private static bool IsCollidingWith(MyVoxelBase voxel, BoundingBoxD box, MatrixD orientation) { if (voxel.RootVoxel != null) { voxel = voxel.RootVoxel; } if (voxel.IsAnyAabbCornerInside(ref orientation, box)) { return(true); } Vector3D extents = box.HalfExtents; double min = Math.Min(extents.X, Math.Min(extents.Y, extents.Z)); return(voxel.DoOverlapSphereTest((float)min, orientation.Translation)); }