Merge branch 'master' into boost_filesystem

1 files changed, 27 insertions, 0 deletions

diff --git a/src/linalg.cc b/src/linalg.cc
new file mode 100644
index 0000000..30f23af
--- /dev/null
+++ b/src/linalg.cc
@@ -0,0 +1,27 @@
+#include "linalg.h"
+
+// FIXME: We can achieve better pruning by either:
+// o Recalculate the box based on the transformed object
+// o Store boxes are oriented bounding boxes and implement oriented
+//   bbox intersection
+
+// FIXME: This function can be generalized, but we don't need it atm.
+
+/*!
+	Transforms the given bounding box by transforming each of its 8 vertices.
+	Returns a new bounding box.
+*/
+BoundingBox operator*(const Transform3d &m, const BoundingBox &box)
+{
+	BoundingBox newbox;
+	Vector3d boxvec[2] = { box.min(), box.max() };
+	for (int k=0;k<2;k++) {
+		for (int j=0;j<2;j++) {
+			for (int i=0;i<2;i++) {
+				newbox.extend(m * Vector3d(boxvec[i][0], boxvec[j][1], boxvec[k][2]));
+			}
+		}
+	}
+	return newbox;
+}
+