void limits(iterator_t begin,
iterator_t end,
point_t& obb_center,
matrix_type const& obb_orientation,
point_t& obb_low,
point_t& obb_high) const {
typename oriented_boundingbox<point_t>::matrix_type inv =
obb_orientation.inverse();
// preset limits to min/max for local coordinates and global coordinates (
// to determine center )
obb_low = point_t::maximum();
obb_high = point_t::minimum();
point_t g_low = point_t::maximum();
point_t g_high = point_t::minimum();
while (begin != end) {
// project point into normalized bounding box space
point_t p = inv * ((*begin) - obb_center);
for (unsigned i = 0; i != point_t::size; ++i) {
obb_low[i] = std::min(obb_low[i], p[i]);
obb_high[i] = std::max(obb_high[i], p[i]);
}
++begin;
}
point_t mean = (obb_low + obb_high) / value_type(2);
point_t dist = obb_high - obb_low;
point_t delta = obb_orientation * (mean);
obb_low = dist / value_type(-2);
obb_high = dist / value_type(2);
obb_center += delta;
}
