First - Thanks for a very very nice and useful page
I found a possible typo on the page:
AxMin > BxMax and AxMax > BxMin
AyMin > ByMax and AyMax > ByMin
AzMin > BzMax and AzMax > BzMin
Should that pehaps be:
AxMin < BxMax and AxMax > BxMin
AyMin < ByMax and AyMax > ByMin
AzMin < BzMax and AzMax > BzMin
I put this more as a question, because I'm just starting out with first collision detection myself.
Yes, I think you are correct, thanks for letting me know.
Sorry I took so long to reply, I've been away.
I'll fix it as soon as I can.
I have corrected the error as you suggest and added some diagrams to the web page to illustrate this so, hopefully, I won't confuse myself in the future.
For the matrix form of the expansion of the quaternion "sandwich" product, the Pin.z term for Pout.y is given as
2*q.x*q.z - 2*q.w*q.x
I think it should be
2*q.y*q.z - 2*q.w*q.x
Thanks very much, I have corrected this page: