/// <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()));
 }