// GJK using Voronoi regions (Christer Ericson) and Barycentric coordinates.
/// <summary>
/// Initialize the proxy using the given shape. The shape
/// must remain in scope while the proxy is in use.
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="index">The index.</param>
public void Set(Shape shape, int index)
{
switch (shape.ShapeType)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)shape;
Vertices.Clear();
Vertices.Add(circle.Position);
Radius = circle.Radius;
}
break;
case ShapeType.Polygon:
{
PolygonShape polygon = (PolygonShape)shape;
Vertices.Clear();
for (int i = 0; i < polygon.Vertices.Count; i++)
{
Vertices.Add(polygon.Vertices[i]);
}
Radius = polygon.Radius;
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)shape;
Debug.Assert(0 <= index && index < chain.Vertices.Count);
Vertices.Clear();
Vertices.Add(chain.Vertices[index]);
Vertices.Add(index + 1 < chain.Vertices.Count ? chain.Vertices[index + 1] : chain.Vertices[0]);
Radius = chain.Radius;
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)shape;
Vertices.Clear();
Vertices.Add(edge.Vertex1);
Vertices.Add(edge.Vertex2);
Radius = edge.Radius;
}
break;
default:
Debug.Assert(false);
break;
}
}