コード例 #1
0
        static void FindIncidentEdge(ClipVertex[] c,
                                     Box2dShape poly1, ref IndexedMatrix xf1, int edge1,
                                     Box2dShape poly2, ref IndexedMatrix xf2)
        {
            IndexedVector3[] normals1 = poly1.GetNormals();

            int count2 = poly2.GetVertexCount();

            IndexedVector3[] vertices2 = poly2.GetVertices();
            IndexedVector3[] normals2  = poly2.GetNormals();

            Debug.Assert(0 <= edge1 && edge1 < poly1.GetVertexCount());

            // Get the normal of the reference edge in poly2's frame.
            IndexedVector3 normal1 = xf2._basis.Transpose() * (xf1._basis * normals1[edge1]);

            // Find the incident edge on poly2.
            int   index  = 0;
            float minDot = MathUtil.BT_LARGE_FLOAT;

            for (int i = 0; i < count2; ++i)
            {
                float dot = normal1.Dot(normals2[i]);
                if (dot < minDot)
                {
                    minDot = dot;
                    index  = i;
                }
            }

            // Build the clip vertices for the incident edge.
            int i1 = index;
            int i2 = i1 + 1 < count2 ? i1 + 1 : 0;

            c[0].v = xf2 * vertices2[i1];
            //	c[0].id.features.referenceEdge = (unsigned char)edge1;
            //	c[0].id.features.incidentEdge = (unsigned char)i1;
            //	c[0].id.features.incidentVertex = 0;

            c[1].v = xf2 * vertices2[i2];
            //	c[1].id.features.referenceEdge = (unsigned char)edge1;
            //	c[1].id.features.incidentEdge = (unsigned char)i2;
            //	c[1].id.features.incidentVertex = 1;
        }
コード例 #2
0
        // Find the separation between poly1 and poly2 for a give edge normal on poly1.
        static float EdgeSeparation(Box2dShape poly1, ref IndexedMatrix xf1, int edge1,
                                    Box2dShape poly2, ref IndexedMatrix xf2)
        {
            IndexedVector3[] vertices1 = poly1.GetVertices();
            IndexedVector3[] normals1  = poly1.GetNormals();

            int count2 = poly2.GetVertexCount();

            IndexedVector3[] vertices2 = poly2.GetVertices();

            Debug.Assert(0 <= edge1 && edge1 < poly1.GetVertexCount());

            // Convert normal from poly1's frame into poly2's frame.
            IndexedVector3 normal1World = xf1._basis * normals1[edge1];
            IndexedVector3 normal1      = xf1._basis.Transpose() * normal1World;

            // Find support vertex on poly2 for -normal.
            int   index  = 0;
            float minDot = MathUtil.BT_LARGE_FLOAT;

            for (int i = 0; i < count2; ++i)
            {
                float dot = vertices2[i].Dot(normal1);
                if (dot < minDot)
                {
                    minDot = dot;
                    index  = i;
                }
            }

            IndexedVector3 v1         = xf1 * vertices1[edge1];
            IndexedVector3 v2         = xf2 * vertices2[index];
            float          separation = (v2 - v1).Dot(normal1World);

            return(separation);
        }
コード例 #3
0
		static void FindIncidentEdge(ClipVertex[] c,
									 Box2dShape poly1, ref IndexedMatrix xf1, int edge1,
									 Box2dShape poly2, ref IndexedMatrix xf2)
		{
			IndexedVector3[] normals1 = poly1.GetNormals();

			int count2 = poly2.GetVertexCount();
			IndexedVector3[] vertices2 = poly2.GetVertices();
			IndexedVector3[] normals2 = poly2.GetNormals();

			Debug.Assert(0 <= edge1 && edge1 < poly1.GetVertexCount());

			// Get the normal of the reference edge in poly2's frame.
            IndexedVector3 normal1 = xf2._basis.Transpose() * (xf1._basis * normals1[edge1]);

			// Find the incident edge on poly2.
			int index = 0;
			float minDot = MathUtil.BT_LARGE_FLOAT;
			for (int i = 0; i < count2; ++i)
			{
				float dot = normal1.Dot(normals2[i]);
				if (dot < minDot)
				{
					minDot = dot;
					index = i;
				}
			}

			// Build the clip vertices for the incident edge.
			int i1 = index;
			int i2 = i1 + 1 < count2 ? i1 + 1 : 0;

			c[0].v = xf2 * vertices2[i1];
		//	c[0].id.features.referenceEdge = (unsigned char)edge1;
		//	c[0].id.features.incidentEdge = (unsigned char)i1;
		//	c[0].id.features.incidentVertex = 0;

			c[1].v = xf2 * vertices2[i2];
		//	c[1].id.features.referenceEdge = (unsigned char)edge1;
		//	c[1].id.features.incidentEdge = (unsigned char)i2;
		//	c[1].id.features.incidentVertex = 1;
		}
コード例 #4
0
		// Find the separation between poly1 and poly2 for a give edge normal on poly1.
		static float EdgeSeparation(Box2dShape poly1, ref IndexedMatrix xf1, int edge1,
									  Box2dShape poly2, ref IndexedMatrix xf2)
		{
			IndexedVector3[] vertices1 = poly1.GetVertices();
			IndexedVector3[] normals1 = poly1.GetNormals();

			int count2 = poly2.GetVertexCount();
			IndexedVector3[] vertices2 = poly2.GetVertices();

			Debug.Assert(0 <= edge1 && edge1 < poly1.GetVertexCount());

			// Convert normal from poly1's frame into poly2's frame.
			IndexedVector3 normal1World = xf1._basis * normals1[edge1];
            IndexedVector3 normal1 = xf1._basis.Transpose() * normal1World;

			// Find support vertex on poly2 for -normal.
			int index = 0;
			float minDot = MathUtil.BT_LARGE_FLOAT;

			for (int i = 0; i < count2; ++i)
			{
				float dot = vertices2[i].Dot(normal1);
				if (dot < minDot)
				{
					minDot = dot;
					index = i;
				}
			}

            IndexedVector3 v1 = xf1 * vertices1[edge1];
			IndexedVector3 v2 = xf2 * vertices2[index];
			float separation = (v2 - v1).Dot(normal1World);
			return separation;
		}