public static void updateObbFromSegment(TgcObb obb, Vector3 a, Vector3 b, float thickness)
{
Vector3 lineDiff = b - a;
float lineLength = lineDiff.Length();
Vector3 lineVec = Vector3.Normalize(lineDiff);
//Obtener angulo y vector de rotacion
Vector3 upVec = new Vector3(0, 1, 0);
float angle = FastMath.Acos(Vector3.Dot(upVec, lineVec));
Vector3 axisRotation = Vector3.Cross(upVec, lineVec);
axisRotation.Normalize();
//Obtener matriz de rotacion para este eje y angulo
Matrix rotM = Matrix.RotationAxis(axisRotation, angle);
//Actualizar orientacion de OBB en base a matriz de rotacion
obb.Orientation[0] = new Vector3(rotM.M11, rotM.M12, rotM.M13);
obb.Orientation[1] = new Vector3(rotM.M21, rotM.M22, rotM.M23);
obb.Orientation[2] = new Vector3(rotM.M31, rotM.M32, rotM.M33);
//Actualizar extent de OBB segun el thickness del segmento
obb.Extents = new Vector3(thickness, lineLength / 2, thickness);
//Actualizar centro del OBB segun centro del segmento
obb.Center = a + Vector3.Scale(lineDiff, 0.5f);
//Regenerar OBB
obb.updateValues();
}