| public static ClosestPointsOnTwoLines ( Vector3 &closestPointLine1, Vector3 &closestPointLine2, Vector3 linePoint1, Vector3 lineVec1, Vector3 linePoint2, Vector3 lineVec2 ) : bool | ||
| closestPointLine1 | Vector3 | |
| closestPointLine2 | Vector3 | |
| linePoint1 | Vector3 | |
| lineVec1 | Vector3 | |
| linePoint2 | Vector3 | |
| lineVec2 | Vector3 | |
| return | bool | |
public static Vector3 Circumcenter(Vector3 pt1, Vector3 pt2, Vector3 pt3)
{
// Get the perpendicular bisector of pt1, pt2
Vector3 v12 = pt2 - pt1;
Vector3 v12normalized = v12.normalized;
Vector3 v13 = pt3 - pt1;
Vector3 v13normalized = v13.normalized;
Vector3 v12perp = v13 - (Vector3.Dot(v13, v12normalized)) * v12normalized;
v12perp.Normalize();
// Get the perpendicular bisector of pt1, pt3
Vector3 v13perp = v12 - (Vector3.Dot(v12, v13normalized)) * v13normalized;
v13perp.Normalize();
Vector3 v12base = (pt1 + pt2) / 2;
Vector3 v13base = (pt1 + pt3) / 2;
// Compute intersection of the two bisectors
Vector3 closest1, closest2;
Math3d.ClosestPointsOnTwoLines(out closest1, out closest2, v12base, v12perp, v13base, v13perp);
return((closest1 + closest2) / 2);
}
public static Vector3 Circumcentre2(Vector3 a, Vector3 b, Vector3 c, Vector3 d)
{
// Calculate plane for edge AB
Vector3 planeABNormal = b - a;
Vector3 planeABPoint = Vector3.Lerp(a, b, 0.5f);
// Calculate plane for edge AC
Vector3 planeACNormal = c - a;
Vector3 planeACPoint = Vector3.Lerp(a, c, 0.5f);
// Calculate plane for edge BD
Vector3 planeBDNormal = d - b;
Vector3 planeBDPoint = Vector3.Lerp(b, d, 0.5f);
// Calculate plane for edge CD
Vector3 planeCDNormal = d - c;
Vector3 planeCDPoint = Vector3.Lerp(c, d, 0.5f);
// Calculate line that is the plane-plane intersection between AB and AC
Vector3 linePoint1;
Vector3 lineDirection1;
// Taken from: http://wiki.unity3d.com/index.php/3d_Math_functions
Math3d.PlanePlaneIntersection(out linePoint1, out lineDirection1, planeABNormal, planeABPoint, planeACNormal, planeACPoint);
Vector3 linePoint2;
Vector3 lineDirection2;
Math3d.PlanePlaneIntersection(out linePoint2, out lineDirection2, planeBDNormal, planeBDPoint, planeCDNormal, planeCDPoint);
// Calculate the point that is the plane-line intersection between the above line and CD
Vector3 intersection;
// Floating point inaccuracy often causes these two lines to not intersect, in that case get the two closest points on each line
// and average them
// Taken from: http://wiki.unity3d.com/index.php/3d_Math_functions
if (!Math3d.LineLineIntersection(out intersection, linePoint1, lineDirection1, linePoint2, lineDirection2))
{
Vector3 closestLine1;
Vector3 closestLine2;
// Taken from: http://wiki.unity3d.com/index.php/3d_Math_functions
Math3d.ClosestPointsOnTwoLines(out closestLine1, out closestLine2, linePoint1, lineDirection1, linePoint2, lineDirection2);
// Intersection is halfway between the closest two points on lines
intersection = Vector3.Lerp(closestLine2, closestLine2, 0.5f);
}
return(intersection);
}
public Vector3 AvoidCollisions()
{
//.find a good balance
float seconds = 1;
float distance = rb.velocity.magnitude * seconds;
foreach (Collider other in Physics.OverlapSphere(transform.position, distance))
{
Rigidbody rb2 = other.gameObject.GetComponent <Rigidbody> ();
if (rb2 != null)
{
Vector3 p1;
Vector3 p2;
// if the lines aren't parallel
if (Math3d.ClosestPointsOnTwoLines(out p1, out p2, transform.position, rb.velocity, other.gameObject.transform.position, rb2.velocity))
{
float t1 = (p1 - transform.position).sqrMagnitude / rb.velocity.magnitude;
float t2 = (p2 - other.gameObject.transform.position).sqrMagnitude / rb2.velocity.magnitude;
// if the "collision" is at the same space-time
if (Mathf.Abs(t2 - t1) < 1)
{
// if the collision is close enough to detect
if ((p1 - transform.position).magnitude < distance)
{
if ((p2 - p1).magnitude < 1) //.use object radii instead
{
return(Evade(other.gameObject));
}
}
}
}
}
}
return(Vector3.zero);
}
private void OnDrawGizmos()
{
if (compute)
{
Compute();
}
if (drawRays || drawHits || drawUnfold)
{
foreach (BouncyRay ray in rays)
{
Vector2 uv = ray.uv;
Gizmos.color = ray.Hit ? new Color(uv.x, uv.y, 0, 0.25f) : new Color(1, 1, 1, 0.25f);
if (drawRays || drawHits)
{
Vector3[] hits = ray.GetPoints();
for (int p = 1; p < hits.Length; ++p)
{
if (drawRays)
{
Gizmos.DrawLine(hits[p - 1], hits[p]);
}
if (drawHits)
{
Gizmos.DrawSphere(hits[p], 0.25f);
}
}
}
if (drawUnfold)
{
Ray unfolded = ray.Unfolded;
Gizmos.DrawLine(unfolded.origin, unfolded.origin + unfolded.direction * ray.Length);
}
}
}
//this is the optical center
{
idxRayOpticalCenter = (size - 1) / 2 + size * (size - 1) / 2;
BouncyRay ray = rays[idxRayOpticalCenter];
Vector3[] hits = ray.GetPoints();
Vector2 uv = ray.uv;
Gizmos.color = Color.blue;
for (int p = 1; p < hits.Length; ++p)
{
Gizmos.DrawLine(hits[p - 1], hits[p]);
Gizmos.DrawSphere(hits[p], 0.25f);
}
Ray unfolded = ray.Unfolded;
Gizmos.DrawLine(unfolded.origin, unfolded.origin + unfolded.direction * ray.Length);
}
{
BouncyRay ray = physicalCenterBounce;
Vector3[] hits = ray.GetPoints();
Vector2 uv = ray.uv;
Gizmos.color = Color.white;
for (int p = 1; p < hits.Length; ++p)
{
Gizmos.DrawLine(hits[p - 1], hits[p]);
Gizmos.DrawSphere(hits[p], 0.25f);
}
Ray unfolded = ray.Unfolded;
Gizmos.DrawLine(unfolded.origin, unfolded.origin + unfolded.direction * ray.Length);
}
Gizmos.color = Color.red;
Vector3 center = Vector3.zero;
int intersections = 0;
for (int r1 = 0; r1 < rays.Length; ++r1)
{
BouncyRay raycast1 = rays[r1];
if (raycast1.Hit)
{
Ray ray1 = raycast1.Unfolded;
for (int r2 = r1 + 1; r2 < rays.Length; ++r2)
{
BouncyRay raycast2 = rays[r2];
if (raycast2.Hit)
{
Ray ray2 = raycast2.Unfolded;
Vector3 p1;
Vector3 p2;
if (Math3d.ClosestPointsOnTwoLines(out p1, out p2, ray1.origin, ray1.direction, ray2.origin, ray2.direction))
{
Gizmos.DrawLine(p1, p2);
center += (p1 + p2) / 2;
++intersections;
}
}
}
}
}
Gizmos.DrawWireSphere(center / intersections, 0.1f);
}