Class TriangleShape

Namespace

Jitter2.Collision.Shapes

Assembly

Jitter2.dll

Represents a triangle shape defined by a reference to a TriangleMesh and an index.

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

Inheritance

object

Shape

RigidBodyShape

TriangleShape

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

TriangleShape(TriangleMesh, int)

Initializes a new instance of the TriangleShape class.

public TriangleShape(TriangleMesh mesh, int index)

Parameters

mesh TriangleMesh

The triangle mesh to which this triangle belongs.

index int

The index representing the position of the triangle within the mesh.

Exceptions

ArgumentNullException

Thrown when mesh is null.

ArgumentOutOfRangeException

Thrown when index is negative or greater than or equal to the number of triangles in the mesh.

Fields

Index

The index representing the position of the triangle within the mesh.

public readonly int Index

Field Value

int

Mesh

The triangle mesh to which this triangle belongs.

public readonly TriangleMesh Mesh

Field Value

TriangleMesh

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)

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

Parameters

inertia JSymmetricMatrix

com JVector

mass float

Exceptions

NotSupportedException

Always thrown because a triangle has no volume and therefore no mass properties.

CreateAllShapes(TriangleMesh)

Creates one shape for each triangle in the mesh.

public static IEnumerable<TriangleShape> CreateAllShapes(TriangleMesh mesh)

Parameters

mesh TriangleMesh

Returns

IEnumerable<TriangleShape>

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.

GetWorldVertices(out JVector, out JVector, out JVector)

Gets the vertices transformed by the attached rigid body. If the shape is unattached, returns the mesh vertices without a world transform.

public void GetWorldVertices(out JVector a, out JVector b, out JVector c)

Parameters

a JVector

The transformed coordinate of the first vertex.

b JVector

The transformed coordinate of the second vertex.

c JVector

The transformed coordinate of the third vertex.

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.

Remarks

Back-facing triangles are culled.

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.