/** Creates a volume enclosing a leaf-node */ Volume3d createLeafVolume(CTNode nd, double extension) { switch (chainTree.volumeMode) { case OBB: PointSet3d points = chainTree.getPoints(nd); Point3d anchor = nd.getPQ().multiply(0.5).toPoint(); Vector3d b1 = nd.getPQ().norm(); Vector3d b2 = nd.getPQ().cross(nd.getPQ().add(new Vector3d(1.01, 1.02, 1.03))).norm(); Vector3d b3 = b1.cross(b2); Vector3d[] bases = {b1, b2, b3}; double[] extents = {nd.getPQ().length() + extension, extension, extension}; Box3d ret = new Box3d(anchor, bases, extents); return ret; case CAPSULE: return new Capsule3d(new Point3d(0, 0, 0), new Point3d(nd.getPQ()), extension); case RSS: anchor = nd.getPQ().multiply(0.5).toPoint(); b1 = nd.getPQ().norm(); b2 = nd.getPQ().cross(nd.getPQ().add(new Vector3d(1.01, 1.02, 1.03))).norm(); b3 = b1.cross(b2); bases = new Vector3d[] {b1.multiplyIn(nd.getPQ().length() / 2), b2.multiplyIn(0.00001)}; RSS3d rss = new RSS3d(anchor, bases, extension); return rss; case PSS: return new Sphere3d( nd.getPQ().multiply(0.5).toPoint(), nd.getPQ().length() / 2 + extension); } throw new Error("Unknown volume type chosen: " + chainTree.volumeMode); }