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

GJK simplex used to support closest point tests with warmstarting.

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Méthodes publiques

Свойство	Type	Description
A	Microsoft.Xna.Framework.Vector3
B	Microsoft.Xna.Framework.Vector3
C	Microsoft.Xna.Framework.Vector3
D	Microsoft.Xna.Framework.Vector3
DistanceConvergenceEpsilon	float
LocalTransformB	BEPUutilities.RigidTransform
ProgressionEpsilon	float
SimplexA	ContributingShapeSimplex
SimplexB	ContributingShapeSimplex
State	SimplexState
U	float
V	float
W	float

Méthodes publiques

Méthode	Description
GetClosestPoints ( Microsoft.Xna.Framework.Vector3 &closestPointA, Microsoft.Xna.Framework.Vector3 &closestPointB ) : void	Gets the closest points by using the barycentric coordinates and shape simplex contributions.
GetNewSimplexPoint ( ConvexShape shapeA, ConvexShape shapeB, int iterationCount, Microsoft.Xna.Framework.Vector3 &closestPoint ) : bool	Adds a new point to the simplex.
GetPointClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : bool	Gets the point on the simplex closest to the origin.
GetPointOnSegmentClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : void	Gets the point on the segment closest to the origin.
GetPointOnTetrahedronClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : bool	Gets the point on the tetrahedron closest to the origin.
GetPointOnTriangleClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : void	Gets the point on the triangle closest to the origin.
PairSimplex ( CachedSimplex &cachedSimplex, RigidTransform &localTransformB ) : BEPUphysics.CollisionShapes.ConvexShapes	Constructs a new pair simplex.
UpdateCachedSimplex ( CachedSimplex &simplex ) : void	Updates the cached simplex with the latest run's results.

Private Methods

Méthode	Description
PairSimplex ( RigidTransform &localTransformB ) : BEPUphysics.CollisionShapes.ConvexShapes
TryTetrahedronTriangle ( Microsoft.Xna.Framework.Vector3 &A, Microsoft.Xna.Framework.Vector3 &B, Microsoft.Xna.Framework.Vector3 &C, Microsoft.Xna.Framework.Vector3 &A1, Microsoft.Xna.Framework.Vector3 &B1, Microsoft.Xna.Framework.Vector3 &C1, Microsoft.Xna.Framework.Vector3 &A2, Microsoft.Xna.Framework.Vector3 &B2, Microsoft.Xna.Framework.Vector3 &C2, float errorTolerance, Microsoft.Xna.Framework.Vector3 &otherPoint, PairSimplex &simplex, Microsoft.Xna.Framework.Vector3 &point ) : bool
VerifyContributions ( ) : void

Method Details

GetClosestPoints() public méthode

Gets the closest points by using the barycentric coordinates and shape simplex contributions.

public GetClosestPoints ( Microsoft.Xna.Framework.Vector3 &closestPointA, Microsoft.Xna.Framework.Vector3 &closestPointB ) : void
closestPointA	Microsoft.Xna.Framework.Vector3	Closest point on shape A.
closestPointB	Microsoft.Xna.Framework.Vector3	Closest point on shape B.
Résultat	void

GetNewSimplexPoint() public méthode

Adds a new point to the simplex.

public GetNewSimplexPoint ( ConvexShape shapeA, ConvexShape shapeB, int iterationCount, Microsoft.Xna.Framework.Vector3 &closestPoint ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
iterationCount	int	Current iteration count.
closestPoint	Microsoft.Xna.Framework.Vector3	Current point on simplex closest to origin.
Résultat	bool

GetPointClosestToOrigin() public méthode

Gets the point on the simplex closest to the origin.

public GetPointClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : bool
point	Microsoft.Xna.Framework.Vector3	Point closest to the origin.
Résultat	bool

GetPointOnSegmentClosestToOrigin() public méthode

Gets the point on the segment closest to the origin.

public GetPointOnSegmentClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : void
point	Microsoft.Xna.Framework.Vector3	Point closest to origin.
Résultat	void

GetPointOnTetrahedronClosestToOrigin() public méthode

Gets the point on the tetrahedron closest to the origin.

public GetPointOnTetrahedronClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : bool
point	Microsoft.Xna.Framework.Vector3	Closest point to the origin.
Résultat	bool

GetPointOnTriangleClosestToOrigin() public méthode

Gets the point on the triangle closest to the origin.

public GetPointOnTriangleClosestToOrigin ( Microsoft.Xna.Framework.Vector3 &point ) : void
point	Microsoft.Xna.Framework.Vector3	Point closest to origin.
Résultat	void

PairSimplex() public méthode

Constructs a new pair simplex.

public PairSimplex ( CachedSimplex &cachedSimplex, RigidTransform &localTransformB ) : BEPUphysics.CollisionShapes.ConvexShapes
cachedSimplex	CachedSimplex	Cached simplex to use to warmstart the simplex.
localTransformB	BEPUutilities.RigidTransform	Transform of shape B in the local space of A.
Résultat	BEPUphysics.CollisionShapes.ConvexShapes

UpdateCachedSimplex() public méthode

Updates the cached simplex with the latest run's results.

public UpdateCachedSimplex ( CachedSimplex &simplex ) : void
simplex	CachedSimplex	Simplex to update.
Résultat	void

Property Details

A public_oe property

public Vector3,Microsoft.Xna.Framework A
Résultat	Microsoft.Xna.Framework.Vector3

B public_oe property

public Vector3,Microsoft.Xna.Framework B
Résultat	Microsoft.Xna.Framework.Vector3

C public_oe property

public Vector3,Microsoft.Xna.Framework C
Résultat	Microsoft.Xna.Framework.Vector3

D public_oe property

public Vector3,Microsoft.Xna.Framework D
Résultat	Microsoft.Xna.Framework.Vector3

DistanceConvergenceEpsilon public_oe static_oe property

The baseline amount that an iteration must converge with its distance to avoid exiting. Defaults to 1e-7f.

public static float DistanceConvergenceEpsilon
Résultat	float

LocalTransformB public_oe property

Transform of the second shape in the first shape's local space.

public RigidTransform,BEPUutilities LocalTransformB
Résultat	BEPUutilities.RigidTransform

ProgressionEpsilon public_oe static_oe property

The baseline amount that a GJK iteration must progress through to avoid exiting. Defaults to 1e-8f.

public static float ProgressionEpsilon
Résultat	float

SimplexA public_oe property

Simplex as viewed from the local space of A.

public ContributingShapeSimplex,BEPUphysics.CollisionTests.CollisionAlgorithms.GJK SimplexA
Résultat	ContributingShapeSimplex

SimplexB public_oe property

Simplex as viewed from the local space of B.

public ContributingShapeSimplex,BEPUphysics.CollisionTests.CollisionAlgorithms.GJK SimplexB
Résultat	ContributingShapeSimplex

State public_oe property

public SimplexState State
Résultat	SimplexState

U public_oe property

Weight of vertex A.

public float U
Résultat	float

V public_oe property

Weight of vertex B.

public float V
Résultat	float

W public_oe property

Weight of vertex C.

public float W
Résultat	float