/// <summary>
/// Removes redundant points. Two points are redundant if they occupy the same hash grid cell.
/// </summary>
/// <param name="points">List of points to prune.</param>
/// <param name="cellSize">Size of cells to determine redundancy.</param>
public static void RemoveRedundantPoints(ref QuickList<Vector3> points, double cellSize)
{
var set = new QuickSet<Int3>(BufferPools<Int3>.Locking, BufferPools<int>.Locking, BufferPool.GetPoolIndex(points.Count));
for (int i = points.Count - 1; i >= 0; --i)
{
var element = points.Elements[i];
var cell = new Int3
{
X = (int)Math.Floor(element.X / cellSize),
Y = (int)Math.Floor(element.Y / cellSize),
Z = (int)Math.Floor(element.Z / cellSize)
};
if (set.Contains(cell))
{
points.FastRemoveAt(i);
}
else
{
set.Add(cell);
//TODO: Consider adding adjacent cells to guarantee that a point on the border between two cells will still detect the presence
//of a point on the opposite side of that border.
}
}
set.Dispose();
}
/// <summary>
/// Removes redundant points. Two points are redundant if they occupy the same hash grid cell.
/// </summary>
/// <param name="points">List of points to prune.</param>
/// <param name="cellSize">Size of cells to determine redundancy.</param>
public static void RemoveRedundantPoints(ref QuickList <Vector3> points, double cellSize)
{
var set = new QuickSet <Int3>(BufferPools <Int3> .Locking, BufferPools <int> .Locking, BufferPool.GetPoolIndex(points.Count));
for (int i = points.Count - 1; i >= 0; --i)
{
var element = points.Elements[i];
var cell = new Int3
{
X = (int)Math.Floor(element.X / cellSize),
Y = (int)Math.Floor(element.Y / cellSize),
Z = (int)Math.Floor(element.Z / cellSize)
};
if (set.Contains(cell))
{
points.FastRemoveAt(i);
}
else
{
set.Add(cell);
//TODO: Consider adding adjacent cells to guarantee that a point on the border between two cells will still detect the presence
//of a point on the opposite side of that border.
}
}
set.Dispose();
}
internal IEnumerable <TElement> ResolveEnumerable <TElement>(Func <Type, string, ImplicitRegistration, object> resolve, string name)
{
TElement value;
var set = new QuickSet <Type>();
int hash = typeof(TElement).GetHashCode();
// Iterate over hierarchy
for (var container = this; null != container; container = container._parent)
{
// Skip to parent if no data
if (null == container._metadata)
{
continue;
}
// Hold on to registries
var registry = container._registry;
// Get indexes and iterate over them
var length = container._metadata.GetEntries <TElement>(hash, out int[] data);
for (var i = 1; i < length; i++)
{
var index = data[i];
if (set.Add(registry.Entries[index].HashCode, registry.Entries[index].Key.Type))
{
try
{
var registration = (ExplicitRegistration)registry.Entries[index].Value;
value = (TElement)resolve(typeof(TElement), registry.Entries[index].Key.Name, registration);
}
catch (ArgumentException ex) when(ex.InnerException is TypeLoadException)
{
continue;
}
yield return(value);
}
}
}
// If nothing registered attempt to resolve the type
if (0 == set.Count)
{
try
{
var registration = GetRegistration(typeof(TElement), name);
value = (TElement)resolve(typeof(TElement), name, registration);
}
catch
{
yield break;
}
yield return(value);
}
}
public static void RasterizeTriangle(ref Vector3 a, ref Vector3 b, ref Vector3 c, float cellSize, ref Vector3 gridOrigin, BufferPool pool, ref QuickSet <Cell, Buffer <Cell>, Buffer <int>, CellComparer> cells)
{
var gridA = a - gridOrigin;
var gridB = b - gridOrigin;
var gridC = c - gridOrigin;
//Compute the bounding box of the triangle.
var max = Vector3.Max(Vector3.Max(gridA, gridB), gridC);
var min = Vector3.Min(Vector3.Min(gridA, gridB), gridC);
var epsilon = new Vector3(1e-5f);
min -= epsilon;
max += epsilon;
//Discretize the bounding box.
//All indices are positive, so we can just truncate.
int startX, endX, startY, endY, startZ, endZ;
float inverseCellSize = 1f / cellSize;
startX = (int)Math.Floor(min.X * inverseCellSize);
endX = (int)Math.Floor(max.X * inverseCellSize);
startY = (int)Math.Floor(min.Y * inverseCellSize);
endY = (int)Math.Floor(max.Y * inverseCellSize);
startZ = (int)Math.Floor(min.Z * inverseCellSize);
endZ = (int)Math.Floor(max.Z * inverseCellSize);
//Test the triangle against each cell.
var halfExtents = new Vector3(cellSize * 0.5f);
var cellPool = pool.SpecializeFor <Cell>();
var tablePool = pool.SpecializeFor <int>();
for (int i = startX; i <= endX; ++i)
{
for (int j = startY; j <= endY; ++j)
{
for (int k = startZ; k <= endZ; ++k)
{
var cellIndex = new Vector3(i, j, k);
var cellOrigin = cellSize * cellIndex + halfExtents;
var shiftedA = gridA - cellOrigin;
var shiftedB = gridB - cellOrigin;
var shiftedC = gridC - cellOrigin;
if (BoxTriangleCollider.Intersecting(ref halfExtents, ref shiftedA, ref shiftedB, ref shiftedC))
{
cells.Add(new Cell {
X = i, Y = j, Z = k
}, cellPool, tablePool);
}
}
}
}
}
internal IEnumerable <TElement> ComplexArray <TElement>(Func <Type, IRegistration, object?> resolve, Type type)
{
object?value;
var set = new QuickSet();
var key = new HashKey(typeof(TElement));
var typeKey = new HashKey(type);
// Iterate over hierarchy
for (UnityContainer?container = this; null != container; container = container._parent)
{
// Skip to parent if no data
if (null == container._metadata)
{
continue;
}
// Hold on to registries
Debug.Assert(null != container._registry);
var registry = container._registry;
// Get indexes and iterate over them
var length = container._metadata.GetMeta(ref typeKey, out int[]? data);
if (null != data)
{
for (var i = 1; i < length; i++)
{
var index = data[i];
var registration = (ExplicitRegistration)registry.Entries[index].Policies;
if (null != registration.Name && set.Add(registration.Name))
{
try
{
var itemKey = new HashKey(typeof(TElement), registration.Name);
var item = container.GetOrAdd(ref itemKey, typeof(TElement), registration.Name, registration);
value = resolve(typeof(TElement), item);
}
catch (ArgumentException ex) when(ex.InnerException is TypeLoadException)
{
continue;
}
#pragma warning disable CS8601 // Possible null reference assignment.
yield return((TElement)value);
#pragma warning restore CS8601 // Possible null reference assignment.
}
}
}
}
}
/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(ref QuickList <Vector3> points, ref QuickList <int> outputTriangleIndices, IList <Vector3> outputSurfacePoints)
{
GetConvexHull(ref points, ref outputTriangleIndices);
var alreadyContainedIndices = new QuickSet <int>(BufferPools <int> .Locking, BufferPools <int> .Locking);
for (int i = outputTriangleIndices.Count - 1; i >= 0; i--)
{
int index = outputTriangleIndices[i];
if (alreadyContainedIndices.Add(index))
{
outputSurfacePoints.Add(points[index]);
}
}
alreadyContainedIndices.Dispose();
}
internal IEnumerable <TElement> ComplexArray <TElement>(Func <Type, string, ImplicitRegistration, object> resolve, Type type)
{
TElement value;
var set = new QuickSet <Type>();
int hashCode = type.GetHashCode();
// Iterate over hierarchy
for (var container = this; null != container; container = container._parent)
{
// Skip to parent if no data
if (null == container._metadata)
{
continue;
}
// Hold on to registries
var registry = container._registry;
// Get indexes and iterate over them
var length = container._metadata.GetEntries(hashCode, type, out int[] data);
for (var i = 1; i < length; i++)
{
var index = data[i];
var name = registry.Entries[index].Key.Name;
if (null == name)
{
continue;
}
if (set.Add(registry.Entries[index].HashCode, registry.Entries[index].Key.Type))
{
try
{
int hash = NamedType.GetHashCode(typeof(TElement), name);
var registration = container.GetOrAdd(hash, typeof(TElement), name, registry.Entries[index].Value);
value = (TElement)resolve(typeof(TElement), name, registration);
}
catch (ArgumentException ex) when(ex.InnerException is TypeLoadException)
{
continue;
}
yield return(value);
}
}
}
}
public static void TestSetResizing(IUnmanagedMemoryPool pool)
{
Random random = new Random(5);
var set = new QuickSet <int, PrimitiveComparer <int> >(4, pool);
HashSet <int> controlSet = new HashSet <int>();
for (int iterationIndex = 0; iterationIndex < 100000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
set.Add(iterationIndex, pool);
controlSet.Add(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
var indexToRemove = random.Next(set.Count);
var toRemove = set[indexToRemove];
set.FastRemove(toRemove);
controlSet.Remove(toRemove);
}
if (iterationIndex % 1000 == 0)
{
set.EnsureCapacity(set.Count * 3, pool);
}
else if (iterationIndex % 7777 == 0)
{
set.Compact(pool);
}
}
Debug.Assert(set.Count == controlSet.Count);
for (int i = 0; i < set.Count; ++i)
{
Debug.Assert(controlSet.Contains(set[i]));
}
foreach (var element in controlSet)
{
Debug.Assert(set.Contains(element));
}
set.Dispose(pool);
}
public static void TestSetResizing()
{
Random random = new Random(5);
UnsafeBufferPool <int> pool = new UnsafeBufferPool <int>();
QuickSet <int> set = new QuickSet <int>(pool, pool);
HashSet <int> controlSet = new HashSet <int>();
for (int iterationIndex = 0; iterationIndex < 100000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
set.Add(iterationIndex);
controlSet.Add(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
var indexToRemove = random.Next(set.Count);
var toRemove = set[indexToRemove];
set.FastRemove(toRemove);
controlSet.Remove(toRemove);
}
if (iterationIndex % 1000 == 0)
{
set.EnsureCapacity(set.Count * 3);
}
else if (iterationIndex % 7777 == 0)
{
set.Compact();
}
}
Assert.IsTrue(set.Count == controlSet.Count);
for (int i = 0; i < set.Count; ++i)
{
Assert.IsTrue(controlSet.Contains(set[i]));
}
foreach (var element in controlSet)
{
Assert.IsTrue(set.Contains(element));
}
}
internal IEnumerable <TElement> ResolveEnumerable <TElement>(Func <Type, IRegistration, object?> resolve,
Type typeDefinition, string?name)
{
object?value;
var set = new QuickSet();
var key = new HashKey(typeof(TElement));
var keyGeneric = new HashKey(typeDefinition);
// Iterate over hierarchy
for (UnityContainer?container = this; null != container; container = container._parent)
{
// Skip to parent if no data
if (null == container._metadata)
{
continue;
}
// Hold on to registries
Debug.Assert(null != container._registry);
var registry = container._registry;
// Get indexes for bound types and iterate over them
var length = container._metadata.GetMeta(ref key, out int[]? data);
if (null != data)
{
for (var i = 1; i < length; i++)
{
var index = data[i];
var registration = (ExplicitRegistration)registry.Entries[index].Policies;
if (!set.Add(registration.Name))
{
continue;
}
try
{
value = resolve(typeof(TElement), registration);
}
catch (ArgumentException ex) when(ex.InnerException is TypeLoadException)
{
continue;
}
#pragma warning disable CS8601 // Possible null reference assignment.
yield return((TElement)value);
#pragma warning restore CS8601 // Possible null reference assignment.
}
}
// Get indexes for unbound types and iterate over them
length = container._metadata.GetMeta(ref keyGeneric, out data);
if (null != data)
{
for (var i = 1; i < length; i++)
{
var index = data[i];
var registration = (ExplicitRegistration)registry.Entries[index].Policies;
if (set.Add(registration.Name))
{
try
{
var itemKey = new HashKey(typeof(TElement), registration.Name);
var item = container.GetOrAdd(ref itemKey, typeof(TElement), registration.Name, registration);
value = resolve(typeof(TElement), item);
}
catch (MakeGenericTypeFailedException) { continue; }
catch (InvalidRegistrationException) { continue; }
#pragma warning disable CS8601 // Possible null reference assignment.
yield return((TElement)value);
#pragma warning restore CS8601 // Possible null reference assignment.
}
}
}
}
// If nothing registered attempt to resolve the type
if (0 == set.Count)
{
try
{
var registration = GetRegistration(typeof(TElement), name);
value = resolve(typeof(TElement), registration);
}
catch
{
yield break;
}
#pragma warning disable CS8601 // Possible null reference assignment.
yield return((TElement)value);
#pragma warning restore CS8601 // Possible null reference assignment.
}
}
internal IEnumerable <TElement> ResolveEnumerable <TElement>(Func <Type, string, ImplicitRegistration, object> resolve,
Type typeDefinition, string name)
{
TElement value;
var set = new QuickSet <Type>();
int hashCode = typeof(TElement).GetHashCode();
int hashGeneric = typeDefinition.GetHashCode();
// Iterate over hierarchy
for (var container = this; null != container; container = container._parent)
{
// Skip to parent if no data
if (null == container._metadata)
{
continue;
}
// Hold on to registries
var registry = container._registry;
// Get indexes for bound types and iterate over them
var length = container._metadata.GetEntries <TElement>(hashCode, out int[] data);
for (var i = 1; i < length; i++)
{
var index = data[i];
if (set.Add(registry.Entries[index].HashCode, registry.Entries[index].Key.Type))
{
try
{
var registration = (ExplicitRegistration)registry.Entries[index].Value;
value = (TElement)resolve(typeof(TElement), registry.Entries[index].Key.Name, registration);
}
catch (ArgumentException ex) when(ex.InnerException is TypeLoadException)
{
continue;
}
yield return(value);
}
}
// Get indexes for unbound types and iterate over them
length = container._metadata.GetEntries(hashGeneric, typeDefinition, out data);
for (var i = 1; i < length; i++)
{
var index = data[i];
var key = registry.Entries[index].Key.Name;
if (set.Add(registry.Entries[index].HashCode, registry.Entries[index].Key.Type))
{
try
{
int hash = NamedType.GetHashCode(typeof(TElement), key);
var registration = container.GetOrAdd(hash, typeof(TElement), key, registry.Entries[index].Value);
value = (TElement)resolve(typeof(TElement), key, registration);
}
catch (MakeGenericTypeFailedException) { continue; }
catch (InvalidOperationException ex) when(ex.InnerException is InvalidRegistrationException)
{
continue;
}
// TODO: Verify if required
//catch (ArgumentException ex) when (ex.InnerException is TypeLoadException)
//{
// continue;
//}
yield return(value);
}
}
}
// If nothing registered attempt to resolve the type
if (0 == set.Count)
{
try
{
var registration = GetRegistration(typeof(TElement), name);
value = (TElement)resolve(typeof(TElement), name, registration);
}
catch
{
yield break;
}
yield return(value);
}
}
/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(ref QuickList<Vector3> points, ref QuickList<int> outputTriangleIndices, IList<Vector3> outputSurfacePoints)
{
GetConvexHull(ref points, ref outputTriangleIndices);
var alreadyContainedIndices = new QuickSet<int>(BufferPools<int>.Locking, BufferPools<int>.Locking);
for (int i = outputTriangleIndices.Count - 1; i >= 0; i--)
{
int index = outputTriangleIndices[i];
if (alreadyContainedIndices.Add(index))
{
outputSurfacePoints.Add(points[index]);
}
}
alreadyContainedIndices.Dispose();
}
public static void TestSetResizing()
{
Random random = new Random(5);
UnsafeBufferPool<int> pool = new UnsafeBufferPool<int>();
QuickSet<int> set = new QuickSet<int>(pool, pool);
HashSet<int> controlSet = new HashSet<int>();
for (int iterationIndex = 0; iterationIndex < 100000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
set.Add(iterationIndex);
controlSet.Add(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
var indexToRemove = random.Next(set.Count);
var toRemove = set[indexToRemove];
set.FastRemove(toRemove);
controlSet.Remove(toRemove);
}
if (iterationIndex % 1000 == 0)
{
set.EnsureCapacity(set.Count * 3);
}
else if (iterationIndex % 7777 == 0)
{
set.Compact();
}
}
Assert.IsTrue(set.Count == controlSet.Count);
for (int i = 0; i < set.Count; ++i)
{
Assert.IsTrue(controlSet.Contains(set[i]));
}
foreach (var element in controlSet)
{
Assert.IsTrue(set.Contains(element));
}
}