public override Tuple <bool, double> CheckPanelIntersection(bool targetLinkState, Vector3D linkDirection)
{
bool result = false;
double intersectValue = 0.0;
var zDir = new Vector3D(0.0, 0.0, 1.0);
if (targetLinkState)
{
var ptPanel = ColliderExtensions.GetPanel();
if (ptPanel.HasValue)
{
var panel = ptPanel.Value;
var tt = TotalTransformation.Value;
var planePoint = panel.Location + zDir * panel.SizeZ;
foreach (var p in Points)
{
var pp = tt.Transform(p);
var ray = new Ray3D(pp, linkDirection);
var pi = ray.PlaneIntersection(planePoint, zDir);
if (pi.HasValue && panel.Contains(pi.Value))
{
result = true;
intersectValue = Vector3D.DotProduct(pi.Value - pp, linkDirection);
break;
}
}
}
}
return(new Tuple <bool, double>(result, intersectValue));
}
public override Task <Tuple <bool, double> > CheckPanelIntersectionAsync(bool targetLinkState, Vector3D linkDirection)
{
if (targetLinkState)
{
var ptPanel = ColliderExtensions.GetPanel();
if (ptPanel.HasValue)
{
if (Points.Count > 0)
{
var zDir = GetPanelFaceDirectionForLinkImpact(linkDirection);
var retPanel = ptPanel.Value;
var panelMin = retPanel.Location.ToVector3();
var panelMax = panelMin + new Vector3((float)retPanel.SizeX, (float)retPanel.SizeY, (float)retPanel.SizeZ);
var panel = new Box3(panelMin, panelMax);
var tt = TotalTransformation.Value;
var planePoint = panelMax;
var tasks = new List <Task <Tuple <bool, double> > >();
foreach (var p in Points)
{
var point = p;
tasks.Add(Task.Run(() =>
{
var pp = tt.Transform(point);
var ray = new Ray3D(pp.ToVector3(), linkDirection.ToVector3());
if (ray.PlaneIntersection(planePoint, zDir.ToVector3(), out Vector3 intersect) &&
panel.Intersects(new Sphere3(intersect, 0.001f)))
{
var pi = intersect.ToPoint3D();
var intersectValue = Vector3D.DotProduct(pi - pp, linkDirection);
return(new Tuple <bool, double>(true, intersectValue));
}
else
{
return(new Tuple <bool, double>(false, 0.0));
}
}));
}
return(Task.WhenAll(tasks).ContinueWith((t) => t.Result.FirstOrDefault(r => r.Item1) ?? new Tuple <bool, double>(false, 0.0)));
}
else
{
throw new ArgumentOutOfRangeException("The number of points of collider must be greater than 0!");
}
}
}
return(Task.FromResult(new Tuple <bool, double>(false, 0.0)));
}
public override Task <Tuple <bool, double> > CheckPanelIntersectionAsync(bool targetLinkState, Vector3D linkDirection)
{
if (targetLinkState)
{
var ptPanel = ColliderExtensions.GetPanel();
if (ptPanel.HasValue)
{
if (Points.Count > 0)
{
//var zDir = new Vector3D(0.0, 0.0, 1.0);
var zDir = GetPanelFaceDirectionForLinkImpact(linkDirection);
var panel = ptPanel.Value;
var tt = TotalTransformation.Value;
//var planePoint = panel.Location + zDir * panel.SizeZ;
var panelSize = GetPanelSizeForLinkImpact(panel, linkDirection);
var planePoint = panel.Location + zDir * panelSize;
var tasks = new List <Task <Tuple <bool, double> > >();
foreach (var p in Points)
{
var point = p;
tasks.Add(Task.Run(() =>
{
var pp = tt.Transform(point);
var ray = new Ray3D(pp, linkDirection);
var pi = ray.PlaneIntersection(planePoint, zDir);
if (pi.HasValue && panel.Contains(pi.Value))
{
var intersectValue = Vector3D.DotProduct(pi.Value - pp, linkDirection);
return(new Tuple <bool, double>(true, intersectValue));
}
else
{
return(new Tuple <bool, double>(false, 0.0));
}
}));
}
return(Task.WhenAll(tasks).ContinueWith((t) => t.Result.FirstOrDefault(r => r.Item1) ?? new Tuple <bool, double>(false, 0.0)));
}
else
{
throw new ArgumentOutOfRangeException("The number of points of collider must be greater than 0!");
}
}
}
return(Task.FromResult(new Tuple <bool, double>(false, 0.0)));
}
private void PrecomputeSamples()
{
var samplePositions = new List <Vector3>();
float offset = 0.5f;
float step = 1.0f;
int targetPoints = sampleCount * 18;
var transform = this.transform;
Vector3 min, max;
ColliderExtensions.GetLocalMinMax(localCollider, out min, out max);
for (int i = 0; i < 4 && samplePositions.Count < targetPoints; ++i)
{
for (float x = offset; x <= 1.0f; x += step)
{
for (float y = offset; y <= 1.0f; y += step)
{
for (float z = offset; z <= 1.0f; z += step)
{
Vector3 p = new Vector3(Mathf.Lerp(min.x, max.x, x), Mathf.Lerp(min.y, max.y, y), Mathf.Lerp(min.z, max.z, z));
if (localCollider.IsPointInside(transform.TransformPoint(p)))
{
samplePositions.Add(p);
}
}
}
}
step = offset;
offset *= 0.5f;
}
cachedSamplePositions = samplePositions.ToArray();
cachedSampleCount = cachedSamplePositions.Length;
Shuffle(cachedSamplePositions);
}
public override Tuple <bool, double> CheckPanelIntersection(bool targetLinkState, Vector3D linkDirection)
{
bool result = false;
double intersectValue = 0.0;
var zDir = new Vector3D(0.0, 0.0, 1.0);
if (targetLinkState)
{
var ptPanel = ColliderExtensions.GetPanel();
if (ptPanel.HasValue)
{
var retPanel = ptPanel.Value;
var panelMin = retPanel.Location.ToVector3();
var panelMax = panelMin + new Vector3((float)retPanel.SizeX, (float)retPanel.SizeY, (float)retPanel.SizeZ);
var panel = new Box3(panelMin, panelMax);
var tt = TotalTransformation.Value;
var planePoint = panelMax;
foreach (var p in Points)
{
var pp = tt.Transform(p);
var ray = new Ray3D(pp.ToVector3(), linkDirection.ToVector3());
if (ray.PlaneIntersection(planePoint, zDir.ToVector3(), out Vector3 intersect) &&
panel.Intersects(new Sphere3(intersect, 0.001f)))
{
var pi = intersect.ToPoint3D();
result = true;
intersectValue = Vector3D.DotProduct(pi - pp, linkDirection);
break;
}
}
}
}
return(new Tuple <bool, double>(result, intersectValue));
}
private void OnDisable()
{
ColliderExtensions.DeregisterFromDetector(this, coll);
}
private void OnEnable()
{
coll = transform.parent.GetComponent <BoxCollider>();
ColliderExtensions.RegisterToDetector(this, coll);
}
private void OnEnable()
{
coll = GetComponent <Collider>();
ColliderExtensions.RegisterToDetector(this, coll);
}
