C# Class BEPUphysics.CollisionTests.CollisionAlgorithms.MPRToolbox

Contains a variety of queries and computation methods that make use of minkowski portal refinement.

Mostra file Open project: Indiefreaks/igf

Public Properties

Property	Type	Description
InnerIterationLimit	int
OuterIterationLimit	int

Public Methods

Method	Description
AreLocalShapesOverlapping ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB ) : bool	Determines if two shapes are colliding. Shape B is positioned relative to shape A.
AreShapesOverlapping ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB ) : bool	Determines if two shapes are colliding.
AreSweptShapesIntersecting ( ConvexShape shapeA, ConvexShape shapeB, System.Vector3 &sweep, RigidTransform &localTransformB, System.Vector3 &position ) : bool	Determines if two shapes are intersecting.
GetContact ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, System.Vector3 &penetrationAxis, ContactData &contact ) : bool	Gets a contact point between two convex shapes.
GetLocalOverlapPosition ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &position ) : bool	Gets a point in the overlapped volume between two shapes in shape A's local space.
GetOverlapPosition ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, System.Vector3 &position ) : bool	Gets a world space point in the overlapped volume between two shapes.
LocalSurfaceCast ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &direction, float &t, System.Vector3 &normal ) : void	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.
LocalSurfaceCast ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &direction, float &t, System.Vector3 &normal, System.Vector3 &position ) : void	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.
RayCast ( BEPUutilities.Ray ray, float maximumLength, ConvexShape shape, RigidTransform &transform, RayHit &hit ) : bool	Casts a ray against a shape.
RefinePenetration ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, float initialDepth, System.Vector3 &initialNormal, float &penetrationDepth, System.Vector3 &refinedNormal, System.Vector3 &position ) : void	Incrementally refines the penetration depth and normal towards the local minimum.
Sweep ( ConvexShape shapeA, ConvexShape shapeB, System.Vector3 &sweepA, System.Vector3 &sweepB, RigidTransform &transformA, RigidTransform &transformB, RayHit &hit ) : bool	Sweeps the shapes against each other and finds a point, time, and normal of impact.
SweptShapeContainsPoint ( ConvexShape shape, System.Vector3 &sweep, System.Vector3 &localPoint ) : bool	Determines if a point is contained within the swept volume of a shape.

Private Methods

Method	Description
AreLocalShapesOverlapping ( ConvexShape shapeA, ConvexShape shapeB, System.Vector3 &originRay, RigidTransform &localTransformB ) : bool	Determines if two shapes are colliding. Shape B is positioned relative to shape A.
GetLocalOverlapPosition ( ConvexShape shapeA, ConvexShape shapeB, System.Vector3 &originRay, RigidTransform &localTransformB, System.Vector3 &position ) : bool
GetLocalPosition ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &minkowskiPosition, System.Vector3 &position ) : void	Computes the position of the minkowski point in the local space of A. This assumes that the minkowski point is contained in A-B.
GetSweptExtremePoint ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &sweep, System.Vector3 &extremePointDirection, System.Vector3 &extremePointA, System.Vector3 &extremePoint ) : void
GetSweptExtremePoint ( ConvexShape shape, System.Vector3 &point, System.Vector3 &sweep, System.Vector3 &extremePointDirection, System.Vector3 &extremePoint ) : void
LocalSweepCast ( ConvexShape shape, ConvexShape shapeB, float sweepLength, float rayLengthSquared, System.Vector3 &localDirection, System.Vector3 &sweep, RigidTransform &localTransformB, RayHit &hit ) : bool
LocalSweepCast ( ConvexShape shape, float sweepLength, float rayLengthSquared, System.Vector3 &localDirection, System.Vector3 &sweep, System.Vector3 &rayOrigin, RayHit &hit ) : bool
VerifySimplex ( System.Vector3 &v0, System.Vector3 &v1, System.Vector3 &v2, System.Vector3 &v3, System.Vector3 &direction ) : bool

Method Details

AreLocalShapesOverlapping() public static method

Determines if two shapes are colliding. Shape B is positioned relative to shape A.

public static AreLocalShapesOverlapping ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape of the pair.
localTransformB	BEPUutilities.RigidTransform	Relative transform of shape B to shape A.
return	bool

AreShapesOverlapping() public static method

Determines if two shapes are colliding.

public static AreShapesOverlapping ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape of the pair.
transformA	BEPUutilities.RigidTransform	Transformation to apply to shape A.
transformB	BEPUutilities.RigidTransform	Transformation to apply to shape B.
return	bool

AreSweptShapesIntersecting() public static method

Determines if two shapes are intersecting.

public static AreSweptShapesIntersecting ( ConvexShape shapeA, ConvexShape shapeB, System.Vector3 &sweep, RigidTransform &localTransformB, System.Vector3 &position ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
sweep	System.Vector3	Sweep direction and magnitude.
localTransformB	BEPUutilities.RigidTransform	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

GetContact() public static method

Gets a contact point between two convex shapes.

public static GetContact ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, System.Vector3 &penetrationAxis, ContactData &contact ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
transformA	BEPUutilities.RigidTransform	Transformation to apply to the first shape.
transformB	BEPUutilities.RigidTransform	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

GetLocalOverlapPosition() public static method

Gets a point in the overlapped volume between two shapes in shape A's local space.

public static GetLocalOverlapPosition ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &position ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
localTransformB	BEPUutilities.RigidTransform
position	System.Vector3	Position within the overlapped volume of the two shapes in shape A's local space, if any.
return	bool

GetOverlapPosition() public static method

Gets a world space point in the overlapped volume between two shapes.

public static GetOverlapPosition ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &transformA, RigidTransform &transformB, System.Vector3 &position ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
transformA	BEPUutilities.RigidTransform	Transformation to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Transformation to apply to the second shape.
position	System.Vector3	Position within the overlapped volume of the two shapes, if any.
return	bool

LocalSurfaceCast() public static method

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.

public static LocalSurfaceCast ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &direction, float &t, System.Vector3 &normal ) : void
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
localTransformB	BEPUutilities.RigidTransform	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

LocalSurfaceCast() public static method

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.

public static LocalSurfaceCast ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, System.Vector3 &direction, float &t, System.Vector3 &normal, System.Vector3 &position ) : void
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
localTransformB	BEPUutilities.RigidTransform	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

RayCast() public static method

Casts a ray against a shape.

public static RayCast ( BEPUutilities.Ray ray, float maximumLength, ConvexShape shape, RigidTransform &transform, RayHit &hit ) : bool
ray	BEPUutilities.Ray	Ray to test against the shape.
maximumLength	float	Maximum length of the ray.
shape	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Shape to test with a ray.
transform	BEPUutilities.RigidTransform	Transform to apply to the shape.
hit	BEPUutilities.RayHit	Hit data of the ray on the shape, if any.
return	bool

RefinePenetration() public static method

Incrementally refines the penetration depth and normal towards the local minimum.

public static RefinePenetration ( ConvexShape shapeA, ConvexShape shapeB, RigidTransform &localTransformB, float initialDepth, System.Vector3 &initialNormal, float &penetrationDepth, System.Vector3 &refinedNormal, System.Vector3 &position ) : void
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	Second shape in the pair.
localTransformB	BEPUutilities.RigidTransform	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

Sweep() public static method

Sweeps the shapes against each other and finds a point, time, and normal of impact.

public static Sweep ( ConvexShape shapeA, ConvexShape shapeB, System.Vector3 &sweepA, System.Vector3 &sweepB, RigidTransform &transformA, RigidTransform &transformB, RayHit &hit ) : bool
shapeA	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	First shape in the pair.
shapeB	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	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	BEPUutilities.RigidTransform	Initial transform to apply to the first shape.
transformB	BEPUutilities.RigidTransform	Initial transform to apply to the second shape.
hit	BEPUutilities.RayHit	Hit data between the two shapes, if any.
return	bool

SweptShapeContainsPoint() public static method

Determines if a point is contained within the swept volume of a shape.

public static SweptShapeContainsPoint ( ConvexShape shape, System.Vector3 &sweep, System.Vector3 &localPoint ) : bool
shape	BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape	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

Property Details

InnerIterationLimit public_oe static_oe property

Number of iterations that the MPR system will run in its inner loop before giving up and returning with failure.

public static int InnerIterationLimit
return	int

OuterIterationLimit public_oe static_oe property

Number of iterations that the MPR system will run in its outer loop before giving up and moving on to its inner loop.

public static int OuterIterationLimit
return	int