Class ConvexHullShape

Namespace

Jitter2.Collision.Shapes

Assembly

Jitter2.dll

Represents a convex hull shape defined by a set of triangles.

public class ConvexHullShape : RigidBodyShape, IDynamicTreeProxy, IPartitionedSetIndex, IUpdatableBoundingBox, ISupportMappable, IRayCastable, ISweepTestable, IDistanceTestable, IDebugDrawable, ICloneableShape<ConvexHullShape>

Inheritance

object

Shape

RigidBodyShape

ConvexHullShape

Implements

IDynamicTreeProxy

IPartitionedSetIndex

IUpdatableBoundingBox

ISupportMappable

IRayCastable

ISweepTestable

IDistanceTestable

IDebugDrawable

ICloneableShape<ConvexHullShape>

Inherited Members

RigidBodyShape.RigidBody

RigidBodyShape.DebugDraw(IDebugDrawer, in DebugDrawSettings)

RigidBodyShape.Velocity

RigidBodyShape.UpdateWorldBoundingBox(float)

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

Shape.ShapeId

Shape.WorldBoundingBox

Shape.SweptExpandBoundingBox(float)

Shape.DebugDraw(IDebugDrawer)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

ConvexHullShape(IEnumerable<JTriangle>)

Initializes a new instance of the ConvexHullShape class, creating a convex hull.

public ConvexHullShape(IEnumerable<JTriangle> triangles)

Parameters

triangles IEnumerable<JTriangle>

Triangles describing the convex hull surface. Their vertices must lie on the surface of the convex hull to avoid incorrect results or indefinite hangs in the collision algorithm.

Exceptions

ArgumentException

Thrown when triangles is empty, or when the convex hull consists of more than MaxValue vertices.

InvalidOperationException

Thrown when triangles does not define a non-degenerate volume.

ConvexHullShape(ReadOnlySpan<JTriangle>)

Initializes a new instance of the ConvexHullShape class, creating a convex hull.

public ConvexHullShape(ReadOnlySpan<JTriangle> triangles)

Parameters

triangles ReadOnlySpan<JTriangle>

Triangles describing the convex hull surface. Their vertices must lie on the surface of the convex hull to avoid incorrect results or indefinite hangs in the collision algorithm.

Exceptions

ArgumentException

Thrown when triangles is empty, or when the convex hull consists of more than MaxValue vertices.

InvalidOperationException

Thrown when triangles does not define a non-degenerate volume.

Properties

Shift

Gets or sets the shift applied to the convex hull vertices.

public JVector Shift { get; set; }

Property Value

JVector

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()

Recalculates the mass, center of mass, and inertia tensor from the convex hull triangles.

public void CalculateMassInertia()

Exceptions

InvalidOperationException

Thrown when the convex hull does not define a non-degenerate volume.

CalculateMassInertia(out JSymmetricMatrix, out JVector, out float)

Calculates the mass and inertia of the shape. Can be overridden by child classes to improve performance or accuracy. The default implementation relies on an approximation of the shape constructed using the support map function.

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.

Clone()

Creates a clone of the convex hull shape. Note that the underlying data structure is shared among instances.

public ConvexHullShape Clone()

Returns

ConvexHullShape

A new instance of the ConvexHullShape class that shares the same underlying data structure as the original instance.

DebugDrawLocal<TSink>(ref TSink, in DebugDrawSettings)

Appends debug triangles in the coordinate system used by SupportMap(in JVector, out JVector).

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 this method to supply custom surface geometry. Rigid-body and affine transforms are applied by the caller. Use outward-facing triangles for closed surfaces. Without an override, the shape is drawn as an approximate surface.

GetCenter(out JVector)

Computes a representative point within the convex hull, used as an initial search point in GJK-based algorithms.

public override void GetCenter(out JVector point)

Parameters

point JVector

A point inside the convex hull.

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.

UpdateShape()

Updates the shape's cached mass, inertia, and bounding box.

public void UpdateShape()

Exceptions

InvalidOperationException

Thrown when the convex hull does not define a non-degenerate volume.