| public static ExpandMinkowskiSum ( float marginA, float marginB, System.Vector3 &direction, System.Vector3 &contribution ) : void | ||
| marginA | float | First margin. |
| marginB | float | Second margin. |
| direction | System.Vector3 | Extreme point direction. |
| contribution | System.Vector3 | Margin contribution to the extreme point. |
| Результат | void | |
public static void ExpandMinkowskiSum(float marginA, float marginB, ref Vector3 direction, out Vector3 contribution)
{
float lengthSquared = direction.LengthSquared();
if (lengthSquared > Toolbox.Epsilon)
{
//The contribution to the minkowski sum by the margin is:
//direction * marginA - (-direction) * marginB.
Vector3.Multiply(ref direction, (marginA + marginB) / (float)Math.Sqrt(lengthSquared), out contribution);
}
else
{
contribution = new Vector3();
}
}
| MinkowskiToolbox::ExpandMinkowskiSum ( float marginA, float marginB, System.Vector3 direction, System.Vector3 &toExpandA, System.Vector3 &toExpandB ) : void |
