C# Class BEPUphysics.CollisionTests.CollisionAlgorithms.GJK.GJKToolbox

Helper class containing various tests based on GJK.

Datei anzeigen Open project: Indiefreaks/igf Class Usage Examples

Public Properties

Property	Type	Description
HighGJKIterations	int
MaximumGJKIterations	int

Public Methods

Method	Description
AreShapesIntersecting ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB ) : bool	Tests if the pair is intersecting.
AreShapesIntersecting ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, Vector3 &localSeparatingAxis ) : bool	Tests if the pair is intersecting.
CCDSphereCast ( BEPUutilities.Ray ray, float radius, ConvexShape target, RigidTransform &shapeTransform, float maximumLength, RayHit &hit ) : bool	Casts a fat (sphere expanded) ray against the shape. If the raycast appears to be stuck in the shape, the cast will be attempted with a smaller ray (scaled by the MotionSettings.CoreShapeScaling each time).
ConvexCast ( ConvexShape sweptShape, ConvexShape target, Vector3 &sweep, RigidTransform &startingSweptTransform, RigidTransform &targetTransform, RayHit &hit ) : bool	Sweeps a shape against another shape using a given sweep vector.
ConvexCast ( ConvexShape shapeA, ConvexShape shapeB, Vector3 &sweepA, Vector3 &sweepB, RigidTransform &transformA, RigidTransform &transformB, RayHit &hit ) : bool	Sweeps two shapes against another.
GetClosestPoints ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, CachedSimplex &cachedSimplex, Vector3 &closestPointA, Vector3 &closestPointB ) : bool	Gets the closest points between the shapes.
GetClosestPoints ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, Vector3 &closestPointA, Vector3 &closestPointB ) : bool	Gets the closest points between the shapes.
RayCast ( BEPUutilities.Ray ray, ConvexShape shape, RigidTransform &shapeTransform, float maximumLength, RayHit &hit ) : bool	Tests a ray against a convex shape.
SphereCast ( BEPUutilities.Ray ray, float radius, ConvexShape shape, RigidTransform &shapeTransform, float maximumLength, RayHit &hit ) : bool	Casts a fat (sphere expanded) ray against the shape.

Private Methods

Method	Description
GetClosestPoints ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, CachedSimplex &cachedSimplex, Vector3 &localClosestPointA, Vector3 &localClosestPointB ) : bool

Method Details

AreShapesIntersecting() public static method

Tests if the pair is intersecting.

public static AreShapesIntersecting ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape of the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape of the pair.
transformA	BEPUutilities.RigidTransform	Transform to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Transform to apply to the second shape.
return	bool

AreShapesIntersecting() public static method

Tests if the pair is intersecting.

public static AreShapesIntersecting ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, Vector3 &localSeparatingAxis ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape of the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape of the pair.
transformA	BEPUutilities.RigidTransform	Transform to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Transform to apply to the second shape.
localSeparatingAxis	Vector3	Warmstartable separating axis used by the method to quickly early-out if possible. Updated to the latest separating axis after each run.
return	bool

CCDSphereCast() public static method

Casts a fat (sphere expanded) ray against the shape. If the raycast appears to be stuck in the shape, the cast will be attempted with a smaller ray (scaled by the MotionSettings.CoreShapeScaling each time).

public static CCDSphereCast ( BEPUutilities.Ray ray, float radius, ConvexShape target, RigidTransform &shapeTransform, float maximumLength, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test against the shape.
radius	float	Radius of the ray.
target	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Shape to test against.
shapeTransform	BEPUutilities.RigidTransform	Transform to apply to the shape for the test.
maximumLength	float	Maximum length of the ray in units of the ray direction's length.
hit	BEPUutilities.RayHit	Hit data of the sphere cast, if any.
return	bool

ConvexCast() public static method

Sweeps a shape against another shape using a given sweep vector.

public static ConvexCast ( ConvexShape sweptShape, ConvexShape target, Vector3 &sweep, RigidTransform &startingSweptTransform, RigidTransform &targetTransform, RayHit &hit ) : bool
sweptShape	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Shape to sweep.
target	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Shape being swept against.
sweep	Vector3	Sweep vector for the sweptShape.
startingSweptTransform	BEPUutilities.RigidTransform	Starting transform of the sweptShape.
targetTransform	BEPUutilities.RigidTransform	Transform to apply to the target shape.
hit	BEPUutilities.RayHit	Hit data of the sweep test, if any.
return	bool

ConvexCast() public static method

Sweeps two shapes against another.

public static ConvexCast ( ConvexShape shapeA, ConvexShape shapeB, Vector3 &sweepA, Vector3 &sweepB, RigidTransform &transformA, RigidTransform &transformB, RayHit &hit ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape being swept.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape being swept.
sweepA	Vector3	Sweep vector for the first shape.
sweepB	Vector3	Sweep vector for the second shape.
transformA	BEPUutilities.RigidTransform	Transform to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Transform to apply to the second shape.
hit	BEPUutilities.RayHit	Hit data of the sweep test, if any.
return	bool

GetClosestPoints() public static method

Gets the closest points between the shapes.

public static GetClosestPoints ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, CachedSimplex &cachedSimplex, Vector3 &closestPointA, Vector3 &closestPointB ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape of the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape of the pair.
transformA	BEPUutilities.RigidTransform	Transform to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Transform to apply to the second shape.
cachedSimplex	CachedSimplex	Simplex from a previous updated used to warmstart the current attempt. Updated after each run.
closestPointA	Vector3	Closest point on the first shape to the second shape.
closestPointB	Vector3	Closest point on the second shape to the first shape.
return	bool

GetClosestPoints() public static method

Gets the closest points between the shapes.

public static GetClosestPoints ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, Vector3 &closestPointA, Vector3 &closestPointB ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape of the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape of the pair.
transformA	BEPUutilities.RigidTransform	Transform to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Transform to apply to the second shape.
closestPointA	Vector3	Closest point on the first shape to the second shape.
closestPointB	Vector3	Closest point on the second shape to the first shape.
return	bool

RayCast() public static method

Tests a ray against a convex shape.

public static RayCast ( BEPUutilities.Ray ray, ConvexShape shape, RigidTransform &shapeTransform, float maximumLength, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test against the shape.
shape	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Shape to test.
shapeTransform	BEPUutilities.RigidTransform	Transform to apply to the shape for the test.
maximumLength	float	Maximum length of the ray in units of the ray direction's length.
hit	BEPUutilities.RayHit	Hit data of the ray cast, if any.
return	bool

SphereCast() public static method

Casts a fat (sphere expanded) ray against the shape.

public static SphereCast ( BEPUutilities.Ray ray, float radius, ConvexShape shape, RigidTransform &shapeTransform, float maximumLength, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test against the shape.
radius	float	Radius of the ray.
shape	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Shape to test against.
shapeTransform	BEPUutilities.RigidTransform	Transform to apply to the shape for the test.
maximumLength	float	Maximum length of the ray in units of the ray direction's length.
hit	BEPUutilities.RayHit	Hit data of the sphere cast, if any.
return	bool

Property Details

HighGJKIterations public_oe static_oe property

Defines how many iterations are required to consider a GJK attempt to be 'probably stuck' and proceed with protective measures.

public static int HighGJKIterations
return	int

MaximumGJKIterations public_oe static_oe property

Maximum number of iterations the GJK algorithm will do. If the iterations exceed this number, the system will immediately quit and return whatever information it has at the time.

public static int MaximumGJKIterations
return	int