// Classify this bounding box as entirely in front of, in back of, or
// intersecting the given plane.
public PlaneIntersectionType Intersects(ref PlaneD plane)
{
double dist = plane.DotCoordinate(Center);
// Transform the plane's normal into this box's space
Vector3D localNormal = Vector3D.Transform(plane.Normal, Quaternion.Conjugate(Orientation));
// Project the axes of the box onto the normal of the plane. Half the
// length of the projection (sometime called the "radius") is equal to
// h(u) * abs(n dot b(u))) + h(v) * abs(n dot b(v)) + h(w) * abs(n dot b(w))
// where h(i) are extents of the box, n is the plane normal, and b(i) are the
// axes of the box.
double r = Math.Abs(HalfExtent.X * localNormal.X)
+ Math.Abs(HalfExtent.Y * localNormal.Y)
+ Math.Abs(HalfExtent.Z * localNormal.Z);
if (dist > r)
{
return(PlaneIntersectionType.Front);
}
else if (dist < -r)
{
return(PlaneIntersectionType.Back);
}
else
{
return(PlaneIntersectionType.Intersecting);
}
}
public PlaneIntersectionType Intersects(ref PlaneD plane)
{
double num = plane.DotCoordinate(this.Center);
Vector3D vectord = Vector3D.Transform(plane.Normal, Quaternion.Conjugate(this.Orientation));
double introduced3 = Math.Abs((double)(this.HalfExtent.X * vectord.X));
double num2 = (introduced3 + Math.Abs((double)(this.HalfExtent.Y * vectord.Y))) + Math.Abs((double)(this.HalfExtent.Z * vectord.Z));
if (num > num2)
{
return(PlaneIntersectionType.Front);
}
if (num < -num2)
{
return(PlaneIntersectionType.Back);
}
return(PlaneIntersectionType.Intersecting);
}