public bool GetNearestPoint_HullToHull(out Point3D?contactPointThis, out Point3D?contactPointOther, out Vector3D?normal, CollisionHull otherHull, int threadIndex, Transform3D thisTransform, Transform3D otherTransform)
{
float[] finalOffsetThis = thisTransform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(thisTransform.Value).Matrix; // not including the member's offset, because newton is already accounting for it.
float[] finalOffsetOther = thisTransform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(otherTransform.Value).Matrix;
NewtonVector3 contactANewt = new NewtonVector3();
NewtonVector3 contactBNewt = new NewtonVector3();
NewtonVector3 normalNewt = new NewtonVector3();
int retVal = Newton.NewtonCollisionClosestPoint(_world.Handle, _handle, finalOffsetThis, otherHull.Handle, finalOffsetOther, contactANewt.Vector, contactBNewt.Vector, normalNewt.Vector, threadIndex);
// Exit Function
if (retVal == 1)
{
contactPointThis = contactANewt.ToPointWPF();
contactPointOther = contactBNewt.ToPointWPF();
normal = normalNewt.ToVectorWPF();
return(true);
}
else
{
contactPointThis = null;
contactPointOther = null;
normal = null;
return(false);
}
}
/// <summary>
/// This is the axis aligned box in world coords
/// </summary>
public void GetAABB(out Point3D minPoint, out Point3D maxPoint)
{
NewtonVector3 newtMin = new NewtonVector3();
NewtonVector3 newtMax = new NewtonVector3();
Newton.NewtonBodyGetAABB(_handle, newtMin.Vector, newtMax.Vector);
minPoint = newtMin.ToPointWPF();
maxPoint = newtMax.ToPointWPF();
}
public Point3D GetFarthestVertex(Vector3D direction)
{
// Look this up on the web page, it explains it pretty well (this method is useful for calculating custom bounding surfaces)
NewtonVector3 retVal = new NewtonVector3();
Newton.NewtonCollisionSupportVertex(_handle, new NewtonVector3(direction).Vector, retVal.Vector);
return(retVal.ToPointWPF());
}
public void CalculateAproximateAABB(out Point3D minPoint, out Point3D maxPoint, Transform3D transform)
{
float[] finalOffset = transform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(transform.Value).Matrix; // not including _offsetMatrix, because newton is already accounting for it.
NewtonVector3 minNewt = new NewtonVector3();
NewtonVector3 maxNewt = new NewtonVector3();
Newton.NewtonCollisionCalculateAABB(_handle, finalOffset, minNewt.Vector, maxNewt.Vector);
minPoint = minNewt.ToPointWPF();
maxPoint = maxNewt.ToPointWPF();
}
/// <summary>
/// Vectors are in world coords
/// </summary>
public void GetContactPositionAndNormalWorld(out Point3D position, out Vector3D normal, out double normalSpeed, Body body)
{
NewtonVector3 newtPos = new NewtonVector3();
NewtonVector3 newtNormal = new NewtonVector3();
Newton.NewtonMaterialGetContactPositionAndNormal(_handle, body.Handle, newtPos.Vector, newtNormal.Vector);
position = newtPos.ToPointWPF();
normal = newtNormal.ToVectorWPF();
normal.Normalize();
normalSpeed = this.ContactNormalSpeed;
normal *= normalSpeed;
}
public bool GetNearestPoint_PointToHull(out Point3D?contactPoint, Vector3D?normal, Vector3D point, int threadIndex, Transform3D transform)
{
float[] finalOffset = transform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(transform.Value).Matrix; // not including _offsetMatrix, because newton is already accounting for it.
NewtonVector3 contactNewt = new NewtonVector3();
NewtonVector3 normalNewt = new NewtonVector3();
int retVal = Newton.NewtonCollisionPointDistance(_world.Handle, new NewtonVector3(point).Vector, _handle, finalOffset, contactNewt.Vector, normalNewt.Vector, threadIndex);
// Exit Function
if (retVal == 1)
{
contactPoint = contactNewt.ToPointWPF();
normal = normalNewt.ToVectorWPF();
return(true);
}
else
{
contactPoint = null;
normal = null;
return(false);
}
}
/// <summary>
/// Vectors are in world coords
/// </summary>
public void GetContactPositionAndNormalWorld(out Point3D position, out Vector3D normal, out double normalSpeed, Body body)
{
NewtonVector3 newtPos = new NewtonVector3();
NewtonVector3 newtNormal = new NewtonVector3();
Newton.NewtonMaterialGetContactPositionAndNormal(_handle, body.Handle, newtPos.Vector, newtNormal.Vector);
position = newtPos.ToPointWPF();
normal = newtNormal.ToVectorWPF();
normal.Normalize();
normalSpeed = this.ContactNormalSpeed;
normal *= normalSpeed;
}
public void CalculateAproximateAABB(out Point3D minPoint, out Point3D maxPoint, Transform3D transform)
{
float[] finalOffset = transform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(transform.Value).Matrix; // not including _offsetMatrix, because newton is already accounting for it.
NewtonVector3 minNewt = new NewtonVector3();
NewtonVector3 maxNewt = new NewtonVector3();
Newton.NewtonCollisionCalculateAABB(_handle, finalOffset, minNewt.Vector, maxNewt.Vector);
minPoint = minNewt.ToPointWPF();
maxPoint = maxNewt.ToPointWPF();
}
public Point3D GetFarthestVertex(Vector3D direction)
{
// Look this up on the web page, it explains it pretty well (this method is useful for calculating custom bounding surfaces)
NewtonVector3 retVal = new NewtonVector3();
Newton.NewtonCollisionSupportVertex(_handle, new NewtonVector3(direction).Vector, retVal.Vector);
return retVal.ToPointWPF();
}
public bool GetNearestPoint_HullToHull(out Point3D? contactPointThis, out Point3D? contactPointOther, out Vector3D? normal, CollisionHull otherHull, int threadIndex, Transform3D thisTransform, Transform3D otherTransform)
{
float[] finalOffsetThis = thisTransform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(thisTransform.Value).Matrix; // not including the member's offset, because newton is already accounting for it.
float[] finalOffsetOther = thisTransform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(otherTransform.Value).Matrix;
NewtonVector3 contactANewt = new NewtonVector3();
NewtonVector3 contactBNewt = new NewtonVector3();
NewtonVector3 normalNewt = new NewtonVector3();
int retVal = Newton.NewtonCollisionClosestPoint(_world.Handle, _handle, finalOffsetThis, otherHull.Handle, finalOffsetOther, contactANewt.Vector, contactBNewt.Vector, normalNewt.Vector, threadIndex);
// Exit Function
if (retVal == 1)
{
contactPointThis = contactANewt.ToPointWPF();
contactPointOther = contactBNewt.ToPointWPF();
normal = normalNewt.ToVectorWPF();
return true;
}
else
{
contactPointThis = null;
contactPointOther = null;
normal = null;
return false;
}
}
public bool GetNearestPoint_PointToHull(out Point3D? contactPoint, Vector3D? normal, Vector3D point, int threadIndex, Transform3D transform)
{
float[] finalOffset = transform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(transform.Value).Matrix; // not including _offsetMatrix, because newton is already accounting for it.
NewtonVector3 contactNewt = new NewtonVector3();
NewtonVector3 normalNewt = new NewtonVector3();
int retVal = Newton.NewtonCollisionPointDistance(_world.Handle, new NewtonVector3(point).Vector, _handle, finalOffset, contactNewt.Vector, normalNewt.Vector, threadIndex);
// Exit Function
if (retVal == 1)
{
contactPoint = contactNewt.ToPointWPF();
normal = normalNewt.ToVectorWPF();
return true;
}
else
{
contactPoint = null;
normal = null;
return false;
}
}