/// <summary>
/// Gets the axis aligned bounding box of the orientated shape.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref FPMatrix orientation, out FPBBox box)
{
FPMatrix abs; FPMath.Absolute(ref orientation, out abs);
FPVector temp;
FPVector.Transform(ref halfSize, ref abs, out temp);
box.max = temp;
FPVector.Negate(ref temp, out box.min);
}
public void Transform(ref FPMatrix orientation)
{
FPVector halfExtents = FP.Half * (max - min);
FPVector center = FP.Half * (max + min);
FPVector.Transform(ref center, ref orientation, out center);
FPMatrix abs; FPMath.Absolute(ref orientation, out abs);
FPVector.Transform(ref halfExtents, ref abs, out halfExtents);
max = center + halfExtents;
min = center - halfExtents;
}
/// <summary>
/// Gets the axis aligned bounding box of the orientated shape. (Inlcuding all
/// 'sub' shapes)
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref FPMatrix orientation, out TSBBox box)
{
box.min = mInternalBBox.min;
box.max = mInternalBBox.max;
FPVector localHalfExtents = FP.Half * (box.max - box.min);
FPVector localCenter = FP.Half * (box.max + box.min);
FPVector center;
FPVector.Transform(ref localCenter, ref orientation, out center);
FPMatrix abs; FPMath.Absolute(ref orientation, out abs);
FPVector temp;
FPVector.Transform(ref localHalfExtents, ref abs, out temp);
box.max = center + temp;
box.min = center - temp;
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(ref FPVector position, ref FPMatrix orientation)
{
FPVector.Subtract(ref max, ref position, out max);
FPVector.Subtract(ref min, ref position, out min);
FPVector center;
FPVector.Add(ref max, ref min, out center);
center.x *= FP.Half; center.y *= FP.Half; center.z *= FP.Half;
FPVector halfExtents;
FPVector.Subtract(ref max, ref min, out halfExtents);
halfExtents.x *= FP.Half; halfExtents.y *= FP.Half; halfExtents.z *= FP.Half;
FPVector.TransposedTransform(ref center, ref orientation, out center);
FPMatrix abs; FPMath.Absolute(ref orientation, out abs);
FPVector.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
FPVector.Add(ref center, ref halfExtents, out max);
FPVector.Subtract(ref center, ref halfExtents, out min);
}
