]> de.git.xonotic.org Git - xonotic/netradiant.git/blobdiff - libs/math/aabb.h
my own uncrustify run
[xonotic/netradiant.git] / libs / math / aabb.h
index 1341a340bfc9c77dc250f5d00753485ab57e2ed0..29e3a38ebd13545565d9ba5dae4cc9913147379c 100644 (file)
@@ -1,25 +1,25 @@
 /*
-Copyright (C) 2001-2006, William Joseph.
-All Rights Reserved.
+   Copyright (C) 2001-2006, William Joseph.
+   All Rights Reserved.
 
-This file is part of GtkRadiant.
+   This file is part of GtkRadiant.
 
-GtkRadiant is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; either version 2 of the License, or
-(at your option) any later version.
+   GtkRadiant is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2 of the License, or
+   (at your option) any later version.
 
-GtkRadiant is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
+   GtkRadiant is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
 
-You should have received a copy of the GNU General Public License
-along with GtkRadiant; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
+   You should have received a copy of the GNU General Public License
+   along with GtkRadiant; if not, write to the Free Software
+   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
 
-#if !defined(INCLUDED_MATH_AABB_H)
+#if !defined( INCLUDED_MATH_AABB_H )
 #define INCLUDED_MATH_AABB_H
 
 /// \file
@@ -31,263 +31,227 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 class AABB
 {
 public:
-  Vector3 origin, extents;
-
-  AABB() : origin(0, 0, 0), extents(-1,-1,-1)
-  {
-  }
-  AABB(const Vector3& origin_, const Vector3& extents_) :
-    origin(origin_), extents(extents_)
-  {
-  }
+Vector3 origin, extents;
+
+AABB() : origin( 0, 0, 0 ), extents( -1,-1,-1 ){
+}
+AABB( const Vector3& origin_, const Vector3& extents_ ) :
+       origin( origin_ ), extents( extents_ ){
+}
 };
 
 const float c_aabb_max = FLT_MAX;
 
-inline bool extents_valid(float f)
-{
-  return f >= 0.0f && f <= c_aabb_max;
+inline bool extents_valid( float f ){
+       return f >= 0.0f && f <= c_aabb_max;
 }
 
-inline bool origin_valid(float f)
-{
-  return f >= -c_aabb_max && f <= c_aabb_max;
+inline bool origin_valid( float f ){
+       return f >= -c_aabb_max && f <= c_aabb_max;
 }
 
-inline bool aabb_valid(const AABB& aabb)
-{
-  return origin_valid(aabb.origin[0])
-    && origin_valid(aabb.origin[1])
-    && origin_valid(aabb.origin[2])
-    && extents_valid(aabb.extents[0])
-    && extents_valid(aabb.extents[1])
-    && extents_valid(aabb.extents[2]);
+inline bool aabb_valid( const AABB& aabb ){
+       return origin_valid( aabb.origin[0] )
+                  && origin_valid( aabb.origin[1] )
+                  && origin_valid( aabb.origin[2] )
+                  && extents_valid( aabb.extents[0] )
+                  && extents_valid( aabb.extents[1] )
+                  && extents_valid( aabb.extents[2] );
 }
 
-inline AABB aabb_for_minmax(const Vector3& min, const Vector3& max)
-{
-  AABB aabb;
-  aabb.origin = vector3_mid(min, max);
-  aabb.extents = vector3_subtracted(max, aabb.origin);
-  return aabb;
+inline AABB aabb_for_minmax( const Vector3& min, const Vector3& max ){
+       AABB aabb;
+       aabb.origin = vector3_mid( min, max );
+       aabb.extents = vector3_subtracted( max, aabb.origin );
+       return aabb;
 }
 
 template<typename Index>
 class AABBExtend
 {
 public:
-  static void apply(AABB& aabb, const Vector3& point)
-  {
-    float displacement = point[Index::VALUE] - aabb.origin[Index::VALUE];
-    float half_difference = static_cast<float>(0.5 * (fabs(displacement) - aabb.extents[Index::VALUE]));
-    if(half_difference > 0.0f)
-    {
-      aabb.origin[Index::VALUE] += (displacement >= 0.0f) ? half_difference : -half_difference;
-      aabb.extents[Index::VALUE] += half_difference;
-    }
-  }
-  static void apply(AABB& aabb, const AABB& other)
-  {
-    float displacement = other.origin[Index::VALUE] - aabb.origin[Index::VALUE];
-    float difference = other.extents[Index::VALUE] - aabb.extents[Index::VALUE];
-    if(fabs(displacement) > fabs(difference))
-    {
-      float half_difference = static_cast<float>(0.5 * (fabs(displacement) + difference));
-      if(half_difference > 0.0f)
-      {
-        aabb.origin[Index::VALUE] += (displacement >= 0.0f) ? half_difference : -half_difference;
-        aabb.extents[Index::VALUE] += half_difference;
-      }
-    }
-    else if(difference > 0.0f)
-    {
-      aabb.origin[Index::VALUE] = other.origin[Index::VALUE];
-      aabb.extents[Index::VALUE] = other.extents[Index::VALUE];
-    }
-  }
+static void apply( AABB& aabb, const Vector3& point ){
+       float displacement = point[Index::VALUE] - aabb.origin[Index::VALUE];
+       float half_difference = static_cast<float>( 0.5 * ( fabs( displacement ) - aabb.extents[Index::VALUE] ) );
+       if ( half_difference > 0.0f ) {
+               aabb.origin[Index::VALUE] += ( displacement >= 0.0f ) ? half_difference : -half_difference;
+               aabb.extents[Index::VALUE] += half_difference;
+       }
+}
+static void apply( AABB& aabb, const AABB& other ){
+       float displacement = other.origin[Index::VALUE] - aabb.origin[Index::VALUE];
+       float difference = other.extents[Index::VALUE] - aabb.extents[Index::VALUE];
+       if ( fabs( displacement ) > fabs( difference ) ) {
+               float half_difference = static_cast<float>( 0.5 * ( fabs( displacement ) + difference ) );
+               if ( half_difference > 0.0f ) {
+                       aabb.origin[Index::VALUE] += ( displacement >= 0.0f ) ? half_difference : -half_difference;
+                       aabb.extents[Index::VALUE] += half_difference;
+               }
+       }
+       else if ( difference > 0.0f ) {
+               aabb.origin[Index::VALUE] = other.origin[Index::VALUE];
+               aabb.extents[Index::VALUE] = other.extents[Index::VALUE];
+       }
+}
 };
 
-inline void aabb_extend_by_point(AABB& aabb, const Vector3& point)
-{
-  AABBExtend< IntegralConstant<0> >::apply(aabb, point);
-  AABBExtend< IntegralConstant<1> >::apply(aabb, point);
-  AABBExtend< IntegralConstant<2> >::apply(aabb, point);
+inline void aabb_extend_by_point( AABB& aabb, const Vector3& point ){
+       AABBExtend< IntegralConstant<0> >::apply( aabb, point );
+       AABBExtend< IntegralConstant<1> >::apply( aabb, point );
+       AABBExtend< IntegralConstant<2> >::apply( aabb, point );
 }
 
-inline void aabb_extend_by_point_safe(AABB& aabb, const Vector3& point)
-{
-  if(aabb_valid(aabb))
-  {
-    aabb_extend_by_point(aabb, point);
-  }
-  else
-  {
-    aabb.origin = point;
-    aabb.extents = Vector3(0, 0, 0);
-  }
+inline void aabb_extend_by_point_safe( AABB& aabb, const Vector3& point ){
+       if ( aabb_valid( aabb ) ) {
+               aabb_extend_by_point( aabb, point );
+       }
+       else
+       {
+               aabb.origin = point;
+               aabb.extents = Vector3( 0, 0, 0 );
+       }
 }
 
 class AABBExtendByPoint
 {
-  AABB& m_aabb;
+AABB& m_aabb;
 public:
-  AABBExtendByPoint(AABB& aabb) : m_aabb(aabb)
-  {
-  }
-  void operator()(const Vector3& point) const
-  {
-    aabb_extend_by_point_safe(m_aabb, point);
-  }
+AABBExtendByPoint( AABB& aabb ) : m_aabb( aabb ){
+}
+void operator()( const Vector3& point ) const {
+       aabb_extend_by_point_safe( m_aabb, point );
+}
 };
-  
-inline void aabb_extend_by_aabb(AABB& aabb, const AABB& other)
-{
-  AABBExtend< IntegralConstant<0> >::apply(aabb, other);
-  AABBExtend< IntegralConstant<1> >::apply(aabb, other);
-  AABBExtend< IntegralConstant<2> >::apply(aabb, other);
+
+inline void aabb_extend_by_aabb( AABB& aabb, const AABB& other ){
+       AABBExtend< IntegralConstant<0> >::apply( aabb, other );
+       AABBExtend< IntegralConstant<1> >::apply( aabb, other );
+       AABBExtend< IntegralConstant<2> >::apply( aabb, other );
 }
 
-inline void aabb_extend_by_aabb_safe(AABB& aabb, const AABB& other)
-{
-  if(aabb_valid(aabb) && aabb_valid(other))
-  {
-    aabb_extend_by_aabb(aabb, other);
-  }
-  else if(aabb_valid(other))
-  {
-    aabb = other;
-  }
+inline void aabb_extend_by_aabb_safe( AABB& aabb, const AABB& other ){
+       if ( aabb_valid( aabb ) && aabb_valid( other ) ) {
+               aabb_extend_by_aabb( aabb, other );
+       }
+       else if ( aabb_valid( other ) ) {
+               aabb = other;
+       }
 }
 
-inline void aabb_extend_by_vec3(AABB& aabb, const Vector3& extension)
-{
-  vector3_add(aabb.extents, extension);
+inline void aabb_extend_by_vec3( AABB& aabb, const Vector3& extension ){
+       vector3_add( aabb.extents, extension );
 }
 
 
 
 
 template<typename Index>
-inline bool aabb_intersects_point_dimension(const AABB& aabb, const Vector3& point)
-{
-  return fabs(point[Index::VALUE] - aabb.origin[Index::VALUE]) < aabb.extents[Index::VALUE];
+inline bool aabb_intersects_point_dimension( const AABB& aabb, const Vector3& point ){
+       return fabs( point[Index::VALUE] - aabb.origin[Index::VALUE] ) < aabb.extents[Index::VALUE];
 }
 
-inline bool aabb_intersects_point(const AABB& aabb, const Vector3& point)
-{
-  return aabb_intersects_point_dimension< IntegralConstant<0> >(aabb, point)
-    && aabb_intersects_point_dimension< IntegralConstant<1> >(aabb, point)
-    && aabb_intersects_point_dimension< IntegralConstant<2> >(aabb, point);
+inline bool aabb_intersects_point( const AABB& aabb, const Vector3& point ){
+       return aabb_intersects_point_dimension< IntegralConstant<0> >( aabb, point )
+                  && aabb_intersects_point_dimension< IntegralConstant<1> >( aabb, point )
+                  && aabb_intersects_point_dimension< IntegralConstant<2> >( aabb, point );
 }
 
 template<typename Index>
-inline bool aabb_intersects_aabb_dimension(const AABB& aabb, const AABB& other)
-{
-  return fabs(other.origin[Index::VALUE] - aabb.origin[Index::VALUE]) < (aabb.extents[Index::VALUE] + other.extents[Index::VALUE]);
+inline bool aabb_intersects_aabb_dimension( const AABB& aabb, const AABB& other ){
+       return fabs( other.origin[Index::VALUE] - aabb.origin[Index::VALUE] ) < ( aabb.extents[Index::VALUE] + other.extents[Index::VALUE] );
 }
 
-inline bool aabb_intersects_aabb(const AABB& aabb, const AABB& other)
-{
-  return aabb_intersects_aabb_dimension< IntegralConstant<0> >(aabb, other)
-    && aabb_intersects_aabb_dimension< IntegralConstant<1> >(aabb, other)
-    && aabb_intersects_aabb_dimension< IntegralConstant<2> >(aabb, other);
+inline bool aabb_intersects_aabb( const AABB& aabb, const AABB& other ){
+       return aabb_intersects_aabb_dimension< IntegralConstant<0> >( aabb, other )
+                  && aabb_intersects_aabb_dimension< IntegralConstant<1> >( aabb, other )
+                  && aabb_intersects_aabb_dimension< IntegralConstant<2> >( aabb, other );
 }
 
-inline unsigned int aabb_classify_plane(const AABB& aabb, const Plane3& plane)
-{
-  double distance_origin = vector3_dot(plane.normal(), aabb.origin) + plane.dist();
-  
-  if(fabs(distance_origin) < (fabs(plane.a * aabb.extents[0])
-    + fabs(plane.b * aabb.extents[1])
-    + fabs(plane.c * aabb.extents[2])))
-  {
-    return 1; // partially inside
-  }
-  else if (distance_origin < 0)
-  {
-    return 2; // totally inside
-  }
-  return 0; // totally outside
+inline unsigned int aabb_classify_plane( const AABB& aabb, const Plane3& plane ){
+       double distance_origin = vector3_dot( plane.normal(), aabb.origin ) + plane.dist();
+
+       if ( fabs( distance_origin ) < ( fabs( plane.a * aabb.extents[0] )
+                                                                        + fabs( plane.b * aabb.extents[1] )
+                                                                        + fabs( plane.c * aabb.extents[2] ) ) ) {
+               return 1; // partially inside
+       }
+       else if ( distance_origin < 0 ) {
+               return 2; // totally inside
+       }
+       return 0; // totally outside
 }
 
-inline unsigned int aabb_oriented_classify_plane(const AABB& aabb, const Matrix4& transform, const Plane3& plane)
-{
-  double distance_origin = vector3_dot(plane.normal(), aabb.origin) + plane.dist();
-
-  if(fabs(distance_origin) < (fabs(aabb.extents[0] * vector3_dot(plane.normal(), vector4_to_vector3(transform.x())))
-    + fabs(aabb.extents[1] * vector3_dot(plane.normal(), vector4_to_vector3(transform.y())))
-    + fabs(aabb.extents[2] * vector3_dot(plane.normal(), vector4_to_vector3(transform.z())))))
-  {
-    return 1; // partially inside
-  }
-  else if (distance_origin < 0)
-  {
-    return 2; // totally inside
-  }
-  return 0; // totally outside
+inline unsigned int aabb_oriented_classify_plane( const AABB& aabb, const Matrix4& transform, const Plane3& plane ){
+       double distance_origin = vector3_dot( plane.normal(), aabb.origin ) + plane.dist();
+
+       if ( fabs( distance_origin ) < ( fabs( aabb.extents[0] * vector3_dot( plane.normal(), vector4_to_vector3( transform.x() ) ) )
+                                                                        + fabs( aabb.extents[1] * vector3_dot( plane.normal(), vector4_to_vector3( transform.y() ) ) )
+                                                                        + fabs( aabb.extents[2] * vector3_dot( plane.normal(), vector4_to_vector3( transform.z() ) ) ) ) ) {
+               return 1; // partially inside
+       }
+       else if ( distance_origin < 0 ) {
+               return 2; // totally inside
+       }
+       return 0; // totally outside
 }
 
-inline void aabb_corners(const AABB& aabb, Vector3 corners[8])
-{
-  Vector3 min(vector3_subtracted(aabb.origin, aabb.extents));
-  Vector3 max(vector3_added(aabb.origin, aabb.extents));
-  corners[0] = Vector3(min[0], max[1], max[2]);
-  corners[1] = Vector3(max[0], max[1], max[2]);
-  corners[2] = Vector3(max[0], min[1], max[2]);
-  corners[3] = Vector3(min[0], min[1], max[2]);
-  corners[4] = Vector3(min[0], max[1], min[2]);
-  corners[5] = Vector3(max[0], max[1], min[2]);
-  corners[6] = Vector3(max[0], min[1], min[2]);
-  corners[7] = Vector3(min[0], min[1], min[2]);
+inline void aabb_corners( const AABB& aabb, Vector3 corners[8] ){
+       Vector3 min( vector3_subtracted( aabb.origin, aabb.extents ) );
+       Vector3 max( vector3_added( aabb.origin, aabb.extents ) );
+       corners[0] = Vector3( min[0], max[1], max[2] );
+       corners[1] = Vector3( max[0], max[1], max[2] );
+       corners[2] = Vector3( max[0], min[1], max[2] );
+       corners[3] = Vector3( min[0], min[1], max[2] );
+       corners[4] = Vector3( min[0], max[1], min[2] );
+       corners[5] = Vector3( max[0], max[1], min[2] );
+       corners[6] = Vector3( max[0], min[1], min[2] );
+       corners[7] = Vector3( min[0], min[1], min[2] );
 }
 
-inline void aabb_corners_oriented(const AABB& aabb, const Matrix4& rotation, Vector3 corners[8])
-{
-  Vector3 x = vector4_to_vector3(rotation.x()) * aabb.extents.x();
-  Vector3 y = vector4_to_vector3(rotation.y()) * aabb.extents.y();
-  Vector3 z = vector4_to_vector3(rotation.z()) * aabb.extents.z();
-
-  corners[0] = aabb.origin + -x +  y +  z;
-  corners[1] = aabb.origin +  x +  y +  z;
-  corners[2] = aabb.origin +  x + -y +  z;
-  corners[3] = aabb.origin + -x + -y +  z;
-  corners[4] = aabb.origin + -x +  y + -z;
-  corners[5] = aabb.origin +  x +  y + -z;
-  corners[6] = aabb.origin +  x + -y + -z;
-  corners[7] = aabb.origin + -x + -y + -z;
+inline void aabb_corners_oriented( const AABB& aabb, const Matrix4& rotation, Vector3 corners[8] ){
+       Vector3 x = vector4_to_vector3( rotation.x() ) * aabb.extents.x();
+       Vector3 y = vector4_to_vector3( rotation.y() ) * aabb.extents.y();
+       Vector3 z = vector4_to_vector3( rotation.z() ) * aabb.extents.z();
+
+       corners[0] = aabb.origin + -x +  y +  z;
+       corners[1] = aabb.origin +  x +  y +  z;
+       corners[2] = aabb.origin +  x + -y +  z;
+       corners[3] = aabb.origin + -x + -y +  z;
+       corners[4] = aabb.origin + -x +  y + -z;
+       corners[5] = aabb.origin +  x +  y + -z;
+       corners[6] = aabb.origin +  x + -y + -z;
+       corners[7] = aabb.origin + -x + -y + -z;
 }
 
-inline void aabb_planes(const AABB& aabb, Plane3 planes[6])
-{
-  planes[0] = Plane3(g_vector3_axes[0], aabb.origin[0] + aabb.extents[0]);
-  planes[1] = Plane3(vector3_negated(g_vector3_axes[0]), -(aabb.origin[0] - aabb.extents[0]));
-  planes[2] = Plane3(g_vector3_axes[1], aabb.origin[1] + aabb.extents[1]);
-  planes[3] = Plane3(vector3_negated(g_vector3_axes[1]), -(aabb.origin[1] - aabb.extents[1]));
-  planes[4] = Plane3(g_vector3_axes[2], aabb.origin[2] + aabb.extents[2]);
-  planes[5] = Plane3(vector3_negated(g_vector3_axes[2]), -(aabb.origin[2] - aabb.extents[2]));
+inline void aabb_planes( const AABB& aabb, Plane3 planes[6] ){
+       planes[0] = Plane3( g_vector3_axes[0], aabb.origin[0] + aabb.extents[0] );
+       planes[1] = Plane3( vector3_negated( g_vector3_axes[0] ), -( aabb.origin[0] - aabb.extents[0] ) );
+       planes[2] = Plane3( g_vector3_axes[1], aabb.origin[1] + aabb.extents[1] );
+       planes[3] = Plane3( vector3_negated( g_vector3_axes[1] ), -( aabb.origin[1] - aabb.extents[1] ) );
+       planes[4] = Plane3( g_vector3_axes[2], aabb.origin[2] + aabb.extents[2] );
+       planes[5] = Plane3( vector3_negated( g_vector3_axes[2] ), -( aabb.origin[2] - aabb.extents[2] ) );
 }
 
-inline void aabb_planes_oriented(const AABB& aabb, const Matrix4& rotation, Plane3 planes[6])
-{
-  double x = vector3_dot(vector4_to_vector3(rotation.x()), aabb.origin);
-  double y = vector3_dot(vector4_to_vector3(rotation.y()), aabb.origin);
-  double z = vector3_dot(vector4_to_vector3(rotation.z()), aabb.origin);
-
-  planes[0] = Plane3(vector4_to_vector3(rotation.x()), x + aabb.extents[0]);
-  planes[1] = Plane3(-vector4_to_vector3(rotation.x()), -(x - aabb.extents[0]));
-  planes[2] = Plane3(vector4_to_vector3(rotation.y()), y + aabb.extents[1]);
-  planes[3] = Plane3(-vector4_to_vector3(rotation.y()), -(y - aabb.extents[1]));
-  planes[4] = Plane3(vector4_to_vector3(rotation.z()), z + aabb.extents[2]);
-  planes[5] = Plane3(-vector4_to_vector3(rotation.z()), -(z - aabb.extents[2]));
+inline void aabb_planes_oriented( const AABB& aabb, const Matrix4& rotation, Plane3 planes[6] ){
+       double x = vector3_dot( vector4_to_vector3( rotation.x() ), aabb.origin );
+       double y = vector3_dot( vector4_to_vector3( rotation.y() ), aabb.origin );
+       double z = vector3_dot( vector4_to_vector3( rotation.z() ), aabb.origin );
+
+       planes[0] = Plane3( vector4_to_vector3( rotation.x() ), x + aabb.extents[0] );
+       planes[1] = Plane3( -vector4_to_vector3( rotation.x() ), -( x - aabb.extents[0] ) );
+       planes[2] = Plane3( vector4_to_vector3( rotation.y() ), y + aabb.extents[1] );
+       planes[3] = Plane3( -vector4_to_vector3( rotation.y() ), -( y - aabb.extents[1] ) );
+       planes[4] = Plane3( vector4_to_vector3( rotation.z() ), z + aabb.extents[2] );
+       planes[5] = Plane3( -vector4_to_vector3( rotation.z() ), -( z - aabb.extents[2] ) );
 }
 
 const Vector3 aabb_normals[6] = {
-  Vector3( 1, 0, 0 ),
-  Vector3( 0, 1, 0 ),
-  Vector3( 0, 0, 1 ),
-  Vector3(-1, 0, 0 ),
-  Vector3( 0,-1, 0 ),
-  Vector3( 0, 0,-1 ),
+       Vector3( 1, 0, 0 ),
+       Vector3( 0, 1, 0 ),
+       Vector3( 0, 0, 1 ),
+       Vector3( -1, 0, 0 ),
+       Vector3( 0,-1, 0 ),
+       Vector3( 0, 0,-1 ),
 };
 
 const float aabb_texcoord_topleft[2] = { 0, 0 };
@@ -296,36 +260,32 @@ const float aabb_texcoord_botleft[2] = { 0, 1 };
 const float aabb_texcoord_botright[2] = { 1, 1 };
 
 
-inline AABB aabb_for_oriented_aabb(const AABB& aabb, const Matrix4& transform)
-{
-  return AABB(
-    matrix4_transformed_point(transform, aabb.origin),
-    Vector3(
-      static_cast<float>(fabs(transform[0]  * aabb.extents[0])
-                          + fabs(transform[4]  * aabb.extents[1])
-                          + fabs(transform[8]  * aabb.extents[2])),
-      static_cast<float>(fabs(transform[1]  * aabb.extents[0])
-                          + fabs(transform[5]  * aabb.extents[1])
-                          + fabs(transform[9]  * aabb.extents[2])),
-      static_cast<float>(fabs(transform[2]  * aabb.extents[0])
-                          + fabs(transform[6]  * aabb.extents[1])
-                          + fabs(transform[10] * aabb.extents[2]))
-    )
-  );
+inline AABB aabb_for_oriented_aabb( const AABB& aabb, const Matrix4& transform ){
+       return AABB(
+                          matrix4_transformed_point( transform, aabb.origin ),
+                          Vector3(
+                                  static_cast<float>( fabs( transform[0]  * aabb.extents[0] )
+                                                                          + fabs( transform[4]  * aabb.extents[1] )
+                                                                          + fabs( transform[8]  * aabb.extents[2] ) ),
+                                  static_cast<float>( fabs( transform[1]  * aabb.extents[0] )
+                                                                          + fabs( transform[5]  * aabb.extents[1] )
+                                                                          + fabs( transform[9]  * aabb.extents[2] ) ),
+                                  static_cast<float>( fabs( transform[2]  * aabb.extents[0] )
+                                                                          + fabs( transform[6]  * aabb.extents[1] )
+                                                                          + fabs( transform[10] * aabb.extents[2] ) )
+                                  )
+                          );
 }
 
-inline AABB aabb_for_oriented_aabb_safe(const AABB& aabb, const Matrix4& transform)
-{
-  if(aabb_valid(aabb))
-  {
-    return aabb_for_oriented_aabb(aabb, transform);
-  }
-  return aabb;
+inline AABB aabb_for_oriented_aabb_safe( const AABB& aabb, const Matrix4& transform ){
+       if ( aabb_valid( aabb ) ) {
+               return aabb_for_oriented_aabb( aabb, transform );
+       }
+       return aabb;
 }
 
-inline AABB aabb_infinite()
-{
-  return AABB(Vector3(0, 0, 0), Vector3(c_aabb_max, c_aabb_max, c_aabb_max));
+inline AABB aabb_infinite(){
+       return AABB( Vector3( 0, 0, 0 ), Vector3( c_aabb_max, c_aabb_max, c_aabb_max ) );
 }
 
 #endif