Class ConvexHullHelper

Namespace

BepuPhysics.Collidables

Assembly

BepuPhysics.dll

Helper methods to create and process convex hulls from point clouds.

public static class ConvexHullHelper

Inheritance

object

ConvexHullHelper

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

ComputeHull(Span<Vector3>, BufferPool, out HullData)

Computes the convex hull of a set of points.

public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullData hullData)

Parameters

points Span<Vector3>

Point set to compute the convex hull of.

pool BufferPool

Buffer pool to pull memory from when creating the hull.

hullData HullData

Convex hull of the input point set.

CreateShape(Span<Vector3>, HullData, BufferPool, out Vector3, out ConvexHull)

Processes hull data into a runtime usable convex hull shape. Recenters the convex hull's points around its center of mass.

public static bool CreateShape(Span<Vector3> points, HullData hullData, BufferPool pool, out Vector3 center, out ConvexHull hullShape)

Parameters

points Span<Vector3>

Point array into which the hull data indexes.

hullData HullData

Raw input data to process.

pool BufferPool

Pool used to allocate resources for the hullShape.

center Vector3

Computed center of mass of the convex hull before its points were recentered onto the origin.

hullShape ConvexHull

Convex hull shape created from the input data.

Returns

bool

True if the shape was created successfully, false otherwise. If false, the hull probably had no volume and would not have worked properly as a shape.

CreateShape(Span<Vector3>, BufferPool, out HullData, out Vector3, out ConvexHull)

Creates a convex hull shape out of an input point set. Recenters the convex hull's points around its center of mass.

public static bool CreateShape(Span<Vector3> points, BufferPool pool, out HullData hullData, out Vector3 center, out ConvexHull convexHull)

Parameters

points Span<Vector3>

Points to use to create the hull.

pool BufferPool

Buffer pool used for temporary allocations and the output data structures.

hullData HullData

Intermediate hull data that got processed into the convex hull.

center Vector3

Computed center of mass of the convex hull before its points were recentered onto the origin.

convexHull ConvexHull

Convex hull shape of the input point set.

Returns

bool

True if the shape was created successfully, false otherwise. If false, the hull probably had no volume and would not have worked properly as a shape.

CreateShape(Span<Vector3>, BufferPool, out Vector3, out ConvexHull)

Creates a convex hull shape out of an input point set. Recenters the convex hull's points around its center of mass.

public static bool CreateShape(Span<Vector3> points, BufferPool pool, out Vector3 center, out ConvexHull convexHull)

Parameters

points Span<Vector3>

Points to use to create the hull.

pool BufferPool

Buffer pool used for temporary allocations and the output data structures.

center Vector3

Computed center of mass of the convex hull before its points were recentered onto the origin.

convexHull ConvexHull

Convex hull shape of the input point set.

Returns

bool

True if the shape was created successfully, false otherwise. If false, the hull probably had no volume and would not have worked properly as a shape.

CreateTransformedCopy(in ConvexHull, in Matrix3x3, BufferPool, out ConvexHull)

Creates a transformed copy of a convex hull. Unique FaceVertexIndices and FaceToVertexIndicesStart buffers are allocated for the copy target.

public static void CreateTransformedCopy(in ConvexHull source, in Matrix3x3 transform, BufferPool pool, out ConvexHull target)

Parameters

source ConvexHull

Source convex hull to copy.

transform Matrix3x3

Transform to apply to the hull points.

pool BufferPool

Pool from which to allocate the new hull's buffers.

target ConvexHull

Target convex hull to copy into.

CreateTransformedCopy(in ConvexHull, in Matrix3x3, Buffer<Vector3Wide>, Buffer<HullBoundingPlanes>)

Creates a transformed copy of a convex hull.

public static void CreateTransformedCopy(in ConvexHull source, in Matrix3x3 transform, Buffer<Vector3Wide> targetPoints, Buffer<HullBoundingPlanes> targetBoundingPlanes)

Parameters

source ConvexHull

Source convex hull to copy.

transform Matrix3x3

Transform to apply to the hull points.

targetPoints Buffer<Vector3Wide>

Transformed points in the copy target hull.

targetBoundingPlanes Buffer<HullBoundingPlanes>

Transformed bounding planes in the copy target hull.

CreateTransformedShallowCopy(in ConvexHull, in Matrix3x3, BufferPool, out ConvexHull)

Creates a transformed copy of a convex hull. FaceVertexIndices and FaceToVertexIndicesStart buffers from the source are reused in the copy target. Note that disposing two convex hulls with the same buffers will cause errors; disposal must be handled carefully to avoid double freeing the shared buffers.

public static void CreateTransformedShallowCopy(in ConvexHull source, in Matrix3x3 transform, BufferPool pool, out ConvexHull target)

Parameters

source ConvexHull

Source convex hull to copy.

transform Matrix3x3

Transform to apply to the hull points.

pool BufferPool

Pool from which to allocate the new hull's points and bounding planes buffers.

target ConvexHull

Target convex hull to copy into. FaceVertexIndices and FaceToVertexIndicesStart buffers are reused from the source.