AABB3D FormTriangle::getAABB() {
AABB3D aabb;
aabb._lowerBound = aabb._upperBound = _points[0];
aabb.expand(_points[1]);
aabb.expand(_points[2]);
aabb.calculateHalfDims();
aabb.calculateCenter();
return aabb;
}
AABB3D AABB3D::getTransformedAABB(const Matrix4x4f &mat) const {
AABB3D transformedAABB;
Vec3f newCenter(mat * _center);
transformedAABB._lowerBound = newCenter;
transformedAABB._upperBound = newCenter;
// Loop through all corners, transform, and compare
for (int x = -1; x <= 1; x += 2)
for (int y = -1; y <= 1; y += 2)
for (int z = -1; z <= 1; z += 2) {
Vec3f corner(x * _halfDims.x + _center.x, y * _halfDims.y + _center.y, z * _halfDims.z + _center.z);
// Transform the corner
corner = mat * corner;
// Compare bounds
if (corner.x > transformedAABB._upperBound.x)
transformedAABB._upperBound.x = corner.x;
if (corner.y > transformedAABB._upperBound.y)
transformedAABB._upperBound.y = corner.y;
if (corner.z > transformedAABB._upperBound.z)
transformedAABB._upperBound.z = corner.z;
if (corner.x < transformedAABB._lowerBound.x)
transformedAABB._lowerBound.x = corner.x;
if (corner.y < transformedAABB._lowerBound.y)
transformedAABB._lowerBound.y = corner.y;
if (corner.z < transformedAABB._lowerBound.z)
transformedAABB._lowerBound.z = corner.z;
}
// Move from local into world space
transformedAABB.calculateHalfDims();
transformedAABB.calculateCenter();
return transformedAABB;
}