/**
* Updates the position of vol so it is placed at orig. This method is used for fast repaints in
* J3DScene
*/
void updateVolumePosition(Volume3d vol, Volume3d orig) {
switch (chainTree.volumeMode) {
case OBB:
Box3d box = (Box3d) vol;
Box3d origBox = (Box3d) orig;
box.setAnchor(origBox.getAnchor());
box.setXDir(origBox.getXDir());
box.setYDir(origBox.getYDir());
box.setZDir(origBox.getZDir());
return;
case CAPSULE:
Capsule3d caps = (Capsule3d) vol;
Capsule3d origCaps = (Capsule3d) orig;
caps.segment.setA(origCaps.segment.getA());
caps.segment.setB(origCaps.segment.getB());
caps.rad = origCaps.rad;
return;
case RSS:
RSS3d rss = (RSS3d) vol;
RSS3d origRSS = (RSS3d) orig;
rss.rectangle.center.set(origRSS.rectangle.center);
rss.rectangle.bases[0].set(origRSS.rectangle.bases[0]);
rss.rectangle.bases[1].set(origRSS.rectangle.bases[1]);
rss.radius = origRSS.radius;
return;
case PSS:
Sphere3d sphere = (Sphere3d) vol;
Sphere3d origSphere = (Sphere3d) orig;
sphere.center.set(origSphere.center);
}
throw new Error("Unknown volume type chosen: " + chainTree.volumeMode);
}
public Volume3d transform(RotationMatrix4x4 m, Volume3d shape) {
switch (chainTree.volumeMode) {
case OBB:
Box3d box = (Box3d) shape;
Vector3d[] newBases = {
chainTree.getDirection(m, box.getBases()[0]),
chainTree.getDirection(m, box.getBases()[1]),
chainTree.getDirection(m, box.getBases()[2])
};
return new Box3d(chainTree.getPosition(m, box.getAnchor()), newBases, box.extents);
case CAPSULE:
Capsule3d caps = (Capsule3d) shape;
Capsule3d rotatedCaps =
new Capsule3d(
chainTree.getPosition(m, caps.segment.getA()),
chainTree.getPosition(m, caps.segment.getB()),
caps.rad);
return rotatedCaps;
case RSS:
RSS3d rss = (RSS3d) shape;
Point3d newCenter = chainTree.getPosition(m, rss.getCenter());
newBases =
new Vector3d[] {
chainTree.getDirection(m, rss.rectangle.bases[0]),
chainTree.getDirection(m, rss.rectangle.bases[1])
};
return new RSS3d(newCenter, newBases, rss.radius);
case PSS:
Sphere3d sphere = (Sphere3d) shape;
newCenter = chainTree.getPosition(m, sphere.center);
return new Sphere3d(newCenter, sphere.radius);
}
throw new Error("Unknown volume type chosen: " + chainTree.volumeMode);
}
public Volume3d createEnclosingVolume(Volume3d s1, Volume3d s2) {
switch (chainTree.volumeMode) {
case OBB:
return Box3d.createBoundingBox_Covariance((Box3d) s1, (Box3d) s2);
case CAPSULE:
return Capsule3d.createBoundingCapsule_MaxDist((Capsule3d) s1, (Capsule3d) s2);
case RSS:
return RSS3d.createBoundingRSS_covariance((RSS3d) s1, (RSS3d) s2);
case PSS:
return Sphere3d.createBoundingSphere((Sphere3d) s1, (Sphere3d) s2);
}
throw new Error("Unknown volume type chosen: " + chainTree.volumeMode);
}
/** Create a volume bounding all the points. Also extend the radius appropriately */
Volume3d createEnclosingExtendedVolume(PointSet3d points, double extension) {
switch (chainTree.volumeMode) {
case OBB:
Box3d retBox = Box3d.createBoundingBox_Covariance(points);
retBox.extents[0] += extension;
retBox.extents[1] += extension;
retBox.extents[2] += extension;
return retBox;
case CAPSULE:
Capsule3d ret = Capsule3d.createBoundingCapsule_CovarianceFit(points);
ret.rad += extension;
return ret;
case RSS:
RSS3d rss = RSS3d.createBoundingRSS_covariance(points);
rss.radius += extension;
return rss;
case PSS:
Sphere3d sphere = Sphere3d.getMinSphere(points);
sphere.radius += extension;
return sphere;
}
throw new Error("Unknown volume type chosen: " + chainTree.volumeMode);
}