bool IntersectRayWithOBB(const Vector& vecRayStart, const Vector& vecRayDelta,
    matrix3x4_t& matOBBToWorld, const Vector vecOBBMins, const Vector vecOBBMaxs)
{
    Vector vecBoxExtents = (vecOBBMins + vecOBBMaxs) * 0.5;
    Vector vecBoxCenter;

    // transform to world space
    Math::TransformVector(vecBoxExtents, matOBBToWorld, vecBoxCenter);

    // calc extents from local center
    vecBoxExtents = vecOBBMaxs - vecBoxExtents;

    // OPTIMIZE: This is optimized for world space.  If the transform is fast enough, it may make more
    // sense to just xform and call UTIL_ClipToBox() instead.  MEASURE THIS.

    // save the extents of the ray along
    Vector extent, uextent;
    Vector segmentCenter = vecRayStart + vecRayDelta - vecBoxCenter;

    extent.Init();

    // check box axes for separation
    for (int j = 0; j < 3; j++)
    {
        extent[j] = vecRayDelta.x * matOBBToWorld[0][j] + vecRayDelta.y * matOBBToWorld[1][j] + vecRayDelta.z * matOBBToWorld[2][j];
        uextent[j] = fabsf(extent[j]);
        float coord = segmentCenter.x * matOBBToWorld[0][j] + segmentCenter.y * matOBBToWorld[1][j] + segmentCenter.z * matOBBToWorld[2][j];
        coord = fabsf(coord);

        if (coord >(vecBoxExtents[j] + uextent[j]))
            return false;
    }

    return true;
}