Property | Type | Description | |
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InnerIterationLimit | int | ||
OuterIterationLimit | int |
Method | Description | |
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AreLocalShapesOverlapping ( |
Determines if two shapes are colliding. Shape B is positioned relative to shape A.
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AreShapesOverlapping ( |
Determines if two shapes are colliding.
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AreSweptShapesIntersecting ( |
Determines if two shapes are intersecting.
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GetContact ( |
Gets a contact point between two convex shapes.
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GetLocalOverlapPosition ( |
Gets a point in the overlapped volume between two shapes in shape A's local space.
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GetOverlapPosition ( |
Gets a world space point in the overlapped volume between two shapes.
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LocalSurfaceCast ( |
Casts a ray from the origin in the given direction at the surface of the minkowski difference. Assumes that the origin is within the minkowski difference.
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LocalSurfaceCast ( |
Casts a ray from the origin in the given direction at the surface of the minkowski difference. Assumes that the origin is within the minkowski difference.
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RayCast ( BEPUutilities.Ray ray, float maximumLength, |
Casts a ray against a shape.
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RefinePenetration ( |
Incrementally refines the penetration depth and normal towards the local minimum.
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Sweep ( |
Sweeps the shapes against each other and finds a point, time, and normal of impact.
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SweptShapeContainsPoint ( |
Determines if a point is contained within the swept volume of a shape.
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Method | Description | |
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AreLocalShapesOverlapping ( |
Determines if two shapes are colliding. Shape B is positioned relative to shape A.
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GetLocalOverlapPosition ( |
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GetLocalPosition ( |
Computes the position of the minkowski point in the local space of A. This assumes that the minkowski point is contained in A-B.
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GetSweptExtremePoint ( |
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GetSweptExtremePoint ( |
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LocalSweepCast ( |
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LocalSweepCast ( |
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VerifySimplex ( System.Vector3 &v0, System.Vector3 &v1, System.Vector3 &v2, System.Vector3 &v3, System.Vector3 &direction ) : bool |
public static AreLocalShapesOverlapping ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape of the pair. | |
localTransformB | Relative transform of shape B to shape A. | |
return | bool |
public static AreShapesOverlapping ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape of the pair. | |
transformA | Transformation to apply to shape A. | |
transformB | Transformation to apply to shape B. | |
return | bool |
public static AreSweptShapesIntersecting ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
sweep | System.Vector3 | Sweep direction and magnitude. |
localTransformB | Transformation of shape B in the local space of A. | |
position | System.Vector3 | Position of the minkowski difference origin in the local space of A, if the swept volumes intersect. |
return | bool |
public static GetContact ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
transformA | Transformation to apply to the first shape. | |
transformB | Transformation to apply to the second shape. | |
penetrationAxis | System.Vector3 | Axis along which to first test the penetration depth. |
contact | ContactData | Contact data between the two shapes, if any. |
return | bool |
public static GetLocalOverlapPosition ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
localTransformB | ||
position | System.Vector3 | Position within the overlapped volume of the two shapes in shape A's local space, if any. |
return | bool |
public static GetOverlapPosition ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
transformA | Transformation to apply to the first shape. | |
transformB | Transformation to apply to the second shape. | |
position | System.Vector3 | Position within the overlapped volume of the two shapes, if any. |
return | bool |
public static LocalSurfaceCast ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
localTransformB | Transformation of shape B relative to shape A. | |
direction | System.Vector3 | Direction to cast the ray. |
t | float | Length along the direction vector that the impact was found. |
normal | System.Vector3 | Normal of the impact at the surface of the convex. |
return | void |
public static LocalSurfaceCast ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
localTransformB | Transformation of shape B relative to shape A. | |
direction | System.Vector3 | Direction to cast the ray. |
t | float | Length along the direction vector that the impact was found. |
normal | System.Vector3 | Normal of the impact at the surface of the convex. |
position | System.Vector3 | Location of the ray cast hit on the surface of A. |
return | void |
public static RayCast ( BEPUutilities.Ray ray, float maximumLength, |
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ray | BEPUutilities.Ray | Ray to test against the shape. |
maximumLength | float | Maximum length of the ray. |
shape | Shape to test with a ray. | |
transform | Transform to apply to the shape. | |
hit | Hit data of the ray on the shape, if any. | |
return | bool |
public static RefinePenetration ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
localTransformB | Transformation of shape B relative to shape A. | |
initialDepth | float | Initial depth estimate. |
initialNormal | System.Vector3 | Initial normal estimate. |
penetrationDepth | float | Refined penetration depth. |
refinedNormal | System.Vector3 | Refined normal. |
position | System.Vector3 | Refined position. |
return | void |
public static Sweep ( |
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shapeA | First shape in the pair. | |
shapeB | Second shape in the pair. | |
sweepA | System.Vector3 | Sweep direction and amount to apply to the first shape. |
sweepB | System.Vector3 | Sweep direction and amount to apply to the second shape. |
transformA | Initial transform to apply to the first shape. | |
transformB | Initial transform to apply to the second shape. | |
hit | Hit data between the two shapes, if any. | |
return | bool |
public static SweptShapeContainsPoint ( |
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shape | First shape in the pair. | |
sweep | System.Vector3 | Sweep direction and magnitude. |
localPoint | System.Vector3 | Point to check for containment in the shape in the local space of the shape. |
return | bool |