/// <summary>
/// Transforms a bounding box into world-space or local-space using the specified transform. The box may grow
/// significantly depending on the size and new/old basis axes.
/// </summary>
/// <param name="box">The bounding box to transform.</param>
/// <param name="transform">The transformation to apply.</param>
/// <param name="output">Returns the transformed bounding box.</param>
public static void Transform(ref AlignedBox box, ref Transform transform, out AlignedBox output)
{
Vector3 dim = box.Maximum - box.Minimum;
Vector3 p1, p2, p3, p4, p5, p6, p7, p8;
p1 = p2 = p3 = p4 = p5 = p6 = p7 = p8 = box.Minimum;
p2.X += dim.X;
p3.X += dim.X; p3.Y += dim.Y;
p4.Y += dim.Y;
p5.Z += dim.Z;
p6.X += dim.X; p6.Z += dim.Z;
p7.X += dim.X; p7.Y += dim.Y; p7.Z += dim.Z;
p8.Y += dim.Y; p8.Z += dim.Z;
Vector3.Transform(ref p1, ref transform.Combined, out p1);
Vector3.Transform(ref p2, ref transform.Combined, out p2);
Vector3.Transform(ref p3, ref transform.Combined, out p3);
Vector3.Transform(ref p4, ref transform.Combined, out p4);
Vector3.Transform(ref p5, ref transform.Combined, out p5);
Vector3.Transform(ref p6, ref transform.Combined, out p6);
Vector3.Transform(ref p7, ref transform.Combined, out p7);
Vector3.Transform(ref p8, ref transform.Combined, out p8);
output = AlignedBox.Null;
output.Add(ref p1);
output.Add(ref p2);
output.Add(ref p3);
output.Add(ref p4);
output.Add(ref p5);
output.Add(ref p6);
output.Add(ref p7);
output.Add(ref p8);
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Transform = transform;
transform.Invert(out TransformInverse);
if (transform.Combined != Matrix.Identity)
{
_boundingBox = AlignedBox.Null;
for (int i = 0; i < _body.Body.Length; i++)
{
Vector3 p;
Vector3.Transform(ref _body.Body[i], ref transform.Combined, out p);
_boundingBox.Add(ref p);
}
}
else
_boundingBox = _body.Nodes[0].BoundingBox;
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Transform = transform;
transform.Invert(out TransformInverse);
if (transform.Combined != Matrix.Identity)
{
_boundingBox = AlignedBox.Null;
for (int i = 0; i < _body.Body.Length; i++)
{
Vector3 p;
Vector3.Transform(ref _body.Body[i], ref transform.Combined, out p);
_boundingBox.Add(ref p);
}
}
else
{
_boundingBox = _body.Nodes[0].BoundingBox;
}
}
/// <summary>
/// Transforms a bounding box into world-space or local-space using the specified transform. The box may grow
/// significantly depending on the size and new/old basis axes.
/// </summary>
/// <param name="box">The bounding box to transform.</param>
/// <param name="transform">The transformation to apply.</param>
/// <param name="output">Returns the transformed bounding box.</param>
public static void Transform(ref AlignedBox box, ref Transform transform, out AlignedBox output)
{
Vector3 dim = box.Maximum - box.Minimum;
Vector3 p1, p2, p3, p4, p5, p6, p7, p8;
p1 = p2 = p3 = p4 = p5 = p6 = p7 = p8 = box.Minimum;
p2.X += dim.X;
p3.X += dim.X; p3.Y += dim.Y;
p4.Y += dim.Y;
p5.Z += dim.Z;
p6.X += dim.X; p6.Z += dim.Z;
p7.X += dim.X; p7.Y += dim.Y; p7.Z += dim.Z;
p8.Y += dim.Y; p8.Z += dim.Z;
Vector3.Transform(ref p1, ref transform.Combined, out p1);
Vector3.Transform(ref p2, ref transform.Combined, out p2);
Vector3.Transform(ref p3, ref transform.Combined, out p3);
Vector3.Transform(ref p4, ref transform.Combined, out p4);
Vector3.Transform(ref p5, ref transform.Combined, out p5);
Vector3.Transform(ref p6, ref transform.Combined, out p6);
Vector3.Transform(ref p7, ref transform.Combined, out p7);
Vector3.Transform(ref p8, ref transform.Combined, out p8);
output = AlignedBox.Null;
output.Add(ref p1);
output.Add(ref p2);
output.Add(ref p3);
output.Add(ref p4);
output.Add(ref p5);
output.Add(ref p6);
output.Add(ref p7);
output.Add(ref p8);
}
/// <summary>
/// Constructs a new bounding box that encapsulates a series of points.
/// </summary>
/// <param name="p1">The first point.</param>
/// <param name="p2">The second point.</param>
/// <param name="p3">The third point.</param>
/// <param name="aabb">Returns the bounding box containing all points.</param>
public static void Fit(ref Vector3 p1, ref Vector3 p2, ref Vector3 p3, out AlignedBox aabb)
{
aabb = new AlignedBox(p1, p1);
aabb.Add(ref p2);
aabb.Add(ref p3);
}
/// <summary>
/// Constructs a new bounding box that encapsulates a series of points.
/// </summary>
/// <param name="p1">The first point.</param>
/// <param name="p2">The second point.</param>
/// <param name="p3">The third point.</param>
/// <param name="aabb">Returns the bounding box containing all points.</param>
public static void Fit(ref Vector3 p1, ref Vector3 p2, ref Vector3 p3, out AlignedBox aabb)
{
aabb = new AlignedBox(p1, p1);
aabb.Add(ref p2);
aabb.Add(ref p3);
}
