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 = Vector3(rotation.x()) * aabb.extents.x();
+ Vector3 y = Vector3(rotation.y()) * aabb.extents.y();
+ Vector3 z = 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[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(Vector3(rotation.x()), aabb.origin);
+ double y = vector3_dot(Vector3(rotation.y()), aabb.origin);
+ double z = vector3_dot(Vector3(rotation.z()), aabb.origin);
+
+ planes[0] = Plane3(Vector3(rotation.x()), x + aabb.extents[0]);
+ planes[1] = Plane3(-Vector3(rotation.x()), -(x - aabb.extents[0]));
+ planes[2] = Plane3(Vector3(rotation.y()), y + aabb.extents[1]);
+ planes[3] = Plane3(-Vector3(rotation.y()), -(y - aabb.extents[1]));
+ planes[4] = Plane3(Vector3(rotation.z()), z + aabb.extents[2]);
+ planes[5] = Plane3(-Vector3(rotation.z()), -(z - aabb.extents[2]));
+}
+
const Vector3 aabb_normals[6] = {
Vector3( 1, 0, 0 ),
Vector3( 0, 1, 0 ),