BoundingBox CollisionShape::GetWorldBoundingBox() const
{
if (shape_ && node_)
{
// Use the rigid body's world transform if possible, as it may be different from the rendering transform
RigidBody* body = GetComponent<RigidBody>();
Matrix3x4 worldTransform = body ? Matrix3x4(body->GetPosition(), body->GetRotation(), node_->GetWorldScale()) :
node_->GetWorldTransform();
Vector3 worldPosition(worldTransform * position_);
Quaternion worldRotation(worldTransform.Rotation() * rotation_);
btTransform shapeWorldTransform(ToBtQuaternion(worldRotation), ToBtVector3(worldPosition));
btVector3 aabbMin, aabbMax;
shape_->getAabb(shapeWorldTransform, aabbMin, aabbMax);
return BoundingBox(ToVector3(aabbMin), ToVector3(aabbMax));
}
else
return BoundingBox();
}
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;
}