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C# ConvexShape.GetLocalExtremePoint方法代码示例

本文整理汇总了C#中BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape.GetLocalExtremePoint方法的典型用法代码示例。如果您正苦于以下问题:C# ConvexShape.GetLocalExtremePoint方法的具体用法?C# ConvexShape.GetLocalExtremePoint怎么用?C# ConvexShape.GetLocalExtremePoint使用的例子?那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape的用法示例。


在下文中一共展示了ConvexShape.GetLocalExtremePoint方法的2个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的C#代码示例。

示例1: RayCast

        //TODO: Consider changing the termination epsilons on these casts.  Epsilon * Modifier is okay, but there might be better options.

        ///<summary>
        /// Tests a ray against a convex shape.
        ///</summary>
        ///<param name="ray">Ray to test against the shape.</param>
        ///<param name="shape">Shape to test.</param>
        ///<param name="shapeTransform">Transform to apply to the shape for the test.</param>
        ///<param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
        ///<param name="hit">Hit data of the ray cast, if any.</param>
        ///<returns>Whether or not the ray hit the shape.</returns>
        public static bool RayCast(Ray ray, ConvexShape shape, ref RigidTransform shapeTransform, float maximumLength,
                                   out RayHit hit)
        {
            //Transform the ray into the object's local space.
            Vector3.Subtract(ref ray.Position, ref shapeTransform.Position, out ray.Position);
            Quaternion conjugate;
            Quaternion.Conjugate(ref shapeTransform.Orientation, out conjugate);
            Quaternion.Transform(ref ray.Position, ref conjugate, out ray.Position);
            Quaternion.Transform(ref ray.Direction, ref conjugate, out ray.Direction);

            Vector3 extremePointToRayOrigin, extremePoint;
            hit.T = 0;
            hit.Location = ray.Position;
            hit.Normal = Toolbox.ZeroVector;
            Vector3 closestOffset = hit.Location;

            RaySimplex simplex = new RaySimplex();

            float vw, closestPointDotDirection;
            int count = 0;
            //This epsilon has a significant impact on performance and accuracy.  Changing it to use BigEpsilon instead increases speed by around 30-40% usually, but jigging is more evident.
            while (closestOffset.LengthSquared() >= Toolbox.Epsilon * simplex.GetErrorTolerance(ref ray.Position))
            {
                if (++count > MaximumGJKIterations)
                {
                    //It's taken too long to find a hit.  Numerical problems are probable; quit.
                    hit = new RayHit();
                    return false;
                }

                shape.GetLocalExtremePoint(closestOffset, out extremePoint);

                Vector3.Subtract(ref hit.Location, ref extremePoint, out extremePointToRayOrigin);
                Vector3.Dot(ref closestOffset, ref extremePointToRayOrigin, out vw);
                //If the closest offset and the extreme point->ray origin direction point the same way,
                //then we might be able to conservatively advance the point towards the surface.
                if (vw > 0)
                {
                    
                    Vector3.Dot(ref closestOffset, ref ray.Direction, out closestPointDotDirection);
                    if (closestPointDotDirection >= 0)
                    {
                        hit = new RayHit();
                        return false;
                    }
                    hit.T = hit.T - vw / closestPointDotDirection;
                    if (hit.T > maximumLength)
                    {
                        //If we've gone beyond where the ray can reach, there's obviously no hit.
                        hit = new RayHit();
                        return false;
                    }
                    //Shift the ray up.
                    Vector3.Multiply(ref ray.Direction, hit.T, out hit.Location);
                    Vector3.Add(ref hit.Location, ref ray.Position, out hit.Location);
                    hit.Normal = closestOffset;
                }

                RaySimplex shiftedSimplex;
                simplex.AddNewSimplexPoint(ref extremePoint, ref hit.Location, out shiftedSimplex);

                //Compute the offset from the simplex surface to the origin.
                shiftedSimplex.GetPointClosestToOrigin(ref simplex, out closestOffset);

            }
            //Transform the hit data into world space.
            Quaternion.Transform(ref hit.Normal, ref shapeTransform.Orientation, out hit.Normal);
            Quaternion.Transform(ref hit.Location, ref shapeTransform.Orientation, out hit.Location);
            Vector3.Add(ref hit.Location, ref shapeTransform.Position, out hit.Location);

            return true;
        }
开发者ID:d3x0r,项目名称:Voxelarium,代码行数:83,代码来源:GJKToolbox.cs

示例2: RayCast

        //TODO: Consider changing the termination epsilons on these casts.  Epsilon * Modifier is okay, but there might be better options.

        ///<summary>
        /// Tests a ray against a convex shape.
        ///</summary>
        ///<param name="ray">Ray to test against the shape.</param>
        ///<param name="shape">Shape to test.</param>
        ///<param name="shapeTransform">Transform to apply to the shape for the test.</param>
        ///<param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
        ///<param name="hit">Hit data of the ray cast, if any.</param>
        ///<returns>Whether or not the ray hit the shape.</returns>
        public static bool RayCast(Ray ray, ConvexShape shape, ref RigidTransform shapeTransform, float maximumLength,
                                   out RayHit hit)
        {
            //Transform the ray into the object's local space.
            Vector3.Subtract(ref ray.Position, ref shapeTransform.Position, out ray.Position);
            Quaternion conjugate;
            Quaternion.Conjugate(ref shapeTransform.Orientation, out conjugate);
            Vector3.Transform(ref ray.Position, ref conjugate, out ray.Position);
            Vector3.Transform(ref ray.Direction, ref conjugate, out ray.Direction);

            Vector3 w, p;
            hit.T = 0;
            hit.Location = ray.Position;
            hit.Normal = Toolbox.ZeroVector;
            Vector3 v = hit.Location;

            RaySimplex simplex = new RaySimplex();

            float vw, vdir;
            int count = 0;
            //This epsilon has a significant impact on performance and accuracy.  Changing it to use BigEpsilon instead increases speed by around 30-40% usually, but jigging is more evident.
            while (v.LengthSquared() >= Toolbox.Epsilon * simplex.GetErrorTolerance(ref ray.Position))
            {
                if (++count > MaximumGJKIterations)
                {
                    //It's taken too long to find a hit.  Numerical problems are probable; quit.
                    hit = new RayHit();
                    return false;
                }

                shape.GetLocalExtremePoint(v, out p);

                Vector3.Subtract(ref hit.Location, ref p, out w);
                Vector3.Dot(ref v, ref w, out vw);
                if (vw > 0)
                {
                    Vector3.Dot(ref v, ref ray.Direction, out vdir);
                    if (vdir >= 0)
                    {
                        hit = new RayHit();
                        return false;
                    }
                    hit.T = hit.T - vw / vdir;
                    if (hit.T > maximumLength)
                    {
                        //If we've gone beyond where the ray can reach, there's obviously no hit.
                        hit = new RayHit();
                        return false;
                    }
                    //Shift the ray up.
                    Vector3.Multiply(ref ray.Direction, hit.T, out hit.Location);
                    Vector3.Add(ref hit.Location, ref ray.Position, out hit.Location);
                    hit.Normal = v;
                }

                RaySimplex shiftedSimplex;
                simplex.AddNewSimplexPoint(ref p, ref hit.Location, out shiftedSimplex);

                shiftedSimplex.GetPointClosestToOrigin(ref simplex, out v);

            }
            //Transform the hit data into world space.
            Vector3.Transform(ref hit.Normal, ref shapeTransform.Orientation, out hit.Normal);
            Vector3.Transform(ref hit.Location, ref shapeTransform.Orientation, out hit.Location);
            Vector3.Add(ref hit.Location, ref shapeTransform.Position, out hit.Location);

            return true;
        }
开发者ID:rc183,项目名称:igf,代码行数:79,代码来源:GJKToolbox.cs


注:本文中的BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape.GetLocalExtremePoint方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台,相关代码片段筛选自各路编程大神贡献的开源项目,源码版权归原作者所有,传播和使用请参考对应项目的License;未经允许,请勿转载。