public virtual void GetAabbNonVirtual(ref IndexedMatrix t, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
{
switch (m_shapeType)
{
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
{
SphereShape sphereShape = this as SphereShape;
float radius = sphereShape.GetImplicitShapeDimensions().X;// * convexShape->getLocalScaling().getX();
float margin = radius + sphereShape.GetMarginNonVirtual();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(margin);
aabbMin = center - extent;
aabbMax = center + extent;
}
break;
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
/* fall through */
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
{
BoxShape convexShape = this as BoxShape;
float margin = convexShape.GetMarginNonVirtual();
IndexedVector3 halfExtents = convexShape.GetImplicitShapeDimensions();
halfExtents += new IndexedVector3(margin);
IndexedBasisMatrix abs_b = t._basis.Absolute();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref halfExtents), abs_b._el1.Dot(ref halfExtents), abs_b._el2.Dot(ref halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
break;
}
case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
{
TriangleShape triangleShape = (TriangleShape)this;
float margin = triangleShape.GetMarginNonVirtual();
for (int i = 0; i < 3; i++)
{
IndexedVector3 vec = new IndexedVector3();
vec[i] = 1f;
IndexedVector3 sv = LocalGetSupportVertexWithoutMarginNonVirtual(vec * t._basis);
IndexedVector3 tmp = t * sv;
aabbMax[i] = tmp[i] + margin;
vec[i] = -1.0f;
tmp = t * (LocalGetSupportVertexWithoutMarginNonVirtual(vec * t._basis));
aabbMin[i] = tmp[i] - margin;
}
}
break;
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
{
CapsuleShape capsuleShape = this as CapsuleShape;
float r = capsuleShape.GetRadius();
IndexedVector3 halfExtents = new IndexedVector3(r);
int m_upAxis = capsuleShape.GetUpAxis();
halfExtents[m_upAxis] = r + capsuleShape.GetHalfHeight();
float nvMargin = capsuleShape.GetMarginNonVirtual();
halfExtents += new IndexedVector3(nvMargin);
IndexedBasisMatrix abs_b = t._basis.Absolute();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref halfExtents), abs_b._el1.Dot(ref halfExtents), abs_b._el2.Dot(ref halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
}
break;
case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
{
PolyhedralConvexAabbCachingShape convexHullShape = (PolyhedralConvexAabbCachingShape)this;
float margin = convexHullShape.GetMarginNonVirtual();
convexHullShape.GetNonvirtualAabb(ref t, out aabbMin, out aabbMax, margin);
}
break;
default:
GetAabb(ref t, out aabbMin, out aabbMax);
break;
}
// should never reach here
Debug.Assert(false);
}
