Class TransformedShape

Namespace

Jitter2.Collision.Shapes

Assembly

Jitter2.dll

Represents a shape wrapper defined by an original shape and an affine transformation (translation and linear map).

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

Inheritance

object

Shape

RigidBodyShape

TransformedShape

Implements

IDynamicTreeProxy

IPartitionedSetIndex

IUpdatableBoundingBox

ISupportMappable

IRayCastable

ISweepTestable

IDistanceTestable

IDebugDrawable

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

TransformedShape(RigidBodyShape, JMatrix)

Constructs a transformed shape with a linear transformation (rotation, scale, or shear), assuming zero translation.

public TransformedShape(RigidBodyShape shape, JMatrix transform)

Parameters

shape RigidBodyShape

transform JMatrix

TransformedShape(RigidBodyShape, JVector)

Constructs a transformed shape with a translation (offset), assuming identity rotation/scale.

public TransformedShape(RigidBodyShape shape, JVector translation)

Parameters

shape RigidBodyShape

translation JVector

TransformedShape(RigidBodyShape, in JVector, in JMatrix)

Constructs a transformed shape through an affine transformation defined by a linear map and a translation.

public TransformedShape(RigidBodyShape shape, in JVector translation, in JMatrix transform)

Parameters

shape RigidBodyShape

The shape to transform.

translation JVector

The translation component of the affine transform.

transform JMatrix

The linear component of the affine transform.

Exceptions

ArgumentNullException

Thrown when shape is null.

ArgumentException

Thrown when translation or transform contains a non-finite value.

Properties

OriginalShape

Gets the original shape that is being transformed.

public RigidBodyShape OriginalShape { get; }

Property Value

RigidBodyShape

Transformation

Gets or sets the linear transformation (rotation, scale, or shear) applied to the shape.

public JMatrix Transformation { get; set; }

Property Value

JMatrix

Translation

Gets or sets the translation applied to the shape.

public JVector Translation { 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(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.

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.