void Heuristic::addCollisionBounds(const Bounds& collisionBounds) {
class Expander {
public:
const Real skinThickness;
Expander(Real skinThickness) : skinThickness(skinThickness) {
}
Bounds::Ptr expand(const Bounds &bounds) const {
Bounds::Ptr pBounds;
switch (bounds.getType()) {
case Bounds::TYPE_PLANE:
pBounds = expand(dynamic_cast<const BoundingPlane&>(bounds));
break;
case Bounds::TYPE_SPHERE:
pBounds = expand(dynamic_cast<const BoundingSphere&>(bounds));
break;
case Bounds::TYPE_CYLINDER:
pBounds = expand(dynamic_cast<const BoundingCylinder&>(bounds));
break;
case Bounds::TYPE_BOX:
pBounds = expand(dynamic_cast<const BoundingBox&>(bounds));
break;
case Bounds::TYPE_CONVEX_MESH:
pBounds = expand(dynamic_cast<const BoundingConvexMesh&>(bounds));
break;
default:
break;
}
return pBounds;
}
Bounds::Ptr expand(const BoundingPlane &bounds) const {
BoundingPlane::Desc desc;
desc.normal = bounds.getNormal();
desc.distance = bounds.getDistance();// + skinThickness;
return desc.create();
}
Bounds::Ptr expand(const BoundingSphere &bounds) const {
BoundingSphere::Desc desc;
desc.pose = bounds.getPose();
desc.radius = bounds.getRadius() + skinThickness;
return desc.create();
}
Bounds::Ptr expand(const BoundingCylinder &bounds) const {
BoundingCylinder::Desc desc;
desc.pose = bounds.getPose();
desc.length = bounds.getLength() + REAL_TWO*skinThickness;
desc.radius = bounds.getRadius() + skinThickness;
return desc.create();
}
Bounds::Ptr expand(const BoundingBox &bounds) const {
BoundingBox::Desc desc;
desc.pose = bounds.getPose();
desc.dimensions.set(
bounds.getDimensions().v1 + skinThickness,
bounds.getDimensions().v2 + skinThickness,
bounds.getDimensions().v3 + skinThickness
);
return desc.create();
}
Bounds::Ptr expand(const BoundingConvexMesh &bounds) const {
BoundingConvexMesh::Desc desc;
const U32 numOfVertices = (U32)bounds.getVertices().size();
desc.vertices.resize(numOfVertices);
Vec3 centroid(REAL_ZERO);
for (U32 i = 0; i < numOfVertices; ++i)
centroid.add(centroid, bounds.getVertices()[i]);
centroid.multiply(REAL_ONE/numOfVertices, centroid);
// expand along lines drawn from centroid to vertices
for (U32 i = 0; i < numOfVertices; ++i) {
Vec3 axis;
axis.subtract(bounds.getVertices()[i], centroid);
axis.normalise();
desc.vertices[i].multiplyAdd(skinThickness, axis, bounds.getVertices()[i]);
}
const U32 numOfTriangles = (U32)bounds.getTriangles().size();
if (numOfTriangles > 0) {
desc.bCook = false;
desc.triangles = bounds.getTriangles();
}
else
desc.bCook = true;
return desc.create();
}
};
// Expand bounds
Bounds::Ptr pBounds = Expander(desc.collisionDesc.skinThickness).expand(collisionBounds);
if (pBounds == NULL)
throw MsgHeuristicBoundsExpand(Message::LEVEL_ERROR, "Heuristic::addCollisionBounds(): unable to create %s", collisionBounds.getName());
//context.debug("Heuristic::setCollisionBounds(): group #%08x, name: %s\n", pBounds->getGroup(), pBounds->getName());
// add to the collection
this->collisionBounds.push_back(pBounds);
}
