/// <summary>
/// Gets the bounding box of an element in the data.
/// </summary>
/// <param name="triangleIndex">Index of the triangle in the data.</param>
/// <param name="boundingBox">Bounding box of the triangle.</param>
public void GetBoundingBox(int triangleIndex, out BoundingBox boundingBox)
{
Vector3f v1, v2, v3;
GetTriangle(triangleIndex, out v1, out v2, out v3);
Vector3f.ComponentMin(ref v1, ref v2, out boundingBox.Min);
Vector3f.ComponentMin(ref boundingBox.Min, ref v3, out boundingBox.Min);
Vector3f.ComponentMax(ref v1, ref v2, out boundingBox.Max);
Vector3f.ComponentMax(ref boundingBox.Max, ref v3, out boundingBox.Max);
}
/// <summary>
/// Initializes the detector entity and any other necessary logic.
/// </summary>
protected internal override void Initialize()
{
//Setup the dimensions of the detector.
Vector3f startpoint = wheel.suspension.localAttachmentPoint;
Vector3f endpoint = startpoint + wheel.suspension.localDirection * wheel.suspension.restLength;
Vector3f min, max;
Vector3f.ComponentMin(ref startpoint, ref endpoint, out min);
Vector3f.ComponentMax(ref startpoint, ref endpoint, out max);
detector.Width = max.X - min.X;
detector.Height = max.Y - min.Y;
detector.Length = max.Z - min.Z;
}
/// <summary>
/// Gets the bounding box of the shape given a transform.
/// </summary>
/// <param name="shapeTransform">Transform to use.</param>
/// <param name="boundingBox">Bounding box of the transformed shape.</param>
public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
{
Vector3f a, b, c;
Matrix3f o;
Matrix3f.FromQuaternion(ref shapeTransform.Orientation, out o);
Vector3f.Transform(ref vA, ref o, out a);
Vector3f.Transform(ref vB, ref o, out b);
Vector3f.Transform(ref vC, ref o, out c);
Vector3f.ComponentMin(ref a, ref b, out boundingBox.Min);
Vector3f.ComponentMin(ref c, ref boundingBox.Min, out boundingBox.Min);
Vector3f.ComponentMax(ref a, ref b, out boundingBox.Max);
Vector3f.ComponentMax(ref c, ref boundingBox.Max, out boundingBox.Max);
boundingBox.Min.X += shapeTransform.Position.X - collisionMargin;
boundingBox.Min.Y += shapeTransform.Position.Y - collisionMargin;
boundingBox.Min.Z += shapeTransform.Position.Z - collisionMargin;
boundingBox.Max.X += shapeTransform.Position.X + collisionMargin;
boundingBox.Max.Y += shapeTransform.Position.Y + collisionMargin;
boundingBox.Max.Z += shapeTransform.Position.Z + collisionMargin;
}
