C# Class BEPUutilities.Toolbox

Helper class with many algorithms for intersection testing and 3D math.

Public Properties

Property	Type	Description
BackVector	System.Vector3
BigEpsilon	float
DownVector	System.Vector3
Epsilon	float
ForwardVector	System.Vector3
IdentityOrientation	Quaternion
LeftVector	System.Vector3
NoVector	System.Vector3
RightVector	System.Vector3
RigidIdentity	RigidTransform
UpVector	System.Vector3
ZeroMatrix	Matrix
ZeroVector	System.Vector3

Public Methods

Method	Description
ArePointsOnOppositeSidesOfPlane ( System.Vector3 &o, System.Vector3 &p, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c ) : bool	Determines if vectors o and p are on opposite sides of the plane defined by a, b, and c.
DifferentiateQuaternion ( Quaternion &orientation, Matrix3x3 &localInertiaTensorInverse, System.Vector3 &angularMomentum, Quaternion &orientationChange ) : void	Finds the change in the rotation state quaternion provided the local inertia tensor and angular velocity.
ExpandBoundingBox ( BEPUutilities.BoundingBox &boundingBox, System.Vector3 &sweep ) : void	Expands a bounding box by the given sweep.
FindRayTriangleIntersection ( BEPUutilities.Ray &ray, float maximumLength, TriangleSidedness sidedness, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, RayHit &hit ) : bool	Determines the intersection between a ray and a triangle.
FindRayTriangleIntersection ( BEPUutilities.Ray &ray, float maximumLength, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, bool &hitClockwise, RayHit &hit ) : bool	Determines the intersection between a ray and a triangle.
GetAngleFromQuaternion ( Quaternion &q ) : float	Computes the angle change represented by a normalized quaternion.
GetAxisAngleFromQuaternion ( Quaternion &q, System.Vector3 &axis, float &angle ) : void	Computes the axis angle representation of a normalized quaternion.
GetBarycentricCoordinates ( System.Vector3 &p, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, float &aWeight, float &bWeight, float &cWeight ) : void	Gets the barycentric coordinates of the point with respect to a triangle's vertices.
GetClosestPointOnSegmentToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &p, System.Vector3 &closestPoint ) : void	Determines the closest point on the provided segment ab to point p.
GetClosestPointOnTetrahedronToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, System.Vector3 &d, System.Vector3 &p, System.Vector3 &closestPoint ) : void	Determines the closest point on a tetrahedron to a provided point p.
GetClosestPointOnTriangleToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, System.Vector3 &p, System.Vector3 &closestPoint ) : VoronoiRegion	Determines the closest point on a triangle given by points a, b, and c to point p.
GetClosestPointsBetweenLines ( System.Vector3 &p1, System.Vector3 &q1, System.Vector3 &p2, System.Vector3 &q2, float &s, float &t, System.Vector3 &c1, System.Vector3 &c2 ) : void	Computes closest points c1 and c2 betwen lines p1q1 and p2q2.
GetClosestPointsBetweenSegments ( System.Vector3 p1, System.Vector3 q1, System.Vector3 p2, System.Vector3 q2, System.Vector3 &c1, System.Vector3 &c2 ) : void	Computes closest points c1 and c2 betwen segments p1q1 and p2q2.
GetClosestPointsBetweenSegments ( System.Vector3 &p1, System.Vector3 &q1, System.Vector3 &p2, System.Vector3 &q2, float &s, float &t, System.Vector3 &c1, System.Vector3 &c2 ) : void	Computes closest points c1 and c2 betwen segments p1q1 and p2q2.
GetDistancePointToPlane ( System.Vector3 &point, System.Vector3 &normal, System.Vector3 &pointOnPlane ) : float	Determines the distance between a point and a plane..
GetLinePlaneIntersection ( System.Vector3 &a, System.Vector3 &b, BEPUutilities.Plane &p, float &t, System.Vector3 &q ) : bool	Finds the intersection between the given line and the given plane.
GetPointProjectedOnPlane ( System.Vector3 &point, System.Vector3 &normal, System.Vector3 &pointOnPlane, System.Vector3 &projectedPoint ) : void	Determines the location of the point when projected onto the plane defined by the normal and a point on the plane.
GetQuaternionBetweenNormalizedVectors ( System.Vector3 &v1, System.Vector3 &v2, Quaternion &q ) : void	Computes the quaternion rotation between two normalized vectors.
GetRayPlaneIntersection ( BEPUutilities.Ray &ray, BEPUutilities.Plane &p, float &t, System.Vector3 &q ) : bool	Finds the intersection between the given ray and the given plane.
GetSegmentPlaneIntersection ( System.Vector3 a, System.Vector3 b, BEPUutilities.Plane p, System.Vector3 &q ) : bool	Finds the intersection between the given segment and the given plane.
GetSegmentPlaneIntersection ( System.Vector3 a, System.Vector3 b, BEPUutilities.Plane p, float &t, System.Vector3 &q ) : bool	Finds the intersection between the given segment and the given plane.
GetSegmentPlaneIntersection ( System.Vector3 a, System.Vector3 b, System.Vector3 d, System.Vector3 e, System.Vector3 f, System.Vector3 &q ) : bool	Finds the intersection between the given segment and the given plane defined by three points.
GetSquaredDistanceFromPointToLine ( System.Vector3 &p, System.Vector3 &a, System.Vector3 &b ) : float	Determines the shortest squared distance from the point to the line.
GetTriangleBoundingBox ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, BEPUutilities.BoundingBox &aabb ) : void	Computes the bounding box of three points.
GetVelocityOfPoint ( System.Vector3 point, System.Vector3 center, System.Vector3 linearVelocity, System.Vector3 angularVelocity ) : System.Vector3	Computes the velocity of a point as if it were attached to an object with the given center and velocity.
GetVelocityOfPoint ( System.Vector3 &point, System.Vector3 &center, System.Vector3 &linearVelocity, System.Vector3 &angularVelocity, System.Vector3 &velocity ) : void	Computes the velocity of a point as if it were attached to an object with the given center and velocity.
IsPointInsideTriangle ( System.Vector3 &vA, System.Vector3 &vB, System.Vector3 &vC, System.Vector3 &p ) : bool	Determines if supplied point is within the triangle as defined by the provided vertices.
IsPointInsideTriangle ( System.Vector3 &vA, System.Vector3 &vB, System.Vector3 &vC, System.Vector3 &p, float margin ) : bool	Determines if supplied point is within the triangle as defined by the provided vertices.
IsPointWithinFaceExtrusion ( System.Vector3 point, List planes, System.Vector3 centroid ) : bool	Determines if a point is within a set of planes defined by the edges of a triangle.
RayCastSphere ( BEPUutilities.Ray &ray, System.Vector3 &spherePosition, float radius, float maximumLength, RayHit &hit ) : bool	Tests a ray against a sphere.
UpdateOrientationRK4 ( Quaternion &q, Matrix3x3 &localInertiaTensorInverse, System.Vector3 &angularMomentum, float dt, Quaternion &newOrientation ) : void	Updates the quaternion using RK4 integration.

Private Methods

Method	Description
GetClosestPointOnSegmentToPoint ( List q, int i, int j, System.Vector3 &p, List subsimplex, List baryCoords, System.Vector3 &closestPoint ) : void
GetClosestPointOnSegmentToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &p, List subsimplex, System.Vector3 &closestPoint ) : void
GetClosestPointOnTetrahedronToPoint ( RawList tetrahedron, System.Vector3 &p, RawList subsimplex, RawList baryCoords, System.Vector3 &closestPoint ) : void
GetClosestPointOnTetrahedronToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, System.Vector3 &d, System.Vector3 &p, RawList subsimplex, System.Vector3 &closestPoint ) : void
GetClosestPointOnTriangleToPoint ( RawList q, int i, int j, int k, System.Vector3 &p, RawList subsimplex, RawList baryCoords, System.Vector3 &closestPoint ) : void
GetClosestPointOnTriangleToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, System.Vector3 &p, RawList subsimplex, System.Vector3 &closestPoint ) : void

Method Details

ArePointsOnOppositeSidesOfPlane() public static method

Determines if vectors o and p are on opposite sides of the plane defined by a, b, and c.

public static ArePointsOnOppositeSidesOfPlane ( System.Vector3 &o, System.Vector3 &p, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c ) : bool
o	System.Vector3	First point for comparison.
p	System.Vector3	Second point for comparison.
a	System.Vector3	First vertex of the plane.
b	System.Vector3	Second vertex of plane.
c	System.Vector3	Third vertex of plane.
return	bool

DifferentiateQuaternion() public static method

Finds the change in the rotation state quaternion provided the local inertia tensor and angular velocity.

public static DifferentiateQuaternion ( Quaternion &orientation, Matrix3x3 &localInertiaTensorInverse, System.Vector3 &angularMomentum, Quaternion &orientationChange ) : void
orientation	Quaternion	Orienatation of the object.
localInertiaTensorInverse	Matrix3x3	Local-space inertia tensor of the object being updated.
angularMomentum	System.Vector3	Angular momentum of the object.
orientationChange	Quaternion	Change in quaternion.
return	void

ExpandBoundingBox() public static method

Expands a bounding box by the given sweep.

public static ExpandBoundingBox ( BEPUutilities.BoundingBox &boundingBox, System.Vector3 &sweep ) : void
boundingBox	BEPUutilities.BoundingBox	Bounding box to expand.
sweep	System.Vector3	Sweep to expand the bounding box with.
return	void

FindRayTriangleIntersection() public static method

Determines the intersection between a ray and a triangle.

public static FindRayTriangleIntersection ( BEPUutilities.Ray &ray, float maximumLength, TriangleSidedness sidedness, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test.
maximumLength	float	Maximum length to travel in units of the direction's length.
sidedness	TriangleSidedness	Sidedness of the triangle to test.
a	System.Vector3	First vertex of the triangle.
b	System.Vector3	Second vertex of the triangle.
c	System.Vector3	Third vertex of the triangle.
hit	RayHit	Hit data of the ray, if any
return	bool

FindRayTriangleIntersection() public static method

Determines the intersection between a ray and a triangle.

public static FindRayTriangleIntersection ( BEPUutilities.Ray &ray, float maximumLength, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, bool &hitClockwise, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test.
maximumLength	float	Maximum length to travel in units of the direction's length.
a	System.Vector3	First vertex of the triangle.
b	System.Vector3	Second vertex of the triangle.
c	System.Vector3	Third vertex of the triangle.
hitClockwise	bool	True if the the triangle was hit on the clockwise face, false otherwise.
hit	RayHit	Hit data of the ray, if any
return	bool

GetAngleFromQuaternion() public static method

Computes the angle change represented by a normalized quaternion.

public static GetAngleFromQuaternion ( Quaternion &q ) : float
q	Quaternion	Quaternion to be converted.
return	float

GetAxisAngleFromQuaternion() public static method

Computes the axis angle representation of a normalized quaternion.

public static GetAxisAngleFromQuaternion ( Quaternion &q, System.Vector3 &axis, float &angle ) : void
q	Quaternion	Quaternion to be converted.
axis	System.Vector3	Axis represented by the quaternion.
angle	float	Angle around the axis represented by the quaternion.
return	void

GetBarycentricCoordinates() public static method

Gets the barycentric coordinates of the point with respect to a triangle's vertices.

public static GetBarycentricCoordinates ( System.Vector3 &p, System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, float &aWeight, float &bWeight, float &cWeight ) : void
p	System.Vector3	Point to compute the barycentric coordinates of.
a	System.Vector3	First vertex in the triangle.
b	System.Vector3	Second vertex in the triangle.
c	System.Vector3	Third vertex in the triangle.
aWeight	float	Weight of the first vertex.
bWeight	float	Weight of the second vertex.
cWeight	float	Weight of the third vertex.
return	void

GetClosestPointOnSegmentToPoint() public static method

Determines the closest point on the provided segment ab to point p.

public static GetClosestPointOnSegmentToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &p, System.Vector3 &closestPoint ) : void
a	System.Vector3	First endpoint of segment.
b	System.Vector3	Second endpoint of segment.
p	System.Vector3	Point for comparison.
closestPoint	System.Vector3	Closest point on the edge to p.
return	void

GetClosestPointOnTetrahedronToPoint() public static method

Determines the closest point on a tetrahedron to a provided point p.

public static GetClosestPointOnTetrahedronToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, System.Vector3 &d, System.Vector3 &p, System.Vector3 &closestPoint ) : void
a	System.Vector3	First vertex of the tetrahedron.
b	System.Vector3	Second vertex of the tetrahedron.
c	System.Vector3	Third vertex of the tetrahedron.
d	System.Vector3	Fourth vertex of the tetrahedron.
p	System.Vector3	Point for comparison.
closestPoint	System.Vector3	Closest point on the tetrahedron to the point.
return	void

GetClosestPointOnTriangleToPoint() public static method

Determines the closest point on a triangle given by points a, b, and c to point p.

public static GetClosestPointOnTriangleToPoint ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, System.Vector3 &p, System.Vector3 &closestPoint ) : VoronoiRegion
a	System.Vector3	First vertex of triangle.
b	System.Vector3	Second vertex of triangle.
c	System.Vector3	Third vertex of triangle.
p	System.Vector3	Point for comparison.
closestPoint	System.Vector3	Closest point on tetrahedron to point.
return	VoronoiRegion

GetClosestPointsBetweenLines() public static method

Computes closest points c1 and c2 betwen lines p1q1 and p2q2.

public static GetClosestPointsBetweenLines ( System.Vector3 &p1, System.Vector3 &q1, System.Vector3 &p2, System.Vector3 &q2, float &s, float &t, System.Vector3 &c1, System.Vector3 &c2 ) : void
p1	System.Vector3	First point of first segment.
q1	System.Vector3	Second point of first segment.
p2	System.Vector3	First point of second segment.
q2	System.Vector3	Second point of second segment.
s	float	Distance along the line to the point for first segment.
t	float	Distance along the line to the point for second segment.
c1	System.Vector3	Closest point on first segment.
c2	System.Vector3	Closest point on second segment.
return	void

GetClosestPointsBetweenSegments() public static method

Computes closest points c1 and c2 betwen segments p1q1 and p2q2.

public static GetClosestPointsBetweenSegments ( System.Vector3 p1, System.Vector3 q1, System.Vector3 p2, System.Vector3 q2, System.Vector3 &c1, System.Vector3 &c2 ) : void
p1	System.Vector3	First point of first segment.
q1	System.Vector3	Second point of first segment.
p2	System.Vector3	First point of second segment.
q2	System.Vector3	Second point of second segment.
c1	System.Vector3	Closest point on first segment.
c2	System.Vector3	Closest point on second segment.
return	void

GetClosestPointsBetweenSegments() public static method

Computes closest points c1 and c2 betwen segments p1q1 and p2q2.

public static GetClosestPointsBetweenSegments ( System.Vector3 &p1, System.Vector3 &q1, System.Vector3 &p2, System.Vector3 &q2, float &s, float &t, System.Vector3 &c1, System.Vector3 &c2 ) : void
p1	System.Vector3	First point of first segment.
q1	System.Vector3	Second point of first segment.
p2	System.Vector3	First point of second segment.
q2	System.Vector3	Second point of second segment.
s	float	Distance along the line to the point for first segment.
t	float	Distance along the line to the point for second segment.
c1	System.Vector3	Closest point on first segment.
c2	System.Vector3	Closest point on second segment.
return	void

GetDistancePointToPlane() public static method

Determines the distance between a point and a plane..

public static GetDistancePointToPlane ( System.Vector3 &point, System.Vector3 &normal, System.Vector3 &pointOnPlane ) : float
point	System.Vector3	Point to project onto plane.
normal	System.Vector3	Normal of the plane.
pointOnPlane	System.Vector3	Point located on the plane.
return	float

GetLinePlaneIntersection() public static method

Finds the intersection between the given line and the given plane.

public static GetLinePlaneIntersection ( System.Vector3 &a, System.Vector3 &b, BEPUutilities.Plane &p, float &t, System.Vector3 &q ) : bool
a	System.Vector3	First endpoint of segment defining the line.
b	System.Vector3	Second endpoint of segment defining the line.
p	BEPUutilities.Plane	Plane for comparison.
t	float	Interval along line to intersection (A + t * AB).
q	System.Vector3	Intersection point.
return	bool

GetPointProjectedOnPlane() public static method

Determines the location of the point when projected onto the plane defined by the normal and a point on the plane.

public static GetPointProjectedOnPlane ( System.Vector3 &point, System.Vector3 &normal, System.Vector3 &pointOnPlane, System.Vector3 &projectedPoint ) : void
point	System.Vector3	Point to project onto plane.
normal	System.Vector3	Normal of the plane.
pointOnPlane	System.Vector3	Point located on the plane.
projectedPoint	System.Vector3	Projected location of point onto plane.
return	void

GetQuaternionBetweenNormalizedVectors() public static method

Computes the quaternion rotation between two normalized vectors.

public static GetQuaternionBetweenNormalizedVectors ( System.Vector3 &v1, System.Vector3 &v2, Quaternion &q ) : void
v1	System.Vector3	First unit-length vector.
v2	System.Vector3	Second unit-length vector.
q	Quaternion	Quaternion representing the rotation from v1 to v2.
return	void

GetRayPlaneIntersection() public static method

Finds the intersection between the given ray and the given plane.

public static GetRayPlaneIntersection ( BEPUutilities.Ray &ray, BEPUutilities.Plane &p, float &t, System.Vector3 &q ) : bool
ray	BEPUutilities.Ray	Ray to test against the plane.
p	BEPUutilities.Plane	Plane for comparison.
t	float	Interval along line to intersection (A + t * AB).
q	System.Vector3	Intersection point.
return	bool

GetSegmentPlaneIntersection() public static method

Finds the intersection between the given segment and the given plane.

public static GetSegmentPlaneIntersection ( System.Vector3 a, System.Vector3 b, BEPUutilities.Plane p, System.Vector3 &q ) : bool
a	System.Vector3	First endpoint of segment.
b	System.Vector3	Second enpoint of segment.
p	BEPUutilities.Plane	Plane for comparison.
q	System.Vector3	Intersection point.
return	bool

GetSegmentPlaneIntersection() public static method

Finds the intersection between the given segment and the given plane.

public static GetSegmentPlaneIntersection ( System.Vector3 a, System.Vector3 b, BEPUutilities.Plane p, float &t, System.Vector3 &q ) : bool
a	System.Vector3	First endpoint of segment.
b	System.Vector3	Second endpoint of segment.
p	BEPUutilities.Plane	Plane for comparison.
t	float	Interval along segment to intersection.
q	System.Vector3	Intersection point.
return	bool

GetSegmentPlaneIntersection() public static method

Finds the intersection between the given segment and the given plane defined by three points.

public static GetSegmentPlaneIntersection ( System.Vector3 a, System.Vector3 b, System.Vector3 d, System.Vector3 e, System.Vector3 f, System.Vector3 &q ) : bool
a	System.Vector3	First endpoint of segment.
b	System.Vector3	Second endpoint of segment.
d	System.Vector3	First vertex of a triangle which lies on the plane.
e	System.Vector3	Second vertex of a triangle which lies on the plane.
f	System.Vector3	Third vertex of a triangle which lies on the plane.
q	System.Vector3	Intersection point.
return	bool

GetSquaredDistanceFromPointToLine() public static method

Determines the shortest squared distance from the point to the line.

public static GetSquaredDistanceFromPointToLine ( System.Vector3 &p, System.Vector3 &a, System.Vector3 &b ) : float
p	System.Vector3	Point to check against the line.
a	System.Vector3	First point on the line.
b	System.Vector3	Second point on the line.
return	float

GetTriangleBoundingBox() public static method

Computes the bounding box of three points.

public static GetTriangleBoundingBox ( System.Vector3 &a, System.Vector3 &b, System.Vector3 &c, BEPUutilities.BoundingBox &aabb ) : void
a	System.Vector3	First vertex of the triangle.
b	System.Vector3	Second vertex of the triangle.
c	System.Vector3	Third vertex of the triangle.
aabb	BEPUutilities.BoundingBox	Bounding box of the triangle.
return	void

GetVelocityOfPoint() public static method

Computes the velocity of a point as if it were attached to an object with the given center and velocity.

public static GetVelocityOfPoint ( System.Vector3 point, System.Vector3 center, System.Vector3 linearVelocity, System.Vector3 angularVelocity ) : System.Vector3
point	System.Vector3	Point to compute the velocity of.
center	System.Vector3	Center of the object to which the point is attached.
linearVelocity	System.Vector3	Linear velocity of the object.
angularVelocity	System.Vector3	Angular velocity of the object.
return	System.Vector3

GetVelocityOfPoint() public static method

Computes the velocity of a point as if it were attached to an object with the given center and velocity.

public static GetVelocityOfPoint ( System.Vector3 &point, System.Vector3 &center, System.Vector3 &linearVelocity, System.Vector3 &angularVelocity, System.Vector3 &velocity ) : void
point	System.Vector3	Point to compute the velocity of.
center	System.Vector3	Center of the object to which the point is attached.
linearVelocity	System.Vector3	Linear velocity of the object.
angularVelocity	System.Vector3	Angular velocity of the object.
velocity	System.Vector3	Velocity of the point.
return	void

IsPointInsideTriangle() public static method

Determines if supplied point is within the triangle as defined by the provided vertices.

public static IsPointInsideTriangle ( System.Vector3 &vA, System.Vector3 &vB, System.Vector3 &vC, System.Vector3 &p ) : bool
vA	System.Vector3	A vertex of the triangle.
vB	System.Vector3	A vertex of the triangle.
vC	System.Vector3	A vertex of the triangle.
p	System.Vector3	The point for comparison against the triangle.
return	bool

IsPointInsideTriangle() public static method

Determines if supplied point is within the triangle as defined by the provided vertices.

public static IsPointInsideTriangle ( System.Vector3 &vA, System.Vector3 &vB, System.Vector3 &vC, System.Vector3 &p, float margin ) : bool
vA	System.Vector3	A vertex of the triangle.
vB	System.Vector3	A vertex of the triangle.
vC	System.Vector3	A vertex of the triangle.
p	System.Vector3	The point for comparison against the triangle.
margin	float	Extra area on the edges of the triangle to include. Can be negative.
return	bool

IsPointWithinFaceExtrusion() public static method

Determines if a point is within a set of planes defined by the edges of a triangle.

public static IsPointWithinFaceExtrusion ( System.Vector3 point, List planes, System.Vector3 centroid ) : bool
point	System.Vector3	Point for comparison.
planes	List	Edge planes.
centroid	System.Vector3	A point known to be inside of the planes.
return	bool

RayCastSphere() public static method

Tests a ray against a sphere.

public static RayCastSphere ( BEPUutilities.Ray &ray, System.Vector3 &spherePosition, float radius, float maximumLength, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test.
spherePosition	System.Vector3	Position of the sphere.
radius	float	Radius of the sphere.
maximumLength	float	Maximum length of the ray in units of the ray direction's length.
hit	RayHit	Hit data of the ray, if any.
return	bool

UpdateOrientationRK4() public static method

Updates the quaternion using RK4 integration.

public static UpdateOrientationRK4 ( Quaternion &q, Matrix3x3 &localInertiaTensorInverse, System.Vector3 &angularMomentum, float dt, Quaternion &newOrientation ) : void
q	Quaternion	Quaternion to update.
localInertiaTensorInverse	Matrix3x3	Local-space inertia tensor of the object being updated.
angularMomentum	System.Vector3	Angular momentum of the object.
dt	float	Time since last frame, in seconds.
newOrientation	Quaternion	New orientation quaternion.
return	void

Property Details

BackVector public static property

Reference for a vector with dimensions (0,0,1).

public static Vector3,System BackVector
return	System.Vector3

BigEpsilon public static property

Large tolerance value. Defaults to 1e-5f.

public static float BigEpsilon
return	float

DownVector public static property

Reference for a vector with dimensions (0,-1,0).

public static Vector3,System DownVector
return	System.Vector3

Epsilon public static property

Tolerance value. Defaults to 1e-7f.

public static float Epsilon
return	float

ForwardVector public static property

Reference for a vector with dimensions (0,0,-1).

public static Vector3,System ForwardVector
return	System.Vector3

IdentityOrientation public static property

Refers to the identity quaternion.

public static Quaternion IdentityOrientation
return	Quaternion

LeftVector public static property

Reference for a vector with dimensions (-1,0,0).

public static Vector3,System LeftVector
return	System.Vector3

NoVector public static property

Represents an invalid Vector3.

public static Vector3,System NoVector
return	System.Vector3

RightVector public static property

Reference for a vector with dimensions (1,0,0).

public static Vector3,System RightVector
return	System.Vector3

RigidIdentity public static property

Refers to the rigid identity transformation.

public static RigidTransform,BEPUutilities RigidIdentity
return	RigidTransform

UpVector public static property

Reference for a vector with dimensions (0,1,0).

public static Vector3,System UpVector
return	System.Vector3

ZeroMatrix public static property

Matrix containing zeroes for every element.

public static Matrix ZeroMatrix
return	Matrix

ZeroVector public static property

Reference for a vector with dimensions (0,0,0).

public static Vector3,System ZeroVector
return	System.Vector3