Class SphereShape

Namespace

Jitter2.Collision.Shapes

Assembly

Jitter2.dll

Represents a sphere.

public class SphereShape : RigidBodyShape, IDynamicTreeProxy, IPartitionedSetIndex, IUpdatableBoundingBox, ISupportMappable, IRayCastable, ISweepTestable, IDistanceTestable

Inheritance

object

Shape

RigidBodyShape

SphereShape

Implements

IDynamicTreeProxy

IPartitionedSetIndex

IUpdatableBoundingBox

ISupportMappable

IRayCastable

ISweepTestable

IDistanceTestable

Inherited Members

RigidBodyShape.RigidBody

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

Shape.ShapeId

Shape.WorldBoundingBox

Shape.SweptExpandBoundingBox(float)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

SphereShape(float)

Initializes a new instance of the SphereShape class with an optional radius parameter. The default radius is 1.0 units.

public SphereShape(float radius = 1)

Parameters

radius float

The radius of the sphere. Defaults to (Real)1.0.

Exceptions

ArgumentOutOfRangeException

Thrown when radius is less than or equal to zero.

Properties

Radius

Gets or sets the radius of the sphere.

public float Radius { get; set; }

Property Value

float

Exceptions

ArgumentOutOfRangeException

Thrown when 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 JMatrix, 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 JMatrix inertia, out JVector com, out float mass)

Parameters

inertia JMatrix

com JVector

mass float

Remarks

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

GetCenter(out JVector)

Computes a point deep within the shape, used as an initial search point in GJK-based algorithms.

public override void GetCenter(out JVector point)

Parameters

point JVector

A point guaranteed to be inside the convex hull, typically the center of mass.

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

Performs a local ray cast against the shape, checking if a ray originating from a specified point and traveling in a specified direction intersects with the object. It does not take into account the transformation of the associated rigid body.

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

When this method returns, contains the surface normal at the point of intersection, if an intersection occurs.

lambda float

When this method returns, contains the scalar value representing the distance along the ray's direction vector from the origin to the intersection point. The hit point can be calculated as: origin + lambda * direction.

Returns

bool

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

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.