public void CreateOrthonormalBasis(out Vector3 u, out Vector3 v, out Vector3 n)
{
n = this.Normal;
if (Mathf.Abs(n.x) >= Mathf.Abs(n.y))
{
float num = Mathfex.InvSqrt(n.x * n.x + n.z * n.z);
u.x = n.z * num;
u.y = 0f;
u.z = -n.x * num;
}
else
{
float num2 = Mathfex.InvSqrt(n.y * n.y + n.z * n.z);
u.x = 0f;
u.y = n.z * num2;
u.z = -n.y * num2;
}
v = Vector3.Cross(n, u);
}
public static void CreateOrthonormalBasis(out Vector3 u, out Vector3 v, ref Vector3 w)
{
if (Mathf.Abs(w.x) >= Mathf.Abs(w.y))
{
float num = Mathfex.InvSqrt(w.x * w.x + w.z * w.z);
u.x = -w.z * num;
u.y = 0f;
u.z = w.x * num;
v.x = w.y * u.z;
v.y = w.z * u.x - w.x * u.z;
v.z = -w.y * u.x;
return;
}
float num2 = Mathfex.InvSqrt(w.y * w.y + w.z * w.z);
u.x = 0f;
u.y = w.z * num2;
u.z = -w.y * num2;
v.x = w.y * u.z - w.z * u.y;
v.y = -w.x * u.z;
v.z = w.x * u.y;
}
public void Include(ref Box3 box)
{
Box3 box2 = default(Box3);
box2.Center = 0.5f * (this.Center + box.Center);
Matrix4x4 matrix4x;
Matrix4x4ex.CreateRotationFromColumns(ref this.Axis0, ref this.Axis1, ref this.Axis2, out matrix4x);
Quaternion a;
Matrix4x4ex.RotationMatrixToQuaternion(ref matrix4x, out a);
Matrix4x4 matrix4x2;
Matrix4x4ex.CreateRotationFromColumns(ref box.Axis0, ref box.Axis1, ref box.Axis2, out matrix4x2);
Quaternion b;
Matrix4x4ex.RotationMatrixToQuaternion(ref matrix4x2, out b);
if (Quaternion.Dot(a, b) < 0f)
{
b.x = -b.x;
b.y = -b.y;
b.z = -b.z;
b.w = -b.w;
}
Quaternion quaternion;
quaternion.x = a.x + b.x;
quaternion.y = a.x + b.y;
quaternion.z = a.x + b.z;
quaternion.w = a.x + b.w;
float num = Mathfex.InvSqrt(Quaternion.Dot(quaternion, quaternion));
quaternion.x *= num;
quaternion.y *= num;
quaternion.z *= num;
quaternion.w *= num;
Matrix4x4 matrix4x3;
Matrix4x4ex.QuaternionToRotationMatrix(ref quaternion, out matrix4x3);
box2.Axis0 = matrix4x3.GetColumn(0);
box2.Axis1 = matrix4x3.GetColumn(1);
box2.Axis2 = matrix4x3.GetColumn(2);
Vector3 zero = Vector3ex.Zero;
Vector3 zero2 = Vector3ex.Zero;
Vector3[] array = this.CalcVertices();
for (int i = 0; i < 8; i++)
{
Vector3 vector = array[i] - box2.Center;
for (int j = 0; j < 3; j++)
{
float num2 = vector.Dot(box2.GetAxis(j));
if (num2 > zero2[j])
{
zero2[j] = num2;
}
else if (num2 < zero[j])
{
zero[j] = num2;
}
}
}
box.CalcVertices(out array[0], out array[1], out array[2], out array[3], out array[4], out array[5], out array[6], out array[7]);
for (int i = 0; i < 8; i++)
{
Vector3 vector = array[i] - box2.Center;
for (int j = 0; j < 3; j++)
{
float num2 = vector.Dot(box2.GetAxis(j));
if (num2 > zero2[j])
{
zero2[j] = num2;
}
else if (num2 < zero[j])
{
zero[j] = num2;
}
}
}
for (int j = 0; j < 3; j++)
{
box2.Center += 0.5f * (zero2[j] + zero[j]) * box2.GetAxis(j);
box2.Extents[j] = 0.5f * (zero2[j] - zero[j]);
}
this = box2;
}