/// <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="SeeingSharp.OrientedBoundingBox"/> to merge into it.</param>
/// <param name="B">The <see cref="SeeingSharp.OrientedBoundingBox"/> 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 OrientedBoundingBox A, ref OrientedBoundingBox B, bool NoMatrixScaleApplied = false)
{
Matrix4x4 AtoB_Matrix = GetBoxToBoxMatrix(ref A, ref B, NoMatrixScaleApplied);
//Get B corners in A Space
var bCorners = B.GetLocalCorners();
for (int loop = 0; loop < bCorners.Length; loop++)
{
bCorners[loop] = Vector3.Transform(bCorners[loop], AtoB_Matrix);
}
//Get A local Bounding Box
var A_LocalBB = new BoundingBox(-A.Extents, A.Extents);
//Find B BoundingBox in A Space
var B_LocalBB = BoundingBox.FromPoints(bCorners);
//Merger A and B local Bounding Boxes
BoundingBox mergedBB;
BoundingBox.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;
newCenter = Vector3.Transform(newCenter, A.Transformation);
A.Transformation.Translation = newCenter;
}
/// <summary>
/// Get the axis-aligned <see cref="SeeingSharp.BoundingBox"/> which contains all <see cref="SeeingSharp.OrientedBoundingBox"/> corners.
/// </summary>
/// <returns>The axis-aligned BoundingBox of this OrientedBoundingBox.</returns>
public BoundingBox GetBoundingBox()
{
return(BoundingBox.FromPoints(GetCorners()));
}