundingBox"/> to merge into it.</param>
/// <param name="B">The <see cref="MyOrientedBoundingBox"/> to be merged</param>
/// <param name="NoMatrixScaleApplied">
/// If true, the method will use a fast algorithm which is inapplicable if a scale is applied to the transformation matrix of the OrientedBoundingBox.
/// </param>
/// <remarks>
/// Unlike merging axis aligned boxes, The operation is not interchangeable, because it keeps A orientation and merge B into it.
/// </remarks>
public static void Merge(ref MyOrientedBoundingBox A, ref MyOrientedBoundingBox B, bool NoMatrixScaleApplied = false)
{
MyMatrix AtoB_Matrix = GetBoxToBoxMatrix(ref A, ref B, NoMatrixScaleApplied);
//Get B corners in A Space
var bCorners = B.GetLocalCorners();
MyVector3.TransformCoordinate(bCorners, ref AtoB_Matrix, bCorners);
//Get A local Bounding Box
var A_LocalBB = new MyBoundingBox(-A.Extents, A.Extents);
//Find B BoundingBox in A Space
var B_LocalBB = MyBoundingBox.FromPoints(bCorners);
//Merger A and B local Bounding Boxes
MyBoundingBox mergedBB;
MyBoundingBox.Merge(ref B_LocalBB, ref A_LocalBB, out mergedBB);
//Find the new Extents and Center, Transform Center back to world
var newCenter = mergedBB.Minimum + (mergedBB.Maximum - mergedBB.Minimum) / 2f;
A.Extents = mergedBB.Maximum - newCenter;
MyVector3.TransformCoordinate(ref newCenter, ref A.Transformation, out newCenter);
A.Transformation.TranslationVector = newCenter;
}
/// <summary>
/// Get the axis-aligned <see cref="MyBoundingBox"/> which contains all <see cref="MyOrientedBoundingBox"/> corners.
/// </summary>
/// <returns>The axis-aligned BoundingBox of this OrientedBoundingBox.</returns>
public MyBoundingBox GetBoundingBox()
{
return MyBoundingBox.FromPoints(GetCorners());
}