/// Add a box shape to this model, for collision purposes
public override bool AddBox(
double hx, /// the halfsize on x axis
double hy, /// the halfsize on y axis
double hz, /// the halfsize on z axis
ChVector pos, /// the position of the box COG
ChMatrix33 <double> rot /// the rotation of the box - matrix must be orthogonal
)
{
// adjust default inward margin (if object too thin)
this.SetSafeMargin(ChMaths.ChMin(this.GetSafeMargin(), 0.2 * ChMaths.ChMin(ChMaths.ChMin(hx, hy), hz)));
float ahx = (float)(hx + this.GetEnvelope());
float ahy = (float)(hy + this.GetEnvelope());
float ahz = (float)(hz + this.GetEnvelope());
BoxShape mshape = new BoxShape(new IndexedVector3(ahx, ahy, ahz));
mshape.SetMargin((float)this.GetSuggestedFullMargin());
_injectShape(pos, rot, mshape);
return(true);
}
