public static List <Point> Intersect(Point l11, Point l12, Point A, Point B, Point C, double tolerance)
{
Point intersAB = Intersections2D.IntersectFastWithTriangle(l11, l12, A, B, tolerance);
Point intersBC = Intersections2D.IntersectFastWithTriangle(l11, l12, B, C, tolerance);
Point intersCA = Intersections2D.IntersectFastWithTriangle(l11, l12, C, A, tolerance);
List <Point> intersections = new List <Point>(3);
if (!double.IsNaN(intersAB.X))
{
intersections.Add(intersAB);
}
if (!double.IsNaN(intersBC.X) && (intersections.Count == 0 || !AreEqual(intersections[0], intersBC, tolerance)))
{
intersections.Add(intersBC);
}
if (!double.IsNaN(intersCA.X) && (intersections.Count == 0 || (!AreEqual(intersections[0], intersCA, tolerance) && (intersections.Count == 1 || !AreEqual(intersections[1], intersCA, tolerance)))))
{
intersections.Add(intersCA);
}
return(intersections);
}
private unsafe void FillTriangleWithShadow(byte *imageData, Triangle3DElement triangle, Camera camera, List <ILightSource> lights, List <Triangle3DElement> shadowers)
{
Point[] triangle2D = triangle.GetProjection();
int minX = int.MaxValue;
int minY = int.MaxValue;
int maxX = int.MinValue;
int maxY = int.MinValue;
for (int i = 0; i < triangle2D.Length; i++)
{
triangle2D[i] = new Point((triangle2D[i].X - camera.TopLeft.X) / camera.Size.Width * this.RenderWidth, (triangle2D[i].Y - camera.TopLeft.Y) / camera.Size.Height * this.RenderHeight);
minX = Math.Min(minX, (int)triangle2D[i].X);
minY = Math.Min(minY, (int)triangle2D[i].Y);
maxX = Math.Max(maxX, (int)Math.Ceiling(triangle2D[i].X));
maxY = Math.Max(maxY, (int)Math.Ceiling(triangle2D[i].Y));
}
minX = Math.Max(minX, 0);
minY = Math.Max(minY, 0);
maxX = Math.Min(maxX, this.RenderWidth - 1);
maxY = Math.Min(maxY, this.RenderHeight - 1);
List <Triangle3DElement> otherShadowers = new List <Triangle3DElement>(shadowers.Count);
for (int i = 0; i < shadowers.Count; i++)
{
if (shadowers[i] != triangle)
{
otherShadowers.Add(shadowers[i]);
}
}
int totalPixels = (maxX - minX + 1) * (maxY - minY + 1);
Parallel.For(0, totalPixels, index =>
{
int y = index / (maxX - minX + 1) + minY;
int x = index % (maxX - minX + 1) + minX;
if (Intersections2D.PointInTriangle(x, y, triangle2D[0], triangle2D[1], triangle2D[2]))
{
Point3D correspPoint = camera.Deproject(new Point((double)x / this.RenderWidth * camera.Size.Width + camera.TopLeft.X, (double)y / this.RenderHeight * camera.Size.Height + camera.TopLeft.Y), triangle);
double zDepth = camera.ZDepth(correspPoint);
int prevZIndexBuffer = ZIndexBuffer[y * RenderWidth + x];
if (prevZIndexBuffer < triangle.ZIndex || (prevZIndexBuffer == triangle.ZIndex && ZBuffer[y * RenderWidth + x] > zDepth))
{
(byte R, byte G, byte B, byte A) = GetPixelColorWithShadow(triangle, lights, otherShadowers, x, y, correspPoint, camera);
if (A == 255)
{
imageData[y * RenderWidth * 4 + x * 4] = R;
imageData[y * RenderWidth * 4 + x * 4 + 1] = G;
imageData[y * RenderWidth * 4 + x * 4 + 2] = B;
imageData[y * RenderWidth * 4 + x * 4 + 3] = A;
}
else
{
BlendFront(ref imageData[y * RenderWidth * 4 + x * 4], ref imageData[y * RenderWidth * 4 + x * 4 + 1], ref imageData[y * RenderWidth * 4 + x * 4 + 2], ref imageData[y * RenderWidth * 4 + x * 4 + 3], R, G, B, A);
}
ZBuffer[y * RenderWidth + x] = zDepth;
ZIndexBuffer[y * RenderWidth + x] = triangle.ZIndex;
}
else if (imageData[y * RenderWidth * 4 + x * 4 + 3] < 255)
{
(byte R, byte G, byte B, byte A) = GetPixelColorWithShadow(triangle, lights, otherShadowers, x, y, correspPoint, camera);
BlendBack(R, G, B, A, ref imageData[y * RenderWidth * 4 + x * 4], ref imageData[y * RenderWidth * 4 + x * 4 + 1], ref imageData[y * RenderWidth * 4 + x * 4 + 2], ref imageData[y * RenderWidth * 4 + x * 4 + 3]);
}
}
});
}
private unsafe void DrawLine(byte *imageData, Line3DElement line, Camera camera)
{
Point[] line2D = line.GetProjection();
int minX = int.MaxValue;
int minY = int.MaxValue;
int maxX = int.MinValue;
int maxY = int.MinValue;
for (int i = 0; i < line2D.Length; i++)
{
line2D[i] = new Point((line2D[i].X - camera.TopLeft.X) / camera.Size.Width * this.RenderWidth, (line2D[i].Y - camera.TopLeft.Y) / camera.Size.Height * this.RenderHeight);
minX = Math.Min(minX, (int)line2D[i].X);
minY = Math.Min(minY, (int)line2D[i].Y);
maxX = Math.Max(maxX, (int)Math.Ceiling(line2D[i].X));
maxY = Math.Max(maxY, (int)Math.Ceiling(line2D[i].Y));
}
double thicknessX = line.Thickness * 0.5 / camera.Size.Width * this.RenderWidth;
double thicknessY = line.Thickness * 0.5 / camera.Size.Height * this.RenderHeight;
double thicknessSquare = thicknessY * thicknessX;
double thickness = Math.Sqrt(thicknessSquare);
minX = (int)Math.Floor(minX - thicknessX);
minY = (int)Math.Floor(minY - thicknessY);
maxX = (int)Math.Ceiling(maxX + thicknessX);
maxY = (int)Math.Ceiling(maxY + thicknessY);
minX = Math.Max(minX, 0);
minY = Math.Max(minY, 0);
maxX = Math.Min(maxX, this.RenderWidth - 1);
maxY = Math.Min(maxY, this.RenderHeight - 1);
int totalPixels = (maxX - minX + 1) * (maxY - minY + 1);
double lineLengthSq = (line2D[1].X - line2D[0].X) * (line2D[1].X - line2D[0].X) + (line2D[1].Y - line2D[0].Y) * (line2D[1].Y - line2D[0].Y);
double lineLength = Math.Sqrt(lineLengthSq);
double addedTerm = line2D[1].X * line2D[0].Y - line2D[1].Y * line2D[0].X;
double dy = line2D[1].Y - line2D[0].Y;
double dx = line2D[1].X - line2D[0].X;
double unitsOn = (line.LineDash.UnitsOn / line.Thickness * thickness * 2) / lineLength;
double unitsOff = (line.LineDash.UnitsOff / line.Thickness * thickness * 2) / lineLength;
double phase = (line.LineDash.Phase / line.Thickness * thickness * 2) / lineLength;
bool dashOn(double t)
{
if (unitsOff == 0)
{
return(true);
}
else
{
t += phase;
t = t % (unitsOn + unitsOff);
while (t < 0)
{
t += unitsOn + unitsOff;
}
return(t <= unitsOn);
}
};
Parallel.For(0, totalPixels, index =>
{
int y = index / (maxX - minX + 1) + minY;
int x = index % (maxX - minX + 1) + minX;
double dist = Math.Abs(dy * x - dx * y + addedTerm) / lineLength;
double howMuch = dist <= thickness ? 1 : Math.Max(0, 1 - (dist - thickness));
if (howMuch > 0)
{
(double t, Point pointOnLine) = Intersections2D.ProjectOnSegment(x, y, line2D[0], line2D[1]);
if (line.LineCap == LineCaps.Butt)
{
if (t < 0)
{
howMuch *= Math.Max(0, 1 + t * lineLength);
}
else if (t > 1)
{
howMuch *= Math.Max(0, 1 - (t - 1) * lineLength);
}
}
else if (line.LineCap == LineCaps.Square)
{
if (t < -thickness / lineLength)
{
howMuch *= Math.Max(0, 1 + (t + thickness / lineLength) * lineLength);
}
else if (t > 1 + thickness / lineLength)
{
howMuch *= Math.Max(0, 1 - (t - thickness / lineLength - 1) * lineLength);
}
}
else if (line.LineCap == LineCaps.Round)
{
if (t < -(thickness + 1) / lineLength || t > 1 + (thickness + 1) / lineLength)
{
howMuch = 0;
}
else if (t < 0)
{
double tipDist = (x - line2D[0].X) * (x - line2D[0].X) + (y - line2D[0].Y) * (y - line2D[0].Y);
howMuch *= tipDist <= thicknessSquare ? 1 : Math.Max(0, 1 - (Math.Sqrt(tipDist) - thickness));
}
else if (t > 1)
{
double tipDist = (x - line2D[1].X) * (x - line2D[1].X) + (y - line2D[1].Y) * (y - line2D[1].Y);
howMuch *= tipDist <= thicknessSquare ? 1 : Math.Max(0, 1 - (Math.Sqrt(tipDist) - thickness));
}
}
if (howMuch > 0 && dashOn(t))
{
Point3D correspPoint = camera.Deproject(new Point((double)pointOnLine.X / this.RenderWidth * camera.Size.Width + camera.TopLeft.X, (double)pointOnLine.Y / this.RenderHeight * camera.Size.Height + camera.TopLeft.Y), line);
double zDepth = camera.ZDepth(correspPoint);
int prevZIndexBuffer = ZIndexBuffer[y * RenderWidth + x];
if (prevZIndexBuffer < line.ZIndex || (prevZIndexBuffer == line.ZIndex && ZBuffer[y * RenderWidth + x] >= zDepth))
{
byte R = (byte)(line.Colour.R * 255);
byte G = (byte)(line.Colour.G * 255);
byte B = (byte)(line.Colour.B * 255);
byte A = (byte)(line.Colour.A * 255 * howMuch);
if (A == 255)
{
imageData[y * RenderWidth * 4 + x * 4] = R;
imageData[y * RenderWidth * 4 + x * 4 + 1] = G;
imageData[y * RenderWidth * 4 + x * 4 + 2] = B;
imageData[y * RenderWidth * 4 + x * 4 + 3] = A;
}
else
{
BlendFront(ref imageData[y * RenderWidth * 4 + x * 4], ref imageData[y * RenderWidth * 4 + x * 4 + 1], ref imageData[y * RenderWidth * 4 + x * 4 + 2], ref imageData[y * RenderWidth * 4 + x * 4 + 3], R, G, B, A);
}
ZBuffer[y * RenderWidth + x] = zDepth;
ZIndexBuffer[y * RenderWidth + x] = line.ZIndex;
}
else if (imageData[y * RenderWidth * 4 + x * 4 + 3] < 255)
{
byte R = (byte)(line.Colour.R * 255);
byte G = (byte)(line.Colour.G * 255);
byte B = (byte)(line.Colour.B * 255);
byte A = (byte)(line.Colour.A * 255 * howMuch);
BlendBack(R, G, B, A, ref imageData[y * RenderWidth * 4 + x * 4], ref imageData[y * RenderWidth * 4 + x * 4 + 1], ref imageData[y * RenderWidth * 4 + x * 4 + 2], ref imageData[y * RenderWidth * 4 + x * 4 + 3]);
}
}
}
});
}
private unsafe void FillTriangle(byte *imageData, Triangle3DElement triangle, Camera camera, List <ILightSource> lights, List <double> obstructions)
{
Point[] triangle2D = triangle.GetProjection();
int minX = int.MaxValue;
int minY = int.MaxValue;
int maxX = int.MinValue;
int maxY = int.MinValue;
for (int i = 0; i < triangle2D.Length; i++)
{
triangle2D[i] = new Point((triangle2D[i].X - camera.TopLeft.X) / camera.Size.Width * this.RenderWidth, (triangle2D[i].Y - camera.TopLeft.Y) / camera.Size.Height * this.RenderHeight);
minX = Math.Min(minX, (int)triangle2D[i].X);
minY = Math.Min(minY, (int)triangle2D[i].Y);
maxX = Math.Max(maxX, (int)Math.Ceiling(triangle2D[i].X));
maxY = Math.Max(maxY, (int)Math.Ceiling(triangle2D[i].Y));
}
minX = Math.Max(minX, 0);
minY = Math.Max(minY, 0);
maxX = Math.Min(maxX, this.RenderWidth - 1);
maxY = Math.Min(maxY, this.RenderHeight - 1);
int totalPixels = (maxX - minX + 1) * (maxY - minY + 1);
Parallel.For(0, totalPixels, index =>
{
int y = index / (maxX - minX + 1) + minY;
int x = index % (maxX - minX + 1) + minX;
if (Intersections2D.PointInTriangle(x, y, triangle2D[0], triangle2D[1], triangle2D[2]))
{
Point3D correspPoint = camera.Deproject(new Point((double)x / this.RenderWidth * camera.Size.Width + camera.TopLeft.X, (double)y / this.RenderHeight * camera.Size.Height + camera.TopLeft.Y), triangle);
double zDepth = camera.ZDepth(correspPoint);
int prevZIndexBuffer = ZIndexBuffer[y * RenderWidth + x];
if (prevZIndexBuffer < triangle.ZIndex || (prevZIndexBuffer == triangle.ZIndex && ZBuffer[y * RenderWidth + x] > zDepth))
{
byte R = 0;
byte G = 0;
byte B = 0;
byte A = 0;
for (int i = 0; i < triangle.Fill.Count; i++)
{
Colour col = triangle.Fill[i].GetColour(correspPoint, triangle.GetNormalAt(correspPoint), camera, lights, obstructions);
if (col.A == 1)
{
R = (byte)(col.R * 255);
G = (byte)(col.G * 255);
B = (byte)(col.B * 255);
A = (byte)(col.A * 255);
}
else
{
BlendFront(ref R, ref G, ref B, ref A, (byte)(col.R * 255), (byte)(col.G * 255), (byte)(col.B * 255), (byte)(col.A * 255));
}
}
if (A == 255)
{
imageData[y * RenderWidth * 4 + x * 4] = R;
imageData[y * RenderWidth * 4 + x * 4 + 1] = G;
imageData[y * RenderWidth * 4 + x * 4 + 2] = B;
imageData[y * RenderWidth * 4 + x * 4 + 3] = A;
}
else
{
BlendFront(ref imageData[y * RenderWidth * 4 + x * 4], ref imageData[y * RenderWidth * 4 + x * 4 + 1], ref imageData[y * RenderWidth * 4 + x * 4 + 2], ref imageData[y * RenderWidth * 4 + x * 4 + 3], R, G, B, A);
}
ZBuffer[y * RenderWidth + x] = zDepth;
ZIndexBuffer[y * RenderWidth + x] = triangle.ZIndex;
}
else if (imageData[y * RenderWidth * 4 + x * 4 + 3] < 255)
{
byte R = 0;
byte G = 0;
byte B = 0;
byte A = 0;
for (int i = 0; i < triangle.Fill.Count; i++)
{
Colour col = triangle.Fill[i].GetColour(correspPoint, triangle.GetNormalAt(correspPoint), camera, lights, obstructions);
if (col.A == 1)
{
R = (byte)(col.R * 255);
G = (byte)(col.G * 255);
B = (byte)(col.B * 255);
A = (byte)(col.A * 255);
}
else
{
BlendFront(ref R, ref G, ref B, ref A, (byte)(col.R * 255), (byte)(col.G * 255), (byte)(col.B * 255), (byte)(col.A * 255));
}
}
BlendBack(R, G, B, A, ref imageData[y * RenderWidth * 4 + x * 4], ref imageData[y * RenderWidth * 4 + x * 4 + 1], ref imageData[y * RenderWidth * 4 + x * 4 + 2], ref imageData[y * RenderWidth * 4 + x * 4 + 3]);
}
}
});
}
private (byte R, byte G, byte B, byte A) GetPixelColor(Point point, List <Element3D> elements, Camera camera, List <ILightSource> lights, List <Triangle3DElement> shadowers, List <double> noObstructions, bool reproject)
{
List <(Element3D element, double z, Point3D correspPoint)> hits = new List <(Element3D element, double z, Point3D correspPoint)>();
foreach (Element3D element in elements)
{
if (element is Triangle3DElement triangle)
{
Point[] projection;
if (reproject)
{
projection = new Point[] { camera.Project(triangle[0]), camera.Project(triangle[1]), camera.Project(triangle[2]) };
}
else
{
projection = triangle.GetProjection();
}
if (Intersections2D.PointInTriangle(point, projection[0], projection[1], projection[2]))
{
Point3D correspPoint = camera.Deproject(point, triangle);
double z = camera.ZDepth(correspPoint);
hits.Add((triangle, z, correspPoint));
}
}
else if (element is Point3DElement pointElement)
{
Point projection;
if (reproject)
{
projection = camera.Project(pointElement[0]);
}
else
{
projection = pointElement.GetProjection()[0];
}
if ((point.X - projection.X) * (point.X - projection.X) + (point.Y - projection.Y) * (point.Y - projection.Y) <= pointElement.Diameter * pointElement.Diameter * 0.25)
{
double z = camera.ZDepth(pointElement.Point);
hits.Add((pointElement, z, pointElement.Point));
}
}
else if (element is Line3DElement line)
{
Point[] line2D;
if (reproject)
{
line2D = new Point[] { camera.Project(line[0]), camera.Project(line[1]) };
}
else
{
line2D = line.GetProjection();
}
double lineLengthSq = (line2D[1].X - line2D[0].X) * (line2D[1].X - line2D[0].X) + (line2D[1].Y - line2D[0].Y) * (line2D[1].Y - line2D[0].Y);
double lineLength = Math.Sqrt(lineLengthSq);
double addedTerm = line2D[1].X * line2D[0].Y - line2D[1].Y * line2D[0].X;
double dy = line2D[1].Y - line2D[0].Y;
double dx = line2D[1].X - line2D[0].X;
double unitsOn = line.LineDash.UnitsOn / lineLength;
double unitsOff = line.LineDash.UnitsOff / lineLength;
double phase = line.LineDash.Phase / lineLength;
double dist = Math.Abs(dy * point.X - dx * point.Y + addedTerm) / lineLength;
double thickness = line.Thickness * 0.5;
if (dist < thickness)
{
(double t, Point pointOnLine) = Intersections2D.ProjectOnSegment(point, line2D[0], line2D[1]);
bool isIn = false;
if (line.LineCap == LineCaps.Butt)
{
if (t >= 0 && t <= 1)
{
isIn = true;
}
}
else if (line.LineCap == LineCaps.Square)
{
if (t >= -thickness / lineLength && t <= 1 + thickness / lineLength)
{
isIn = true;
}
}
else if (line.LineCap == LineCaps.Round)
{
if (t >= 0 && t <= 1)
{
isIn = true;
}
else if (t < -thickness / lineLength || t > 1 + thickness / lineLength)
{
isIn = false;
}
else if (t < 0)
{
double tipDist = (point.X - line2D[0].X) * (point.X - line2D[0].X) + (point.Y - line2D[0].Y) * (point.Y - line2D[0].Y);
if (tipDist <= thickness * thickness)
{
isIn = true;
}
}
else if (t > 1)
{
double tipDist = (point.X - line2D[1].X) * (point.X - line2D[1].X) + (point.Y - line2D[1].Y) * (point.Y - line2D[1].Y);
if (tipDist <= thickness * thickness)
{
isIn = true;
}
}
}
if (isIn && IsDashOn(unitsOn, unitsOff, phase, t))
{
Point3D correspPoint = camera.Deproject(pointOnLine, line);
double z = camera.ZDepth(correspPoint);
hits.Add((line, z, correspPoint));
}
}
}
}
hits.Sort((a, b) =>
{
if (a.element.ZIndex == b.element.ZIndex)
{
return(Math.Sign(a.z - b.z));
}
else
{
return(Math.Sign(b.element.ZIndex - a.element.ZIndex));
}
});
byte pixelR = 0;
byte pixelG = 0;
byte pixelB = 0;
byte pixelA = 0;
foreach ((Element3D element, double z, Point3D correspPoint)hit in hits)
{
byte R = 0;
byte G = 0;
byte B = 0;
byte A = 0;
if (hit.element is Triangle3DElement triangle)
{
if (!triangle.ReceivesShadow || shadowers == null)
{
(R, G, B, A) = GetPixelColor(triangle, hit.correspPoint, camera, lights, noObstructions);
}
else
{
(R, G, B, A) = GetPixelColorWithShadow(triangle, lights, shadowers, hit.correspPoint, camera);
}
}
else if (hit.element is Point3DElement pointElement)
{
R = (byte)(pointElement.Colour.R * 255);
G = (byte)(pointElement.Colour.G * 255);
B = (byte)(pointElement.Colour.B * 255);
A = (byte)(pointElement.Colour.A * 255);
}
else if (hit.element is Line3DElement lineElement)
{
R = (byte)(lineElement.Colour.R * 255);
G = (byte)(lineElement.Colour.G * 255);
B = (byte)(lineElement.Colour.B * 255);
A = (byte)(lineElement.Colour.A * 255);
}
BlendBack(R, G, B, A, ref pixelR, ref pixelG, ref pixelB, ref pixelA);
if (pixelA == 255)
{
break;
}
}
return(pixelR, pixelG, pixelB, pixelA);
}
private void FillTriangle(Graphics graphics, IEnumerable <Point> triangleProjection, Colour colour, double overFill, double scaleFactor, string tag)
{
GraphicsPath path = new GraphicsPath();
if (overFill > 0)
{
double overfill = overFill * scaleFactor;
double meanX = 0;
double meanY = 0;
int count = 0;
foreach (Point pt in triangleProjection)
{
meanX += pt.X;
meanY += pt.Y;
count++;
}
meanX /= count;
meanY /= count;
Point centroid2D = new Point(meanX, meanY);
Point prevPoint = new Point();
Point firstPoint = new Point();
foreach (Point pt in triangleProjection)
{
if (path.Segments.Count == 0)
{
path.MoveTo(pt);
prevPoint = pt;
firstPoint = pt;
}
else
{
Point meanPoint = Intersections2D.ProjectOnLine(centroid2D, prevPoint, pt);
Point dir = new Point(meanPoint.X - meanX, meanPoint.Y - meanY);
double length = dir.Modulus();
Point newMeanPoint = new Point(meanX + dir.X * (length + overfill) / length, meanY + dir.Y * (length + overfill) / length);
path.LineTo(prevPoint.X - meanPoint.X + newMeanPoint.X, prevPoint.Y - meanPoint.Y + newMeanPoint.Y);
path.LineTo(pt.X - meanPoint.X + newMeanPoint.X, pt.Y - meanPoint.Y + newMeanPoint.Y);
path.LineTo(pt);
prevPoint = pt;
}
}
{
Point meanPoint = Intersections2D.ProjectOnLine(centroid2D, prevPoint, firstPoint);
Point dir = new Point(meanPoint.X - meanX, meanPoint.Y - meanY);
double length = dir.Modulus();
Point newMeanPoint = new Point(meanX + dir.X * (length + overfill) / length, meanY + dir.Y * (length + overfill) / length);
path.LineTo(prevPoint.X - meanPoint.X + newMeanPoint.X, prevPoint.Y - meanPoint.Y + newMeanPoint.Y);
path.LineTo(firstPoint.X - meanPoint.X + newMeanPoint.X, firstPoint.Y - meanPoint.Y + newMeanPoint.Y);
}
}
else
{
foreach (Point pt in triangleProjection)
{
path.LineTo(pt);
}
}
path.Close();
graphics.FillPath(path, colour, tag: tag);
}
/// <summary>
/// Compares two <see cref="Element3D"/>s to determine which one lies on top of the other when viewed with the current camera.
/// </summary>
/// <param name="element1">The first element. If this element is in front, the function returns 1.</param>
/// <param name="element2">The second element. If this element is in front, the function returns -1.</param>
/// <returns>1 if <paramref name="element1"/> is in front of <paramref name="element2"/>; -1 if <paramref name="element2"/> is in front of <paramref name="element1"/>; 0 if the two elements do not overlap, intersect or if the order could not be determined for other reasons. </returns>
public virtual int Compare(Element3D element1, Element3D element2)
{
if (element1.ZIndex != element2.ZIndex)
{
return(element1.ZIndex - element2.ZIndex);
}
if (element1 is Point3DElement pt1)
{
Point proj1 = this.Project(pt1[0]);
if (element2 is Point3DElement pt2)
{
Point proj2 = this.Project(pt2[0]);
if ((proj1.X - proj2.X) * (proj1.X - proj2.X) + (proj1.Y - proj2.Y) * (proj1.Y - proj2.Y) < (pt1.Diameter * 0.5 + pt2.Diameter * 0.5) * (pt1.Diameter * 0.5 + pt2.Diameter * 0.5))
{
double dist1 = this.ZDepth(pt1[0]);
double dist2 = this.ZDepth(pt2[0]);
if (Math.Abs(dist1 - dist2) < Camera.Tolerance)
{
return(0);
}
return(-Math.Sign(dist1 - dist2));
}
else
{
return(0);
}
}
else if (element2 is Line3DElement line)
{
Point p0 = proj1;
Point p1 = this.Project(line[0]);
Point p2 = this.Project(line[1]);
double distSq = ((p2.Y - p1.Y) * p0.X - (p2.X - p1.X) * p0.Y + p2.X * p1.Y - p2.Y * p1.X) * ((p2.Y - p1.Y) * p0.X - (p2.X - p1.X) * p0.Y + p2.X * p1.Y - p2.Y * p1.X) / ((p2.X - p1.X) * (p2.X - p1.X) + (p2.Y - p1.Y) * (p2.Y - p1.Y));
double maxDistSq = (pt1.Diameter * 0.5 + line.Thickness * 0.5) * (pt1.Diameter * 0.5 + line.Thickness * 0.5);
Point v1 = new Point(p0.X - p1.X, p0.Y - p1.Y);
Point v2 = new Point(p2.X - p1.X, p2.Y - p1.Y);
double v2Length = v2.Modulus();
Point e2 = new Point(v2.X / v2Length, v2.Y / v2Length);
double dotProd = v1.X * e2.X + v1.Y * e2.Y;
if (dotProd >= -Math.Sqrt(maxDistSq) && dotProd <= v2Length + Math.Sqrt(maxDistSq) && distSq < maxDistSq)
{
Point pointOnLine = new Point(p1.X + dotProd * e2.X, p1.Y + dotProd * e2.Y);
try
{
Point3D pt = this.Deproject(pointOnLine, line);
double dist1 = this.ZDepth(pt1[0]);
double dist2 = this.ZDepth(pt);
if (Math.Abs(dist1 - dist2) < Camera.Tolerance)
{
return(0);
}
return(-Math.Sign(dist1 - dist2));
}
catch
{
return(0);
}
}
else
{
return(0);
}
}
else if (element2 is Triangle3DElement triangle)
{
Point p0 = proj1;
Point p1 = this.Project(triangle[0]);
Point p2 = this.Project(triangle[1]);
Point p3 = this.Project(triangle[2]);
double area = 0.5 * (-p2.Y * p3.X + p1.Y * (-p2.X + p3.X) + p1.X * (p2.Y - p3.Y) + p2.X * p3.Y);
double s = 1 / (2 * area) * (p1.Y * p3.X - p1.X * p3.Y + (p3.Y - p1.Y) * p0.X + (p1.X - p3.X) * p0.Y);
double t = 1 / (2 * area) * (p1.X * p2.Y - p1.Y * p2.X + (p1.Y - p2.Y) * p0.X + (p2.X - p1.X) * p0.Y);
if (s >= 0 && t >= 0 && 1 - s - t >= 0)
{
Point3D pt = this.Deproject(p0, triangle);
double dist1 = this.ZDepth(pt1[0]);
double dist2 = this.ZDepth(pt);
if (Math.Abs(dist1 - dist2) < Camera.Tolerance)
{
return(0);
}
return(-Math.Sign(dist1 - dist2));
}
else
{
return(0);
}
}
else
{
throw new NotImplementedException();
}
}
else if (element1 is Line3DElement line1)
{
if (element2 is Point3DElement)
{
return(-Compare(element2, element1));
}
else if (element2 is Line3DElement line2)
{
Point l11 = this.Project(line1[0]);
Point l12 = this.Project(line1[1]);
Point l21 = this.Project(line2[0]);
Point l22 = this.Project(line2[1]);
(Point inters, double t, double s)? intersection = Intersections2D.Intersect(l11, l12, l21, l22);
if (intersection != null)
{
double vLength = new Point(l12.X - l11.X, l12.Y - l11.Y).Modulus();
double lLength = new Point(l22.X - l21.X, l22.Y - l21.Y).Modulus();
if (intersection?.t >= -line1.Thickness && intersection?.t <= vLength + line1.Thickness && intersection?.s >= -line1.Thickness && intersection?.s <= lLength + line1.Thickness)
{
try
{
Point3D point1 = this.Deproject(intersection.Value.inters, line1);
Point3D point2 = this.Deproject(intersection.Value.inters, line2);
double dist1 = this.ZDepth(point1);
double dist2 = this.ZDepth(point2);
if (Math.Abs(dist1 - dist2) < Camera.Tolerance)
{
return(0);
}
return(-Math.Sign(dist1 - dist2));
}
catch
{
return(0);
}
}
else
{
return(0);
}
}
else
{
return(0);
}
}
else if (element2 is Triangle3DElement triangle)
{
Point l11 = this.Project(line1[0]);
Point l12 = this.Project(line1[1]);
Point lineDirPerp = new Point(l12.Y - l11.Y, l11.X - l12.X);
lineDirPerp = new Point(lineDirPerp.X / lineDirPerp.Modulus(), lineDirPerp.Y / lineDirPerp.Modulus());
Point l21 = new Point(l11.X + lineDirPerp.X * line1.Thickness * 0.5, l11.Y + lineDirPerp.Y * line1.Thickness * 0.5);
Point l22 = new Point(l12.X + lineDirPerp.X * line1.Thickness * 0.5, l12.Y + lineDirPerp.Y * line1.Thickness * 0.5);
Point l31 = new Point(l11.X - lineDirPerp.X * line1.Thickness * 0.5, l11.Y - lineDirPerp.Y * line1.Thickness * 0.5);
Point l32 = new Point(l12.X - lineDirPerp.X * line1.Thickness * 0.5, l12.Y - lineDirPerp.Y * line1.Thickness * 0.5);
Point A = this.Project(triangle[0]);
Point B = this.Project(triangle[1]);
Point C = this.Project(triangle[2]);
List <Point> interss1 = Intersections2D.Intersect(l11, l12, A, B, C, line1.Thickness, Camera.Tolerance);
List <Point> interss2 = Intersections2D.Intersect(l21, l22, A, B, C, Camera.Tolerance);
List <Point> interss3 = Intersections2D.Intersect(l31, l32, A, B, C, Camera.Tolerance);
List <Point> interss = new List <Point>();
if (interss1 != null && interss1.Count > 0)
{
interss.AddRange(interss1);
}
if (interss2 != null && interss2.Count > 0)
{
interss.AddRange(from el in interss2 select Intersections2D.ProjectOnLine(el, l11, l12));
}
if (interss3 != null && interss3.Count > 0)
{
interss.AddRange(from el in interss3 select Intersections2D.ProjectOnLine(el, l11, l12));
}
if (interss != null && interss.Count > 0)
{
int sign = 0;
foreach (Point pt in interss)
{
try
{
Point3D pt3D1 = this.Deproject(pt, line1);
Point3D pt3D2 = this.Deproject(pt, triangle);
double dist1 = this.ZDepth(pt3D1);
double dist2 = this.ZDepth(pt3D2);
int currSign = -Math.Sign(dist1 - dist2);
if (Math.Abs(dist1 - dist2) < Camera.Tolerance)
{
currSign = 0;
}
if (sign == 0 || currSign == sign || currSign == 0)
{
sign = currSign;
}
else
{
//Line intersects with triangle
return(0);
}
}
catch { }
}
return(sign);
}
else
{
return(0);
}
}
else
{
throw new NotImplementedException();
}
}
else if (element1 is Triangle3DElement triangle1)
{
if (element2 is Point3DElement || element2 is Line3DElement)
{
return(-Compare(element2, element1));
}
else if (element2 is Triangle3DElement triangle2)
{
Point[] triangle1Projection = triangle1.GetProjection();
Point[] triangle2Projection = triangle2.GetProjection();
Point A1 = triangle1Projection[0];
Point B1 = triangle1Projection[1];
Point C1 = triangle1Projection[2];
Point A2 = triangle2Projection[0];
Point B2 = triangle2Projection[1];
Point C2 = triangle2Projection[2];
List <Point> intersections = Intersections2D.IntersectTriangles(A1, B1, C1, A2, B2, C2, Camera.Tolerance);
if (intersections.Count >= 3)
{
double meanX = 0;
double meanY = 0;
foreach (Point p in intersections)
{
meanX += p.X;
meanY += p.Y;
}
meanX /= intersections.Count;
meanY /= intersections.Count;
Point pt = new Point(meanX, meanY);
try
{
Point3D pt3D1 = this.Deproject(pt, triangle1);
Point3D pt3D2 = this.Deproject(pt, triangle2);
double dist1 = this.ZDepth(pt3D1);
double dist2 = this.ZDepth(pt3D2);
if (double.IsNaN(dist1 - dist2))
{
return(0);
}
int sign = -Math.Sign(dist1 - dist2);
if (Math.Abs(dist1 - dist2) < Camera.Tolerance)
{
sign = 0;
}
return(sign);
}
catch { return(0); }
}
else
{
return(0);
}
}
else
{
throw new NotImplementedException();
}
}
else
{
throw new NotImplementedException();
}
}
public static List <Point> Intersect(Point l11, Point l12, Point A, Point B, Point C, double lineThickness, double tolerance)
{
double lineLength = new Point(l11.X - l12.X, l11.Y - l12.Y).Modulus();
double AB = new Point(A.X - B.X, A.Y - B.Y).Modulus();
double BC = new Point(B.X - C.X, B.Y - C.Y).Modulus();
double CA = new Point(C.X - A.X, C.Y - A.Y).Modulus();
(Point inters, double t, double s)? intersAB = Intersections2D.Intersect(l11, l12, A, B);
(Point inters, double t, double s)? intersBC = Intersections2D.Intersect(l11, l12, B, C);
(Point inters, double t, double s)? intersCA = Intersections2D.Intersect(l11, l12, C, A);
bool ABtrue = intersAB != null && intersAB.Value.s >= -tolerance && intersAB.Value.s <= AB + tolerance;
bool BCtrue = intersBC != null && intersBC.Value.s >= -tolerance && intersBC.Value.s <= BC + tolerance;
bool CAtrue = intersCA != null && intersCA.Value.s >= -tolerance && intersCA.Value.s <= CA + tolerance;
List <Point> intersections = new List <Point>(3);
if (ABtrue)
{
Point inters;
if (intersAB.Value.t >= -lineThickness && intersAB.Value.t <= lineLength + lineThickness)
{
inters = intersAB.Value.inters;
}
else if (intersAB.Value.t < -lineThickness)
{
inters = l11;
}
else
{
inters = l12;
}
bool found = false;
foreach (Point pt in intersections)
{
if (AreEqual(pt, inters, tolerance))
{
found = true;
break;
}
}
if (!found)
{
intersections.Add(inters);
}
}
if (BCtrue)
{
Point inters;
if (intersBC.Value.t >= -lineThickness && intersBC.Value.t <= lineLength + lineThickness)
{
inters = intersBC.Value.inters;
}
else if (intersBC.Value.t < -lineThickness)
{
inters = l11;
}
else
{
inters = l12;
}
bool found = false;
foreach (Point pt in intersections)
{
if (AreEqual(pt, inters, tolerance))
{
found = true;
break;
}
}
if (!found)
{
intersections.Add(inters);
}
}
if (CAtrue)
{
Point inters;
if (intersCA.Value.t >= -lineThickness && intersCA.Value.t <= lineLength + lineThickness)
{
inters = intersCA.Value.inters;
}
else if (intersCA.Value.t < -lineThickness)
{
inters = l11;
}
else
{
inters = l12;
}
bool found = false;
foreach (Point pt in intersections)
{
if (AreEqual(pt, inters, tolerance))
{
found = true;
break;
}
}
if (!found)
{
intersections.Add(inters);
}
}
return(intersections);
}