public override void GetBoundingBox(ref double xmin,
ref double xmax,
ref double ymin,
ref double ymax,
ref double zmin,
ref double zmax,
ChMatrix33 <double> Rot)
{
if (Rot == null)
{
xmin = ChMaths.ChMin(ChMaths.ChMin(p1.x, p2.x), p3.x);
ymin = ChMaths.ChMin(ChMaths.ChMin(p1.y, p2.y), p3.y);
zmin = ChMaths.ChMin(ChMaths.ChMin(p1.z, p2.z), p3.z);
xmax = ChMaths.ChMax(ChMaths.ChMax(p1.x, p2.x), p3.x);
ymax = ChMaths.ChMax(ChMaths.ChMax(p1.y, p2.y), p3.y);
zmax = ChMaths.ChMax(ChMaths.ChMax(p1.z, p2.z), p3.z);
}
else
{
ChVector trp1 = Rot.MatrT_x_Vect(p1);
ChVector trp2 = Rot.MatrT_x_Vect(p2);
ChVector trp3 = Rot.MatrT_x_Vect(p3);
xmin = ChMaths.ChMin(ChMaths.ChMin(trp1.x, trp2.x), trp3.x);
ymin = ChMaths.ChMin(ChMaths.ChMin(trp1.y, trp2.y), trp3.y);
zmin = ChMaths.ChMin(ChMaths.ChMin(trp1.z, trp2.z), trp3.z);
xmax = ChMaths.ChMax(ChMaths.ChMax(trp1.x, trp2.x), trp3.x);
ymax = ChMaths.ChMax(ChMaths.ChMax(trp1.y, trp2.y), trp3.y);
zmax = ChMaths.ChMax(ChMaths.ChMax(trp1.z, trp2.z), trp3.z);
}
}
/// Add a cylinder to this model (default axis on Y direction), for collision purposes
public override bool AddCylinder(double rx,
double rz,
double hy,
ChVector pos,
ChMatrix33 <double> rot)
{
// adjust default inward margin (if object too thin)
this.SetSafeMargin(ChMaths.ChMin(this.GetSafeMargin(), 0.2 * ChMaths.ChMin(ChMaths.ChMin(rx, rz), 0.5 * hy)));
float arx = (float)(rx + this.GetEnvelope());
float arz = (float)(rz + this.GetEnvelope());
float ahy = (float)(hy + this.GetEnvelope());
CylinderShape mshape = new CylinderShape(new IndexedVector3(arx, ahy, arz));
mshape.SetMargin(this.GetSuggestedFullMargin());
_injectShape(pos, rot, mshape);
return(true);
}
/// Add a box shape to this model, for collision purposes
public override bool AddBox(
double hx, /// the halfsize on x axis
double hy, /// the halfsize on y axis
double hz, /// the halfsize on z axis
ChVector pos, /// the position of the box COG
ChMatrix33 <double> rot /// the rotation of the box - matrix must be orthogonal
)
{
// adjust default inward margin (if object too thin)
this.SetSafeMargin(ChMaths.ChMin(this.GetSafeMargin(), 0.2 * ChMaths.ChMin(ChMaths.ChMin(hx, hy), hz)));
float ahx = (float)(hx + this.GetEnvelope());
float ahy = (float)(hy + this.GetEnvelope());
float ahz = (float)(hz + this.GetEnvelope());
BoxShape mshape = new BoxShape(new IndexedVector3(ahx, ahy, ahz));
mshape.SetMargin((float)this.GetSuggestedFullMargin());
_injectShape(pos, rot, mshape);
return(true);
}
