/** 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);
}
