public override IndexedVector3 LocalGetSupportingVertexWithoutMargin(ref IndexedVector3 vec0)
{
IndexedVector3 supVec = IndexedVector3.Zero;
IndexedVector3 vec = vec0;
float lenSqr = vec.LengthSquared();
if (lenSqr < 0.0001f)
{
vec = new IndexedVector3(1, 0, 0);
}
else
{
float rlen = (1.0f) / (float)Math.Sqrt(lenSqr);
vec *= rlen;
//vec.Normalize();
}
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(ref vec);
IndexedVector3 aabbMax = new IndexedVector3(float.MaxValue);
IndexedVector3 aabbMin = -aabbMax;
m_stridingMesh.InternalProcessAllTriangles(supportCallback, ref aabbMin, ref aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return(supVec);
}
public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(IndexedVector3[] vectors, IndexedVector4[] supportVerticesOut, int numVectors)
{
for (int j = 0; j < numVectors; j++)
{
IndexedVector3 vec = vectors[j];
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(ref vec);
IndexedVector3 aabbMax = MathUtil.MAX_VECTOR;
IndexedVector3 aabbMin = MathUtil.MIN_VECTOR;
m_stridingMesh.InternalProcessAllTriangles(supportCallback, ref aabbMin, ref aabbMax);
supportVerticesOut[j] = new IndexedVector4(supportCallback.GetSupportVertexLocal(), 0);
}
}
public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(IndexedVector3[] vectors, IndexedVector4[] supportVerticesOut, int numVectors)
{
for (int j=0;j<numVectors;j++)
{
IndexedVector3 vec = vectors[j];
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(ref vec);
IndexedVector3 aabbMax = MathUtil.MAX_VECTOR;
IndexedVector3 aabbMin = MathUtil.MIN_VECTOR;
m_stridingMesh.InternalProcessAllTriangles(supportCallback,ref aabbMin,ref aabbMax);
supportVerticesOut[j] = new IndexedVector4(supportCallback.GetSupportVertexLocal(),0);
}
}
public override IndexedVector3 LocalGetSupportingVertexWithoutMargin(ref IndexedVector3 vec0)
{
IndexedVector3 supVec = IndexedVector3.Zero;
IndexedVector3 vec = vec0;
float lenSqr = vec.LengthSquared();
if (lenSqr < 0.0001f)
{
vec = new IndexedVector3(1, 0, 0);
}
else
{
float rlen = (1.0f) / (float)Math.Sqrt(lenSqr);
vec *= rlen;
//vec.Normalize();
}
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(ref vec);
IndexedVector3 aabbMax = new IndexedVector3(float.MaxValue);
IndexedVector3 aabbMin = -aabbMax;
m_stridingMesh.InternalProcessAllTriangles(supportCallback,ref aabbMin,ref aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
