/**
* Calculates a tight box-sphere bounds for the aggregate geometry; this is more expensive than CalcAABB
* (tight meaning the sphere may be smaller than would be required to encompass the AABB, but all individual components lie within both the box and the sphere)
*
* @param Output The output box-sphere bounds calculated for this set of aggregate geometry
* @param LocalToWorld Transform
*/
void FKAggregateGeom::CalcBoxSphereBounds(FBoxSphereBounds& Output, const FTransform& LocalToWorld) const
{
// Calculate the AABB
const FBox AABB = CalcAABB(LocalToWorld);
if ((SphereElems.Num() == 0) && (SphylElems.Num() == 0) && (BoxElems.Num() == 0))
{
// For bounds that only consist of convex shapes (such as anything generated from a BSP model),
// we can get nice tight bounds by considering just the points of the convex shape
const FVector Origin = AABB.GetCenter();
float RadiusSquared = 0.0f;
for (int32 i = 0; i < ConvexElems.Num(); i++)
{
const FKConvexElem& Elem = ConvexElems[i];
for (int32 j = 0; j < Elem.VertexData.Num(); ++j)
{
const FVector Point = LocalToWorld.TransformPosition(Elem.VertexData[j]);
RadiusSquared = FMath::Max(RadiusSquared, (Point - Origin).SizeSquared());
}
}
// Push the resulting AABB and sphere into the output
AABB.GetCenterAndExtents(Output.Origin, Output.BoxExtent);
Output.SphereRadius = FMath::Sqrt(RadiusSquared);
}
else if ((SphereElems.Num() == 1) && (SphylElems.Num() == 0) && (BoxElems.Num() == 0) && (ConvexElems.Num() == 0))
{
// For bounds that only consist of a single sphere,
// we can be certain the box extents are the same as its radius
AABB.GetCenterAndExtents(Output.Origin, Output.BoxExtent);
Output.SphereRadius = Output.BoxExtent.X;
}
else
{
// Just use the loose sphere bounds that totally fit the AABB
Output = FBoxSphereBounds(AABB);
}
}
void dgCollisionScene::CalcAABBSimd(const dgMatrix &matrix, dgVector &p0,
dgVector &p1) const
{
CalcAABB(matrix, p0, p1);
}
