public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec0)
{
Vector3 supVec = new Vector3();
Vector3 vec = vec0;
float lenSqr = vec.LengthSquared();
if (lenSqr < 0.0001f)
{
vec = new Vector3(1, 0, 0);
}
else
{
float rlen = 1f / (float)Math.Sqrt(lenSqr);
vec *= rlen;
}
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(vec);
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
_stridingMesh.InternalProcessAllTriangles(supportCallback, -aabbMax, aabbMax);
supVec = supportCallback.SupportVertexLocal;
return(supVec);
}
public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
{
//use 'w' component of supportVerticesOut?
/*{
* for (int i = 0; i < numVectors; i++)
* {
* supportVerticesOut[i][3] = -1e30f;
* }
* }*/
for (int j = 0; j < vectors.Length; j++)
{
Vector3 vec = vectors[j];
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(vec);
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
_stridingMesh.InternalProcessAllTriangles(supportCallback, -aabbMax, aabbMax);
supportVerticesOut[j] = supportCallback.SupportVertexLocal;
}
}
public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
{
//use 'w' component of supportVerticesOut?
/*{
for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i][3] = -1e30f;
}
}*/
for (int j = 0; j < vectors.Length; j++)
{
Vector3 vec = vectors[j];
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(vec);
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
_stridingMesh.InternalProcessAllTriangles(supportCallback, -aabbMax, aabbMax);
supportVerticesOut[j] = supportCallback.SupportVertexLocal;
}
}
public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec0)
{
Vector3 supVec = new Vector3();
Vector3 vec = vec0;
float lenSqr = vec.LengthSquared();
if (lenSqr < 0.0001f)
{
vec = new Vector3(1, 0, 0);
}
else
{
float rlen = 1f / (float)Math.Sqrt(lenSqr);
vec *= rlen;
}
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(vec);
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
_stridingMesh.InternalProcessAllTriangles(supportCallback, -aabbMax, aabbMax);
supVec = supportCallback.SupportVertexLocal;
return supVec;
}