Class FixedConvexHullRelations

Namespace

FixedMathSharp.Geometry

Assembly

FixedMathSharp.dll

Provides full-domain relations for rigidly transformed 3D convex hulls.

public static class FixedConvexHullRelations

Inheritance

object

FixedConvexHullRelations

Inherited Members

object.GetType()

object.MemberwiseClone()

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

Methods

ContainsPoint(Vector3d, FixedQuaternion, ReadOnlySpan<Vector3d>, ReadOnlySpan<int>, Vector3d, FixedPointAnchor)

Tests whether a point lies in or on a closed convex hull. The supplied interior point determines the accepted side of consistently wound faces.

public static bool ContainsPoint(Vector3d hullOrigin, FixedQuaternion hullRotation, ReadOnlySpan<Vector3d> hullLocalPoints, ReadOnlySpan<int> triangleVertexIndices, Vector3d hullInteriorLocalPoint, FixedPointAnchor point)

Parameters

hullOrigin Vector3d

hullRotation FixedQuaternion

hullLocalPoints ReadOnlySpan<Vector3d>

triangleVertexIndices ReadOnlySpan<int>

hullInteriorLocalPoint Vector3d

point FixedPointAnchor

Returns

bool

TryGetCenteredCapsuleContact(Vector3d, FixedQuaternion, ReadOnlySpan<Vector3d>, ReadOnlySpan<int>, ReadOnlySpan<int>, Vector3d, FixedQuaternion, Vector3d, Fixed64, Fixed64, out FixedContactAnchors)

Attempts to obtain the minimum-translation contact between a rigidly transformed convex hull and a centered capsule.

public static bool TryGetCenteredCapsuleContact(Vector3d hullOrigin, FixedQuaternion hullRotation, ReadOnlySpan<Vector3d> hullLocalPoints, ReadOnlySpan<int> triangleVertexIndices, ReadOnlySpan<int> edgeVertexPairs, Vector3d capsuleCenter, FixedQuaternion capsuleRotation, Vector3d capsuleLocalAxisDirection, Fixed64 capsuleAxisLength, Fixed64 capsuleRadius, out FixedContactAnchors contact)

Parameters

hullOrigin Vector3d

hullRotation FixedQuaternion

hullLocalPoints ReadOnlySpan<Vector3d>

triangleVertexIndices ReadOnlySpan<int>

edgeVertexPairs ReadOnlySpan<int>

capsuleCenter Vector3d

capsuleRotation FixedQuaternion

capsuleLocalAxisDirection Vector3d

capsuleAxisLength Fixed64

capsuleRadius Fixed64

contact FixedContactAnchors

Returns

bool

Remarks

The returned normal points from the hull toward the capsule. Hull points remain in their canonical local frame throughout the exact SAT. Face and edge indices must describe the convex hull's complete boundary; structural validation checks indices, not convexity or topology completeness. A zero-length capsule core is a sphere, including volume containment.

TryGetContact(Vector3d, FixedQuaternion, ReadOnlySpan<Vector3d>, ReadOnlySpan<int>, ReadOnlySpan<int>, Vector3d, FixedQuaternion, ReadOnlySpan<Vector3d>, ReadOnlySpan<int>, ReadOnlySpan<int>, out FixedContactAnchors)

Attempts to obtain the minimum-translation contact between two rigidly transformed convex hulls.

public static bool TryGetContact(Vector3d firstOrigin, FixedQuaternion firstRotation, ReadOnlySpan<Vector3d> firstLocalPoints, ReadOnlySpan<int> firstTriangleVertexIndices, ReadOnlySpan<int> firstEdgeVertexPairs, Vector3d secondOrigin, FixedQuaternion secondRotation, ReadOnlySpan<Vector3d> secondLocalPoints, ReadOnlySpan<int> secondTriangleVertexIndices, ReadOnlySpan<int> secondEdgeVertexPairs, out FixedContactAnchors contact)

Parameters

firstOrigin Vector3d

firstRotation FixedQuaternion

firstLocalPoints ReadOnlySpan<Vector3d>

firstTriangleVertexIndices ReadOnlySpan<int>

firstEdgeVertexPairs ReadOnlySpan<int>

secondOrigin Vector3d

secondRotation FixedQuaternion

secondLocalPoints ReadOnlySpan<Vector3d>

secondTriangleVertexIndices ReadOnlySpan<int>

secondEdgeVertexPairs ReadOnlySpan<int>

contact FixedContactAnchors

Returns

bool