[Algorithms] OBBs

[<Nik...@ao...>]

I recently finished writing a collision detection system for my engine (using 
OBBs); however I have been having trouble with the system not always 
detecting collisions.  I tested all of the functions separately to confirm 
their accuracy; yet this brought no avail.  I decided to work backwards to 
find the bug, and I used a function from the RAPID library which tests for 
disjointedness between two boxes.  Here is the description of the function:

This is a test between two boxes, box A and box B.  It is assumed that
the coordinate system is aligned and centered on box A.  The 3x3
matrix B specifies box B's orientation with respect to box A.
Specifically, the columns of B are the basis vectors (axis vectors) of
box B.  The center of box B is located at the vector T.  The
dimensions of box B are given in the array b.  The orientation and
placement of box A, in this coordinate system, are the identity matrix
and zero vector, respectively, so they need not be specified.  The
dimensions of box A are given in array a.
    obb_disjoint(double B[3][3], double T[3], double a[3], double b[3]);

I set up a situation in Max using two boxes, in which the collision detection 
failed, and I then entered the box data in by hand.  The result was that 
after putting box 2 in box 1's coordinate system, the matrix B was a 128 
degree rotation around the Z axis (or Max's Y axis).  The location of box 2 
in relation to box 1 was:
    T[0]= -5.853f;
    T[1]= -2.173f;
    T[2]= 3.842f;
And the dimensions (half-lengths) were:
    Bd[0]= 2;  Bd[1]= 4; Bd[2]= 4.5;
    Ad[0]= 4;  Ad[1]= 1; Ad[2]= 7.5;    
If you set this situation up in Max, it is obvious that the two boxes 
intersect (make sure to switch the Y & Z coordinates because of the 
difference in D3D and Max's CS, and multiply the half-lengths by 2 to get the 
actual dimensions).  Yet, RAPID's function reports that the boxes are 
disjoint.  Any help would be appreciated.

Thanks,
Nik...@ao...