public void CapsuleTest()
{
var s = new CapsuleShape(1, 2);
var v0 = s.GetVolume(0.001f, 10);
var m = s.GetMesh(0.001f, 10);
var v1 = m.GetVolume();
Assert.IsTrue(Numeric.AreEqual(v0, v1, 0.01f * (1 + v0))); // 1% error is allowed.
}
/// <summary>
/// Computes a minimum bounding shape that contains all given points.
/// </summary>
/// <param name="points">The points.</param>
/// <returns>A minimum bounding shape that contains all given points.</returns>
/// <remarks>
/// The returned shape will be a <see cref="SphereShape"/>, a <see cref="CapsuleShape"/>,
/// a <see cref="BoxShape"/>, or a <see cref="TransformedShape"/> (containing a sphere, capsule,
/// or a box). The bounding shape is not guaranteed to be optimal, it is only guaranteed that
/// the bounding shape includes all given points.
/// </remarks>
/// <exception cref="ArgumentNullException">
/// <paramref name="points"/> is <see langword="null"/>.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="points"/> is empty.
/// </exception>
public static Shape CreateBoundingShape(IList <Vector3> points)
{
if (points == null)
{
throw new ArgumentNullException("points");
}
if (points.Count == 0)
{
throw new ArgumentException("The list of 'points' is empty.");
}
// Compute minimal sphere.
Vector3 center;
float radius;
ComputeBoundingSphere(points, out radius, out center);
SphereShape sphere = new SphereShape(radius);
float sphereVolume = sphere.GetVolume();
// Compute minimal capsule.
float height;
Pose capsulePose;
ComputeBoundingCapsule(points, out radius, out height, out capsulePose);
CapsuleShape capsule = new CapsuleShape(radius, height);
float capsuleVolume = capsule.GetVolume();
// Compute minimal box.
Vector3 boxExtent;
Pose boxPose;
ComputeBoundingBox(points, out boxExtent, out boxPose);
var box = new BoxShape(boxExtent);
float boxVolume = box.GetVolume();
// Return the object with the smallest volume.
// A TransformedShape is used if the shape needs to be translated or rotated.
if (sphereVolume < boxVolume && sphereVolume < capsuleVolume)
{
if (center.IsNumericallyZero)
{
return(sphere);
}
return(new TransformedShape(new GeometricObject(sphere, new Pose(center))));
}
else if (capsuleVolume < boxVolume)
{
if (!capsulePose.HasTranslation && !capsulePose.HasRotation)
{
return(capsule);
}
return(new TransformedShape(new GeometricObject(capsule, capsulePose)));
}
else
{
if (!boxPose.HasTranslation && !boxPose.HasRotation)
{
return(box);
}
return(new TransformedShape(new GeometricObject(box, boxPose)));
}
}
