/** 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); }