AABBox<float> CollisionConvexHullShape::toAABBox(const PhysicsTransform &physicsTransform) const
{
if(!lastTransform.equals(physicsTransform))
{
const Quaternion<float> &orientation = physicsTransform.getOrientation();
Point3<float> min(std::numeric_limits<float>::max(), std::numeric_limits<float>::max(), std::numeric_limits<float>::max());
Point3<float> max(-std::numeric_limits<float>::max(), -std::numeric_limits<float>::max(), -std::numeric_limits<float>::max());
const std::vector<Point3<float>> &convexHullShapePoints = convexHullShape->getPoints();
for (const auto &convexHullShapePoint : convexHullShapePoints)
{
const Point3<float> point = orientation.rotatePoint(convexHullShapePoint);
min.X = std::min(min.X, point.X);
min.Y = std::min(min.Y, point.Y);
min.Z = std::min(min.Z, point.Z);
max.X = std::max(max.X, point.X);
max.Y = std::max(max.Y, point.Y);
max.Z = std::max(max.Z, point.Z);
}
const Point3<float> &position = physicsTransform.getPosition();
lastAABBox = AABBox<float>(min + position, max + position);
lastTransform = physicsTransform;
}
return lastAABBox;
}
AABBox<float> CollisionCompoundShape::toAABBox(const PhysicsTransform &physicsTransform) const
{
Point3<float> rotatedTranslation = physicsTransform.getOrientation().rotatePoint(Point3<float>(localizedShapes[0]->translation));
Point3<float> finalPosition = physicsTransform.getPosition().translate(rotatedTranslation.toVector());
PhysicsTransform shapeWorldTransform(finalPosition, physicsTransform.getOrientation());
AABBox<float> globalCompoundBox = localizedShapes[0]->shape->toAABBox(shapeWorldTransform);
for(unsigned int i=1; i<localizedShapes.size(); ++i)
{
rotatedTranslation = physicsTransform.getOrientation().rotatePoint(Point3<float>(localizedShapes[i]->translation));
finalPosition = physicsTransform.getPosition().translate(rotatedTranslation.toVector());
shapeWorldTransform.setPosition(finalPosition);
AABBox<float> compoundBox = localizedShapes[i]->shape->toAABBox(shapeWorldTransform);
globalCompoundBox = globalCompoundBox.merge(compoundBox);
}
return globalCompoundBox;
}
