public ContainmentType Contains(ref MyOrientedBoundingBoxD other)
{
Quaternion quaternion;
Quaternion quaternion2;
Quaternion.Conjugate(ref this.Orientation, out quaternion);
Quaternion.Multiply(ref quaternion, ref other.Orientation, out quaternion2);
MatrixD mB = MatrixD.CreateFromQuaternion(quaternion2);
mB.Translation = Vector3D.Transform(other.Center - this.Center, quaternion);
return(ContainsRelativeBox(ref this.HalfExtent, ref other.HalfExtent, ref mB));
}
public static void Transform(ref MyTransform t1, ref MyTransform t2, out MyTransform result)
{
Vector3 newPos;
Vector3.Transform(ref t1.Position, ref t2.Rotation, out newPos);
newPos += t2.Position;
Quaternion newRot;
Quaternion.Multiply(ref t1.Rotation, ref t2.Rotation, out newRot);
result.Position = newPos;
result.Rotation = newRot;
}
// Determine whether this box contains, intersects, or is disjoint from
// the given other box.
public ContainmentType Contains(ref MyOrientedBoundingBoxD other)
{
// Build the 3x3 rotation matrix that defines the orientation of 'other' relative to this box
Quaternion invOrient;
Quaternion.Conjugate(ref Orientation, out invOrient);
Quaternion relOrient;
Quaternion.Multiply(ref invOrient, ref other.Orientation, out relOrient);
MatrixD relTransform = MatrixD.CreateFromQuaternion(relOrient);
relTransform.Translation = Vector3D.Transform(other.Center - Center, invOrient);
return(ContainsRelativeBox(ref HalfExtent, ref other.HalfExtent, ref relTransform));
}