|
public GetExtremePoint ( Vector3 direction, |
||
| direction | Vector3 | Direction to find the extreme point in. |
| shapeTransform | Transform to use for the shape. | |
| extremePoint | Vector3 | Extreme point on the shape. |
| Результат | void | |
public void GetExtremePoint(Vector3 direction, ref RigidTransform shapeTransform, out Vector3 extremePoint)
{
GetExtremePointWithoutMargin(direction, ref shapeTransform, out extremePoint);
float directionLength = direction.LengthSquared();
if (directionLength > Toolbox.Epsilon)
{
Vector3.Multiply(ref direction, collisionMargin / (float)Math.Sqrt(directionLength), out direction);
Vector3.Add(ref extremePoint, ref direction, out extremePoint);
}
}
static void GetSweptExtremePoint(ConvexShape shape, ref Vector3 point, ref Vector3 sweep, ref Vector3 extremePointDirection, out Vector3 extremePoint)
{
shape.GetExtremePoint(extremePointDirection, ref Toolbox.RigidIdentity, out extremePoint);
Vector3.Subtract(ref extremePoint, ref point, out extremePoint);
float dot;
Vector3.Dot(ref extremePointDirection, ref sweep, out dot);
if (dot > 0)
{
Vector3.Add(ref extremePoint, ref sweep, out extremePoint);
}
}
