Interface IConvexShape

Namespace

BepuPhysics.Collidables

Assembly

BepuPhysics.dll

Defines functions available on all convex shapes. Convex shapes have no hollowed out regions; any line passing through a convex shape will never enter and exit more than once.

public interface IConvexShape : IShape

Inherited Members

IShape.TypeId

IShape.CreateShapeBatch(BufferPool, int, Shapes)

Methods

ComputeAngularExpansionData(out float, out float)

Computes information about how the bounding box should be expanded in response to angular velocity.

void ComputeAngularExpansionData(out float maximumRadius, out float maximumAngularExpansion)

Parameters

maximumRadius float

maximumAngularExpansion float

Remarks

This is typically used in the engine for predicting bounding boxes at the beginning of the frame. Velocities are used to expand the bounding box so that likely future collisions will be detected. Linear velocity expands the bounding box in a direct and simple way, but angular expansion requires more information about the shape. Imagine a long and thin capsule versus a sphere: high angular velocity may require significant expansion on the capsule, but spheres are rotationally invariant.

ComputeBounds(Quaternion, out Vector3, out Vector3)

Computes the bounding box of a shape given an orientation.

void ComputeBounds(Quaternion orientation, out Vector3 min, out Vector3 max)

Parameters

orientation Quaternion

Orientation of the shape to use when computing the bounding box.

min Vector3

Minimum corner of the bounding box.

max Vector3

Maximum corner of the bounding box.

ComputeInertia(float)

Computes the inertia for a body given a mass.

BodyInertia ComputeInertia(float mass)

Parameters

mass float

Mass to use to compute the body's inertia.

Returns

BodyInertia

Inertia for the body.

Remarks

Note that the BodyInertia returned by this stores the inverse mass and inverse inertia tensor. This is because the most high frequency use of body inertia most naturally uses the inverse.

RayTest(in RigidPose, Vector3, Vector3, out float, out Vector3)

Tests a ray against the shape.

bool RayTest(in RigidPose pose, Vector3 origin, Vector3 direction, out float t, out Vector3 normal)

Parameters

pose RigidPose

Pose of the shape during the ray test.

origin Vector3

Origin of the ray to test against the shape relative to the shape.

direction Vector3

Direction of the ray to test against the shape.

t float

Distance along the ray direction to the hit point, if any, in units of the ray direction's length. In other words, hitLocation = origin + direction * t.

normal Vector3

Normal of the impact surface, if any.

Returns

bool

True if the ray intersected the shape, false otherwise.