Move MinkowskiDifference to a separate class

notgiven688 · Oct 3, 2024 · 1ffd232 · 1ffd232
1 parent a084ab8
commit 1ffd232
Show file tree

Hide file tree

Showing 2 changed files with 43 additions and 41 deletions.
diff --git a/src/GJKEPA.cs b/src/GJKEPA.cs
@@ -31,47 +31,6 @@ public sealed class GJKEPA
 
         public struct Statistics { public double Accuracy; public int Iterations; }
 
-        public struct MinkowskiDifference
-        {
-            public ISupportMappable SupportA, SupportB;
-            public JMatrix OrientationA, OrientationB;
-            public JVector PositionA, PositionB;
-
-            private void SupportMapTransformedA(in JVector direction, out JVector result)
-            {
-                JVector.TransposedTransform(direction, OrientationA, out JVector tmp);
-                SupportA.SupportMapping(tmp, out result);
-                JVector.Transform(result, OrientationA, out result);
-                JVector.Add(result, PositionA, out result);
-            }
-
-            private void SupportMapTransformedB(in JVector direction, out JVector result)
-            {
-                JVector.TransposedTransform(direction, OrientationB, out JVector tmp);
-                SupportB.SupportMapping(tmp, out result);
-                JVector.Transform(result, OrientationB, out result);
-                JVector.Add(result, PositionB, out result);
-            }
-
-            public void Support(in JVector direction, out JVector vA, out JVector vB, out JVector v)
-            {
-                // Calculates the support function S_{A-B}(d) = S_{A}(d) - S_{B}(-d),
-                // where 'd' represents the direction.
-                SupportMapTransformedA(direction, out vA);
-                SupportMapTransformedB(-direction, out vB);
-                JVector.Subtract(vA, vB, out v);
-            }
-
-            public void SupportMapping(in JVector direction, out JVector result)
-            {
-                this.Support(direction, out _, out _, out result);
-            }
-
-            public void SupportCenter(out JVector center)
-            {
-                JVector.Subtract(PositionA, PositionB, out center);
-            }
-        }
 
         public class GJKEPASolver
         {

diff --git a/src/MinkowskiDifference.cs b/src/MinkowskiDifference.cs
@@ -0,0 +1,43 @@
+namespace GJKEPADemo;
+
+public struct MinkowskiDifference
+{
+    public ISupportMappable SupportA, SupportB;
+    public JMatrix OrientationA, OrientationB;
+    public JVector PositionA, PositionB;
+
+    private void SupportMapTransformedA(in JVector direction, out JVector result)
+    {
+        JVector.TransposedTransform(direction, OrientationA, out JVector tmp);
+        SupportA.SupportMapping(tmp, out result);
+        JVector.Transform(result, OrientationA, out result);
+        JVector.Add(result, PositionA, out result);
+    }
+
+    private void SupportMapTransformedB(in JVector direction, out JVector result)
+    {
+        JVector.TransposedTransform(direction, OrientationB, out JVector tmp);
+        SupportB.SupportMapping(tmp, out result);
+        JVector.Transform(result, OrientationB, out result);
+        JVector.Add(result, PositionB, out result);
+    }
+
+    public void Support(in JVector direction, out JVector vA, out JVector vB, out JVector v)
+    {
+        // Calculates the support function S_{A-B}(d) = S_{A}(d) - S_{B}(-d),
+        // where 'd' represents the direction.
+        SupportMapTransformedA(direction, out vA);
+        SupportMapTransformedB(-direction, out vB);
+        JVector.Subtract(vA, vB, out v);
+    }
+
+    public void SupportMapping(in JVector direction, out JVector result)
+    {
+        this.Support(direction, out _, out _, out result);
+    }
+
+    public void SupportCenter(out JVector center)
+    {
+        JVector.Subtract(PositionA, PositionB, out center);
+    }
+}