//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
internal void Set(Vector3F[] vertices, Aabb aabb, Vector3F innerPoint, DirectionalLookupTableUInt16F directionalLookupTable, VertexAdjacency vertexAdjacency)
{
_vertices = vertices;
_aabbLocal = aabb;
_innerPoint = innerPoint;
_directionLookupTable = directionalLookupTable;
_vertexAdjacency = vertexAdjacency;
}
/// <inheritdoc/>
protected override void CloneCore(Shape sourceShape)
{
var source = (ConvexPolyhedron)sourceShape;
_vertices = source._vertices;
_aabbLocal = source._aabbLocal;
_innerPoint = source._innerPoint;
_directionLookupTable = source._directionLookupTable;
_vertexAdjacency = source._vertexAdjacency;
}
private void BuildLookupTable()
{
// Compute center and radius of the sphere where points are sampled.
float polyhedronRadius;
Vector3F center;
GeometryHelper.ComputeBoundingSphere(_vertices, out polyhedronRadius, out center);
float radius = polyhedronRadius * RadiusFactor;
// Create directional lookup table. (The poles are excluded.)
_directionLookupTable = new DirectionalLookupTableUInt16F(LookupTableWidth);
// Sample points on the sphere and determine the indices of the closest vertices on the
// convex polyhedron. The indices of the closest vertices are the entries in the lookup
// table.
foreach (Vector3F direction in _directionLookupTable.GetSampleDirections())
{
direction.Normalize();
Vector3F samplePoint = direction * radius;
_directionLookupTable[direction] = GetClosestVertex(samplePoint);
}
}
private void BuildLookupTable()
{
// Compute center and radius of the sphere where points are sampled.
float polyhedronRadius;
Vector3F center;
GeometryHelper.ComputeBoundingSphere(_vertices, out polyhedronRadius, out center);
float radius = polyhedronRadius * RadiusFactor;
// Create directional lookup table. (The poles are excluded.)
_directionLookupTable = new DirectionalLookupTableUInt16F(LookupTableWidth);
// Sample points on the sphere and determine the indices of the closest vertices on the
// convex polyhedron. The indices of the closest vertices are the entries in the lookup
// table.
foreach (Vector3F direction in _directionLookupTable.GetSampleDirections())
{
direction.Normalize();
Vector3F samplePoint = direction * radius;
_directionLookupTable[direction] = GetClosestVertex(samplePoint);
}
}
/// <inheritdoc/>
protected override void CloneCore(Shape sourceShape)
{
var source = (ConvexPolyhedron)sourceShape;
_vertices = source._vertices;
_aabbLocal = source._aabbLocal;
_innerPoint = source._innerPoint;
_directionLookupTable = source._directionLookupTable;
_vertexAdjacency = source._vertexAdjacency;
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
internal void Set(Vector3F[] vertices, Aabb aabb, Vector3F innerPoint, DirectionalLookupTableUInt16F directionalLookupTable, VertexAdjacency vertexAdjacency)
{
_vertices = vertices;
_aabbLocal = aabb;
_innerPoint = innerPoint;
_directionLookupTable = directionalLookupTable;
_vertexAdjacency = vertexAdjacency;
}
