/// <inheritdoc/>
public override Aabb GetAabb(Vector3 scale, Pose pose)
{
// If we have a spatial partition, we can use the AABB of the whole spatial partition to
// quickly get an approximate AABB.
if (Partition != null)
{
// Get AABB of spatial partition and compute the AABB in world space.
return(Partition.Aabb.GetAabb(scale, pose));
}
// No children? - Return arbitrary AABB.
var numberOfGeometries = Children.Count;
if (numberOfGeometries == 0)
{
return(new Aabb(pose.Position, pose.Position));
}
// See also comments in TransformShape.GetAabb().
if (scale.X == scale.Y && scale.Y == scale.Z)
{
// Uniform scaling.
// Get union of children's AABBs. scale is applied at the end.
var child = Children[0];
// Scale child pose.
Pose childPose = new Pose(child.Pose.Position * scale.X, child.Pose.Orientation);
// Get child aabb in final space.
Aabb aabb = child.Shape.GetAabb(scale.X * child.Scale, pose * childPose);
for (int i = 1; i < numberOfGeometries; i++)
{
child = Children[i];
childPose = new Pose(child.Pose.Position * scale.X, child.Pose.Orientation);
aabb.Grow(child.Shape.GetAabb(scale.X * child.Scale, pose * childPose));
}
return(aabb);
}
else
{
// Get AABB of children in the parent space without scale.
Aabb aabb = Children[0].Aabb;
for (int i = 1; i < numberOfGeometries; i++)
{
aabb.Grow(Children[i].Aabb);
}
// Now, from this compute an AABB in world space.
return(aabb.GetAabb(scale, pose));
}
}
/// <inheritdoc/>
public override Aabb GetAabb(Vector3 scale, Pose pose)
{
// Recompute local cached AABB if it is invalid.
if (Numeric.IsNaN(_aabbLocal.Minimum.X))
{
_aabbLocal = base.GetAabb(Vector3.One, Pose.Identity);
}
// Apply scale and pose to AABB.
return(_aabbLocal.GetAabb(scale, pose));
}
/// <inheritdoc/>
public override Aabb GetAabb(Vector3 scale, Pose pose)
{
if (Numeric.IsNaN(_aabbLocal.Minimum.X))
{
// ----- Recompute local cached AABB if it is invalid.
if (Partition == null)
{
// ----- No spatial partition.
_aabbLocal = new Aabb();
if (_mesh != null && _mesh.NumberOfTriangles > 0)
{
bool isFirst = true;
// Get AABB that contains all triangles.
for (int i = 0; i < _mesh.NumberOfTriangles; i++)
{
Triangle triangle = _mesh.GetTriangle(i);
for (int j = 0; j < 3; j++)
{
Vector3 vertex = triangle[j];
if (isFirst)
{
isFirst = false;
_aabbLocal = new Aabb(vertex, vertex);
}
else
{
_aabbLocal.Grow(vertex);
}
}
}
}
}
else
{
// ----- With spatial partition.
// Use spatial partition to determine local AABB.
_aabbLocal = Partition.Aabb;
}
}
// Apply scale and pose to AABB.
return(_aabbLocal.GetAabb(scale, pose));
}
/// <inheritdoc/>
public override Aabb GetAabb(Vector3 scale, Pose pose)
{
// Recompute local cached AABB if it is invalid.
if (Numeric.IsNaN(_minHeight))
{
// Find min and max height.
// TODO: We could cache that beforehand.
_minHeight = float.PositiveInfinity;
_maxHeight = float.NegativeInfinity;
foreach (float height in _samples)
{
if (height < _minHeight)
{
_minHeight = height;
}
if (height > _maxHeight)
{
_maxHeight = height;
}
}
}
Vector3 minimum = new Vector3(_originX, _minHeight, _originZ);
Vector3 maximum = new Vector3(_originX + _widthX, _maxHeight, _originZ + _widthZ);
// Apply scale.
var scaledLocalAabb = new Aabb(minimum, maximum);
scaledLocalAabb.Scale(scale);
// Add depth after scaling because scaleY = 0 makes sense to flatten the height field
// but the bounding box should have a height > 0 to avoid tunneling.
scaledLocalAabb.Minimum.Y = Math.Min(scaledLocalAabb.Minimum.Y - _depth, -_depth);
// Apply pose.
return(scaledLocalAabb.GetAabb(pose));
}
/// <inheritdoc/>
public override Aabb GetAabb(Vector3 scale, Pose pose)
{
// Apply scale and pose to AABB.
return(_aabbLocal.GetAabb(scale, pose));
}