Beispiel #1
0
        /// <summary>
        /// Collides two shapes using GJK.
        /// </summary>
        /// <typeparam name="T1">The type of the first shape.</typeparam>
        /// <typeparam name="T2">The type of the second shape.</typeparam>
        /// <param name="shape1">The first shape.</param>
        /// <param name="shape2">The second shape.</param>
        /// <param name="support1">The GJK support function for first shape.</param>
        /// <param name="support2">The GJK support function for the second shape.</param>
        /// <returns>A result indicating if the shapes are disjoint or intersect.</returns>
        /// <remarks>
        /// Collide uses the following algorithm, if delgates are proving slow you can copy the below and call
        /// the support functions direct.
        /// <code>
        /// GJK gjk = new GJK();
        /// Double3 a = support1(shape1, gjk,Direction);
        /// Double3 b = support2(shape2, -gjk.Direction);
        /// GJKResult result;
        /// while ((result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
        /// {
        ///     a = support1(shape1, gjk.Direction);
        ///     b = support2(shape2, -gjk.Direction);
        /// }
        /// return result;
        /// </code>
        /// </remarks>
        public static GJKResult Collide <T1, T2>(T1 shape1, T2 shape2, Func <T1, Vector3d, Vector3d> support1, Func <T2, Vector3d, Vector3d> support2)
        {
            GJK       gjk = new GJK();
            var       a   = support1(shape1, gjk.Direction);
            var       b   = support2(shape2, -gjk.Direction);
            GJKResult result;

            while ((result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
            {
                a = support1(shape1, gjk.Direction);
                b = support2(shape2, -gjk.Direction);
            }
            return(result);
        }
Beispiel #2
0
        /// <summary>
        /// Collides two shapes using GJK taking a maximum of stepLimit steps.
        /// </summary>
        /// <typeparam name="T1">The type of the first shape.</typeparam>
        /// <typeparam name="T2">The type of the second shape.</typeparam>
        /// <param name="shape1">The first shape.</param>
        /// <param name="shape2">The second shape.</param>
        /// <param name="support1">The GJK support function for first shape.</param>
        /// <param name="support2">The GJK support function for the second shape.</param>
        /// <param name="stepLimit">The GJK support function for the second shape.</param>
        /// <returns>A result indicating if the shapes are disjoint or intersect.</returns>
        /// <remarks>
        /// Collide uses the following algorithm, if delgates are proving slow you can copy the below and call
        /// the support functions direct.
        /// <code>
        /// GJK gjk = new GJK();
        /// Double3 a = support1(shape1, gjk,Direction);
        /// Double3 b = support2(shape2, -gjk.Direction);
        /// GJKResult result;
        /// while (--stepLimit > 0 &amp; (result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
        /// {
        ///     a = support1(shape1, gjk.Direction);
        ///     b = support2(shape2, -gjk.Direction);
        /// }
        /// return result;
        /// </code>
        /// </remarks>
        public static GJKResult Collide <T1, T2>(T1 shape1, T2 shape2, Func <T1, Vector3d, Vector3d> support1, Func <T2, Vector3d, Vector3d> support2, int stepLimit)
        {
            GJK       gjk = new GJK();
            var       a   = support1(shape1, gjk.Direction);
            var       b   = support2(shape2, -gjk.Direction);
            GJKResult result;

            //& NOT &&, both sides should always be evaluated, no shortcircuiting.
            while (--stepLimit > 0 & (result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
            {
                a = support1(shape1, gjk.Direction);
                b = support2(shape2, -gjk.Direction);
            }
            return(result);
        }