void Leagalize()
{
while (stack.Count > 0)
{
var t = stack.Pop();
if (FindNodes(t, out DN n1, out DN n2))
{
var p1 = n1.tetrahedra.RemainingPoint(t);
var p2 = n2.tetrahedra.RemainingPoint(t);
if (n1.tetrahedra.GetCircumscribedSphere().Contains(p2))
{
if (t.Intersects(new SG(p1, p2), out d3 i, out bool onedge))
{
var o = DN.Flip23(n1, n2, p1, p2, t);
stack.Push(o.t1);
stack.Push(o.t2);
stack.Push(o.t3);
stack.Push(o.t4);
stack.Push(o.t5);
stack.Push(o.t6);
nodes.Remove(n1);
nodes.Remove(n2);
nodes.Add(o.n1);
nodes.Add(o.n2);
nodes.Add(o.n3);
}
else if (onedge)
{
Debug.LogWarning("point is on edge");
}
else
{
d3 far;
if (Utils.IsIntersecting(new SG(i, t.a), new SG(t.b, t.c), 1e-15d))
{
far = t.a;
}
else if (Utils.IsIntersecting(new SG(i, t.b), new SG(t.c, t.a), 1e-15d))
{
far = t.b;
}
else if (Utils.IsIntersecting(new SG(i, t.c), new SG(t.a, t.b), 1e-15d))
{
far = t.c;
}
else
{
throw new System.Exception();
}
var cm = t.Remaining(far);
var t3 = new TR(cm, p1);
var n3 = n1.GetFacingNode(t3);
if (!Equals(n3.tetrahedra.RemainingPoint(t3), p2))
{
continue;
}
var p12 = far;
var p23 = p2;
var p31 = p1;
var o = DN.Flip32(n1, n2, n3, p31, p12, p23, cm.a, cm.b);
stack.Push(o.t1);
stack.Push(o.t2);
stack.Push(o.t3);
stack.Push(o.t4);
stack.Push(o.t5);
stack.Push(o.t6);
nodes.Remove(n1);
nodes.Remove(n2);
nodes.Remove(n3);
nodes.Add(o.n1);
nodes.Add(o.n2);
}
}
}
}