public void ComputeAABB(Transform tx, out AABB aabb)
{
Transform world = Transform.Mul(tx, local);
Vec3 min = new Vec3(double.MaxValue, double.MaxValue, double.MaxValue);
Vec3 max = new Vec3(-double.MaxValue, -double.MaxValue, -double.MaxValue);
for (int i = 0; i < 8; ++i)
{
var v = Transform.Mul(world, Vec3.Mul(kBoxVertices[i], e));
min = Vec3.Min(min, v);
max = Vec3.Max(max, v);
}
aabb.min = min;
aabb.max = max;
}
//--------------------------------------------------------------------------------------------------
public static Vec3 Mul(Transform tx, Vec3 scale, Vec3 v)
{
return(tx.rotation * Vec3.Mul(scale, v) + tx.position);
}