C# Класс BEPUutilities.Toolbox

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

Открытые свойства

Свойство	Тип	Описание
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

Открытые методы

Метод	Описание
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.

Приватные методы

Метод	Описание
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

Описание методов

ArePointsOnOppositeSidesOfPlane() публичный статический Метод

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.
Результат	bool

DifferentiateQuaternion() публичный статический Метод

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.
Результат	void

ExpandBoundingBox() публичный статический Метод

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.
Результат	void

FindRayTriangleIntersection() публичный статический Метод

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
Результат	bool

FindRayTriangleIntersection() публичный статический Метод

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
Результат	bool

GetAngleFromQuaternion() публичный статический Метод

Computes the angle change represented by a normalized quaternion.

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

GetAxisAngleFromQuaternion() публичный статический Метод

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.
Результат	void

GetBarycentricCoordinates() публичный статический Метод

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.
Результат	void

GetClosestPointOnSegmentToPoint() публичный статический Метод

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.
Результат	void

GetClosestPointOnTetrahedronToPoint() публичный статический Метод

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.
Результат	void

GetClosestPointOnTriangleToPoint() публичный статический Метод

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.
Результат	VoronoiRegion

GetClosestPointsBetweenLines() публичный статический Метод

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.
Результат	void

GetClosestPointsBetweenSegments() публичный статический Метод

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.
Результат	void

GetClosestPointsBetweenSegments() публичный статический Метод

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.
Результат	void

GetDistancePointToPlane() публичный статический Метод

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.
Результат	float

GetLinePlaneIntersection() публичный статический Метод

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.
Результат	bool

GetPointProjectedOnPlane() публичный статический Метод

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.
Результат	void

GetQuaternionBetweenNormalizedVectors() публичный статический Метод

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.
Результат	void

GetRayPlaneIntersection() публичный статический Метод

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.
Результат	bool

GetSegmentPlaneIntersection() публичный статический Метод

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.
Результат	bool

GetSegmentPlaneIntersection() публичный статический Метод

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.
Результат	bool

GetSegmentPlaneIntersection() публичный статический Метод

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.
Результат	bool

GetSquaredDistanceFromPointToLine() публичный статический Метод

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.
Результат	float

GetTriangleBoundingBox() публичный статический Метод

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.
Результат	void

GetVelocityOfPoint() публичный статический Метод

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.
Результат	System.Vector3

GetVelocityOfPoint() публичный статический Метод

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.
Результат	void

IsPointInsideTriangle() публичный статический Метод

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.
Результат	bool

IsPointInsideTriangle() публичный статический Метод

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.
Результат	bool

IsPointWithinFaceExtrusion() публичный статический Метод

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.
Результат	bool

RayCastSphere() публичный статический Метод

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.
Результат	bool

UpdateOrientationRK4() публичный статический Метод

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.
Результат	void

Описание свойств

BackVector публичное статическое свойство

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

public static Vector3,System BackVector
Результат	System.Vector3

BigEpsilon публичное статическое свойство

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

public static float BigEpsilon
Результат	float

DownVector публичное статическое свойство

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

public static Vector3,System DownVector
Результат	System.Vector3

Epsilon публичное статическое свойство

Tolerance value. Defaults to 1e-7f.

public static float Epsilon
Результат	float

ForwardVector публичное статическое свойство

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

public static Vector3,System ForwardVector
Результат	System.Vector3

IdentityOrientation публичное статическое свойство

Refers to the identity quaternion.

public static Quaternion IdentityOrientation
Результат	Quaternion

LeftVector публичное статическое свойство

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

public static Vector3,System LeftVector
Результат	System.Vector3

NoVector публичное статическое свойство

Represents an invalid Vector3.

public static Vector3,System NoVector
Результат	System.Vector3

RightVector публичное статическое свойство

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

public static Vector3,System RightVector
Результат	System.Vector3

RigidIdentity публичное статическое свойство

Refers to the rigid identity transformation.

public static RigidTransform,BEPUutilities RigidIdentity
Результат	RigidTransform

UpVector публичное статическое свойство

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

public static Vector3,System UpVector
Результат	System.Vector3

ZeroMatrix публичное статическое свойство

Matrix containing zeroes for every element.

public static Matrix ZeroMatrix
Результат	Matrix

ZeroVector публичное статическое свойство

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

public static Vector3,System ZeroVector
Результат	System.Vector3