public void Transform(ref Matrix3 orientation)
{
Vector3 halfExtents = 0.5f * (Max - Min);
Vector3 center = 0.5f * (Max + Min);
Vector3.Transform(ref center, ref orientation, out center);
Matrix3 abs; JMath.Absolute(ref orientation, out abs);
Vector3.Transform(ref halfExtents, ref abs, out halfExtents);
Max = center + halfExtents;
Min = center - halfExtents;
}
/// <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 Vector3 position, ref Matrix3 orientation)
{
Vector3.Subtract(ref Max, ref position, out Max);
Vector3.Subtract(ref Min, ref position, out Min);
Vector3 center;
Vector3.Add(ref Max, ref Min, out center);
center.X *= 0.5f; center.Y *= 0.5f; center.Z *= 0.5f;
Vector3 halfExtents;
Vector3.Subtract(ref Max, ref Min, out halfExtents);
halfExtents.X *= 0.5f; halfExtents.Y *= 0.5f; halfExtents.Z *= 0.5f;
Vector3.TransposedTransform(ref center, ref orientation, out center);
Matrix3 abs; JMath.Absolute(ref orientation, out abs);
Vector3.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
Vector3.Add(ref center, ref halfExtents, out Max);
Vector3.Subtract(ref center, ref halfExtents, out Min);
}
