void CollisionConvexHullShape::initializeConvexHullReduced()
{
if(minDistanceToCenter > getInnerMargin())
{
convexHullShapeReduced = convexHullShape->resize(-getInnerMargin());
}else
{ //impossible to shrink the convex hull correctly
refreshInnerMargin(0.0f);
}
}
std::shared_ptr<CollisionConvexObject3D> CollisionConvexHullShape::toConvexObject(const PhysicsTransform &physicsTransform) const
{
ConvexHull3D<float> convexHullWithMargin = transformConvexHull(convexHull, physicsTransform);
if(convexHullReduced.get()==nullptr)
{ //impossible to compute convex hull without margin => use convex hull with margin and set a margin of 0.0
return std::make_shared<CollisionConvexHullObject>(getInnerMargin(), convexHullWithMargin, convexHullWithMargin);
}
ConvexHull3D<float> convexHullWithoutMargin = transformConvexHull(*convexHullReduced.get(), physicsTransform);
return std::make_shared<CollisionConvexHullObject>(getInnerMargin(), convexHullWithMargin, convexHullWithoutMargin);
}
std::unique_ptr<CollisionConvexObject3D, ObjectDeleter> CollisionConvexHullShape::toConvexObject(const PhysicsTransform &physicsTransform) const
{
Transform<float> transform = physicsTransform.toTransform();
auto convexHullWithMargin = std::shared_ptr<ConvexHull3D<float>>(dynamic_cast<ConvexHull3D<float>*>(convexHullShape->toConvexObject(transform).release()));
void *memPtr = getObjectsPool()->allocate(sizeof(CollisionConvexHullObject));
if(!convexHullShapeReduced)
{ //impossible to compute convex hull without margin => use convex hull with margin and set a margin of 0.0
#ifdef _DEBUG
assert(getInnerMargin()==0.0f);
#endif
const std::shared_ptr<ConvexHull3D<float>> &convexHullWithoutMargin(convexHullWithMargin);
auto *collisionObjectPtr = new (memPtr) CollisionConvexHullObject(getInnerMargin(), convexHullWithMargin, convexHullWithoutMargin);
return std::unique_ptr<CollisionConvexHullObject, ObjectDeleter>(collisionObjectPtr);
}
auto convexHullWithoutMargin = std::shared_ptr<ConvexHull3D<float>>(dynamic_cast<ConvexHull3D<float>*>(convexHullShapeReduced->toConvexObject(transform).release()));
auto *collisionObjectPtr = new (memPtr) CollisionConvexHullObject(getInnerMargin(), convexHullWithMargin, convexHullWithoutMargin);
return std::unique_ptr<CollisionConvexHullObject, ObjectDeleter>(collisionObjectPtr);
}
void CollisionConvexHullShape::intializeConvexHullReduced()
{
convexHullReduced = ResizeConvexHullService::instance()->resizeConvexHull(convexHull, -getInnerMargin());
if(convexHullReduced.get()==nullptr)
{ //impossible to shrink the convex hull correctly
refreshInnerMargin(0.0);
}
}
