bool BoundingEllipsoid::intersects (math::Ray &r, bool segment, CollisionResultSet::Info& info) {
math::Matrix4f transform = scale * rotation * translation;
math::Matrix4f invTransform = transform.inverse();
math::Vec3f orig = invTransform * r.getOrig();
math::Vec3f ext = invTransform * r.getExt();
math::Ray tRay (orig, ext);
math::Vec3f mtu;
BoundingSphere bs(math::Vec3f(0, 0, 0), 1);
if (!bs.intersects(tRay, segment, info))
return false;
return false;
}
bool BoundingEllipsoid::intersectsWhere(math::Ray& r, math::Vec3f& near, math::Vec3f& far, CollisionResultSet::Info& info) {
math::Matrix4f transform = scale * rotation * translation;
math::Matrix4f invTransform = transform.inverse();
math::Vec3f orig = invTransform * r.getOrig();
math::Vec3f ext = invTransform * r.getExt();
math::Ray tRay (orig, ext);
math::Vec3f i1, i2;
BoundingSphere bs(math::Vec3f(0, 0, 0), 1);
if (!bs.intersectsWhere(tRay, i1, i2, info))
return false;
near = transform * i1;
far = transform * i2;
return true;
}