Additional OrientedBoundingBox functionality

[javagl]

Description

Added a few functions to the OrientedBoundingBox class:

• fromMinMax computes an OBB from given min/max points
• transform transforms an OBB with a matrix
• intersect tests for intersection between two OBBs

The first ones are rather simple "convenience" functions. I used these functions, for example, in #12112 , but there, only 'drafted' them, still outside of the OrientedBoundingBox class.

The intersect function is a bit more involved. It implements the "Separating Axis Theorem", as described in https://gamma.cs.unc.edu/users/gottschalk/main.pdf . Strangely, this function already did exist, back when there was still a class called ObjectOrientedBoundingBox. This class was deprecated in #2782 and eventually removed, without a replacement for the intersect function. So I'm not even 100% sure whether it should be added again 😬

Issue number and link

No specific issue, but ...

• useful for Fix computation of model bounding volume #12112
• vaguely related to Culling / OBB optimizations #2861

Testing plan

In addition to the Specs/UnitTests, the following is a sandcastle that can be used for testing the intersect function this when running this branch on localhost:

http://localhost:8080/Apps/Sandcastle/#c=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

It uses one fixed bounding box, and allows editing the size, position, and orientation of the other one, showing the other one in red when they intersect (and printing infos to the console)

Author checklist

• I have submitted a Contributor License Agreement
• I have added my name to CONTRIBUTORS.md
• I have updated CHANGES.md with a short summary of my change
• I have added or updated unit tests to ensure consistent code coverage
• I have updated the inline documentation, and included code examples where relevant
• I have performed a self-review of my code

[github-actions]

Thank you for the pull request, @javagl!

✅ We can confirm we have a CLA on file for you.

[ggetz]

@lukemckinstry Could you please give this a first review pass?

[lukemckinstry]

@javagl can you help connect the dots for me on how these functions are helping solve the core issue? #12108

[ggetz]

@javagl To clarify what we spoke about offline, you mentioned that the intersect functionality is not strictly needed in support of #12112, is that correct?

If so, what do you think of removing that for the time being in the interest of getting this merged?