Sphere EncloseSphere ( OrientedBox const & shape )
{
float x = shape.getExtentX();
float y = shape.getExtentY();
float z = shape.getExtentZ();
float radius = sqrt( x*x + y*y + z*z );
return Sphere( shape.getCenter(), radius );
}
Range ProjectAxis ( Line3d const & L, OrientedBox const & B )
{
Vector const & N = L.getNormal();
real x = std::abs( Collision3d::ComponentAlong( B.getAxisX(), N ) ) * B.getExtentX();
real y = std::abs( Collision3d::ComponentAlong( B.getAxisY(), N ) ) * B.getExtentY();
real z = std::abs( Collision3d::ComponentAlong( B.getAxisZ(), N ) ) * B.getExtentZ();
real d = x + y + z;
real c = ProjectAxis( L, B.getCenter() );
return Range( c - d, c + d );
}