public int DetachFrom(int adjIndex, ConvexHull3.Triangle adj)
{
if (adjIndex == 0)
{
this.Adj0 = null;
}
else if (adjIndex == 1)
{
this.Adj1 = null;
}
else
{
this.Adj2 = null;
}
if (adj.Adj0 == this)
{
adj.Adj0 = null;
return(0);
}
if (adj.Adj1 == this)
{
adj.Adj1 = null;
return(1);
}
if (adj.Adj2 == this)
{
adj.Adj2 = null;
return(2);
}
return(-1);
}
public TerminatorData(int v0 = -1, int v1 = -1, int nullIndex = -1, ConvexHull3.Triangle tri = null)
{
this.NullIndex = nullIndex;
this.T = tri;
this.V0 = v0;
this.V1 = v1;
}
public void SetAdj(int index, ConvexHull3.Triangle value)
{
if (index == 0)
{
this.Adj0 = value;
return;
}
if (index == 1)
{
this.Adj1 = value;
return;
}
this.Adj2 = value;
}
public void AttachTo(ConvexHull3.Triangle adj0, ConvexHull3.Triangle adj1, ConvexHull3.Triangle adj2)
{
this.Adj0 = adj0;
this.Adj1 = adj1;
this.Adj2 = adj2;
}
private static bool Update(HashSet <ConvexHull3.Triangle> hull, int i, Query3 query)
{
ConvexHull3.Triangle triangle = null;
foreach (ConvexHull3.Triangle current in hull)
{
if (current.GetSign(i, query) > 0)
{
triangle = current;
break;
}
}
if (triangle == null)
{
return(true);
}
Stack <ConvexHull3.Triangle> stack = new Stack <ConvexHull3.Triangle>();
stack.Push(triangle);
triangle.OnStack = true;
Dictionary <int, ConvexHull3.TerminatorData> dictionary = new Dictionary <int, ConvexHull3.TerminatorData>();
ConvexHull3.Triangle triangle2;
int num;
int num2;
while (stack.Count != 0)
{
triangle2 = stack.Pop();
triangle2.OnStack = false;
for (int j = 0; j < 3; j++)
{
ConvexHull3.Triangle adj = triangle2.GetAdj(j);
if (adj != null)
{
int nullIndex = triangle2.DetachFrom(j, adj);
if (adj.GetSign(i, query) > 0)
{
if (!adj.OnStack)
{
stack.Push(adj);
adj.OnStack = true;
}
}
else
{
num = triangle2.GetV(j);
num2 = triangle2.GetV((j + 1) % 3);
dictionary[num] = new ConvexHull3.TerminatorData(num, num2, nullIndex, adj);
}
}
}
hull.Remove(triangle2);
}
int count = dictionary.Count;
if (count < 3)
{
Logger.LogError("Terminator must be at least a triangle");
return(false);
}
Dictionary <int, ConvexHull3.TerminatorData> .Enumerator enumerator2 = dictionary.GetEnumerator();
enumerator2.MoveNext();
KeyValuePair <int, ConvexHull3.TerminatorData> current2 = enumerator2.Current;
num = current2.Value.V0;
num2 = current2.Value.V1;
triangle2 = new ConvexHull3.Triangle(i, num, num2);
hull.Add(triangle2);
int v = current2.Value.V0;
ConvexHull3.Triangle triangle3 = triangle2;
triangle2.Adj1 = current2.Value.T;
current2.Value.T.SetAdj(current2.Value.NullIndex, triangle2);
for (int j = 1; j < count; j++)
{
ConvexHull3.TerminatorData terminatorData;
if (!dictionary.TryGetValue(num2, out terminatorData))
{
Logger.LogError("Unexpected condition");
return(false);
}
num = num2;
num2 = terminatorData.V1;
ConvexHull3.Triangle triangle4 = new ConvexHull3.Triangle(i, num, num2);
hull.Add(triangle4);
triangle4.Adj1 = terminatorData.T;
terminatorData.T.SetAdj(terminatorData.NullIndex, triangle4);
triangle4.Adj0 = triangle2;
triangle2.Adj2 = triangle4;
triangle2 = triangle4;
}
if (num2 != v)
{
Logger.LogError("Expecting initial vertex");
return(false);
}
triangle3.Adj0 = triangle2;
triangle2.Adj2 = triangle3;
return(true);
}
public static bool Create(IList <Vector3> vertices, float epsilon, out int dimension, out int[] indices)
{
Vector3ex.Information information = Vector3ex.GetInformation(vertices, epsilon);
if (information == null)
{
dimension = -1;
indices = null;
return(false);
}
int count = vertices.Count;
if (information.Dimension == 0)
{
dimension = 0;
int[] array = new int[1];
indices = array;
return(true);
}
if (information.Dimension == 1)
{
float[] array2 = new float[count];
Vector3 origin = information.Origin;
Vector3 vector = information.Direction[0];
for (int i = 0; i < count; i++)
{
Vector3 value = vertices[i] - origin;
array2[i] = vector.Dot(value);
}
ConvexHull1.Create(array2, epsilon, out dimension, out indices);
return(true);
}
if (information.Dimension == 2)
{
Vector2[] array3 = new Vector2[count];
Vector3 origin2 = information.Origin;
Vector3 vector2 = information.Direction[0];
Vector3 vector3 = information.Direction[1];
for (int j = 0; j < count; j++)
{
Vector3 value2 = vertices[j] - origin2;
array3[j] = new Vector2(vector2.Dot(value2), vector3.Dot(value2));
}
return(ConvexHull2.Create(array3, epsilon, out dimension, out indices));
}
dimension = 3;
Vector3[] array4 = new Vector3[count];
Vector3 min = information.Min;
float d = 1f / information.MaxRange;
for (int k = 0; k < count; k++)
{
array4[k] = (vertices[k] - min) * d;
}
Query3 query = new Query3(array4);
int v = information.Extreme[0];
int num = information.Extreme[1];
int num2 = information.Extreme[2];
int num3 = information.Extreme[3];
ConvexHull3.Triangle triangle;
ConvexHull3.Triangle triangle2;
ConvexHull3.Triangle triangle3;
ConvexHull3.Triangle triangle4;
if (information.ExtremeCCW)
{
triangle = new ConvexHull3.Triangle(v, num, num3);
triangle2 = new ConvexHull3.Triangle(v, num2, num);
triangle3 = new ConvexHull3.Triangle(v, num3, num2);
triangle4 = new ConvexHull3.Triangle(num, num2, num3);
triangle.AttachTo(triangle2, triangle4, triangle3);
triangle2.AttachTo(triangle3, triangle4, triangle);
triangle3.AttachTo(triangle, triangle4, triangle2);
triangle4.AttachTo(triangle2, triangle3, triangle);
}
else
{
triangle = new ConvexHull3.Triangle(v, num3, num);
triangle2 = new ConvexHull3.Triangle(v, num, num2);
triangle3 = new ConvexHull3.Triangle(v, num2, num3);
triangle4 = new ConvexHull3.Triangle(num, num3, num2);
triangle.AttachTo(triangle3, triangle4, triangle2);
triangle2.AttachTo(triangle, triangle4, triangle3);
triangle3.AttachTo(triangle2, triangle4, triangle);
triangle4.AttachTo(triangle, triangle3, triangle2);
}
HashSet <ConvexHull3.Triangle> hashSet = new HashSet <ConvexHull3.Triangle>();
hashSet.Add(triangle);
hashSet.Add(triangle2);
hashSet.Add(triangle3);
hashSet.Add(triangle4);
for (int l = 0; l < count; l++)
{
if (!ConvexHull3.Update(hashSet, l, query))
{
dimension = -1;
indices = null;
return(false);
}
}
ConvexHull3.ExtractIndices(hashSet, out indices);
return(true);
}
