// transform BoundingBox of pR1 into space of pR2
   CFrame7f toOther = pOther->prediction.getInverse() * prediction;
   CMatrix44f matrix = toOther.getMatrix();
   CVector3f min = pR1->min;
   CVector3f max = pR1->max;
   CVector3f point[8];
   point[0] = CVector3f(min.x,min.y,min.z) * matrix;
   point[1] = CVector3f(max.x,min.y,min.z) * matrix;
   point[2] = CVector3f(min.x,max.y,min.z) * matrix;
   point[3] = CVector3f(max.x,max.y,min.z) * matrix;
   point[4] = CVector3f(min.x,min.y,max.z) * matrix;
   point[5] = CVector3f(max.x,min.y,max.z) * matrix;
   point[6] = CVector3f(min.x,max.y,max.z) * matrix;
   point[7] = CVector3f(max.x,max.y,max.z) * matrix;
   min = max = point[0];
   for (int i=1; i<8; ++i) {
      if (point[i].x < min.x) { min.x = point[i].x; }
      if (point[i].y < min.y) { min.y = point[i].y; }
      if (point[i].z < min.z) { min.z = point[i].z; }
      if (point[i].x > max.x) { max.x = point[i].x; }
      if (point[i].y > max.y) { max.y = point[i].y; }
      if (point[i].z > max.z) { max.z = point[i].z; }
   }

   // test boxes (quick test, axis aligned only)
   if (!(max >= pR2->min && min <= pR2->max)) {
      return false;
   }

   // full test
   CPlane3f plane;
   CVector3f nearest;
   min = pR2->min;
   max = pR2->max;
   for (int i=0; i<6; ++i) {
      switch (i) {
         case 0: plane = CPlane3f(point[4], point[0], point[1]); break;
         case 1: plane = CPlane3f(point[0], point[2], point[3]); break;
         case 2: plane = CPlane3f(point[1], point[3], point[7]); break;
         case 3: plane = CPlane3f(point[5], point[7], point[6]); break;
         case 4: plane = CPlane3f(point[4], point[6], point[2]); break;
         case 5: plane = CPlane3f(point[2], point[6], point[7]); break;
      }
      nearest.x = (plane.a > 0.0f) ? min.x : max.x;
      nearest.y = (plane.b > 0.0f) ? min.y : max.y;
      nearest.z = (plane.c > 0.0f) ? min.z : max.z;
      if (plane * nearest + plane.d > 0.0f) {
         return false;
      }
   }
   return true;