/// <summary>
/// Calculates an OBB with a given set of points.
/// Tests every orientations between initValues and endValues, stepping through angle intervals with a given step size.
/// Goes on until it reaches a step less than 0.01
/// </summary>
/// <returns>A generated Oriented Bounding Box that contains the set of points</returns>
private static OrientedBoundingBox ComputeFromPointsRecursive(Vector3[] points, Vector3 initValues, Vector3 endValues,
float step)
{
var minObb = new OrientedBoundingBox();
var minimumVolume = float.MaxValue;
var minInitValues = Vector3.Zero;
var minEndValues = Vector3.Zero;
var transformedPoints = new Vector3[points.Length];
float y, z;
var x = initValues.X;
while (x <= endValues.X)
{
y = initValues.Y;
var rotationX = MathHelper.ToRadians(x);
while (y <= endValues.Y)
{
z = initValues.Z;
var rotationY = MathHelper.ToRadians(y);
while (z <= endValues.Z)
{
// Rotation matrix
var rotationZ = MathHelper.ToRadians(z);
var rotationMatrix = Matrix.CreateFromYawPitchRoll(rotationY, rotationX, rotationZ);
// Transform every point to OBB-Space
for (var index = 0; index < transformedPoints.Length; index++)
{
transformedPoints[index] = Vector3.Transform(points[index], rotationMatrix);
}
// Obtain an AABB enclosing every transformed point
var aabb = BoundingBox.CreateFromPoints(transformedPoints);
// Calculate the volume of the AABB
var volume = BoundingVolumesExtensions.GetVolume(aabb);
// Find lesser volume
if (volume < minimumVolume)
{
minimumVolume = volume;
minInitValues = new Vector3(x, y, z);
minEndValues = new Vector3(x + step, y + step, z + step);
// Restore the AABB center in World-Space
var center = BoundingVolumesExtensions.GetCenter(aabb);
center = Vector3.Transform(center, rotationMatrix);
// Create OBB
minObb = new OrientedBoundingBox(center, BoundingVolumesExtensions.GetExtents(aabb));
minObb.Orientation = rotationMatrix;
}
z += step;
}
y += step;
}
x += step;
}
// Loop again if the step is higher than a given acceptance threshold
if (step > 0.01f)
{
minObb = ComputeFromPointsRecursive(points, minInitValues, minEndValues, step / 10f);
}
return(minObb);
}
/// <summary>
/// Tests if this OBB intersects with another OBB.
/// </summary>
/// <param name="box">The other OBB to test</param>
/// <returns>True if the two boxes intersect</returns>
public bool Intersects(OrientedBoundingBox box)
{
float ra;
float rb;
var R = new float[3, 3];
var AbsR = new float[3, 3];
var ae = ToArray(Extents);
var be = ToArray(box.Extents);
// Compute rotation matrix expressing the other box in this box coordinate frame
var result = ToFloatArray(Matrix.Multiply(Orientation, box.Orientation));
for (var i = 0; i < 3; i++)
{
for (var j = 0; j < 3; j++)
{
R[i, j] = result[i * 3 + j];
}
}
// Compute translation vector t
var tVec = box.Center - Center;
// Bring translation into this boxs coordinate frame
var t = ToArray(Vector3.Transform(tVec, Orientation));
// Compute common subexpressions. Add in an epsilon term to
// counteract arithmetic errors when two edges are parallel and
// their cross product is (near) null (see text for details)
for (var i = 0; i < 3; i++)
{
for (var j = 0; j < 3; j++)
{
AbsR[i, j] = MathF.Abs(R[i, j]) + float.Epsilon;
}
}
// Test axes L = A0, L = A1, L = A2
for (var i = 0; i < 3; i++)
{
ra = ae[i];
rb = be[0] * AbsR[i, 0] + be[1] * AbsR[i, 1] + be[2] * AbsR[i, 2];
if (MathF.Abs(t[i]) > ra + rb)
{
return(false);
}
}
// Test axes L = B0, L = B1, L = B2
for (var i = 0; i < 3; i++)
{
ra = ae[0] * AbsR[0, i] + ae[1] * AbsR[1, i] + ae[2] * AbsR[2, i];
rb = be[i];
if (MathF.Abs(t[0] * R[0, i] + t[1] * R[1, i] + t[2] * R[2, i]) > ra + rb)
{
return(false);
}
}
// Test axis L = A0 x B0
ra = ae[1] * AbsR[2, 0] + ae[2] * AbsR[1, 0];
rb = be[1] * AbsR[0, 2] + be[2] * AbsR[0, 1];
if (MathF.Abs(t[2] * R[1, 0] - t[1] * R[2, 0]) > ra + rb)
{
return(false);
}
// Test axis L = A0 x B1
ra = ae[1] * AbsR[2, 1] + ae[2] * AbsR[1, 1];
rb = be[0] * AbsR[0, 2] + be[2] * AbsR[0, 0];
if (MathF.Abs(t[2] * R[1, 1] - t[1] * R[2, 1]) > ra + rb)
{
return(false);
}
// Test axis L = A0 x B2
ra = ae[1] * AbsR[2, 2] + ae[2] * AbsR[1, 2];
rb = be[0] * AbsR[0, 1] + be[1] * AbsR[0, 0];
if (MathF.Abs(t[2] * R[1, 2] - t[1] * R[2, 2]) > ra + rb)
{
return(false);
}
// Test axis L = A1 x B0
ra = ae[0] * AbsR[2, 0] + ae[2] * AbsR[0, 0];
rb = be[1] * AbsR[1, 2] + be[2] * AbsR[1, 1];
if (MathF.Abs(t[0] * R[2, 0] - t[2] * R[0, 0]) > ra + rb)
{
return(false);
}
// Test axis L = A1 x B1
ra = ae[0] * AbsR[2, 1] + ae[2] * AbsR[0, 1];
rb = be[0] * AbsR[1, 2] + be[2] * AbsR[1, 0];
if (MathF.Abs(t[0] * R[2, 1] - t[2] * R[0, 1]) > ra + rb)
{
return(false);
}
// Test axis L = A1 x B2
ra = ae[0] * AbsR[2, 2] + ae[2] * AbsR[0, 2];
rb = be[0] * AbsR[1, 1] + be[1] * AbsR[1, 0];
if (MathF.Abs(t[0] * R[2, 2] - t[2] * R[0, 2]) > ra + rb)
{
return(false);
}
// Test axis L = A2 x B0
ra = ae[0] * AbsR[1, 0] + ae[1] * AbsR[0, 0];
rb = be[1] * AbsR[2, 2] + be[2] * AbsR[2, 1];
if (MathF.Abs(t[1] * R[0, 0] - t[0] * R[1, 0]) > ra + rb)
{
return(false);
}
// Test axis L = A2 x B1
ra = ae[0] * AbsR[1, 1] + ae[1] * AbsR[0, 1];
rb = be[0] * AbsR[2, 2] + be[2] * AbsR[2, 0];
if (MathF.Abs(t[1] * R[0, 1] - t[0] * R[1, 1]) > ra + rb)
{
return(false);
}
// Test axis L = A2 x B2
ra = ae[0] * AbsR[1, 2] + ae[1] * AbsR[0, 2];
rb = be[0] * AbsR[2, 1] + be[1] * AbsR[2, 0];
if (MathF.Abs(t[1] * R[0, 2] - t[0] * R[1, 2]) > ra + rb)
{
return(false);
}
// Since no separating axis is found, the OBBs must be intersecting
return(true);
}