/// <summary> /// Computes a convex shape description for a ConvexHullShape. /// </summary> /// <param name="vertices">Vertices describing the convex hull shape.</param> /// <param name="collisionMargin">Collision margin of the shape.</param> /// <param name="center">Computed center of the convex hull shape. Used as the origin of the outputUniqueSurfaceVertices.</param> /// <param name="outputHullTriangleIndices">Computed list of indices into the input point set composing the triangulated surface of the convex hull. /// Each group of 3 indices represents a triangle on the surface of the hull.</param> /// <param name="outputUniqueSurfaceVertices">Computed nonredundant list of vertices composing the outer shell of the input point set. Recentered on the local origin.</param> /// <returns>Description required to define a convex shape.</returns> public static ConvexShapeDescription ComputeDescription(IList <Vector3> vertices, float collisionMargin, out Vector3 center, IList <int> outputHullTriangleIndices, IList <Vector3> outputUniqueSurfaceVertices) { if (outputHullTriangleIndices.Count != 0 || outputUniqueSurfaceVertices.Count != 0) { throw new ArgumentException("Output lists must start empty."); } ConvexShapeDescription description; ConvexHullHelper.GetConvexHull(vertices, outputHullTriangleIndices, outputUniqueSurfaceVertices); InertiaHelper.ComputeShapeDistribution(vertices, outputHullTriangleIndices, out center, out description.EntityShapeVolume.Volume, out description.EntityShapeVolume.VolumeDistribution); //Recenter the surface vertices. for (int i = 0; i < outputUniqueSurfaceVertices.Count; ++i) { outputUniqueSurfaceVertices[i] -= center; } description.MinimumRadius = InertiaHelper.ComputeMinimumRadius(vertices, outputHullTriangleIndices, ref center) + collisionMargin; description.MaximumRadius = ComputeMaximumRadius(outputUniqueSurfaceVertices, collisionMargin); description.CollisionMargin = collisionMargin; return(description); }
/// <summary> /// Computes and applies a convex shape description for this MinkowskiSumShape. /// </summary> /// <returns>Description required to define a convex shape.</returns> public void UpdateConvexShapeInfo() { //Compute the volume distribution. RawList <Vector3> samples = CommonResources.GetVectorList(); if (samples.Capacity < InertiaHelper.SampleDirections.Length) { samples.Capacity = InertiaHelper.SampleDirections.Length; } samples.Count = InertiaHelper.SampleDirections.Length; for (int i = 0; i < InertiaHelper.SampleDirections.Length; ++i) { GetLocalExtremePoint(InertiaHelper.SampleDirections[i], out samples.Elements[i]); } RawList <int> triangles = CommonResources.GetIntList(); ConvexHullHelper.GetConvexHull(samples, triangles); float volume; Vector3 center; InertiaHelper.ComputeShapeDistribution(samples, triangles, out center, out volume, out volumeDistribution); Volume = volume; //Recenter the shape. localOffset = -center; CommonResources.GiveBack(samples); CommonResources.GiveBack(triangles); //Compute the radii. float minRadius = 0, maxRadius = 0; for (int i = 0; i < Shapes.Count; i++) { minRadius += Shapes.WrappedList.Elements[i].CollisionShape.MinimumRadius; maxRadius += Shapes.WrappedList.Elements[i].CollisionShape.MaximumRadius; } MinimumRadius = minRadius + collisionMargin; MaximumRadius = maxRadius + collisionMargin; }
/// <summary> /// Computes and applies a convex shape description for this WrappedShape. /// </summary> /// <param name="center">Computed center of the shape before recentering.</param> public void UpdateConvexShapeInfo(out Vector3 center) { //Compute the volume distribution. RawList <Vector3> samples = CommonResources.GetVectorList(); if (samples.Capacity < InertiaHelper.SampleDirections.Length) { samples.Capacity = InertiaHelper.SampleDirections.Length; } samples.Count = InertiaHelper.SampleDirections.Length; for (int i = 0; i < InertiaHelper.SampleDirections.Length; ++i) { GetLocalExtremePoint(InertiaHelper.SampleDirections[i], out samples.Elements[i]); } RawList <int> triangles = CommonResources.GetIntList(); ConvexHullHelper.GetConvexHull(samples, triangles); float volume; InertiaHelper.ComputeShapeDistribution(samples, triangles, out center, out volume, out volumeDistribution); Volume = volume; CommonResources.GiveBack(samples); CommonResources.GiveBack(triangles); //Now recenter the shape and compute the radii estimates. for (int i = 0; i < Shapes.Count; i++) { Shapes.WrappedList.Elements[i].Transform.Position -= center; } MinimumRadius = ComputeMinimumRadius(); MaximumRadius = ComputeMaximumRadius(); }