Class DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>

Namespace

BepuPhysics.CollisionDetection

Assembly

BepuPhysics.dll

Incrementally refines a sample direction to approach a local minimum depth between two convex bodies.

public static class DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB> where TShapeA : IConvexShape where TShapeWideA : IShapeWide<TShapeA> where TSupportFinderA : ISupportFinder<TShapeA, TShapeWideA> where TShapeB : IConvexShape where TShapeWideB : IShapeWide<TShapeB> where TSupportFinderB : ISupportFinder<TShapeB, TShapeWideB>

Type Parameters

TShapeA

Type of the first shape.

TShapeWideA

SIMD type of the first shape.

TSupportFinderA

Type providing support sampling for the first shape.

TShapeB

Type of the second shape.

TShapeWideB

SIMD type of the second shape.

TSupportFinderB

Type providing support sampling for the second shape.

Inheritance

object

DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

The DepthRefiner implements a Tootbird search: an incremental algorithm that takes steps towards the Tootbird. The Tootbird is the origin projected on the support plane of the best(lowest depth) support direction observed so far. This uses a simplex that updates with rules similar to a simplified version of GJK.The Tootbird is definitionally not inside the minkowski sum.

Methods

Create(in Vector3Wide, in Vector3Wide, out Simplex)

public static void Create(in Vector3Wide normal, in Vector3Wide support, out DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.Simplex simplex)

Parameters

normal Vector3Wide

support Vector3Wide

simplex DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.Simplex

Create(in Vector3Wide, in Vector3Wide, in Vector3Wide, out SimplexWithWitness)

public static void Create(in Vector3Wide normal, in Vector3Wide support, in Vector3Wide supportOnA, out DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.SimplexWithWitness simplex)

Parameters

normal Vector3Wide

support Vector3Wide

supportOnA Vector3Wide

simplex DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.SimplexWithWitness

FindMinimumDepth(in TShapeWideA, in TShapeWideB, in Vector3Wide, in Matrix3x3Wide, ref TSupportFinderA, ref TSupportFinderB, ref Simplex, in Vector3Wide, in Vector<float>, in Vector<int>, in Vector<float>, in Vector<float>, out Vector<float>, out Vector3Wide, int)

public static void FindMinimumDepth(in TShapeWideA a, in TShapeWideB b, in Vector3Wide localOffsetB, in Matrix3x3Wide localOrientationB, ref TSupportFinderA supportFinderA, ref TSupportFinderB supportFinderB, ref DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.Simplex simplex, in Vector3Wide initialNormal, in Vector<float> initialDepth, in Vector<int> inactiveLanes, in Vector<float> convergenceThreshold, in Vector<float> minimumDepthThreshold, out Vector<float> refinedDepth, out Vector3Wide refinedNormal, int maximumIterations = 50)

Parameters

a TShapeWideA

b TShapeWideB

localOffsetB Vector3Wide

localOrientationB Matrix3x3Wide

supportFinderA TSupportFinderA

supportFinderB TSupportFinderB

simplex DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.Simplex

initialNormal Vector3Wide

initialDepth Vector<float>

inactiveLanes Vector<int>

convergenceThreshold Vector<float>

minimumDepthThreshold Vector<float>

refinedDepth Vector<float>

refinedNormal Vector3Wide

maximumIterations int

FindMinimumDepth(in TShapeWideA, in TShapeWideB, in Vector3Wide, in Matrix3x3Wide, ref TSupportFinderA, ref TSupportFinderB, ref SimplexWithWitness, in Vector3Wide, in Vector<float>, in Vector<int>, in Vector<float>, in Vector<float>, out Vector<float>, out Vector3Wide, out Vector3Wide, int)

public static void FindMinimumDepth(in TShapeWideA a, in TShapeWideB b, in Vector3Wide localOffsetB, in Matrix3x3Wide localOrientationB, ref TSupportFinderA supportFinderA, ref TSupportFinderB supportFinderB, ref DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.SimplexWithWitness simplex, in Vector3Wide initialNormal, in Vector<float> initialDepth, in Vector<int> inactiveLanes, in Vector<float> convergenceThreshold, in Vector<float> minimumDepthThreshold, out Vector<float> refinedDepth, out Vector3Wide refinedNormal, out Vector3Wide witnessOnA, int maximumIterations = 50)

Parameters

a TShapeWideA

b TShapeWideB

localOffsetB Vector3Wide

localOrientationB Matrix3x3Wide

supportFinderA TSupportFinderA

supportFinderB TSupportFinderB

simplex DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>.SimplexWithWitness

initialNormal Vector3Wide

initialDepth Vector<float>

inactiveLanes Vector<int>

convergenceThreshold Vector<float>

minimumDepthThreshold Vector<float>

refinedDepth Vector<float>

refinedNormal Vector3Wide

witnessOnA Vector3Wide

maximumIterations int

FindMinimumDepth(in TShapeWideA, in TShapeWideB, in Vector3Wide, in Matrix3x3Wide, ref TSupportFinderA, ref TSupportFinderB, in Vector3Wide, in Vector<int>, in Vector<float>, in Vector<float>, out Vector<float>, out Vector3Wide, out Vector3Wide, int)

public static void FindMinimumDepth(in TShapeWideA a, in TShapeWideB b, in Vector3Wide localOffsetB, in Matrix3x3Wide localOrientationB, ref TSupportFinderA supportFinderA, ref TSupportFinderB supportFinderB, in Vector3Wide initialNormal, in Vector<int> inactiveLanes, in Vector<float> searchEpsilon, in Vector<float> minimumDepthThreshold, out Vector<float> depth, out Vector3Wide refinedNormal, out Vector3Wide witnessOnA, int maximumIterations = 25)

Parameters

a TShapeWideA

b TShapeWideB

localOffsetB Vector3Wide

localOrientationB Matrix3x3Wide

supportFinderA TSupportFinderA

supportFinderB TSupportFinderB

initialNormal Vector3Wide

inactiveLanes Vector<int>

searchEpsilon Vector<float>

minimumDepthThreshold Vector<float>

depth Vector<float>

refinedNormal Vector3Wide

witnessOnA Vector3Wide

maximumIterations int

FindMinimumDepth(in TShapeWideA, in TShapeWideB, in Vector3Wide, in Matrix3x3Wide, ref TSupportFinderA, ref TSupportFinderB, in Vector3Wide, in Vector<int>, in Vector<float>, in Vector<float>, out Vector<float>, out Vector3Wide, int)

public static void FindMinimumDepth(in TShapeWideA a, in TShapeWideB b, in Vector3Wide localOffsetB, in Matrix3x3Wide localOrientationB, ref TSupportFinderA supportFinderA, ref TSupportFinderB supportFinderB, in Vector3Wide initialNormal, in Vector<int> inactiveLanes, in Vector<float> searchEpsilon, in Vector<float> minimumDepthThreshold, out Vector<float> depth, out Vector3Wide refinedNormal, int maximumIterations = 25)

Parameters

a TShapeWideA

b TShapeWideB

localOffsetB Vector3Wide

localOrientationB Matrix3x3Wide

supportFinderA TSupportFinderA

supportFinderB TSupportFinderB

initialNormal Vector3Wide

inactiveLanes Vector<int>

searchEpsilon Vector<float>

minimumDepthThreshold Vector<float>

depth Vector<float>

refinedNormal Vector3Wide

maximumIterations int

FindSupport(in TShapeWideA, in TShapeWideB, in Vector3Wide, in Matrix3x3Wide, ref TSupportFinderA, ref TSupportFinderB, in Vector3Wide, in Vector<int>, out Vector3Wide)

public static void FindSupport(in TShapeWideA a, in TShapeWideB b, in Vector3Wide localOffsetB, in Matrix3x3Wide localOrientationB, ref TSupportFinderA supportFinderA, ref TSupportFinderB supportFinderB, in Vector3Wide direction, in Vector<int> terminatedLanes, out Vector3Wide support)

Parameters

a TShapeWideA

b TShapeWideB

localOffsetB Vector3Wide

localOrientationB Matrix3x3Wide

supportFinderA TSupportFinderA

supportFinderB TSupportFinderB

direction Vector3Wide

terminatedLanes Vector<int>

support Vector3Wide

FindSupport(in TShapeWideA, in TShapeWideB, in Vector3Wide, in Matrix3x3Wide, ref TSupportFinderA, ref TSupportFinderB, in Vector3Wide, in Vector<int>, out Vector3Wide, out Vector3Wide)

public static void FindSupport(in TShapeWideA a, in TShapeWideB b, in Vector3Wide localOffsetB, in Matrix3x3Wide localOrientationB, ref TSupportFinderA supportFinderA, ref TSupportFinderB supportFinderB, in Vector3Wide direction, in Vector<int> terminatedLanes, out Vector3Wide support, out Vector3Wide supportOnA)

Parameters

a TShapeWideA

b TShapeWideB

localOffsetB Vector3Wide

localOrientationB Matrix3x3Wide

supportFinderA TSupportFinderA

supportFinderB TSupportFinderB

direction Vector3Wide

terminatedLanes Vector<int>

support Vector3Wide

supportOnA Vector3Wide