private Vector3 maxRot_m; // max rotation angles (degrees)
#endregion
#region Methods
public PoseVoxel(Vector3 minPosition, Vector3 maxPosition, Vector3 minEulerAngleRotation, Vector3 maxEulerAngleRotation)
{
minPos_m = minPosition;
maxPos_m = maxPosition;
minRot_m = EulerClamper.ClampEulerVector(minEulerAngleRotation);
maxRot_m = EulerClamper.ClampEulerVector(maxEulerAngleRotation);
}
private bool hardRotContains(float min, float max, float value)
{
value = EulerClamper.ClampEuler(value);
return
((value <= 360 && value >= min) ||
(value >= 0 && value <= max));
}
private bool rotContains(Pose pose)
{
Vector3 eulers = pose.Rotation.eulerAngles;
eulers = new Vector3(
EulerClamper.ClampEuler(eulers.x),
EulerClamper.ClampEuler(eulers.y),
EulerClamper.ClampEuler(eulers.z));
bool contained = true;
// Prep repeated values
float min = minRot_m.x;
float max = maxRot_m.x;
float value = eulers.x;
for (int i = 0; i < 3; i++)
{
min = minRot_m[i];
max = maxRot_m[i];
value = eulers[i];
if (isEasyRotComparison(min, max))
{
contained = contained && easyRotContains(min, max, value);
}
else
{
contained = contained && hardRotContains(min, max, value);
}
if (!contained)
{
break;
}
}
return(contained);
}
private Vector2 getMinMax(float value, MinMaxTypes minMaxType)
{
Vector2 minMax = new Vector2(0, 0);
float min = 0;
float max = 0;
float width = 0;
switch (minMaxType)
{
case MinMaxTypes.x:
width = xWidth;
break;
case MinMaxTypes.y:
width = yWidth;
break;
case MinMaxTypes.z:
width = zWidth;
break;
case MinMaxTypes.xRot:
width = xDegree;
break;
case MinMaxTypes.yRot:
width = yDegree;
break;
case MinMaxTypes.zRot:
width = zDegree;
break;
default:
Debug.LogError("PoseVoxelSet: Encountered unknown min-max type! Please update the enum for this and the logic in this method.");
break;
}
if (width == 0)
{
return(Vector2.zero);
}
min = (int)(value / width);
max = min + 1;
min *= width;
max *= width;
// Accommodate for rotation issues
if (minMaxType == MinMaxTypes.xRot ||
minMaxType == MinMaxTypes.yRot ||
minMaxType == MinMaxTypes.zRot)
{
min = EulerClamper.ClampEuler(min);
max = EulerClamper.ClampEuler(max);
}
minMax.x = min;
minMax.y = max;
return(minMax);
}
