///<summary>
/// Constructs a new cone shape.
///</summary>
///<param name="height">Height of the cone.</param>
///<param name="radius">Radius of the cone base.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public ConeShape(float height, float radius, ConvexShapeDescription description)
{
this.height = height;
this.radius = radius;
UpdateConvexShapeInfo(description);
}
protected void UpdateConvexShapeInfo(ConvexShapeDescription description)
{
UpdateEntityShapeVolume(description.EntityShapeVolume);
MinimumRadius = description.MinimumRadius;
MaximumRadius = description.MaximumRadius;
collisionMargin = description.CollisionMargin;
}
///<summary>
/// Constructs a new transformable shape.
///</summary>
/// <param name="shape">Base shape to transform.</param>
/// <param name="transform">Transform to use.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public TransformableShape(ConvexShape shape, Matrix3f transform, ConvexShapeDescription description)
{
this.shape = shape;
this.transform = transform;
UpdateConvexShapeInfo(description);
}
///<summary>
/// Constructs a new box shape from cached information.
///</summary>
///<param name="width">Width of the box.</param>
///<param name="height">Height of the box.</param>
///<param name="length">Length of the box.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public BoxShape(float width, float height, float length, ConvexShapeDescription description)
{
halfWidth = width * 0.5f;
halfHeight = height * 0.5f;
halfLength = length * 0.5f;
UpdateConvexShapeInfo(description);
}
///<summary>
/// Constructs a triangle shape from cached data.
///</summary>
///<param name="vA">First vertex in the triangle.</param>
///<param name="vB">Second vertex in the triangle.</param>
///<param name="vC">Third vertex in the triangle.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public TriangleShape(Vector3f vA, Vector3f vB, Vector3f vC, ConvexShapeDescription description)
{
//Recenter. Convexes should contain the origin.
var center = (vA + vB + vC) / 3;
this.vA = vA - center;
this.vB = vB - center;
this.vC = vC - center;
UpdateConvexShapeInfo(description);
}
/// <summary>
/// Creates a ConvexHullShape from cached information. Assumes all data provided is accurate- no pre-processing is performed.
/// </summary>
/// <param name="localSurfaceVertices">List of vertex positions on the surface of the convex hull shape, centered on the desired origin. These vertices are used as-is for the shape representation; no additional processing occurs.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public ConvexHullShape(IList <Vector3f> localSurfaceVertices, ConvexShapeDescription description)
{
if (localSurfaceVertices.Count == 0)
{
throw new ArgumentException("Vertices list used to create a ConvexHullShape cannot be empty.");
}
unexpandedMaximumRadius = description.MaximumRadius - collisionMargin;
unexpandedMinimumRadius = description.MinimumRadius - collisionMargin;
vertices = new Vector3f[localSurfaceVertices.Count];
localSurfaceVertices.CopyTo(vertices, 0);
UpdateConvexShapeInfo(description);
}
///<summary>
/// Constructs a wrapped shape from cached data.
///</summary>
///<param name="shapeEntries">Already centered shape entries used to construct the shape.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
///<exception cref="Exception">Thrown when the shape list is empty.</exception>
public WrappedShape(IList <ConvexShapeEntry> shapeEntries, ConvexShapeDescription description)
{
if (shapeEntries.Count == 0)
{
throw new ArgumentException("Cannot create a wrapped shape with no contained shapes.");
}
for (int i = 0; i < shapeEntries.Count; i++)
{
shapes.Add(shapeEntries[i]);
}
UpdateConvexShapeInfo(description);
shapes.Changed += ShapesChanged;
}
///<summary>
/// Constructs a new sphere shape.
///</summary>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public SphereShape(ConvexShapeDescription description)
{
UpdateConvexShapeInfo(description);
}
///<summary>
/// Constructs a new capsule shape from cached information.
///</summary>
///<param name="length">Length of the capsule's inner line segment.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public CapsuleShape(float length, ConvexShapeDescription description)
{
halfLength = length * 0.5f;
UpdateConvexShapeInfo(description);
}
///<summary>
/// Constructs a new cylinder shape from cached data.
///</summary>
///<param name="height">Height of the cylinder.</param>
///<param name="radius">Radius of the cylinder.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public CylinderShape(float height, float radius, ConvexShapeDescription description)
{
halfHeight = height * .5f;
this.radius = radius;
UpdateConvexShapeInfo(description);
}
/// <summary>
/// Constructs a minkowski sum shape from cached data.
/// </summary>
/// <param name="shapeEntries">Entries composing the minkowski sum.</param>
/// <param name="localOffset">Local offset of the elements in the minkowski sum.</param>
/// <param name="description">Cached information about the shape. Assumed to be correct; no extra processing or validation is performed.</param>
public MinkowskiSumShape(IList <OrientedConvexShapeEntry> shapeEntries, Vector3f localOffset, ConvexShapeDescription description)
{
for (int i = 0; i < shapeEntries.Count; i++)
{
shapes.Add(shapeEntries[i]);
}
this.localOffset = localOffset;
UpdateConvexShapeInfo(description);
shapes.Changed += ShapesChanged;
}