Interface ISupportFinder<TShape, TShapeWide>

Namespace

BepuPhysics.CollisionDetection

Assembly

BepuPhysics.dll

public interface ISupportFinder<TShape, TShapeWide> where TShape : IConvexShape where TShapeWide : IShapeWide<TShape>

Type Parameters

TShape

TShapeWide

Properties

HasMargin

Gets whether the support finder is sampling a shape with a spherical margin that should be applied after a solution is found for the core shape.

bool HasMargin { get; }

Property Value

bool

Methods

ComputeLocalSupport(in TShapeWide, in Vector3Wide, in Vector<int>, out Vector3Wide)

void ComputeLocalSupport(in TShapeWide shape, in Vector3Wide direction, in Vector<int> terminatedLanes, out Vector3Wide support)

Parameters

shape TShapeWide

direction Vector3Wide

terminatedLanes Vector<int>

support Vector3Wide

ComputeSupport(in TShapeWide, in Matrix3x3Wide, in Vector3Wide, in Vector<int>, out Vector3Wide)

void ComputeSupport(in TShapeWide shape, in Matrix3x3Wide orientation, in Vector3Wide direction, in Vector<int> terminatedLanes, out Vector3Wide support)

Parameters

shape TShapeWide

orientation Matrix3x3Wide

direction Vector3Wide

terminatedLanes Vector<int>

support Vector3Wide

GetMargin(in TShapeWide, out Vector<float>)

Margin associated with the shape according to this support finder.

void GetMargin(in TShapeWide shape, out Vector<float> margin)

Parameters

shape TShapeWide

Shape to find the margin of.

margin Vector<float>

Margin of the shape.