/// <summary>
/// Uses the supportMapping to calculate the bounding box. Should be overidden
/// to make this faster.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The resulting axis aligned bounding box.</param>
public virtual void GetBoundingBox(ref FPMatrix orientation, out FPBBox box)
{
// I don't think that this can be done faster.
// 6 is the minimum number of SupportMap calls.
FPVector vec = FPVector.zero;
vec.Set(orientation.M11, orientation.M21, orientation.M31);
SupportMapping(ref vec, out vec);
box.max.x = orientation.M11 * vec.x + orientation.M21 * vec.y + orientation.M31 * vec.z;
vec.Set(orientation.M12, orientation.M22, orientation.M32);
SupportMapping(ref vec, out vec);
box.max.y = orientation.M12 * vec.x + orientation.M22 * vec.y + orientation.M32 * vec.z;
vec.Set(orientation.M13, orientation.M23, orientation.M33);
SupportMapping(ref vec, out vec);
box.max.z = orientation.M13 * vec.x + orientation.M23 * vec.y + orientation.M33 * vec.z;
vec.Set(-orientation.M11, -orientation.M21, -orientation.M31);
SupportMapping(ref vec, out vec);
box.min.x = orientation.M11 * vec.x + orientation.M21 * vec.y + orientation.M31 * vec.z;
vec.Set(-orientation.M12, -orientation.M22, -orientation.M32);
SupportMapping(ref vec, out vec);
box.min.y = orientation.M12 * vec.x + orientation.M22 * vec.y + orientation.M32 * vec.z;
vec.Set(-orientation.M13, -orientation.M23, -orientation.M33);
SupportMapping(ref vec, out vec);
box.min.z = orientation.M13 * vec.x + orientation.M23 * vec.y + orientation.M33 * vec.z;
}
public static void Set(this FPVector jVector, FPVector otherVector)
{
jVector.Set(otherVector.x, otherVector.y, otherVector.z);
}