/// <summary>
/// Gets the axis aligned bounding box of the orientated shape.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref TSMatrix orientation, out TSBBox box)
{
TSMatrix abs; TSMath.Absolute(ref orientation, out abs);
TSVector temp;
TSVector.Transform(ref halfSize, ref abs, out temp);
box.max = temp;
TSVector.Negate(ref temp, out box.min);
}
public void Transform(ref TSMatrix orientation)
{
TSVector halfExtents = FP.Half * (max - min);
TSVector center = FP.Half * (max + min);
TSVector.Transform(ref center, ref orientation, out center);
TSMatrix abs; TSMath.Absolute(ref orientation, out abs);
TSVector.Transform(ref halfExtents, ref abs, out halfExtents);
max = center + halfExtents;
min = center - halfExtents;
}
/// <summary>
/// Gets the axis aligned bounding box of the orientated shape. (Inlcuding all
/// 'sub' shapes)
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref TSMatrix orientation, out TSBBox box)
{
box.min = mInternalBBox.min;
box.max = mInternalBBox.max;
TSVector localHalfExtents = FP.Half * (box.max - box.min);
TSVector localCenter = FP.Half * (box.max + box.min);
TSVector center;
TSVector.Transform(ref localCenter, ref orientation, out center);
TSMatrix abs; TSMath.Absolute(ref orientation, out abs);
TSVector temp;
TSVector.Transform(ref localHalfExtents, ref abs, out temp);
box.max = center + temp;
box.min = center - temp;
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(ref TSVector position, ref TSMatrix orientation)
{
TSVector.Subtract(ref max, ref position, out max);
TSVector.Subtract(ref min, ref position, out min);
TSVector center;
TSVector.Add(ref max, ref min, out center);
center.x *= FP.Half; center.y *= FP.Half; center.z *= FP.Half;
TSVector halfExtents;
TSVector.Subtract(ref max, ref min, out halfExtents);
halfExtents.x *= FP.Half; halfExtents.y *= FP.Half; halfExtents.z *= FP.Half;
TSVector.TransposedTransform(ref center, ref orientation, out center);
TSMatrix abs; TSMath.Absolute(ref orientation, out abs);
TSVector.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
TSVector.Add(ref center, ref halfExtents, out max);
TSVector.Subtract(ref center, ref halfExtents, out min);
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(TSVector position, TSMatrix orientation)
{
TSVector.Subtract(max, position, out max);
TSVector.Subtract(min, position, out min);
TSVector center;
TSVector.Add(max, min, out center);
center.x *= FP.Half; center.y *= FP.Half; center.z *= FP.Half;
TSVector halfExtents;
TSVector.Subtract(max, min, out halfExtents);
halfExtents.x *= FP.Half; halfExtents.y *= FP.Half; halfExtents.z *= FP.Half;
TSVector.TransposedTransform(center, orientation, out center);
TSMatrix abs; TSMath.Absolute(orientation, out abs);
TSVector.TransposedTransform(halfExtents, abs, out halfExtents);
TSVector.Add(center, halfExtents, out max);
TSVector.Subtract(center, halfExtents, out min);
}