internal static float GetResponceWeight(ProxyForceRegionResponce responce)
{
switch (responce)
{
case ProxyForceRegionResponce.Nothing:
return(0.0f);
case ProxyForceRegionResponce.StayOutOf:
case ProxyForceRegionResponce.AlignWithVolume:
case ProxyForceRegionResponce.AlignWithEdge:
return(1.0f);
default:
throw new System.NotImplementedException("Responce weight for : " + responce);
}
}
internal DistanceSample AdjustedForResponce(ProxyForceRegionResponce resp, Vector3 worldPoint, Pose sampleRegionPose)
{
var ans = this;
ans.WorldPoint = worldPoint;
if (resp == ProxyForceRegionResponce.StayOutOf)
{
if (Distance > 0.0f)
{
ans.HasSample = false;
}
else
{
// If pushing out, go other way if deeply overlapping
if (Vector3.Dot(ToSurface, worldPoint - sampleRegionPose.position) > 0.0f)
{
ans.ToSurface *= -1.0f;
}
}
}
return(ans);
}
