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)));
}
/// <summary>
/// Finds the intersection with a plane.
/// </summary>
/// <param name="position">The position.</param>
/// <param name="normal">The normal.</param>
/// <param name="ray"></param>
/// <returns>The intersection point.</returns>
public static Vector3?PlaneIntersection(this Ray ray, Vector3 position, Vector3 normal)
{
// http://paulbourke.net/geometry/planeline/
var dn = Vector3.Dot(normal, ray.Direction);
if (dn == 0)
{
return(null);
}
var u = Vector3.Dot(normal, position - ray.Position) / dn;
return(ray.Position + u * ray.Direction);
}
protected override bool OnHitTest(IRenderMatrices context, global::SharpDX.Ray ray, ref List <HitTestResult> hits)
{
bool isHit = false;
if (Octree != null)
{
isHit = Octree.HitTest(context, this, modelMatrix, ray, ref hits);
#if DEBUG
if (isHit)
{
Debug.WriteLine("Octree hit test, hit at " + hits[0].PointHit);
}
#endif
}
else
{
isHit = base.OnHitTest(context, ray, ref hits);
}
return(isHit);
}
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));
}
/// <summary>
/// Called when [hit test].
/// </summary>
/// <param name="context">The context.</param>
/// <param name="totalModelMatrix">The total model matrix.</param>
/// <param name="ray">The ray.</param>
/// <param name="hits">The hits.</param>
/// <returns></returns>
protected override bool OnHitTest(IRenderMatrices context, global::SharpDX.Matrix totalModelMatrix, ref global::SharpDX.Ray ray, ref List <HitTestResult> hits)
{
bool isHit = false;
if (octreeManager != null)
{
isHit = octreeManager.HitTest(context, this.WrapperSource, totalModelMatrix, ray, ref hits);
#if DEBUG
if (isHit)
{
Debug.WriteLine("Octree hit test, hit at " + hits[0].PointHit);
}
#endif
}
else
{
isHit = base.OnHitTest(context, totalModelMatrix, ref ray, ref hits);
}
return(isHit);
}
public override bool HitTest(IRenderMatrices context, global::SharpDX.Ray ray, ref List <HitTestResult> hits)
{
return(false);
}
/// <summary>
/// Chamfers the specified corner (experimental code).
/// </summary>
/// <param name="p">
/// The corner point.
/// </param>
/// <param name="d">
/// The chamfer distance.
/// </param>
/// <param name="eps">
/// The corner search limit distance.
/// </param>
/// <param name="chamferPoints">
/// If this parameter is provided, the collection will be filled with the generated chamfer points.
/// </param>
public void ChamferCorner(Point3D p, double d, double eps = 1e-6, IList<Point3D> chamferPoints = null)
{
this.NoSharedVertices();
this.normals = null;
this.textureCoordinates = null;
var cornerNormal = this.FindCornerNormal(p, eps);
var newCornerPoint = p - (cornerNormal * (float)d);
int index0 = this.positions.Count;
this.positions.Add(newCornerPoint);
var plane = new Plane3D(newCornerPoint, cornerNormal);
int ntri = this.triangleIndices.Count;
for (int i = 0; i < ntri; i += 3)
{
int i0 = i;
int i1 = i + 1;
int i2 = i + 2;
var p0 = this.positions[this.triangleIndices[i0]];
var p1 = this.positions[this.triangleIndices[i1]];
var p2 = this.positions[this.triangleIndices[i2]];
var d0 = (p - p0).LengthSquared();
var d1 = (p - p1).LengthSquared();
var d2 = (p - p2).LengthSquared();
var mind = Math.Min(d0, Math.Min(d1, d2));
if (mind > eps)
{
continue;
}
if (d1 < eps)
{
i0 = i + 1;
i1 = i + 2;
i2 = i;
}
if (d2 < eps)
{
i0 = i + 2;
i1 = i;
i2 = i + 1;
}
p0 = this.positions[this.triangleIndices[i0]];
p1 = this.positions[this.triangleIndices[i1]];
p2 = this.positions[this.triangleIndices[i2]];
// p0 is the corner vertex (at index i0)
// find the intersections between the chamfer plane and the two edges connected to the corner
var line1 = new Ray(p0, p1 - p0);
var line2 = new Ray(p0, p2 - p0);
Point3D p01, p02;
if (!plane.Intersects(ref line1, out p01))
{
continue;
}
if (!plane.Intersects(ref line2, out p02))
{
continue;
}
if (chamferPoints != null)
{
// add the chamfered points
if (!chamferPoints.Contains(p01))
{
chamferPoints.Add(p01);
}
if (!chamferPoints.Contains(p02))
{
chamferPoints.Add(p02);
}
}
int i01 = i0;
// change the original triangle to use the first chamfer point
this.positions[this.triangleIndices[i01]] = p01;
int i02 = this.positions.Count;
this.positions.Add(p02);
// add a new triangle for the other chamfer point
this.triangleIndices.Add(i01);
this.triangleIndices.Add(i2);
this.triangleIndices.Add(i02);
// add a triangle connecting the chamfer points and the new corner point
this.triangleIndices.Add(index0);
this.triangleIndices.Add(i01);
this.triangleIndices.Add(i02);
}
this.NoSharedVertices();
}
