public DrawableMechanism(Game game, Mechanism mechanism, ICamera camera)
: base(game)
{
this.camera = camera;
this.mechanism = mechanism;
Initialize();
}
public MechanismCSpace(Mechanism mechanism, MechanismEnviroment scene, int randomSeed)
{
this.mechanism = (Mechanism)mechanism.Clone();
this.enviroment = scene;
double[] dimensionLowLimit = new double[mechanism.Joints.Count];
double[] dimensionHighLimit = new double[mechanism.Joints.Count];
double[] dimensionWeight = new double[mechanism.Joints.Count];
for (int i = 0; i < mechanism.Joints.Count; i++)
{
dimensionLowLimit[i] = -180;
dimensionHighLimit[i] = 180;
dimensionWeight[i] = 1;
}
this.cSpace = new CSpace(mechanism.Joints.Count, dimensionLowLimit, dimensionHighLimit, dimensionWeight, CheckCollision, randomSeed);
}
public MechanismCSpace(Mechanisms mechanism, SceneBoxes scene)
{
this.mechanism = mechanism;
this.scene = scene;
double[] dimensionLowLimit = new double[mechanism.Joints.Count];
double[] dimensionHighLimit = new double[mechanism.Joints.Count];
double[] dimensionWeight = new double[mechanism.Joints.Count];
for (int i = 0; i < mechanism.Joints.Count; i++)
{
dimensionLowLimit[i] = -180;
dimensionHighLimit[i] = 180;
dimensionWeight[i] = 1;
}
this.cSpace = new CSpace(mechanism.Joints.Count, dimensionLowLimit, dimensionHighLimit, dimensionWeight, CheckCollision);
}
public bool IsColliding(Mechanism mechanism)
{
foreach (Link link in mechanism.Links)
{
if (IsColliding(link))
{
return true;
}
}
return false;
}
public bool IsColliding(Mechanism mechanism)
{
return octree.IsColliding(mechanism);
/*
foreach (Link link in mechanism.Links)
{
foreach (OrientedBoundingBox sceneBb in obstacleList)
{
if (link.Intersects(sceneBb))
{
return true;
}
}
}
return false;
*/
}
