public virtual bool EditLoad(LEditTextFile file)
{
Reset();
file.SkipLine(_Key_ConvexDataHead);
mFlags = file.LoadValueLine <uint>(_Key_ConvexFlag);
int vertnum = file.LoadValueLine <int>(_Key_VertexNum);
for (int i = 0; i < vertnum; i++)
{
Vector3 vec = file.LoadVector3Line(_Key_Vertex);
mLstVertices.Add(vec);
}
int facenum = file.LoadValueLine <int>(_Key_FaceNum);
for (int i = 0; i < facenum; i++)
{
CovFace face = new CovFace();
face.EditLoad(file);
mLstCovFace.Add(face);
}
//mAABBDirty = true;
return(true);
}
public CovFace GetNeighborFace(CovFace face, int vID1, int vID2)
{
for (int i = 0; i < GetFaceNum(); i++)
{
CovFace cface = GetFace(i);
if (cface == face)
{
continue;
}
int j;
for (j = 0; j < cface.GetVNum() - 1; j++)
{
if ((cface.GetVID(j) == vID1 && cface.GetVID(j + 1) == vID2) ||
(cface.GetVID(j) == vID2 && cface.GetVID(j + 1) == vID1))
{
return(cface);
}
}
if ((cface.GetVID(j) == vID1 && cface.GetVID(0) == vID2) ||
(cface.GetVID(j) == vID2 && cface.GetVID(0) == vID1))
{
return(cface);
}
}
return(null);
}
public Vector3 GetSupportPlaneNormal(int vID1, int vID2)
{
Vector3 normal = Vector3.zero;
float maxY = 0;
for (int i = 0; i < GetFaceNum(); i++)
{
CovFace cface = GetFace(i);
int j;
for (j = 0; j < cface.GetVNum() - 1; j++)
{
if ((cface.GetVID(j) == vID1 && cface.GetVID(j + 1) == vID2) ||
(cface.GetVID(j) == vID2 && cface.GetVID(j + 1) == vID1))
{
if (cface.Normal.y > maxY)
{
maxY = cface.Normal.y;
normal = cface.Normal;
}
break;
}
}
if ((cface.GetVID(j) == vID1 && cface.GetVID(0) == vID2) ||
(cface.GetVID(j) == vID2 && cface.GetVID(0) == vID1))
{
if (cface.Normal.y > maxY)
{
maxY = cface.Normal.y;
normal = cface.Normal;
}
}
}
return(normal);
}
public void DebugRender(bool debug = true, string Text = "")
{
if (!debug)
{
ClearDebugRender();
return;
}
if (null == _DebugRender)
{
_DebugRender = new UEDebugMeshRender();
}
List <Vector3> vlist = new List <Vector3>();
List <int> ilist = new List <int>();
List <Color> clist = new List <Color>();
int iindex = 0;
for (int i = 0; i < GetFaceNum(); ++i)
{
CovFace cf = GetFace(i);
Vector3 v0 = (GetVertex(cf.GetVID(0)));
for (int j = 1; j < cf.GetVNum() - 1; ++j)
{
vlist.Add(v0);
ilist.Add(iindex++);
Vector3 v1 = GetVertex(cf.GetVID(j + 0));
vlist.Add(v1);
ilist.Add(iindex++);
Vector3 v2 = GetVertex(cf.GetVID(j + 1));
vlist.Add(v2);
ilist.Add(iindex++);
Vector3 normal = Vector3.Cross(v0 - v1, v1 - v2);
normal.Normalize();
float fdot = Vector3.Dot(normal, (Vector3.left - Vector3.down));
float fweight = Mathf.Max(0, fdot) * .8f;
Color facecolor = Color.red * (.2f + fweight);
clist.Add(facecolor);
clist.Add(facecolor);
clist.Add(facecolor);
}
}
int index = 0;
foreach (Vector3 v in vlist)
{
_DebugRender.SetPoint(index++, v);
}
_DebugRender.CreateLineRender();
//_DebugRender.AABB = GetAABB();
_DebugRender.Create(vlist, ilist, clist);
//if(!string.IsNullOrEmpty(Text))
//{
// _DebugRender.CreateText(Text);
//}
}
public void AddFace(CovFace face)
{
CovFace covface = new CovFace(face);
face.CHData = this;
mLstCovFace.Add(covface);
}
public bool Import(CYLINDER cylinder, int nbFaceInSide)
{
if (nbFaceInSide < 3)
{
return(false);
}
float fHalfRad = Mathf.PI / nbFaceInSide;
float fRad = fHalfRad * 2;
float fNewR = cylinder.Radius / Mathf.Cos(fHalfRad);
Matrix4x4 mat = Matrix4x4.identity;
mat.SetRow(0, cylinder.AxisX);
mat.SetRow(1, cylinder.AxisY);
mat.SetRow(2, cylinder.AxisZ);
mat.SetRow(3, cylinder.Center);
Vector3 vHalfHigh = cylinder.AxisY * cylinder.HalfLen;
int nAllCount = nbFaceInSide * 2;
Vector3[] vertBuf = new Vector3[nAllCount];
Vector3 p = Vector3.zero;
int idx = 0;
float fTheta = 0;
for (int i = 0; i < nbFaceInSide; ++i)
{
p.Set(0, 0, 0);
p.z -= fNewR * Mathf.Cos(fTheta);
p.x += fNewR * Mathf.Sin(fTheta);
p = mat.MultiplyPoint3x4(p);
vertBuf[idx] = p + vHalfHigh;
vertBuf[idx + 1] = p - vHalfHigh;
idx += 2;
fTheta += fRad;
}
Vector3 vTopCenter = cylinder.Center + vHalfHigh;
float fTopD = Vector3.Dot(cylinder.AxisY, vTopCenter);
CovFace faceTop = new CovFace();
faceTop.Normal = cylinder.AxisY;
faceTop.Dist = fTopD;
Vector3 vBtmCenter = cylinder.Center - vHalfHigh;
float fBtmD = Vector3.Dot(cylinder.AxisY * -1, vBtmCenter);
CovFace faceBottom = new CovFace();
faceBottom.Normal = cylinder.AxisY * -1;
faceBottom.Dist = fBtmD;
return(CreateConvexHullData(vertBuf, faceTop, faceBottom));
}
public void Set(CovFace face)
{
Normal = face.Normal;
Dist = face.Dist;
for (int i = 0; i < face.GetVNum(); i++)
{
int vid = face.GetVID(i);
AddElement(vid);
}
}
// Generate convex hull from a triangle directly
public bool Import(Vector3[] triangle, float fThickness = 0.01f)
{
if (triangle == null)
{
return(false);
}
fThickness = Mathf.Abs(fThickness);
if (0.0001 > fThickness)
{
return(false);
}
Vector3 e01 = triangle[1] - triangle[0];
//Vector3 e12 = triangle[2] - triangle[1];
Vector3 e20 = triangle[0] - triangle[2];
Vector3 vNTop = Vector3.Cross(e01, e20);
float fDNTop = MathUtil.Normalize(ref vNTop);
// Collinear test
if (fDNTop < 1e-5)
{
return(false);
}
Reset();
// Compute all 6 triangle of convex hull;
Vector3[] v = new Vector3[6];
float fHalfThickness = 0.5f * fThickness;
v[0] = triangle[0] + fHalfThickness * vNTop;
v[1] = triangle[0] - fHalfThickness * vNTop;
v[2] = triangle[1] + fHalfThickness * vNTop;
v[3] = triangle[1] - fHalfThickness * vNTop;
v[4] = triangle[2] + fHalfThickness * vNTop;
v[5] = triangle[2] - fHalfThickness * vNTop;
float fTopD = Vector3.Dot(vNTop, v[0]);
CovFace faceTop = new CovFace();
faceTop.Normal = vNTop;
faceTop.Dist = fTopD;
float fBtmD = Vector3.Dot(vNTop * -1.0f, v[3]);
CovFace faceBottom = new CovFace();
faceBottom.Normal = vNTop * -1.0f;
faceBottom.Dist = fBtmD;
return(CreateConvexHullData(v, faceTop, faceBottom));
}
//导出数据到ConvexData中
public void ExportCHData(ConvexData chData)
{
List <int> lstMap = new List <int>(); //一个由顶点在本类中id到CConvexHullData中id的一个映射表；
//遍历每一个Patch
for (int i = 0; i < LstPatches.Count; i++)
{
Patch pat = LstPatches[i];
Vector3 n = pat.Normal;
CovFace face = new CovFace();
face.Normal = n;
face.Dist = pat.Dist;
for (int j = 0; j < pat.GetVNum(); j++)
{
int vid = pat.GetVID(j);
//构造垂直于该边法向朝外的HalfSpace
Vector3 v1 = Vector3.zero;
Vector3 v2 = Vector3.zero;
pat.GetEdge(j, ref v1, ref v2);
int ExistID = FindInArray(vid, lstMap);
if (ExistID == -1)
{
//说明是新的顶点
//插入到CConvexHullData的Vertices中
chData.AddVertex(v1);
int newID = chData.GetVertexNum() - 1; //在pCHData中的id
face.AddElement(newID);
lstMap.Add(vid);
}
else
{
//说明是已经存在的顶点
face.AddElement(ExistID);
}
}
//插入该面片
chData.AddFace(face);
}
}
public virtual bool Load(LBinaryFile fs, uint version)
{
Reset();
mFlags = fs.Reader.ReadUInt32();
int vertnum = fs.Reader.ReadInt32();
for (int i = 0; i < vertnum; i++)
{
Vector3 vec = SLBinary.LoadVector3(fs);
mLstVertices.Add(vec);
}
int facenum = fs.Reader.ReadInt32();
for (int i = 0; i < facenum; i++)
{
CovFace face = new CovFace();
face.Load(fs, version);
mLstCovFace.Add(face);
}
//mAABBDirty = true;
return(true);
}
public CovFace(CovFace face)
{
Set(face);
}
public bool CreateConvexHullData(Vector3[] vertBuf, CovFace faceTop, CovFace faceBottom)
{
if (vertBuf == null || vertBuf.Length <= 0)
{
return(false);
}
int vertCount = vertBuf.Length;
Reset();
for (int i = 0; i < vertCount; ++i)
{
AddVertex(vertBuf[i]);
}
Vector3 vNormalTop = faceTop.Normal;
Vector3 vNormalBTM = faceBottom.Normal;
int idx = 0;
int nHalfVert = vertCount / 2;
int idxInverse = (nHalfVert - 1) * 2;
int p0, p1, p2, p3;
int pi0, pi2, pi3;
for (int i = 0; i < nHalfVert; ++i)
{
/*
* a side face:
* p0 p2
+-------+
| |
| |
| |
+-------+
| p1 p3
*/
p0 = idx;
p1 = idx + 1;
p2 = idx + 2;
p3 = idx + 3;
if (p2 >= vertCount)
{
p2 -= vertCount;
}
if (p3 >= vertCount)
{
p3 -= vertCount;
}
CovFace face = new CovFace();
face.Set(vertBuf[p0], vertBuf[p1], vertBuf[p2]);
Vector3 vNormal = face.Normal;
face.AddElement(p0);
face.AddElement(p2);
face.AddElement(p3);
face.AddElement(p1);
AddFace(face);
faceBottom.AddElement(p1);
pi0 = idxInverse;
//pi1 = idxInverse + 1;
pi2 = idxInverse + 2;
pi3 = idxInverse + 3;
if (pi2 >= vertCount)
{
pi2 -= vertCount;
}
if (pi3 >= vertCount)
{
pi3 -= vertCount;
}
faceTop.AddElement(pi0);
idx += 2;
idxInverse -= 2;
}
AddFace(faceTop);
AddFace(faceBottom);
return(true);
}
