public static Aabb TransformAabb(float4x4 transform, float3 center, float3 extents)
{
float3 worldCenter = math.transform(transform, center);
float3 worldExtents = LatiosMath.RotateExtents(extents, transform.c0.xyz, transform.c1.xyz, transform.c2.xyz);
return(new Aabb(worldCenter - worldExtents, worldCenter + worldExtents));
}
public static Aabb CalculateAabb(CompoundCollider compound, RigidTransform transform)
{
var local = compound.compoundColliderBlob.Value.localAabb;
float3 c = (local.min + local.max) / 2f;
//BoxCollider box = new BoxCollider(c, local.max - c);
//return CalculateAabb(box, transform);
float3 extents = local.max - c;
var rotMatrix = new float3x3(transform.rot);
var worldExtents = LatiosMath.RotateExtents(extents, rotMatrix);
var worldCenter = math.transform(transform, c);
return new Aabb(worldCenter - worldExtents, worldCenter + worldExtents);
}
