X-Git-Url: https://harrygodden.com/git/?p=csRadar.git;a=blobdiff_plain;f=csrMath.h;h=fae268daf0e2bf3e09784cec494018698b1aba5a;hp=d9a414f1b372ba651977c3622d92ccacbada39eb;hb=b95752d31a7b1e224b227093f13a72d8c2b7f34b;hpb=8b0bdf193803011746a916cac0736ad3574ffa71

diff --git a/csrMath.h b/csrMath.h
index d9a414f..fae268d 100644
--- a/csrMath.h
+++ b/csrMath.h
@@ -360,6 +360,45 @@ void m4x3_rotate_z( m4x3f m, float angle )
 	m4x3_mul( m, t, m );
 }
 
+// Warning: These functions are unoptimized..
+void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point )
+{
+	v3f v;
+	m4x3_mulv( m, point, v );
+
+	v3_minv( box[0], v, box[0] );
+	v3_maxv( box[1], v, box[1] );
+}
+
+void box_concat( boxf a, boxf b )
+{
+	v3_minv( a[0], b[0], a[0] );
+	v3_maxv( a[1], b[1], a[1] );
+}
+
+void box_copy( boxf a, boxf b )
+{
+	v3_copy( a[0], b[0] );
+	v3_copy( a[1], b[1] );
+}
+
+void m4x3_transform_aabb( m4x3f m, boxf box )
+{
+	v3f a; v3f b;
+	
+	v3_copy( box[0], a );
+	v3_copy( box[1], b );
+
+	m4x3_expand_aabb_point( m, box, a );
+	m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], a[2] } );
+	m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], a[2] } );
+	m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], a[2] } );
+	m4x3_expand_aabb_point( m, box, b );
+	m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], b[2] } );
+	m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], b[2] } );
+	m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], b[2] } );
+}
+
 // Planes (double precision)
 // ==================================================================================================================