/// <summary>
/// Create a translation matrix.
/// </summary>
public static Transform CreateTranslation(Vect translate)
{
return(CreateTranspose(1.0, 0.0, translate.X, 0.0, 1.0, translate.Y));
}
private static void SpaceDebugDrawCircleCallback(Vect pos, double angle, double radius, DebugColor outlineColor, DebugColor fillColor, voidptr_t data)
{
IDebugDraw debugDraw = NativeInterop.FromIntPtr <IDebugDraw>(data);
debugDraw.DrawCircle(pos, angle, radius, outlineColor, fillColor);
}
#pragma warning restore IDE0032
private ContactPointSet(int count, Vect normal, ContactPoint[] points)
{
this.count = count;
this.normal = normal;
this.points = points;
}
private static void SpaceDebugDrawFatSegmentCallback(Vect a, Vect b, double radius, DebugColor outlineColor, DebugColor fillColor, voidptr_t data)
{
IDebugDraw debugDraw = NativeInterop.FromIntPtr <IDebugDraw>(data);
debugDraw.DrawFatSegment(a, b, radius, outlineColor, fillColor);
}
private static void SpaceDebugDrawDotCallback(double size, Vect pos, DebugColor color, voidptr_t data)
{
IDebugDraw debugDraw = NativeInterop.FromIntPtr <IDebugDraw>(data);
debugDraw.DrawDot(size, pos, color);
}
private static void SpaceDebugDrawSegmentCallback(Vect a, Vect b, DebugColor color, voidptr_t data)
{
IDebugDraw debugDraw = NativeInterop.FromIntPtr <IDebugDraw>(data);
debugDraw.DrawSegment(a, b, color);
}
private ContactPoint(Vect pointA, Vect pointB, double distance)
{
this.pointA = pointA;
this.pointB = pointB;
this.distance = distance;
}
private static double MarchSampleFunctionCallBack(Vect point, IntPtr data)
{
var marchData = (MarchData)GCHandle.FromIntPtr(data).Target;
return(marchData.SampleFunction(point, marchData.SampleData));
}
private static void MarchSegmentFunctionCallback(Vect v0, Vect v1, IntPtr data)
{
var marchData = (MarchData)GCHandle.FromIntPtr(data).Target;
marchData.SegmentFunction(v0, v1, marchData.SegmentData);
}
/// <summary>
/// Calculate the moment of inertia for a solid polygon shape assuming its center of gravity
/// is at its centroid. The offset is added to each vertex.
/// </summary>
public static double MomentForPolygon(double mass, IReadOnlyList <Vect> vertices, Vect offset, double radius)
{
IntPtr verticesPtr = NativeInterop.StructureArrayToPtr(vertices);
double moment = NativeMethods.cpMomentForPoly(mass, vertices.Count, verticesPtr, offset, radius);
NativeInterop.FreeStructure(verticesPtr);
return(moment);
}