/// <summary>
/// Initializes a new instance of the DistanceConstraint class.
/// </summary>
/// <param name="body1">The first body.</param>
/// <param name="body2">The second body.</param>
/// <param name="anchor1">The anchor point of the first body in world space.
/// The distance is given by the initial distance between both anchor points.</param>
/// <param name="anchor2">The anchor point of the second body in world space.
/// The distance is given by the initial distance between both anchor points.</param>
public PointOnPoint(RigidBody body, JVector localAnchor)
: base(body, null)
{
localAnchor1 = localAnchor;
this.anchor = body.position + JVector.Transform(localAnchor, body.orientation);
}
/// <summary>
/// Initializes a new instance of the DistanceConstraint class.
/// </summary>
/// <param name="body1">The first body.</param>
/// <param name="body2">The second body.</param>
/// <param name="anchor1">The anchor point of the first body in world space.
/// The distance is given by the initial distance between both anchor points.</param>
/// <param name="anchor2">The anchor point of the second body in world space.
/// The distance is given by the initial distance between both anchor points.</param>
public PointOnPoint(RigidBody body1, RigidBody body2, JVector anchor)
: base(body1, body2)
{
JVector.Subtract(ref anchor, ref body1.position, out localAnchor1);
JVector.Subtract(ref anchor, ref body2.position, out localAnchor2);
JVector.Transform(ref localAnchor1, ref body1.invOrientation, out localAnchor1);
JVector.Transform(ref localAnchor2, ref body2.invOrientation, out localAnchor2);
}
public static bool ClosestPoints(ISupportMappable support1, ISupportMappable support2, ref JMatrix orientation1,
ref JMatrix orientation2, ref JVector position1, ref JVector position2,
out JVector p1, out JVector p2, out JVector normal)
{
VoronoiSimplexSolver simplexSolver = simplexSolverPool.GetNew();
simplexSolver.Reset();
p1 = p2 = JVector.Zero;
JVector r = position1 - position2;
JVector w, v;
JVector supVertexA;
JVector rn,vn;
rn = JVector.Negate(r);
SupportMapTransformed(support1, ref orientation1, ref position1, ref rn, out supVertexA);
JVector supVertexB;
SupportMapTransformed(support2, ref orientation2, ref position2, ref r, out supVertexB);
v = supVertexA - supVertexB;
normal = JVector.Zero;
int maxIter = 15;
float distSq = v.LengthSquared();
float epsilon = 0.00001f;
while ((distSq > epsilon) && (maxIter-- != 0))
{
vn = JVector.Negate(v);
SupportMapTransformed(support1, ref orientation1, ref position1, ref vn, out supVertexA);
SupportMapTransformed(support2, ref orientation2, ref position2, ref v, out supVertexB);
w = supVertexA - supVertexB;
if (!simplexSolver.InSimplex(w)) simplexSolver.AddVertex(w, supVertexA, supVertexB);
if (simplexSolver.Closest(out v))
{
distSq = v.LengthSquared();
normal = v;
}
else distSq = 0.0f;
}
simplexSolver.ComputePoints(out p1, out p2);
if (normal.LengthSquared() > JMath.Epsilon * JMath.Epsilon)
normal.Normalize();
simplexSolverPool.GiveBack(simplexSolver);
return true;
}
/// <summary>
/// Initializes a new instance of the DistanceConstraint class.
/// </summary>
/// <param name="body1">The first body.</param>
/// <param name="body2">The second body.</param>
/// <param name="anchor1">The anchor point of the first body in world space.
/// The distance is given by the initial distance between both anchor points.</param>
/// <param name="anchor2">The anchor point of the second body in world space.
/// The distance is given by the initial distance between both anchor points.</param>
public PointPointDistance(RigidBody body1, RigidBody body2, JVector anchor1,JVector anchor2)
: base(body1, body2)
{
JVector.Subtract(ref anchor1, ref body1.position, out localAnchor1);
JVector.Subtract(ref anchor2, ref body2.position, out localAnchor2);
JVector.Transform(ref localAnchor1, ref body1.invOrientation, out localAnchor1);
JVector.Transform(ref localAnchor2, ref body2.invOrientation, out localAnchor2);
distance = (anchor1 - anchor2).Length();
}
/// <summary>
/// Initializes a new instance of the WorldLineConstraint.
/// </summary>
/// <param name="body">The body of the constraint.</param>
/// <param name="localAnchor">The anchor point on the body in local (body)
/// coordinates.</param>
/// <param name="lineDirection">The axis defining the line in world space.</param>/param>
public PointOnLine(RigidBody body, JVector localAnchor, JVector lineDirection)
: base(body, null)
{
if (lineDirection.LengthSquared() == 0.0f)
throw new ArgumentException("Line direction can't be zero", "lineDirection");
localAnchor1 = localAnchor;
this.anchor = body.position + JVector.Transform(localAnchor, body.orientation);
this.lineNormal = lineDirection;
this.lineNormal.Normalize();
}
/// <summary>
/// Constraints a point on a body to be fixed on a line
/// which is fixed on another body.
/// </summary>
/// <param name="body1"></param>
/// <param name="body2"></param>
/// <param name="lineStartPointBody1"></param>
/// <param name="lineDirection"></param>
/// <param name="pointBody2"></param>
public PointOnLine(RigidBody body1, RigidBody body2,
JVector lineStartPointBody1, JVector pointBody2)
: base(body1,body2)
{
JVector.Subtract(ref lineStartPointBody1, ref body1.position, out localAnchor1);
JVector.Subtract(ref pointBody2, ref body2.position, out localAnchor2);
JVector.Transform(ref localAnchor1, ref body1.invOrientation, out localAnchor1);
JVector.Transform(ref localAnchor2, ref body2.invOrientation, out localAnchor2);
lineNormal = JVector.Normalize(lineStartPointBody1 - pointBody2);
}
/// <summary>
/// Initializes a new instance of the HingeJoint class.
/// </summary>
/// <param name="world">The world class where the constraints get added to.</param>
/// <param name="body1">The first body connected to the second one.</param>
/// <param name="body2">The second body connected to the first one.</param>
/// <param name="position">The position in world space where both bodies get connected.</param>
/// <param name="hingeAxis">The axis if the hinge.</param>
public HingeJoint(World world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis)
: base(world)
{
worldPointConstraint = new PointOnPoint[2];
hingeAxis *= 0.5f;
JVector pos1 = position; JVector.Add(ref pos1,ref hingeAxis,out pos1);
JVector pos2 = position; JVector.Subtract(ref pos2,ref hingeAxis,out pos2);
worldPointConstraint[0] = new PointOnPoint(body1,body2,pos1);
worldPointConstraint[1] = new PointOnPoint(body1,body2,pos2);
}
/// <summary>
/// SupportMapping. Finds the point in the shape furthest away from the given direction.
/// Imagine a plane with a normal in the search direction. Now move the plane along the normal
/// until the plane does not intersect the shape. The last intersection point is the result.
/// </summary>
/// <param name="direction">The direction.</param>
/// <param name="result">The result.</param>
public override void SupportMapping(ref JVector direction, out JVector result)
{
float maxDotProduct = float.MinValue;
int maxIndex = 0;
float dotProduct;
for (int i = 0; i < vertices.Count; i++)
{
dotProduct = JVector.Dot(vertices[i], direction);
if (dotProduct > maxDotProduct)
{
maxDotProduct = dotProduct;
maxIndex = i;
}
}
result = vertices[maxIndex] - this.shifted;
}
public static int[] Build(List<JVector> pointCloud, Approximation factor)
{
List<int> allIndices = new List<int>();
int steps = (int)factor;
for (int thetaIndex = 0; thetaIndex < steps; thetaIndex++)
{
// [0,PI]
float theta = JMath.Pi / (steps - 1) * thetaIndex;
float sinTheta = (float)Math.Sin(theta);
float cosTheta = (float)Math.Cos(theta);
for (int phiIndex = 0; phiIndex < steps; phiIndex++)
{
// [-PI,PI]
float phi = (2.0f * JMath.Pi) / (steps - 0) * phiIndex - JMath.Pi;
float sinPhi = (float)Math.Sin(phi);
float cosPhi = (float)Math.Cos(phi);
JVector dir = new JVector(sinTheta * cosPhi, cosTheta, sinTheta * sinPhi);
int index = FindExtremePoint(pointCloud, ref dir);
allIndices.Add(index);
}
}
allIndices.Sort();
for (int i = 1; i < allIndices.Count; i++)
{
if (allIndices[i - 1] == allIndices[i])
{ allIndices.RemoveAt(i - 1); i--; }
}
return allIndices.ToArray();
// or using 3.5 extensions
// return allIndices.Distinct().ToArray();
}
/// <summary>
/// Creates a matrix which rotates around the given axis by the given angle.
/// </summary>
/// <param name="axis">The axis.</param>
/// <param name="angle">The angle.</param>
/// <param name="result">The resulting rotation matrix</param>
#region public static void CreateFromAxisAngle(ref JVector axis, float angle, out JMatrix result)
public static void CreateFromAxisAngle(ref JVector axis, float angle, out JMatrix result)
{
float x = axis.X;
float y = axis.Y;
float z = axis.Z;
float num2 = (float)Math.Sin((double)angle);
float num = (float)Math.Cos((double)angle);
float num11 = x * x;
float num10 = y * y;
float num9 = z * z;
float num8 = x * y;
float num7 = x * z;
float num6 = y * z;
result.M11 = num11 + (num * (1f - num11));
result.M12 = (num8 - (num * num8)) + (num2 * z);
result.M13 = (num7 - (num * num7)) - (num2 * y);
result.M21 = (num8 - (num * num8)) - (num2 * z);
result.M22 = num10 + (num * (1f - num10));
result.M23 = (num6 - (num * num6)) + (num2 * x);
result.M31 = (num7 - (num * num7)) + (num2 * y);
result.M32 = (num6 - (num * num6)) - (num2 * x);
result.M33 = num9 + (num * (1f - num9));
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(ref JVector position, ref JMatrix orientation)
{
JVector.Subtract(ref Max, ref position, out Max);
JVector.Subtract(ref Min, ref position, out Min);
JVector center;
JVector.Add(ref Max, ref Min, out center);
center.X *= 0.5f; center.Y *= 0.5f; center.Z *= 0.5f;
JVector halfExtents;
JVector.Subtract(ref Max, ref Min, out halfExtents);
halfExtents.X *= 0.5f; halfExtents.Y *= 0.5f; halfExtents.Z *= 0.5f;
JVector.TransposedTransform(ref center, ref orientation, out center);
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
JVector.Add(ref center, ref halfExtents, out Max);
JVector.Subtract(ref center, ref halfExtents, out Min);
}
/// <summary> /// /// </summary> /// <param name="rayOrigin"></param> /// <param name="rayDelta"></param> /// <returns></returns> public abstract int Prepare(ref JVector rayOrigin, ref JVector rayDelta);
public bool RayIntersect(JVector origin, JVector direction)
{
return(RayIntersect(ref origin, ref direction));
}
/// <summary>
/// Checks whether a point is inside, outside or intersecting
/// a point.
/// </summary>
/// <param name="point">A point in space.</param>
/// <returns>The ContainmentType of the point.</returns>
public ContainmentType Contains(ref JVector point)
{
return ((((this.Min.X <= point.X) && (point.X <= this.Max.X)) &&
((this.Min.Y <= point.Y) && (point.Y <= this.Max.Y))) &&
((this.Min.Z <= point.Z) && (point.Z <= this.Max.Z))) ? ContainmentType.Contains : ContainmentType.Disjoint;
}
public void AddPoint(ref JVector point)
{
JVector.Max(ref this.Max, ref point, out this.Max);
JVector.Min(ref this.Min, ref point, out this.Min);
}
public static JBBox CreateFromPoints(JVector[] points)
{
JVector vector3 = new JVector(float.MaxValue);
JVector vector2 = new JVector(float.MinValue);
for (int i = 0; i < points.Length; i++)
{
JVector.Min(ref vector3, ref points[i], out vector3);
JVector.Max(ref vector2, ref points[i], out vector2);
}
return new JBBox(vector3, vector2);
}
/// <summary>
/// Translate all subshapes in the way that the center of mass is
/// in (0,0,0)
/// </summary>
private void DoShifting()
{
for (int i = 0; i < Shapes.Length; i++) shifted += Shapes[i].position;
shifted *= (1.0f / shapes.Length);
for (int i = 0; i < Shapes.Length; i++) Shapes[i].position -= shifted;
}
public void AddPoint(ref JVector point)
{
JVector.Max(ref this.Max, ref point, out this.Max);
JVector.Min(ref this.Min, ref point, out this.Min);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="min">The minimum point of the box.</param>
/// <param name="max">The maximum point of the box.</param>
public JBBox(JVector min, JVector max)
{
this.Min = min;
this.Max = max;
}
public void AddPoint(JVector point)
{
AddPoint(ref point);
}
/// <summary>
/// Checks whether a point is inside, outside or intersecting
/// a point.
/// </summary>
/// <param name="point">A point in space.</param>
/// <returns>The ContainmentType of the point.</returns>
public ContainmentType Contains(ref JVector point)
{
return(((((this.Min.X <= point.X) && (point.X <= this.Max.X)) &&
((this.Min.Y <= point.Y) && (point.Y <= this.Max.Y))) &&
((this.Min.Z <= point.Z) && (point.Z <= this.Max.Z))) ? ContainmentType.Contains : ContainmentType.Disjoint);
}
/// <summary>
/// Checks wether a point is within a box or not.
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public ContainmentType Contains(JVector point)
{
return(this.Contains(ref point));
}
/// <summary>
///
/// </summary>
/// <param name="rayOrigin"></param>
/// <param name="rayEnd"></param>
/// <returns></returns>
public override int Prepare(ref JVector rayOrigin, ref JVector rayEnd)
{
JBBox box = JBBox.SmallBox;
box.AddPoint(ref rayOrigin);
box.AddPoint(ref rayEnd);
return this.Prepare(ref box);
}
public bool RayIntersect(JVector origin, JVector direction)
{
return RayIntersect(ref origin, ref direction);
}
/// <summary>
/// SupportMapping. Finds the point in the shape furthest away from the given direction.
/// Imagine a plane with a normal in the search direction. Now move the plane along the normal
/// until the plane does not intersect the shape. The last intersection point is the result.
/// </summary>
/// <param name="direction">The direction.</param>
/// <param name="result">The result.</param>
public override void SupportMapping(ref JVector direction, out JVector result)
{
JVector.Transform(ref direction, ref shapes[currentShape].invOrientation, out result);
shapes[currentShape].Shape.SupportMapping(ref direction, out result);
JVector.Transform(ref result, ref shapes[currentShape].orientation, out result);
JVector.Add(ref result, ref shapes[currentShape].position, out result);
}
public bool SegmentIntersect(JVector origin, JVector direction)
{
return SegmentIntersect(ref origin, ref direction);
}
/// <summary>
/// Creates a new instance of the TransformedShape struct.
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="orientation">The orientation this shape should have.</param>
/// <param name="position">The position this shape should have.</param>
public TransformedShape(Shape shape, JMatrix orientation, JVector position)
{
this.position = position;
this.orientation = orientation;
JMatrix.Transpose(ref orientation, out invOrientation);
this.shape = shape;
this.boundingBox = new JBBox();
UpdateBoundingBox();
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(ref JVector position, ref JMatrix orientation)
{
JVector.Subtract(ref Max, ref position, out Max);
JVector.Subtract(ref Min, ref position, out Min);
JVector center;
JVector.Add(ref Max, ref Min, out center);
center.X *= 0.5f; center.Y *= 0.5f; center.Z *= 0.5f;
JVector halfExtents;
JVector.Subtract(ref Max, ref Min, out halfExtents);
halfExtents.X *= 0.5f; halfExtents.Y *= 0.5f; halfExtents.Z *= 0.5f;
JVector.TransposedTransform(ref center, ref orientation, out center);
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
JVector.Add(ref center, ref halfExtents, out Max);
JVector.Subtract(ref center, ref halfExtents, out Min);
}
public void AddPoint(JVector point)
{
AddPoint(ref point);
}
/// <summary>
/// Creates a matrix which rotates around the given axis by the given angle.
/// </summary>
/// <param name="axis">The axis.</param>
/// <param name="angle">The angle.</param>
/// <returns>The resulting rotation matrix</returns>
public static JMatrix CreateFromAxisAngle(JVector axis, float angle)
{
JMatrix result; CreateFromAxisAngle(ref axis, angle, out result);
return result;
}
/// <summary>
/// Checks wether a point is within a box or not.
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public ContainmentType Contains(JVector point)
{
return this.Contains(ref point);
}
public bool UpdateClosestVectorAndPoints()
{
if (_needsUpdate)
{
_cachedBC.Reset();
_needsUpdate = false;
JVector p, a, b, c, d;
switch (NumVertices)
{
case 0:
_cachedValidClosest = false;
break;
case 1:
_cachedPA = _simplexPointsP[0];
_cachedPB = _simplexPointsQ[0];
_cachedV = _cachedPA - _cachedPB;
_cachedBC.Reset();
_cachedBC.SetBarycentricCoordinates(1f, 0f, 0f, 0f);
_cachedValidClosest = _cachedBC.IsValid;
break;
case 2:
//closest point origin from line segment
JVector from = _simplexVectorW[0];
JVector to = _simplexVectorW[1];
JVector nearest;
JVector diff = from * (-1);
JVector v = to - from;
float t = JVector.Dot(v, diff);
if (t > 0)
{
float dotVV = v.LengthSquared();
if (t < dotVV)
{
t /= dotVV;
diff -= t * v;
_cachedBC.UsedVertices.UsedVertexA = true;
_cachedBC.UsedVertices.UsedVertexB = true;
}
else
{
t = 1;
diff -= v;
//reduce to 1 point
_cachedBC.UsedVertices.UsedVertexB = true;
}
}
else
{
t = 0;
//reduce to 1 point
_cachedBC.UsedVertices.UsedVertexA = true;
}
_cachedBC.SetBarycentricCoordinates(1 - t, t, 0, 0);
nearest = from + t * v;
_cachedPA = _simplexPointsP[0] + t * (_simplexPointsP[1] - _simplexPointsP[0]);
_cachedPB = _simplexPointsQ[0] + t * (_simplexPointsQ[1] - _simplexPointsQ[0]);
_cachedV = _cachedPA - _cachedPB;
ReduceVertices(_cachedBC.UsedVertices);
_cachedValidClosest = _cachedBC.IsValid;
break;
case 3:
//closest point origin from triangle
p = new JVector();
a = _simplexVectorW[0];
b = _simplexVectorW[1];
c = _simplexVectorW[2];
ClosestPtPointTriangle(p, a, b, c, ref _cachedBC);
_cachedPA = _simplexPointsP[0] * _cachedBC.BarycentricCoords[0] +
_simplexPointsP[1] * _cachedBC.BarycentricCoords[1] +
_simplexPointsP[2] * _cachedBC.BarycentricCoords[2] +
_simplexPointsP[3] * _cachedBC.BarycentricCoords[3];
_cachedPB = _simplexPointsQ[0] * _cachedBC.BarycentricCoords[0] +
_simplexPointsQ[1] * _cachedBC.BarycentricCoords[1] +
_simplexPointsQ[2] * _cachedBC.BarycentricCoords[2]+
_simplexPointsQ[3] * _cachedBC.BarycentricCoords[3];
_cachedV = _cachedPA - _cachedPB;
ReduceVertices(_cachedBC.UsedVertices);
_cachedValidClosest = _cachedBC.IsValid;
break;
case 4:
p = new JVector();
a = _simplexVectorW[0];
b = _simplexVectorW[1];
c = _simplexVectorW[2];
d = _simplexVectorW[3];
bool hasSeperation = ClosestPtPointTetrahedron(p, a, b, c, d, ref _cachedBC);
if (hasSeperation)
{
_cachedPA = _simplexPointsP[0] * _cachedBC.BarycentricCoords[0] +
_simplexPointsP[1] * _cachedBC.BarycentricCoords[1] +
_simplexPointsP[2] * _cachedBC.BarycentricCoords[2] +
_simplexPointsP[3] * _cachedBC.BarycentricCoords[3];
_cachedPB = _simplexPointsQ[0] * _cachedBC.BarycentricCoords[0] +
_simplexPointsQ[1] * _cachedBC.BarycentricCoords[1] +
_simplexPointsQ[2] * _cachedBC.BarycentricCoords[2] +
_simplexPointsQ[3] * _cachedBC.BarycentricCoords[3];
_cachedV = _cachedPA - _cachedPB;
ReduceVertices(_cachedBC.UsedVertices);
}
else
{
if (_cachedBC.Degenerate)
{
_cachedValidClosest = false;
}
else
{
_cachedValidClosest = true;
//degenerate case == false, penetration = true + zero
_cachedV.X = _cachedV.Y = _cachedV.Z = 0f;
}
break; // !!!!!!!!!!!! proverit na vsakiy sluchai
}
_cachedValidClosest = _cachedBC.IsValid;
//closest point origin from tetrahedron
break;
default:
_cachedValidClosest = false;
break;
}
}
return _cachedValidClosest;
}
public void GetCorners(JVector[] corners)
{
corners[0].Set(this.Min.X, this.Max.Y, this.Max.Z);
corners[1].Set(this.Max.X, this.Max.Y, this.Max.Z);
corners[2].Set(this.Max.X, this.Min.Y, this.Max.Z);
corners[3].Set(this.Min.X, this.Min.Y, this.Max.Z);
corners[4].Set(this.Min.X, this.Max.Y, this.Min.Z);
corners[5].Set(this.Max.X, this.Max.Y, this.Min.Z);
corners[6].Set(this.Max.X, this.Min.Y, this.Min.Z);
corners[7].Set(this.Min.X, this.Min.Y, this.Min.Z);
}
public bool SegmentIntersect(JVector origin, JVector direction)
{
return(SegmentIntersect(ref origin, ref direction));
}
public bool SegmentIntersect(ref JVector origin,ref JVector direction)
{
float enter = 0.0f, exit = 1.0f;
if (!Intersect1D(origin.X, direction.X, Min.X, Max.X,ref enter,ref exit))
return false;
if (!Intersect1D(origin.Y, direction.Y, Min.Y, Max.Y, ref enter, ref exit))
return false;
if (!Intersect1D(origin.Z, direction.Z, Min.Z, Max.Z,ref enter,ref exit))
return false;
return true;
}
public bool InSimplex(JVector w)
{
//check in case lastW is already removed
if (w == _lastW) return true;
//w is in the current (reduced) simplex
int numverts = NumVertices;
for (int i = 0; i < numverts; i++)
if (_simplexVectorW[i] == w) return true;
return false;
}
public void Transform(ref JMatrix orientation)
{
JVector halfExtents = 0.5f * (Max - Min);
JVector center = 0.5f * (Max + Min);
JVector.Transform(ref center, ref orientation, out center);
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector.Transform(ref halfExtents, ref abs, out halfExtents);
Max = center + halfExtents;
Min = center - halfExtents;
}
/// Test if point p and d lie on opposite sides of plane through abc
public int PointOutsideOfPlane(JVector p, JVector a, JVector b, JVector c, JVector d)
{
JVector normal = JVector.Cross(b - a, c - a);
float signp = JVector.Dot(p - a, normal); // [AP AB AC]
float signd = JVector.Dot(d - a, normal); // [AD AB AC]
//if (CatchDegenerateTetrahedron)
if (signd * signd < (1e-4f * 1e-4f)) return -1;
// Points on opposite sides if expression signs are opposite
return signp * signd < 0f ? 1 : 0;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="min">The minimum point of the box.</param>
/// <param name="max">The maximum point of the box.</param>
public JBBox(JVector min, JVector max)
{
this.Min = min;
this.Max = max;
}
public void Reset()
{
_cachedValidClosest = false;
_numVertices = 0;
_needsUpdate = true;
_lastW = new JVector(1e30f, 1e30f, 1e30f);
_cachedBC.Reset();
}