void computeBV<AABB>(const Convex& s, AABB& bv)
{
Vec3f R[3];
matMulMat(s.getRotation(), s.getLocalRotation(), R);
Vec3f T = matMulVec(s.getRotation(), s.getLocalTranslation()) + s.getTranslation();
AABB bv_;
for(int i = 0; i < s.num_points; ++i)
{
Vec3f new_p = matMulVec(R, s.points[i]) + T;
bv_ += new_p;
}
bv = bv_;
}
void computeBV<OBB>(const Convex& s, OBB& bv)
{
Vec3f R[3];
matMulMat(s.getRotation(), s.getLocalRotation(), R);
Vec3f T = matMulVec(s.getRotation(), s.getLocalTranslation()) + s.getTranslation();
fit(s.points, s.num_points, bv);
Vec3f axis[3];
axis[0] = matMulVec(R, bv.axis[0]);
axis[1] = matMulVec(R, bv.axis[1]);
axis[2] = matMulVec(R, bv.axis[2]);
bv.axis[0] = axis[0];
bv.axis[1] = axis[1];
bv.axis[2] = axis[2];
bv.To = matMulVec(R, bv.To) + T;
}