public void MergePoints(ref IndexedVector4 plane, float margin, IndexedVector3[] points, int point_count)
{
m_point_count = 0;
m_penetration_depth = -1000.0f;
int _k;
for (_k = 0; _k < point_count; _k++)
{
float _dist = -ClipPolygon.DistancePointPlane(ref plane, ref points[_k]) + margin;
if (_dist >= 0.0f)
{
if (_dist > m_penetration_depth)
{
m_penetration_depth = _dist;
point_indices[0] = _k;
m_point_count = 1;
}
else if ((_dist + MathUtil.SIMD_EPSILON) >= m_penetration_depth)
{
point_indices[m_point_count] = _k;
m_point_count++;
}
}
}
for (_k = 0; _k < m_point_count; _k++)
{
m_points[_k] = points[point_indices[_k]];
}
}
//! Test if triangles could collide
public bool OverlapTestConservative(PrimitiveTriangle other)
{
float total_margin = m_margin + other.m_margin;
// classify points on other triangle
float dis0 = ClipPolygon.DistancePointPlane(ref m_plane, ref other.m_vertices[0]) - total_margin;
float dis1 = ClipPolygon.DistancePointPlane(ref m_plane, ref other.m_vertices[1]) - total_margin;
float dis2 = ClipPolygon.DistancePointPlane(ref m_plane, ref other.m_vertices[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
// classify points on this triangle
dis0 = ClipPolygon.DistancePointPlane(ref other.m_plane, ref m_vertices[0]) - total_margin;
dis1 = ClipPolygon.DistancePointPlane(ref other.m_plane, ref m_vertices[1]) - total_margin;
dis2 = ClipPolygon.DistancePointPlane(ref other.m_plane, ref m_vertices[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
return(true);
}
public int ClipTriangle(PrimitiveTriangle other, IndexedVector3[] clipped_points)
{
// edge 0
//ObjectArray<IndexedVector3> temp_points = new ObjectArray<IndexedVector3>(GIM_TRIANGLE_CONTACT.MAX_TRI_CLIPPING);
IndexedVector4 edgeplane;
GetEdgePlane(0, out edgeplane);
int clipped_count = ClipPolygon.PlaneClipTriangle(ref edgeplane, ref other.m_vertices[0], ref other.m_vertices[1], ref other.m_vertices[2], temp_points);
if (clipped_count == 0)
{
return(0);
}
//ObjectArray<IndexedVector3> temp_points1 = new ObjectArray<IndexedVector3>(GIM_TRIANGLE_CONTACT.MAX_TRI_CLIPPING);
// edge 1
GetEdgePlane(1, out edgeplane);
clipped_count = ClipPolygon.PlaneClipPolygon(ref edgeplane, temp_points, clipped_count, temp_points1);
if (clipped_count == 0)
{
return(0);
}
// edge 2
GetEdgePlane(2, out edgeplane);
Debug.Assert(clipped_count < GIM_TRIANGLE_CONTACT.MAX_TRI_CLIPPING);
clipped_count = ClipPolygon.PlaneClipPolygon(ref edgeplane, temp_points1, clipped_count, clipped_points);
return(clipped_count);
}
public bool OverlapTestConservative(TriangleShapeEx other)
{
float total_margin = GetMargin() + other.GetMargin();
IndexedVector4 plane0;
BuildTriPlane(out plane0);
IndexedVector4 plane1;
other.BuildTriPlane(out plane1);
// classify points on other triangle
float dis0 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[0]) - total_margin;
float dis1 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[1]) - total_margin;
float dis2 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
// classify points on this triangle
dis0 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[0]) - total_margin;
dis1 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[1]) - total_margin;
dis2 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
return(true);
}
