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  108.   <div class="headertitle"><div class="title">ConvexSupport.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_convex_support_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_mat44_8h.html">Jolt/Math/Mat44.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
    121. 

  121. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ConvexObject&gt;</div>
    122. 

  122. <div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
    123. 

  123. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="struct_transformed_convex_object.html">   14</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_transformed_convex_object.html">TransformedConvexObject</a></div>
    124. 

  124. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
    125. 

  125. <div class="foldopen" id="foldopen00017" data-start="{" data-end="}">
    126. 

  126. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="struct_transformed_convex_object.html#aee084d15cbc724e8a28b88298a557573">   17</a></span>    <a class="code hl_function" href="struct_transformed_convex_object.html#aee084d15cbc724e8a28b88298a557573">TransformedConvexObject</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inTransform, <span class="keyword">const</span> ConvexObject &amp;inObject) :</div>
    127. 

  127. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>        <a class="code hl_variable" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">mTransform</a>(inTransform),</div>
    128. 

  128. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>        <a class="code hl_variable" href="struct_transformed_convex_object.html#a8c84c2341aa11607eea77a7c09329f63">mObject</a>(inObject)</div>
    129. 

  129. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    {</div>
    130. 

  130. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    }</div>
    131. 

  131. </div>
    132. 

  132. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
    133. 

  133. <div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
    134. 

  134. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="struct_transformed_convex_object.html#a0fa745b8d15e71629ebb719716d16fa8">   24</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_function" href="struct_transformed_convex_object.html#a0fa745b8d15e71629ebb719716d16fa8">GetSupport</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection)<span class="keyword"> const</span></div>
    135. 

  135. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">    </span>{</div>
    136. 

  136. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">mTransform</a> * <a class="code hl_variable" href="struct_transformed_convex_object.html#a8c84c2341aa11607eea77a7c09329f63">mObject</a>.GetSupport(<a class="code hl_variable" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">mTransform</a>.<a class="code hl_function" href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Multiply3x3Transposed</a>(inDirection));</div>
    137. 

  137. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    }</div>
    138. 

  138. </div>
    139. 

  139. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
    140. 

  140. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    141. 

  141. <div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
    142. 

  142. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="struct_transformed_convex_object.html#ae7e5d51b4cbb01eb146274711eec26e2">   31</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="struct_transformed_convex_object.html#ae7e5d51b4cbb01eb146274711eec26e2">GetSupportingFace</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection, VERTEX_ARRAY &amp;outVertices)<span class="keyword"> const</span></div>
    143. 

  143. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">    </span>{</div>
    144. 

  144. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_variable" href="struct_transformed_convex_object.html#a8c84c2341aa11607eea77a7c09329f63">mObject</a>.GetSupportingFace(<a class="code hl_variable" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">mTransform</a>.<a class="code hl_function" href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Multiply3x3Transposed</a>(inDirection), outVertices);</div>
    145. 

  145. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
    146. 

  146. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <span class="keywordflow">for</span> (<a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;v : outVertices)</div>
    147. 

  147. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            v = <a class="code hl_variable" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">mTransform</a> * v;</div>
    148. 

  148. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    }</div>
    149. 

  149. </div>
    150. 

  150. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
    151. 

  151. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">   39</a></span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                   <a class="code hl_variable" href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">mTransform</a>;</div>
    152. 

  152. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="struct_transformed_convex_object.html#a8c84c2341aa11607eea77a7c09329f63">   40</a></span>    <span class="keyword">const</span> ConvexObject &amp;    <a class="code hl_variable" href="struct_transformed_convex_object.html#a8c84c2341aa11607eea77a7c09329f63">mObject</a>;</div>
    153. 

  153. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>};</div>
    154. 

  154. </div>
    155. 

  155. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
    156. 

  156. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ConvexObject&gt;</div>
    157. 

  157. <div class="foldopen" id="foldopen00045" data-start="{" data-end="};">
    158. 

  158. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="struct_add_convex_radius.html">   45</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_add_convex_radius.html">AddConvexRadius</a></div>
    159. 

  159. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>{</div>
    160. 

  160. <div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
    161. 

  161. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="struct_add_convex_radius.html#a7483095d1f4aaf1f8003adb2696d37f6">   47</a></span>    <a class="code hl_function" href="struct_add_convex_radius.html#a7483095d1f4aaf1f8003adb2696d37f6">AddConvexRadius</a>(<span class="keyword">const</span> ConvexObject &amp;inObject, <span class="keywordtype">float</span> inRadius) :</div>
    162. 

  162. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <a class="code hl_variable" href="struct_add_convex_radius.html#a2b18bb69a25bf6973cbe22024a357194">mObject</a>(inObject),</div>
    163. 

  163. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <a class="code hl_variable" href="struct_add_convex_radius.html#aa75c5abeaac64104be1a5520b8d141d1">mRadius</a>(inRadius)</div>
    164. 

  164. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    {</div>
    165. 

  165. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
    166. 

  166. </div>
    167. 

  167. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    168. 

  168. <div class="foldopen" id="foldopen00054" data-start="{" data-end="}">
    169. 

  169. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="struct_add_convex_radius.html#a77576ad6fd2ef0aafc34d245b578ef59">   54</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_function" href="struct_add_convex_radius.html#a77576ad6fd2ef0aafc34d245b578ef59">GetSupport</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection)<span class="keyword"> const</span></div>
    170. 

  170. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="keyword">    </span>{</div>
    171. 

  171. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordtype">float</span> length = inDirection.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>();</div>
    172. 

  172. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <span class="keywordflow">return</span> length &gt; 0.0f ? <a class="code hl_variable" href="struct_add_convex_radius.html#a2b18bb69a25bf6973cbe22024a357194">mObject</a>.GetSupport(inDirection) + (<a class="code hl_variable" href="struct_add_convex_radius.html#aa75c5abeaac64104be1a5520b8d141d1">mRadius</a> / length) * inDirection : <a class="code hl_variable" href="struct_add_convex_radius.html#a2b18bb69a25bf6973cbe22024a357194">mObject</a>.GetSupport(inDirection);</div>
    173. 

  173. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    }</div>
    174. 

  174. </div>
    175. 

  175. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
    176. 

  176. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="struct_add_convex_radius.html#a2b18bb69a25bf6973cbe22024a357194">   60</a></span>    <span class="keyword">const</span> ConvexObject &amp;    <a class="code hl_variable" href="struct_add_convex_radius.html#a2b18bb69a25bf6973cbe22024a357194">mObject</a>;</div>
    177. 

  177. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="struct_add_convex_radius.html#aa75c5abeaac64104be1a5520b8d141d1">   61</a></span>    <span class="keywordtype">float</span>                   <a class="code hl_variable" href="struct_add_convex_radius.html#aa75c5abeaac64104be1a5520b8d141d1">mRadius</a>;</div>
    178. 

  178. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>};</div>
    179. 

  179. </div>
    180. 

  180. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
    181. 

  181. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ConvexObjectA, <span class="keyword">typename</span> ConvexObjectB&gt;</div>
    182. 

  182. <div class="foldopen" id="foldopen00066" data-start="{" data-end="};">
    183. 

  183. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="struct_minkowski_difference.html">   66</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_minkowski_difference.html">MinkowskiDifference</a></div>
    184. 

  184. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>{</div>
    185. 

  185. <div class="foldopen" id="foldopen00068" data-start="{" data-end="}">
    186. 

  186. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="struct_minkowski_difference.html#a057663b9fae33081006e0ae3c51bbffb">   68</a></span>    <a class="code hl_function" href="struct_minkowski_difference.html#a057663b9fae33081006e0ae3c51bbffb">MinkowskiDifference</a>(<span class="keyword">const</span> ConvexObjectA &amp;inObjectA, <span class="keyword">const</span> ConvexObjectB &amp;inObjectB) :</div>
    187. 

  187. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_variable" href="struct_minkowski_difference.html#a9ec95eca1b2f1e8420746f40e6544f85">mObjectA</a>(inObjectA),</div>
    188. 

  188. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="struct_minkowski_difference.html#af2117c9f519daa7e35d2824fa979917f">mObjectB</a>(inObjectB)</div>
    189. 

  189. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
    190. 

  190. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    }</div>
    191. 

  191. </div>
    192. 

  192. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
    193. 

  193. <div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
    194. 

  194. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="struct_minkowski_difference.html#ad9e15e934b19be1df6e09a926a1e26dd">   75</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_function" href="struct_minkowski_difference.html#ad9e15e934b19be1df6e09a926a1e26dd">GetSupport</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection)<span class="keyword"> const</span></div>
    195. 

  195. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span><span class="keyword">    </span>{</div>
    196. 

  196. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_minkowski_difference.html#a9ec95eca1b2f1e8420746f40e6544f85">mObjectA</a>.GetSupport(inDirection) - <a class="code hl_variable" href="struct_minkowski_difference.html#af2117c9f519daa7e35d2824fa979917f">mObjectB</a>.GetSupport(-inDirection);</div>
    197. 

  197. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    }</div>
    198. 

  198. </div>
    199. 

  199. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
    200. 

  200. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="struct_minkowski_difference.html#a9ec95eca1b2f1e8420746f40e6544f85">   80</a></span>    <span class="keyword">const</span> ConvexObjectA &amp;   <a class="code hl_variable" href="struct_minkowski_difference.html#a9ec95eca1b2f1e8420746f40e6544f85">mObjectA</a>;</div>
    201. 

  201. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="struct_minkowski_difference.html#af2117c9f519daa7e35d2824fa979917f">   81</a></span>    <span class="keyword">const</span> ConvexObjectB &amp;   <a class="code hl_variable" href="struct_minkowski_difference.html#af2117c9f519daa7e35d2824fa979917f">mObjectB</a>;</div>
    202. 

  202. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>};</div>
    203. 

  203. </div>
    204. 

  204. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
    205. 

  205. <div class="foldopen" id="foldopen00085" data-start="{" data-end="};">
    206. 

  206. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="struct_point_convex_support.html">   85</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_point_convex_support.html">PointConvexSupport</a></div>
    207. 

  207. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>{</div>
    208. 

  208. <div class="foldopen" id="foldopen00088" data-start="{" data-end="}">
    209. 

  209. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="struct_point_convex_support.html#af9f294c5aa22abc2f9c826cbb8e2b05a">   88</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_function" href="struct_point_convex_support.html#af9f294c5aa22abc2f9c826cbb8e2b05a">GetSupport</a>([[maybe_unused]] <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection)<span class="keyword"> const</span></div>
    210. 

  210. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="keyword">    </span>{</div>
    211. 

  211. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_point_convex_support.html#aa87104a74dbc5656e4937786790aa7e4">mPoint</a>;</div>
    212. 

  212. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    }</div>
    213. 

  213. </div>
    214. 

  214. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
    215. 

  215. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="struct_point_convex_support.html#aa87104a74dbc5656e4937786790aa7e4">   93</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_variable" href="struct_point_convex_support.html#aa87104a74dbc5656e4937786790aa7e4">mPoint</a>;</div>
    216. 

  216. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>};</div>
    217. 

  217. </div>
    218. 

  218. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
    219. 

  219. <div class="foldopen" id="foldopen00097" data-start="{" data-end="};">
    220. 

  220. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html">   97</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_triangle_convex_support.html">TriangleConvexSupport</a></div>
    221. 

  221. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>{</div>
    222. 

  222. <div class="foldopen" id="foldopen00100" data-start="{" data-end="}">
    223. 

  223. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html#aff7b77e932e636e0fe582cd01c5c05fa">  100</a></span>                            <a class="code hl_function" href="struct_triangle_convex_support.html#aff7b77e932e636e0fe582cd01c5c05fa">TriangleConvexSupport</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV3) :</div>
    224. 

  224. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <a class="code hl_variable" href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">mV1</a>(inV1),</div>
    225. 

  225. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        <a class="code hl_variable" href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">mV2</a>(inV2),</div>
    226. 

  226. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        <a class="code hl_variable" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">mV3</a>(inV3)</div>
    227. 

  227. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    {</div>
    228. 

  228. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    }</div>
    229. 

  229. </div>
    230. 

  230. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    231. 

  231. <div class="foldopen" id="foldopen00108" data-start="{" data-end="}">
    232. 

  232. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html#ac824e6c13d9702af6699e7ba4beccb4c">  108</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_function" href="struct_triangle_convex_support.html#ac824e6c13d9702af6699e7ba4beccb4c">GetSupport</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection)<span class="keyword"> const</span></div>
    233. 

  233. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span><span class="keyword">    </span>{</div>
    234. 

  234. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="comment">// Project vertices on inDirection</span></div>
    235. 

  235. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        <span class="keywordtype">float</span> d1 = <a class="code hl_variable" href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">mV1</a>.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inDirection);</div>
    236. 

  236. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <span class="keywordtype">float</span> d2 = <a class="code hl_variable" href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">mV2</a>.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inDirection);</div>
    237. 

  237. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>        <span class="keywordtype">float</span> d3 = <a class="code hl_variable" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">mV3</a>.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inDirection);</div>
    238. 

  238. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
    239. 

  239. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        <span class="comment">// Return vertex with biggest projection</span></div>
    240. 

  240. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordflow">if</span> (d1 &gt; d2)</div>
    241. 

  241. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        {</div>
    242. 

  242. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>            <span class="keywordflow">if</span> (d1 &gt; d3)</div>
    243. 

  243. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>                <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">mV1</a>;</div>
    244. 

  244. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            <span class="keywordflow">else</span></div>
    245. 

  245. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>                <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">mV3</a>;</div>
    246. 

  246. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        }</div>
    247. 

  247. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        <span class="keywordflow">else</span></div>
    248. 

  248. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        {</div>
    249. 

  249. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>            <span class="keywordflow">if</span> (d2 &gt; d3)</div>
    250. 

  250. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>                <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">mV2</a>;</div>
    251. 

  251. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>            <span class="keywordflow">else</span></div>
    252. 

  252. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>                <span class="keywordflow">return</span> <a class="code hl_variable" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">mV3</a>;</div>
    253. 

  253. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        }</div>
    254. 

  254. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    }</div>
    255. 

  255. </div>
    256. 

  256. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
    257. 

  257. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    258. 

  258. <div class="foldopen" id="foldopen00134" data-start="{" data-end="}">
    259. 

  259. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html#ab06eab6917e292cdf749432e50ac9159">  134</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="struct_triangle_convex_support.html#ab06eab6917e292cdf749432e50ac9159">GetSupportingFace</a>([[maybe_unused]] <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection, VERTEX_ARRAY &amp;outVertices)<span class="keyword"> const</span></div>
    260. 

  260. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">    </span>{</div>
    261. 

  261. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        outVertices.push_back(<a class="code hl_variable" href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">mV1</a>);</div>
    262. 

  262. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        outVertices.push_back(<a class="code hl_variable" href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">mV2</a>);</div>
    263. 

  263. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        outVertices.push_back(<a class="code hl_variable" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">mV3</a>);</div>
    264. 

  264. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    }</div>
    265. 

  265. </div>
    266. 

  266. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
    267. 

  267. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">  142</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_variable" href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">mV1</a>;</div>
    268. 

  268. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">  143</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_variable" href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">mV2</a>;</div>
    269. 

  269. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">  144</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_variable" href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">mV3</a>;</div>
    270. 

  270. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>};</div>
    271. 

  271. </div>
    272. 

  272. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
    273. 

  273. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY&gt;</div>
    274. 

  274. <div class="foldopen" id="foldopen00149" data-start="{" data-end="};">
    275. 

  275. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="struct_polygon_convex_support.html">  149</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_polygon_convex_support.html">PolygonConvexSupport</a></div>
    276. 

  276. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>{</div>
    277. 

  277. <div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
    278. 

  278. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="struct_polygon_convex_support.html#a7597917acd3f2a6f73aa47045f22b69c">  152</a></span>    <span class="keyword">explicit</span>                <a class="code hl_function" href="struct_polygon_convex_support.html#a7597917acd3f2a6f73aa47045f22b69c">PolygonConvexSupport</a>(<span class="keyword">const</span> VERTEX_ARRAY &amp;inVertices) :</div>
    279. 

  279. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>(inVertices)</div>
    280. 

  280. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    {</div>
    281. 

  281. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
    282. 

  282. </div>
    283. 

  283. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
    284. 

  284. <div class="foldopen" id="foldopen00158" data-start="{" data-end="}">
    285. 

  285. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="struct_polygon_convex_support.html#a4e117627d895a0466b06b76f267aa605">  158</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    <a class="code hl_function" href="struct_polygon_convex_support.html#a4e117627d895a0466b06b76f267aa605">GetSupport</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection)<span class="keyword"> const</span></div>
    286. 

  286. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="keyword">    </span>{</div>
    287. 

  287. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> support_point = <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>[0];</div>
    288. 

  288. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keywordtype">float</span> best_dot = <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>[0].<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inDirection);</div>
    289. 

  289. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
    290. 

  290. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordflow">for</span> (<span class="keyword">typename</span> VERTEX_ARRAY::const_iterator v = <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>.begin() + 1; v &lt; <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>.end(); ++v)</div>
    291. 

  291. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        {</div>
    292. 

  292. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>            <span class="keywordtype">float</span> dot = v-&gt;Dot(inDirection);</div>
    293. 

  293. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>            <span class="keywordflow">if</span> (dot &gt; best_dot)</div>
    294. 

  294. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>            {</div>
    295. 

  295. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>                best_dot = dot;</div>
    296. 

  296. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>                support_point = *v;</div>
    297. 

  297. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>            }</div>
    298. 

  298. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        }</div>
    299. 

  299. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
    300. 

  300. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordflow">return</span> support_point;</div>
    301. 

  301. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    }</div>
    302. 

  302. </div>
    303. 

  303. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span> </div>
    304. 

  304. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>    <span class="keyword">template</span> &lt;<span class="keyword">class</span> VERTEX_ARRAY_ARG&gt;</div>
    305. 

  305. <div class="foldopen" id="foldopen00178" data-start="{" data-end="}">
    306. 

  306. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno"><a class="line" href="struct_polygon_convex_support.html#a25e370fc7ce4db9df032a10e3caee238">  178</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="struct_polygon_convex_support.html#a25e370fc7ce4db9df032a10e3caee238">GetSupportingFace</a>([[maybe_unused]] <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDirection, VERTEX_ARRAY_ARG &amp;outVertices)<span class="keyword"> const</span></div>
    307. 

  307. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span><span class="keyword">    </span>{</div>
    308. 

  308. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="keywordflow">for</span> (<a class="code hl_class" href="class_vec3.html">Vec3</a> v : <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>)</div>
    309. 

  309. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>            outVertices.push_back(v);</div>
    310. 

  310. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    }</div>
    311. 

  311. </div>
    312. 

  312. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span> </div>
    313. 

  313. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">  185</a></span>    <span class="keyword">const</span> VERTEX_ARRAY &amp;    <a class="code hl_variable" href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">mVertices</a>;</div>
    314. 

  314. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>};</div>
    315. 

  315. </div>
    316. 

  316. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
    317. 

  317. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    318. 

  318. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    319. 

  319. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    320. 

  320. <div class="ttc" id="a_mat44_8h_html"><div class="ttname"><a href="_mat44_8h.html">Mat44.h</a></div></div>
    321. 

  321. <div class="ttc" id="aclass_mat44_html"><div class="ttname"><a href="class_mat44.html">Mat44</a></div><div class="ttdoc">Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.h:13</div></div>
    322. 

  322. <div class="ttc" id="aclass_mat44_html_a3ed66bc4c5e8e010657bd5bb109f1406"><div class="ttname"><a href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Mat44::Multiply3x3Transposed</a></div><div class="ttdeci">JPH_INLINE Vec3 Multiply3x3Transposed(Vec3Arg inV) const</div><div class="ttdoc">Multiply vector by only 3x3 part of the transpose of the matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:336</div></div>
    323. 

  323. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
    324. 

  324. <div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
    325. 

  325. <div class="ttc" id="aclass_vec3_html_a38a9efffc3f9413f3dd702abc73eb9a2"><div class="ttname"><a href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Vec3::Length</a></div><div class="ttdeci">JPH_INLINE float Length() const</div><div class="ttdoc">Length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:682</div></div>
    326. 

  326. <div class="ttc" id="astruct_add_convex_radius_html"><div class="ttname"><a href="struct_add_convex_radius.html">AddConvexRadius</a></div><div class="ttdoc">Structure that adds a convex radius.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:46</div></div>
    327. 

  327. <div class="ttc" id="astruct_add_convex_radius_html_a2b18bb69a25bf6973cbe22024a357194"><div class="ttname"><a href="struct_add_convex_radius.html#a2b18bb69a25bf6973cbe22024a357194">AddConvexRadius::mObject</a></div><div class="ttdeci">const ConvexObject &amp; mObject</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:60</div></div>
    328. 

  328. <div class="ttc" id="astruct_add_convex_radius_html_a7483095d1f4aaf1f8003adb2696d37f6"><div class="ttname"><a href="struct_add_convex_radius.html#a7483095d1f4aaf1f8003adb2696d37f6">AddConvexRadius::AddConvexRadius</a></div><div class="ttdeci">AddConvexRadius(const ConvexObject &amp;inObject, float inRadius)</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:47</div></div>
    329. 

  329. <div class="ttc" id="astruct_add_convex_radius_html_a77576ad6fd2ef0aafc34d245b578ef59"><div class="ttname"><a href="struct_add_convex_radius.html#a77576ad6fd2ef0aafc34d245b578ef59">AddConvexRadius::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:54</div></div>
    330. 

  330. <div class="ttc" id="astruct_add_convex_radius_html_aa75c5abeaac64104be1a5520b8d141d1"><div class="ttname"><a href="struct_add_convex_radius.html#aa75c5abeaac64104be1a5520b8d141d1">AddConvexRadius::mRadius</a></div><div class="ttdeci">float mRadius</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:61</div></div>
    331. 

  331. <div class="ttc" id="astruct_minkowski_difference_html"><div class="ttname"><a href="struct_minkowski_difference.html">MinkowskiDifference</a></div><div class="ttdoc">Structure that performs a Minkowski difference A - B.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:67</div></div>
    332. 

  332. <div class="ttc" id="astruct_minkowski_difference_html_a057663b9fae33081006e0ae3c51bbffb"><div class="ttname"><a href="struct_minkowski_difference.html#a057663b9fae33081006e0ae3c51bbffb">MinkowskiDifference::MinkowskiDifference</a></div><div class="ttdeci">MinkowskiDifference(const ConvexObjectA &amp;inObjectA, const ConvexObjectB &amp;inObjectB)</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:68</div></div>
    333. 

  333. <div class="ttc" id="astruct_minkowski_difference_html_a9ec95eca1b2f1e8420746f40e6544f85"><div class="ttname"><a href="struct_minkowski_difference.html#a9ec95eca1b2f1e8420746f40e6544f85">MinkowskiDifference::mObjectA</a></div><div class="ttdeci">const ConvexObjectA &amp; mObjectA</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:80</div></div>
    334. 

  334. <div class="ttc" id="astruct_minkowski_difference_html_ad9e15e934b19be1df6e09a926a1e26dd"><div class="ttname"><a href="struct_minkowski_difference.html#ad9e15e934b19be1df6e09a926a1e26dd">MinkowskiDifference::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:75</div></div>
    335. 

  335. <div class="ttc" id="astruct_minkowski_difference_html_af2117c9f519daa7e35d2824fa979917f"><div class="ttname"><a href="struct_minkowski_difference.html#af2117c9f519daa7e35d2824fa979917f">MinkowskiDifference::mObjectB</a></div><div class="ttdeci">const ConvexObjectB &amp; mObjectB</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:81</div></div>
    336. 

  336. <div class="ttc" id="astruct_point_convex_support_html"><div class="ttname"><a href="struct_point_convex_support.html">PointConvexSupport</a></div><div class="ttdoc">Class that wraps a point so that it can be used with convex collision detection.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:86</div></div>
    337. 

  337. <div class="ttc" id="astruct_point_convex_support_html_aa87104a74dbc5656e4937786790aa7e4"><div class="ttname"><a href="struct_point_convex_support.html#aa87104a74dbc5656e4937786790aa7e4">PointConvexSupport::mPoint</a></div><div class="ttdeci">Vec3 mPoint</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:93</div></div>
    338. 

  338. <div class="ttc" id="astruct_point_convex_support_html_af9f294c5aa22abc2f9c826cbb8e2b05a"><div class="ttname"><a href="struct_point_convex_support.html#af9f294c5aa22abc2f9c826cbb8e2b05a">PointConvexSupport::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:88</div></div>
    339. 

  339. <div class="ttc" id="astruct_polygon_convex_support_html"><div class="ttname"><a href="struct_polygon_convex_support.html">PolygonConvexSupport</a></div><div class="ttdoc">Class that wraps a polygon so that it can used with convex collision detection.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:150</div></div>
    340. 

  340. <div class="ttc" id="astruct_polygon_convex_support_html_a25e370fc7ce4db9df032a10e3caee238"><div class="ttname"><a href="struct_polygon_convex_support.html#a25e370fc7ce4db9df032a10e3caee238">PolygonConvexSupport::GetSupportingFace</a></div><div class="ttdeci">void GetSupportingFace(Vec3Arg inDirection, VERTEX_ARRAY_ARG &amp;outVertices) const</div><div class="ttdoc">Get the vertices of the face that faces inDirection the most.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:178</div></div>
    341. 

  341. <div class="ttc" id="astruct_polygon_convex_support_html_a4e117627d895a0466b06b76f267aa605"><div class="ttname"><a href="struct_polygon_convex_support.html#a4e117627d895a0466b06b76f267aa605">PolygonConvexSupport::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:158</div></div>
    342. 

  342. <div class="ttc" id="astruct_polygon_convex_support_html_a7597917acd3f2a6f73aa47045f22b69c"><div class="ttname"><a href="struct_polygon_convex_support.html#a7597917acd3f2a6f73aa47045f22b69c">PolygonConvexSupport::PolygonConvexSupport</a></div><div class="ttdeci">PolygonConvexSupport(const VERTEX_ARRAY &amp;inVertices)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:152</div></div>
    343. 

  343. <div class="ttc" id="astruct_polygon_convex_support_html_ab038bf1e11e180f9663d1a5f877c4ee7"><div class="ttname"><a href="struct_polygon_convex_support.html#ab038bf1e11e180f9663d1a5f877c4ee7">PolygonConvexSupport::mVertices</a></div><div class="ttdeci">const VERTEX_ARRAY &amp; mVertices</div><div class="ttdoc">The vertices of the polygon.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:185</div></div>
    344. 

  344. <div class="ttc" id="astruct_transformed_convex_object_html"><div class="ttname"><a href="struct_transformed_convex_object.html">TransformedConvexObject</a></div><div class="ttdef"><b>Definition</b> ConvexSupport.h:15</div></div>
    345. 

  345. <div class="ttc" id="astruct_transformed_convex_object_html_a0fa745b8d15e71629ebb719716d16fa8"><div class="ttname"><a href="struct_transformed_convex_object.html#a0fa745b8d15e71629ebb719716d16fa8">TransformedConvexObject::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:24</div></div>
    346. 

  346. <div class="ttc" id="astruct_transformed_convex_object_html_a4314714041c688936d9c9078af6c37e1"><div class="ttname"><a href="struct_transformed_convex_object.html#a4314714041c688936d9c9078af6c37e1">TransformedConvexObject::mTransform</a></div><div class="ttdeci">Mat44 mTransform</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:39</div></div>
    347. 

  347. <div class="ttc" id="astruct_transformed_convex_object_html_a8c84c2341aa11607eea77a7c09329f63"><div class="ttname"><a href="struct_transformed_convex_object.html#a8c84c2341aa11607eea77a7c09329f63">TransformedConvexObject::mObject</a></div><div class="ttdeci">const ConvexObject &amp; mObject</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:40</div></div>
    348. 

  348. <div class="ttc" id="astruct_transformed_convex_object_html_ae7e5d51b4cbb01eb146274711eec26e2"><div class="ttname"><a href="struct_transformed_convex_object.html#ae7e5d51b4cbb01eb146274711eec26e2">TransformedConvexObject::GetSupportingFace</a></div><div class="ttdeci">void GetSupportingFace(Vec3Arg inDirection, VERTEX_ARRAY &amp;outVertices) const</div><div class="ttdoc">Get the vertices of the face that faces inDirection the most.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:31</div></div>
    349. 

  349. <div class="ttc" id="astruct_transformed_convex_object_html_aee084d15cbc724e8a28b88298a557573"><div class="ttname"><a href="struct_transformed_convex_object.html#aee084d15cbc724e8a28b88298a557573">TransformedConvexObject::TransformedConvexObject</a></div><div class="ttdeci">TransformedConvexObject(Mat44Arg inTransform, const ConvexObject &amp;inObject)</div><div class="ttdoc">Create transformed convex object.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:17</div></div>
    350. 

  350. <div class="ttc" id="astruct_triangle_convex_support_html"><div class="ttname"><a href="struct_triangle_convex_support.html">TriangleConvexSupport</a></div><div class="ttdoc">Class that wraps a triangle so that it can used with convex collision detection.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:98</div></div>
    351. 

  351. <div class="ttc" id="astruct_triangle_convex_support_html_a50d0969071796932f1e6463f44d6265d"><div class="ttname"><a href="struct_triangle_convex_support.html#a50d0969071796932f1e6463f44d6265d">TriangleConvexSupport::mV1</a></div><div class="ttdeci">Vec3 mV1</div><div class="ttdoc">The three vertices of the triangle.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:142</div></div>
    352. 

  352. <div class="ttc" id="astruct_triangle_convex_support_html_a9ffeaa522b588040a0e6ccb36904ec99"><div class="ttname"><a href="struct_triangle_convex_support.html#a9ffeaa522b588040a0e6ccb36904ec99">TriangleConvexSupport::mV3</a></div><div class="ttdeci">Vec3 mV3</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:144</div></div>
    353. 

  353. <div class="ttc" id="astruct_triangle_convex_support_html_ab06eab6917e292cdf749432e50ac9159"><div class="ttname"><a href="struct_triangle_convex_support.html#ab06eab6917e292cdf749432e50ac9159">TriangleConvexSupport::GetSupportingFace</a></div><div class="ttdeci">void GetSupportingFace(Vec3Arg inDirection, VERTEX_ARRAY &amp;outVertices) const</div><div class="ttdoc">Get the vertices of the face that faces inDirection the most.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:134</div></div>
    354. 

  354. <div class="ttc" id="astruct_triangle_convex_support_html_ac824e6c13d9702af6699e7ba4beccb4c"><div class="ttname"><a href="struct_triangle_convex_support.html#ac824e6c13d9702af6699e7ba4beccb4c">TriangleConvexSupport::GetSupport</a></div><div class="ttdeci">Vec3 GetSupport(Vec3Arg inDirection) const</div><div class="ttdoc">Calculate the support vector for this convex shape.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:108</div></div>
    355. 

  355. <div class="ttc" id="astruct_triangle_convex_support_html_af687a449850628811fad039fe5d7e308"><div class="ttname"><a href="struct_triangle_convex_support.html#af687a449850628811fad039fe5d7e308">TriangleConvexSupport::mV2</a></div><div class="ttdeci">Vec3 mV2</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:143</div></div>
    356. 

  356. <div class="ttc" id="astruct_triangle_convex_support_html_aff7b77e932e636e0fe582cd01c5c05fa"><div class="ttname"><a href="struct_triangle_convex_support.html#aff7b77e932e636e0fe582cd01c5c05fa">TriangleConvexSupport::TriangleConvexSupport</a></div><div class="ttdeci">TriangleConvexSupport(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> ConvexSupport.h:100</div></div>
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