Class BoxShape

Namespace

Jitter2.Collision.Shapes

Assembly

Jitter2.dll

Represents a three-dimensional box shape.

public class BoxShape : RigidBodyShape, IDynamicTreeProxy, IPartitionedSetIndex, IUpdatableBoundingBox, ISupportFeature, ISupportMappable, IRayCastable, IAngularSweepTestable, ISweepTestable, IDistanceTestable, IDebugDrawable

Inheritance

object

Shape

RigidBodyShape

BoxShape

Implements

IDynamicTreeProxy

IPartitionedSetIndex

IUpdatableBoundingBox

ISupportFeature

ISupportMappable

IRayCastable

IAngularSweepTestable

ISweepTestable

IDistanceTestable

IDebugDrawable

Inherited Members

RigidBodyShape.RigidBody

RigidBodyShape.DebugDraw(IDebugDrawer, in DebugDrawSettings)

RigidBodyShape.Velocity

RigidBodyShape.UpdateWorldBoundingBox(float)

RigidBodyShape.RayCast(in JVector, in JVector, out JVector, out float)

RigidBodyShape.Sweep<T>(in T, in JQuaternion, in JVector, in JVector, out JVector, out JVector, out JVector, out float)

RigidBodyShape.Sweep<T>(in T, in JQuaternion, in JVector, in JVector, in JVector, float, float, out JVector, out JVector, out JVector, out float)

RigidBodyShape.Distance<T>(in T, in JQuaternion, in JVector, out JVector, out JVector, out JVector, out float)

Shape.ShapeId

Shape.WorldBoundingBox

Shape.DebugDraw(IDebugDrawer)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

BoxShape(JVector)

Creates a box shape with specified dimensions.

public BoxShape(JVector size)

Parameters

size JVector

The full extents of the box in the local x-, y-, and z-directions.

Exceptions

ArgumentOutOfRangeException

Thrown when any component of size is less than or equal to zero.

BoxShape(float)

Creates a cube shape with sides of equal length.

public BoxShape(float size)

Parameters

size float

The length of each side.

Exceptions

ArgumentOutOfRangeException

Thrown when size is less than or equal to zero.

BoxShape(float, float, float)

Creates a box shape with the specified extents in the local x-, y-, and z-directions.

public BoxShape(float sizeX, float sizeY, float sizeZ)

Parameters

sizeX float

The full extent of the box in the local x-direction.

sizeY float

The full extent of the box in the local y-direction.

sizeZ float

The full extent of the box in the local z-direction.

Exceptions

ArgumentOutOfRangeException

Thrown when sizeX, sizeY, or sizeZ is less than or equal to zero.

Properties

Size

Gets or sets the full extents of the box in the local x-, y-, and z-directions.

public JVector Size { get; set; }

Property Value

JVector

Exceptions

ArgumentOutOfRangeException

Thrown when any component of value is less than or equal to zero.

Methods

CalculateBoundingBox(in JQuaternion, in JVector, out JBoundingBox)

public override void CalculateBoundingBox(in JQuaternion orientation, in JVector position, out JBoundingBox box)

Parameters

orientation JQuaternion

position JVector

box JBoundingBox

CalculateMassInertia(out JSymmetricMatrix, out JVector, out float)

Calculates the shape's mass, center of mass, and inertia at unit density. The default implementation approximates the surface; overrides can provide exact mass properties.

public override void CalculateMassInertia(out JSymmetricMatrix inertia, out JVector com, out float mass)

Parameters

inertia JSymmetricMatrix

com JVector

mass float

Remarks

The inertia tensor is computed relative to the coordinate system origin (0,0,0), not the center of mass.

DebugDrawLocal<TSink>(ref TSink, in DebugDrawSettings)

Draws the shape's surface as triangles in local coordinates.

protected override void DebugDrawLocal<TSink>(ref TSink triangleSink, in DebugDrawSettings settings) where TSink : ISink<JTriangle>

Parameters

triangleSink TSink

The destination for generated triangles.

settings DebugDrawSettings

The visualization settings.

Type Parameters

TSink

Remarks

Override to provide custom debug geometry; otherwise, the surface is approximated. Use outward-facing triangles for closed surfaces. Body and shape transforms are applied automatically.

GetCenter(out JVector)

Returns a point inside the shape. It does not need to be the center of mass.

public override void GetCenter(out JVector point)

Parameters

point JVector

An interior point in local space.

LocalRayCast(in JVector, in JVector, out JVector, out float)

Casts a ray against the shape in local coordinates, without applying the body's transform.

public override bool LocalRayCast(in JVector origin, in JVector direction, out JVector normal, out float lambda)

Parameters

origin JVector

The starting point of the ray.

direction JVector

The direction of the ray. This vector does not need to be normalized.

normal JVector

The surface normal at the point of intersection, if an intersection occurs.

lambda float

The ray parameter from the origin to the intersection point. Because direction need not be normalized, this is not necessarily a distance. The hit point is: origin + lambda * direction.

Returns

bool

true if the ray intersects with the object; otherwise, false.

SupportFeature(in JVector, float, Span<JVector>)

Writes the outermost feature of the shape in the given direction.

public override int SupportFeature(in JVector direction, float tolerance, Span<JVector> vertices)

Parameters

direction JVector

The direction in local space. Does not need to be normalized.

tolerance float

The sine of the angle within which directions share the feature.

vertices Span<JVector>

Receives the vertices in local space: one for a point, two for a segment, three or more for a convex polygon in winding order. At least MaxVertices entries long.

Returns

int

The number of vertices written, at least one.

Remarks

The default samples the support mapping with SupportFeatureSampler. Shapes that know their features analytically should override it.

SupportMap(in JVector, out JVector)

Computes the point on the shape that is furthest in the specified direction.

public override void SupportMap(in JVector direction, out JVector result)

Parameters

direction JVector

The search direction in local space. Does not need to be normalized.

result JVector

The point on the shape's surface furthest along direction.