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remove collisionSmoothingRadius from Capsule #40

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Oct 5, 2021
Merged

remove collisionSmoothingRadius from Capsule #40

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14 changes: 7 additions & 7 deletions src/Composition/supportPoints.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ function supportPoint(obj::Composition.Object3D, e::SVector{3,Float64})
return Modia3D.supportPoint_Cone(obj.shape, obj.r_abs, obj.R_abs, e, collisionSmoothingRadius)
elseif shapeKind == Modia3D.CapsuleKind
#capsule::Modia3D.Capsule = obj.shape
return Modia3D.supportPoint_Capsule(obj.shape, obj.r_abs, obj.R_abs, e, collisionSmoothingRadius)
return Modia3D.supportPoint_Capsule(obj.shape, obj.r_abs, obj.R_abs, e)
elseif shapeKind == Modia3D.BeamKind
#beam::Modia3D.Beam = obj.shape
return Modia3D.supportPoint_Beam(obj.shape, obj.r_abs, obj.R_abs, e, collisionSmoothingRadius)
Expand Down Expand Up @@ -96,12 +96,12 @@ function boundingBox!(obj::Composition.Object3D, AABB::Basics.BoundingBox; tight
zmax = Modia3D.supportPoint_i_Cone(cone, obj.r_abs[3], SVector(obj.R_abs[:,3]), +1, collisionSmoothingRadius)
elseif shapeKind == Modia3D.CapsuleKind
capsule::Modia3D.Capsule = obj.shape
xmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), -1, collisionSmoothingRadius)
xmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), +1, collisionSmoothingRadius)
ymin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), -1, collisionSmoothingRadius)
ymax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), +1, collisionSmoothingRadius)
zmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), -1, collisionSmoothingRadius)
zmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), +1, collisionSmoothingRadius)
xmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), -1)
xmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), +1)
ymin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), -1)
ymax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), +1)
zmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), -1)
zmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), +1)
elseif shapeKind == Modia3D.BeamKind
beam::Modia3D.Beam = obj.shape
xmin = Modia3D.supportPoint_i_Beam(beam, obj.r_abs[1], SVector(obj.R_abs[:,1]), -1, collisionSmoothingRadius)
Expand Down
8 changes: 4 additions & 4 deletions src/Shapes/boundingBoxes.jl
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Expand Up @@ -26,8 +26,8 @@ that is the most extreme in direction of unit vector `e`.
@inline supportPoint_Cone(shape::Cone, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}, collisionSmoothingRadius::Float64) =
r_abs + R_abs'*supportPoint_abs_Cone(shape, R_abs*e) + e*collisionSmoothingRadius

@inline supportPoint_Capsule(shape::Capsule, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}, collisionSmoothingRadius::Float64) =
r_abs + R_abs'*supportPoint_abs_Capsule(shape, R_abs*e) + e*collisionSmoothingRadius
@inline supportPoint_Capsule(shape::Capsule, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}) =
r_abs + R_abs'*supportPoint_abs_Capsule(shape, R_abs*e)

@inline supportPoint_Beam(shape::Beam, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}, collisionSmoothingRadius::Float64) =
r_abs + R_abs'*supportPoint_abs_Beam(shape, R_abs*e) + e*collisionSmoothingRadius
Expand Down Expand Up @@ -248,8 +248,8 @@ Returns the *Axis Aligned Bounding Box* of solid `shape` in argument `AABB`.
@inline supportPoint_i_Cone(shape::Cone, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int, collisionSmoothingRadius) =
r_absi + R_absi'*supportPoint_abs_Cone(shape, isign*R_absi) + isign*collisionSmoothingRadius

@inline supportPoint_i_Capsule(shape::Capsule, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int, collisionSmoothingRadius) =
r_absi + R_absi'*supportPoint_abs_Capsule(shape, isign*R_absi) + isign*collisionSmoothingRadius
@inline supportPoint_i_Capsule(shape::Capsule, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int) =
r_absi + R_absi'*supportPoint_abs_Capsule(shape, isign*R_absi)
#
@inline supportPoint_i_Beam(shape::Beam, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int, collisionSmoothingRadius) =
r_absi + R_absi'*supportPoint_abs_Beam(shape, isign*R_absi) + isign*collisionSmoothingRadius
Expand Down
6 changes: 0 additions & 6 deletions src/Shapes/setCollisionSmoothingRadius.jl
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Expand Up @@ -25,12 +25,6 @@ function setCollisionSmoothingRadius(shape::Cone, collisionSmoothingRadius)
return collisionSmoothingRadius2
end

function setCollisionSmoothingRadius(shape::Capsule, collisionSmoothingRadius)
@assert(collisionSmoothingRadius >= 0.0)
collisionSmoothingRadius2 = min(collisionSmoothingRadius, 0.1*min(shape.diameter, shape.length)) # at most 10% of the smallest edge length
return collisionSmoothingRadius2
end

function setCollisionSmoothingRadius(shape::Beam, collisionSmoothingRadius)
@assert(collisionSmoothingRadius >= 0.0)
collisionSmoothingRadius2 = min(collisionSmoothingRadius, 0.1*min(shape.length, shape.width, shape.thickness)) # at most 10% of the smallest edge length
Expand Down