Struct ConvexHullBuilder

Convex hull builder.

Namespace: Unity.Physics

Syntax

public struct ConvexHullBuilder : IDisposable

Constructors

ConvexHullBuilder(Int32, Int32, Allocator)

Create using internal storage.

Declaration

public ConvexHullBuilder(int verticesCapacity, int trianglesCapacity, Allocator allocator = null)

Parameters

Type	Name	Description
System.Int32	verticesCapacity
System.Int32	trianglesCapacity
Allocator	allocator

ConvexHullBuilder(ConvexHullBuilder.Vertex*, Int32, ConvexHullBuilder.Triangle*, Int32)

Create using external storage.

Declaration

public ConvexHullBuilder(ConvexHullBuilder.Vertex*vertices, int verticesCapacity, ConvexHullBuilder.Triangle*triangles, int triangleCapacity)

Parameters

Type	Name	Description
ConvexHullBuilder.Vertex*	vertices
System.Int32	verticesCapacity
ConvexHullBuilder.Triangle*	triangles
System.Int32	triangleCapacity

Fields

Triangles

Declaration

public ElementPool<ConvexHullBuilder.Triangle> Triangles

Field Value

Type	Description
ElementPool<ConvexHullBuilder.Triangle>

Vertices

Declaration

public ElementPool<ConvexHullBuilder.Vertex> Vertices

Field Value

Type	Description
ElementPool<ConvexHullBuilder.Vertex>

Properties

Dimension

Declaration

public int Dimension { get; }

Property Value

Type	Description
System.Int32

IntegerSpaceAabb

Declaration

public Aabb IntegerSpaceAabb { get; set; }

Property Value

Type	Description
Aabb

NumFaces

Declaration

public int NumFaces { get; }

Property Value

Type	Description
System.Int32

NumFaceVertices

Declaration

public int NumFaceVertices { get; }

Property Value

Type	Description
System.Int32

ProjectionPlane

Declaration

public Plane ProjectionPlane { get; }

Property Value

Type	Description
Plane

Methods

AddPoint(float3, UInt32)

Add a point the the convex hull.

Declaration

public bool AddPoint(float3 point, uint userData = 0U)

Parameters

Type	Name	Description
float3	point	Point to insert.
System.UInt32	userData	User data attached to the new vertex if insertion succeeds.

Returns

Type	Description
System.Boolean	true if the insertion succeeded, false otherwise.

ApexVertex(ConvexHullBuilder.Edge)

Declaration

public int ApexVertex(ConvexHullBuilder.Edge edge)

Parameters

Type	Name	Description
ConvexHullBuilder.Edge	edge

Returns

Type	Description
System.Int32

BuildFaceIndices(Single)

Set the face index for each triangle. Triangles lying in the same plane will have the same face index.

Declaration

public void BuildFaceIndices(float maxAngle = 0.0174532924F)

Parameters

Type	Name	Description
System.Single	maxAngle

ComputeAabb()

Returns the AABB of the convex hull.

Declaration

public Aabb ComputeAabb()

Returns

Type	Description
Aabb

ComputeCentroid()

Returns the centroid of the convex hull.

Declaration

public float3 ComputeCentroid()

Returns

Type	Description
float3

ComputeMassProperties()

Compute the mass properties of the convex hull. Note: Inertia computation adapted from S. Melax, http://www.melax.com/volint.

Declaration

public ConvexHullBuilder.MassProperties ComputeMassProperties()

Returns

Type	Description
ConvexHullBuilder.MassProperties

ComputePlane(Int32, Boolean)

Declaration

public Plane ComputePlane(int triangleIndex, bool fromIntCoordinates = true)

Parameters

Type	Name	Description
System.Int32	triangleIndex
System.Boolean	fromIntCoordinates

Returns

Type	Description
Plane

ComputeSupportingVertex(float3)

Returns the supporting vertex index in a given direction.

Declaration

public int ComputeSupportingVertex(float3 direction)

Parameters

Type	Name	Description
float3	direction

Returns

Type	Description
System.Int32

ComputeVertexNormal(Int32)

Compute vertex normal.

Declaration

public float3 ComputeVertexNormal(int vertex)

Parameters

Type	Name	Description
System.Int32	vertex

Returns

Type	Description
float3

ComputeVertexNormal(ConvexHullBuilder.Edge)

Compute vertex normal.

Declaration

public float3 ComputeVertexNormal(ConvexHullBuilder.Edge edge)

Parameters

Type	Name	Description
ConvexHullBuilder.Edge	edge

Returns

Type	Description
float3

CopyFrom(ConvexHullBuilder)

Copy the content of another convex hull into this one.

Declaration

public void CopyFrom(ConvexHullBuilder other)

Parameters

Type	Name	Description
ConvexHullBuilder	other

Dispose()

Dispose internal convex hull storages if any.

Declaration

public void Dispose()

EndVertex(ConvexHullBuilder.Edge)

Declaration

public int EndVertex(ConvexHullBuilder.Edge edge)

Parameters

Type	Name	Description
ConvexHullBuilder.Edge	edge

Returns

Type	Description
System.Int32

GetFirstFace()

Returns (the first edge of) the first face.

Declaration

public ConvexHullBuilder.FaceEdge GetFirstFace()

Returns

Type	Description
ConvexHullBuilder.FaceEdge

GetFirstFace(Int32)

Returns the first face edge from a given face index.

Declaration

public ConvexHullBuilder.FaceEdge GetFirstFace(int faceIndex)

Parameters

Type	Name	Description
System.Int32	faceIndex

Returns

Type	Description
ConvexHullBuilder.FaceEdge

GetFirstPrimaryEdge()

Declaration

public ConvexHullBuilder.Edge GetFirstPrimaryEdge()

Returns

Type	Description
ConvexHullBuilder.Edge

GetLinkedEdge(ConvexHullBuilder.Edge)

Returns an edge's linked edge on the neighboring triangle.

Declaration

public ConvexHullBuilder.Edge GetLinkedEdge(ConvexHullBuilder.Edge edge)

Parameters

Type	Name	Description
ConvexHullBuilder.Edge	edge

Returns

Type	Description
ConvexHullBuilder.Edge

GetNextFace(ConvexHullBuilder.FaceEdge)

Returns (the first edge of) the next face.

Declaration

public ConvexHullBuilder.FaceEdge GetNextFace(ConvexHullBuilder.FaceEdge fe)

Parameters

Type	Name	Description
ConvexHullBuilder.FaceEdge	fe

Returns

Type	Description
ConvexHullBuilder.FaceEdge

GetNextFaceEdge(ConvexHullBuilder.FaceEdge)

Returns the next edge within a face.

Declaration

public ConvexHullBuilder.FaceEdge GetNextFaceEdge(ConvexHullBuilder.FaceEdge fe)

Parameters

Type	Name	Description
ConvexHullBuilder.FaceEdge	fe

Returns

Type	Description
ConvexHullBuilder.FaceEdge

GetNextPrimaryEdge(ConvexHullBuilder.Edge)

Declaration

public ConvexHullBuilder.Edge GetNextPrimaryEdge(ConvexHullBuilder.Edge edge)

Parameters

Type	Name	Description
ConvexHullBuilder.Edge	edge

Returns

Type	Description
ConvexHullBuilder.Edge

GetVertexEdge(Int32)

Returns one of the triangle edges starting from a given vertex. Note: May be one of the inner edges of a face.

Declaration

public ConvexHullBuilder.Edge GetVertexEdge(int vertexIndex)

Parameters

Type	Name	Description
System.Int32	vertexIndex

Returns

Type	Description
ConvexHullBuilder.Edge

OffsetVertices(Single, Single)

Offset vertices with respect to the surface by a given amount while minimizing distortions.

Declaration

public void OffsetVertices(float surfaceOffset, float minRadius = 0F)

Parameters

Type	Name	Description
System.Single	surfaceOffset	a positive value will move vertices outward while a negative value will push them toward the inside
System.Single	minRadius	Prevent vertices to be shrunk too much

RemoveRedundantVertices(Single)

Remove redundant (colinear, coplanar) vertices from a 3D convex hull.

Declaration

public void RemoveRedundantVertices(float minCosAngle = 0.999F)

Parameters

Type	Name	Description
System.Single	minCosAngle	Assume that edges that form a angle smaller than this value are flat

Reset(Boolean)

Reset the convex hull.

Declaration

public void Reset(bool keepIntegerSpaceAabb = false)

Parameters

Type	Name	Description
System.Boolean	keepIntegerSpaceAabb

SimplifyFaces(Single, Int32, Int32, Single)

Simplify faces.

Declaration

public void SimplifyFaces(float minError, int maxFaces = 2147483647, int maxVertices = 2147483647, float minAngle = 0F)

Parameters

Type	Name	Description
System.Single	minError	Stop refining when the error is below this number (unit: distance)
System.Int32	maxFaces	Maximum number of faces allowed.
System.Int32	maxVertices	Maximum number of vertices allowed
System.Single	minAngle	Do not generate face that form an angle smaller than this value with its neighbors (unit: angle in radian)

SimplifyVertices(Single, Int32, Single)

Simplify convex hull.

Declaration

public void SimplifyVertices(float maxError, int minVertices = 0, float volumeConservation = 1F)

Parameters

Type	Name	Description
System.Single	maxError
System.Int32	minVertices
System.Single	volumeConservation

SplitByPlane(Plane, out ConvexHullBuilder, out ConvexHullBuilder, UInt32)

Split this convex hull by a plane.

Declaration

public void SplitByPlane(Plane plane, out ConvexHullBuilder negHull, out ConvexHullBuilder posHull, uint isecUserData = 0U)

Parameters

Type	Name	Description
Plane	plane
ConvexHullBuilder	negHull
ConvexHullBuilder	posHull
System.UInt32	isecUserData

StartVertex(ConvexHullBuilder.Edge)

Declaration

public int StartVertex(ConvexHullBuilder.Edge edge)

Parameters

Type	Name	Description
ConvexHullBuilder.Edge	edge

Returns

Type	Description
System.Int32

Extension Methods

ConvexHullBuilderExtensions.CompactVertices(ConvexHullBuilder)