具体代码是matlab

以下是Matlab代码示例，用于检测两个OBB包围盒是否相交：

function result = obbIntersection(obb1, obb2)
% 检测两个OBB包围盒是否相交
%
% obb1, obb2: OBB包围盒参数，结构体类型，包括中心点、方向向量和半边长等信息

% 获取obb1和obb2的中心点和方向向量
center1 = obb1.center;
center2 = obb2.center;
dir1 = obb1.direction;
dir2 = obb2.direction;

% 计算obb1和obb2的四个顶点
length1 = obb1.length;
width1 = obb1.width;
height1 = obb1.height;
vertex1 = [...
    center1 + length1/2*dir1 + width1/2*rotate(dir1, pi/2) + height1/2*rotate(dir1, pi/2);
    center1 + length1/2*dir1 + width1/2*rotate(dir1, -pi/2) + height1/2*rotate(dir1, -pi/2);
    center1 - length1/2*dir1 + width1/2*rotate(dir1, pi/2) + height1/2*rotate(dir1, pi/2);
    center1 - length1/2*dir1 + width1/2*rotate(dir1, -pi/2) + height1/2*rotate(dir1, -pi/2)];

length2 = obb2.length;
width2 = obb2.width;
height2 = obb2.height;
vertex2 = [...
    center2 + length2/2*dir2 + width2/2*rotate(dir2, pi/2) + height2/2*rotate(dir2, pi/2);
    center2 + length2/2*dir2 + width2/2*rotate(dir2, -pi/2) + height2/2*rotate(dir2, -pi/2);
    center2 - length2/2*dir2 + width2/2*rotate(dir2, pi/2) + height2/2*rotate(dir2, pi/2);
    center2 - length2/2*dir2 + width2/2*rotate(dir2, -pi/2) + height2/2*rotate(dir2, -pi/2)];

% 使用OBB包围盒的方向向量将每个顶点从世界坐标系转换到局部坐标系
localVertex1 = zeros(4, 3);
localVertex2 = zeros(4, 3);
for i = 1:4
    localVertex1(i, :) = (vertex1(i, :) - center1) * dir1;
    localVertex2(i, :) = (vertex2(i, :) - center2) * dir2;
end

% 计算obb1和obb2的投影轴
axis = [dir1; dir2; cross(dir1, dir2)];

% 对于每个投影轴，计算obb1和obb2在该轴上的投影，并检查它们是否相交
for i = 1:3
    proj1 = localVertex1 * axis(i, :)';
    proj2 = localVertex2 * axis(i, :)';
    if max(proj1) < min(proj2) || max(proj2) < min(proj1)
        % 如果在某个投影轴上没有相交，则可以确定两个OBB包围盒不相交
        result = false;
        return;
    end
end

% 如果所有投影轴上的投影都相交，则两个OBB包围盒相交
result = true;
end

function rotatedVector = rotate(vector, angle)
% 将向量绕Z轴旋转一个角度
%
% vector: 待旋转的向量，行向量或列向量
% angle: 旋转角度，弧度制

% 旋转矩阵
rotMatrix = [cos(angle) -sin(angle) 0; sin(angle) cos(angle) 0; 0 0 1];

% 将向量绕Z轴旋转
rotatedVector = vector * rotMatrix;
end

这里假设obb1和obb2都是长方体，包含中心点、方向向量和半边长等信息。其中，rotate函数用于将向量绕Z轴旋转一个角度。