public Vector3 GetClosestPointToPoint(Vector3 point)
{
Vector3 fromCenterToPoint = point - Center;
Vector3 closestPoint = Center;
Vector3 scaledExtents = ScaledExtents;
Vector3[] localAxes = TransformMatrix.GetAllAxes();
for (int axisIndex = 0; axisIndex < 3; ++axisIndex)
{
Vector3 localAxis = localAxes[axisIndex];
float axisExtent = scaledExtents[axisIndex];
float projection = Vector3.Dot(localAxis, fromCenterToPoint);
if (projection > axisExtent)
{
projection = axisExtent;
}
else if (projection < -axisExtent)
{
projection = -axisExtent;
}
closestPoint += localAxis * projection;
}
return(closestPoint);
}