public bool Equals( btInternalVertexPair other )
{
return m_v0 == other.m_v0 & m_v1 == other.m_v1;
}
public void initialize()
{
btHashMap<btInternalVertexPair, btInternalEdge> edges = new btHashMap<btInternalVertexPair, btInternalEdge>();
double TotalArea = 0.0f;
btVector3[] arr_vertices = m_vertices.InternalArray;
m_localCenter.setValue( 0, 0, 0 );
for( int i = 0; i < m_faces.Count; i++ )
{
int numVertices = m_faces[i].m_indices.Count;
int NbTris = numVertices;
for( int j = 0; j < NbTris; j++ )
{
int k = ( j + 1 ) % numVertices;
btInternalVertexPair vp = new btInternalVertexPair( m_faces[i].m_indices[j], m_faces[i].m_indices[k] );
btInternalEdge edptr = edges.find( ref vp );
btVector3 edge; arr_vertices[vp.m_v1].Sub( ref arr_vertices[vp.m_v0], out edge );
edge.normalize();
bool found = false;
for( int p = 0; p < m_uniqueEdges.Count; p++ )
{
btVector3 tmp;
m_uniqueEdges[p].Sub( ref edge, out tmp );
if( btVector3.IsAlmostZero( ref tmp ) ) { found = true; break; }
m_uniqueEdges[p].Add( ref edge, out tmp );
if( btVector3.IsAlmostZero( ref tmp ) ) { found = true; break; }
}
if( !found )
{
m_uniqueEdges.Add( edge );
}
/* this is broken; it did not port correctly... */
Debugger.Break();
if( edptr.m_face0 == edptr.m_face1 )
{
btInternalEdge ed;
ed.m_face0 = (short)i;
ed.m_face1 = (short)j;
edges.insert( ref vp, ref ed );
}
else
{
Debug.Assert( edptr.m_face0 >= 0 );
Debug.Assert( edptr.m_face1 < 0 );
edptr.m_face1 = (short)i;
}
}
}
#if USE_CONNECTED_FACES
for( int i = 0; i < m_faces.Count; i++ )
{
int numVertices = m_faces[i].m_indices.Count;
m_faces[i].m_connectedFaces.resize( numVertices );
for( int j = 0; j < numVertices; j++ )
{
int k = ( j + 1 ) % numVertices;
btInternalVertexPair vp( m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find( vp );
Debug.Assert( edptr );
Debug.Assert( edptr.m_face0 >= 0 );
Debug.Assert( edptr.m_face1 >= 0 );
int connectedFace = ( edptr.m_face0 == i ) ? edptr.m_face1 : edptr.m_face0;
m_faces[i].m_connectedFaces[j] = connectedFace;
}
}
#endif//USE_CONNECTED_FACES
for( int i = 0; i < m_faces.Count; i++ )
{
int numVertices = m_faces[i].m_indices.Count;
int NbTris = numVertices - 2;
btVector3 p0 = m_vertices[m_faces[i].m_indices[0]];
for( int j = 1; j <= NbTris; j++ )
{
int k = ( j + 1 ) % numVertices;
btVector3 p1 = m_vertices[m_faces[i].m_indices[j]];
btVector3 p2 = m_vertices[m_faces[i].m_indices[k]];
btVector3 tmp;
btVector3 tmp2;
btVector3 tmp3;
p0.Sub( ref p1, out tmp );
p0.Sub( ref p2, out tmp2 );
tmp.cross( ref tmp2, out tmp3 );
double Area = ( tmp3 ).length() * 0.5f;
p0.Add( ref p1, out tmp );
tmp.Add( ref p2, out tmp );
btVector3 Center; tmp.Div( 3.0, out Center );
m_localCenter.AddScale( ref Center, Area, out m_localCenter );
TotalArea += Area;
}
}
m_localCenter.Div( TotalArea, out m_localCenter );
//m_localCenter /= TotalArea;
#if TEST_INTERNAL_OBJECTS
if( true )
{
m_radius = double.MaxValue;
for( int i = 0; i < m_faces.Count; i++ )
{
btVector3 Normal = new btVector3( m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2] );
double dist = btScalar.btFabs( m_localCenter.dot( ref Normal ) + m_faces[i].m_plane[3] );
if( dist < m_radius )
m_radius = dist;
}
double MinX = double.MaxValue;
double MinY = double.MaxValue;
double MinZ = double.MaxValue;
double MaxX = double.MinValue;
double MaxY = double.MinValue;
double MaxZ = double.MinValue;
unsafe
{
fixed ( btVector3* _pt = arr_vertices )
{
for( int i = 0; i < m_vertices.Count; i++ )
{
btVector3* pt = _pt + i;
if( pt->x < MinX ) MinX = pt->x;
if( pt->x > MaxX ) MaxX = pt->x;
if( pt->y < MinY ) MinY = pt->y;
if( pt->y > MaxY ) MaxY = pt->y;
if( pt->z < MinZ ) MinZ = pt->z;
if( pt->z > MaxZ ) MaxZ = pt->z;
}
}
}
mC.setValue( MaxX + MinX, MaxY + MinY, MaxZ + MinZ );
mE.setValue( MaxX - MinX, MaxY - MinY, MaxZ - MinZ );
// double r = m_radius / sqrtf(2.0f);
double r = m_radius / btScalar.btSqrt( 3.0f );
int LargestExtent = mE.maxAxis();
double Step = ( mE[LargestExtent] * 0.5f - r ) / 1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
bool FoundBox = false;
for( int j = 0; j < 1024; j++ )
{
if( testContainment() )
{
FoundBox = true;
break;
}
m_extents[LargestExtent] -= Step;
}
if( !FoundBox )
{
m_extents[0] = m_extents[1] = m_extents[2] = r;
}
else
{
// Refine the box
double Step2 = ( m_radius - r ) / 1024.0f;
int e0 = ( 1 << LargestExtent ) & 3;
int e1 = ( 1 << e0 ) & 3;
for( int j = 0; j < 1024; j++ )
{
double Saved0 = m_extents[e0];
double Saved1 = m_extents[e1];
m_extents[e0] += Step2;
m_extents[e1] += Step2;
if( !testContainment() )
{
m_extents[e0] = Saved0;
m_extents[e1] = Saved1;
break;
}
}
}
}
#endif
}