public static bool IsAABBInsectTriangle2Plane(Vector3 min, Vector3 max, GeoPlane plane, Vector3 p1, Vector3 p2, Vector3 p3, ref GeoInsectPointArrayInfo insect)
{
Vector2 p11, p21, p31;
GeoPlaneUtils.PlaneTransformLocalTriangle(p1, p2, p3, plane, out p11, out p21, out p31);
Vector3 vmin = plane.TransformToLocal(min);
Vector3 vmax = plane.TransformToLocal(max);
bool isInsect = IsAABBInsectTriangle2(vmin, vmax, p11, p21, p31, ref insect);
if (isInsect)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray = GeoPlaneUtils.PlaneTransformGlobal(insect.mHitGlobalPoint.mPointArray, plane);
}
return(insect.mIsIntersect);
}
public static float PointClosest2Triangle3(Vector3 p1, Vector3 p2, Vector3 p3, ref Vector3 p, ref Vector3 close)
{
GeoPlane plane = new GeoPlane(p1, p2, p3);
float d = GeoPlaneUtils.PointClosestToPlaneAbs(plane.mNormal, plane.mD, p, ref close);
if (GeoTriangleUtils.IsPointInTriangle3(p1, p2, p3, ref close))
{
return(d);
}
else
{
Vector3 close1 = new Vector3();
float dt = PointClosest2PlaneTriangle2(p1, p2, p3, plane, ref p, ref close1);
return((float)Math.Sqrt(d * d + dt * dt));
}
}
public static GeoPointsArray3 BuildConvexHull(GeoPointsArray3 points)
{
points.Distinct();
GeoPlane plane = new GeoPlane(Vector3.zero, 0);
if (IsOnSamePlane(points, ref plane))
{
GeoPointsArray2 point2 = new GeoPointsArray2(GeoPlaneUtils.PlaneTransformLocal(points.mPointArray, plane));
point2 = BuildConvexHull(point2);
return(new GeoPointsArray3(GeoPlaneUtils.PlaneTransformGlobal(point2.mPointArray, plane)));
}
else
{
return(new GeoPointsArray3(QuickHull.BuildHull(points)));
}
}
public static float PointClosest2PlaneTriangle2(Vector3 p1, Vector3 p2, Vector3 p3, GeoPlane plane, ref Vector3 p, ref Vector3 close)
{
Vector2 p11, p21, p31, pt;
GeoPlaneUtils.PlaneTransformLocalTriangle(p1, p2, p3, plane, out p11, out p21, out p31);
Vector3 pp = plane.TransformToLocal(p);
pt = new Vector2(pp.x, pp.z);
Vector2 close1 = new Vector2();
float d = PointClosest2Triangle2(p11, p21, p31, ref pt, ref close1);
close.x = close1.x;
close.y = 0;
close.z = close1.y;
close = plane.TransformToGlobal(close);
return(d);
}
public static bool IsPlaneInsectAABB2(Vector3 normal, float d, Vector3 min, Vector3 max, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
{
float dot = Vector3.Dot(normal, plane.mNormal);
if (1 - Mathf.Abs(dot) < 1e-5f)
{
return(false);
}
GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
bool isInsect = GeoPlaneUtils.IsPlaneInsectPlane(normal, d, plane.mNormal, plane.mD, ref tmp);
if (isInsect)
{
Vector3 l1 = tmp.mHitGlobalPoint.mPointArray[0];
Vector3 l2 = l1 + tmp.mHitGlobalPoint.mPointArray[1];
isInsect = GeoLineUtils.IsLineInsectAABBPlane2(l1, l2, min, max, plane, ref insect);
}
return(insect.mIsIntersect);
}
public static bool IsTriangleInsectCircle3(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
{
bool isInsect = GeoPlaneUtils.IsPlaneInsectTriangle(plane.mNormal, plane.mD, p1, p2, p3, ref insect);
if (isInsect)
{
if (insect.mHitGlobalPoint.mPointArray.Count == 3) // 共面， 转化成 2d
{
insect.Clear();
return(IsTriangleInsectPlaneCircle2(p1, p2, p3, center, r, plane, ref insect));
}
else if (insect.mHitGlobalPoint.mPointArray.Count == 1)
{
if (GeoCircleUtils.IsInSphere(center, r, insect.mHitGlobalPoint.mPointArray[0]))
{
return(true);
}
}
else if (insect.mHitGlobalPoint.mPointArray.Count == 2)
{
Vector3 seg1 = plane.TransformToLocal(insect.mHitGlobalPoint.mPointArray[0]);
Vector3 seg2 = plane.TransformToLocal(insect.mHitGlobalPoint.mPointArray[1]);
Vector3 c1 = plane.TransformToLocal(center);
Vector2 p12 = new Vector2(seg1.x, seg1.z);
Vector2 p22 = new Vector2(seg2.x, seg2.z);
Vector2 c2 = new Vector2(c1.x, c1.z);
insect.Clear();
GeoInsectPointArrayInfo temp = new GeoInsectPointArrayInfo();
if (GeoSegmentUtils.IsSegmentInsectCircle2(p12, p22, c2, r, ref temp))
{
insect.mIsIntersect = true;
foreach (Vector3 v in temp.mHitGlobalPoint.mPointArray)
{
Vector3 vv = new Vector3(v.x, 0.0f, v.y);
vv = plane.TransformToGlobal(vv);
insect.mHitGlobalPoint.mPointArray.Add(vv);
}
return(true);
}
}
}
return(false);
}
public static bool IsPointInAABB2Plane(Vector3 min, Vector3 max, GeoPlane plane, ref Vector3 p)
{
if (!GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, p))
{
return(false);
}
Vector3 size = max - min;
float sx = Vector3.Dot(size, plane.mAxisX);
float sz = Vector3.Dot(size, plane.mAxisZ);
Vector3 pc = p - min;
float d1 = Vector3.Dot(pc, plane.mAxisX);
float d2 = Vector3.Dot(pc, plane.mAxisZ);
if (d1 < sx && d2 < sz)
{
return(true);
}
return(false);
}
public static bool IsLineInsectCircle3(Vector3 line1, Vector3 line2, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
{
if (GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, line1) && GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, line2))
{
return(IsLineInsectCirclePlane2(line1, line2, center, r, plane, ref insect));
}
GeoInsectPointInfo info = new GeoInsectPointInfo();
bool isInsect = GeoPlaneUtils.IsPlaneInsectLine(plane.mNormal, plane.mD, line1, line2, ref info);
if (isInsect)
{
if (GeoCircleUtils.IsInSphere(center, r, info.mHitGlobalPoint))
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray.Add(info.mHitGlobalPoint);
return(true);
}
insect.mIsIntersect = false;
}
return(false);
}
// 两三角面 共面的情况
private static bool IsTriangleInsectTrianglePlane2(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4, Vector3 p5, Vector3 p6, ref GeoInsectPointArrayInfo insect)
{
GeoPlane plane = GeoPlaneUtils.CreateFromTriangle(p1, p2, p3);
Vector2 p11, p21, p31, p41, p51, p61;
GeoPlaneUtils.PlaneTransformLocalTriangle(p1, p2, p3, plane, out p11, out p21, out p31);
GeoPlaneUtils.PlaneTransformLocalTriangle(p4, p5, p6, plane, out p41, out p51, out p61);
GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
bool isInsect = IsTriangleInsectTriangle2(p11, p21, p31, p41, p51, p61, ref tmp);
if (isInsect)
{
foreach (Vector3 v in tmp.mHitGlobalPoint.mPointArray)
{
Vector3 vt = new Vector3(v.x, 0.0f, v.z);
vt = plane.TransformToGlobal(vt);
insect.mHitGlobalPoint.mPointArray.Add(vt);
}
insect.mIsIntersect = insect.mHitGlobalPoint.mPointArray.Count > 0;
}
return(insect.mIsIntersect);
}
public static bool IsCircleInsectCircle3(Vector3 center1, float r1, GeoPlane plane1, Vector3 center2, float r2, GeoPlane plane2, ref GeoInsectPointArrayInfo insect)
{
float dot = Mathf.Abs(Vector3.Dot(plane1.mNormal, plane2.mNormal));
if (1 - dot < 1e-5f)
{
if (GeoPlaneUtils.IsPointOnPlane(plane2.mNormal, plane2.mD, center1)) // 共面
{
return(IsCircleInsectCirclePlane2(center1, r1, center2, r2, plane2, ref insect));
}
return(false);
}
GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
bool isInsect = GeoPlaneUtils.IsPlaneInsectCircle(plane1.mNormal, plane1.mD, center2, r2, plane2, ref tmp);
if (isInsect)
{
Vector3 lin1 = tmp.mHitGlobalPoint.mPointArray[0];
Vector3 lin2 = lin1 + tmp.mHitGlobalPoint.mPointArray[1];
GeoLineUtils.IsLineInsectCirclePlane2(lin1, lin2, center1, r1, plane1, ref insect);
}
return(insect.mIsIntersect);
}
public static bool IsAABBInsectCircle3(Vector3 min, Vector3 max, GeoPlane plane1, Vector3 center, float r, GeoPlane plane2, ref GeoInsectPointArrayInfo insect)
{
float dot = Vector3.Dot(plane1.mNormal, plane2.mNormal);
if (1 - Mathf.Abs(dot) < 1e-5f)
{
if (GeoPlaneUtils.IsPointOnPlane(plane2.mNormal, plane2.mD, min))
{
return(IsAABBInsectCirclePlane2(min, max, center, r, plane1, ref insect)); // should use plane1
}
return(false);
}
GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
bool isInsect = GeoPlaneUtils.IsPlaneInsectCircle(plane1.mNormal, plane1.mD, center, r, plane2, ref tmp);
if (isInsect)
{
if (tmp.mHitGlobalPoint.mPointArray.Count == 1)
{
Vector3 line1 = tmp.mHitGlobalPoint.mPointArray[0];
if (GeoAABBUtils.IsPointInAABB2Plane(min, max, plane1, ref line1))
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray.Add(line1);
return(true);
}
}
else
{
Vector3 seg1 = tmp.mHitGlobalPoint.mPointArray[0];
Vector3 seg2 = seg1 + tmp.mHitGlobalPoint.mPointArray[1];
return(GeoSegmentUtils.IsSegmentInsectAABB2Plane(seg1, seg2, min, max, plane1, ref insect));
}
}
return(false);
}
public static bool IsTriangleInsectTriangle3(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4, Vector3 p5, Vector3 p6, ref GeoInsectPointArrayInfo insect)
{
/*
* // 外面进行 剔除 处理
* Vector3 min1 = Vector3.Min(p1, p2);
* min1 = Vector3.Min(min1, p3);
* Vector3 max1 = Vector3.Max(p1, p2);
* max1 = Vector3.Max(max1, p3);
* Vector3 min2 = Vector3.Min(p4, p5);
* min2 = Vector3.Min(min2, p6);
* Vector3 max2 = Vector3.Max(p4, p5);
* max2 = Vector3.Max(max2, p6);
* if (!GeoAABBUtils.IsAABBInsectAABB3(min1, max1, min2, max2))
* {
* return false;
* }
*/
// 417
Vector3 p12 = p2 - p1;
Vector3 p13 = p3 - p1;
Vector3 normal1 = Vector3.Cross(p12, p13);
Vector3 p45 = p5 - p4;
Vector3 p46 = p6 - p4;
Vector3 normal2 = Vector3.Cross(p45, p46);
normal1.Normalize();
normal2.Normalize();
float dot = Vector3.Dot(normal1, normal2);
if (1 - Mathf.Abs(dot) < 1e-5f) // 共面
{
return(IsTriangleInsectTrianglePlane2(p1, p2, p3, p4, p5, p6, ref insect));
}
float d1 = -Vector3.Dot(normal1, p1);
float d2 = -Vector3.Dot(normal2, p4);
GeoInsectPointArrayInfo temp1 = new GeoInsectPointArrayInfo();
if (GeoPlaneUtils.IsPlaneInsectTriangle(normal1, d1, p4, p5, p6, ref temp1))
{
GeoInsectPointArrayInfo temp2 = new GeoInsectPointArrayInfo();
if (GeoPlaneUtils.IsPlaneInsectTriangle(normal2, d2, p1, p2, p3, ref temp2))
{
int count1 = temp1.mHitGlobalPoint.mPointArray.Count;
int count2 = temp2.mHitGlobalPoint.mPointArray.Count;
if (count1 == 1 && count2 == 1)
{
bool isEq = temp1.mHitGlobalPoint.mPointArray[0] == temp2.mHitGlobalPoint.mPointArray[0];
if (isEq)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray.Add(temp1.mHitGlobalPoint.mPointArray[0]);
return(true);
}
}
else if (count1 == 2 && count2 == 2)
{
Vector3 s1 = temp1.mHitGlobalPoint.mPointArray[0];
Vector3 s2 = temp1.mHitGlobalPoint.mPointArray[1];
Vector3 s3 = temp2.mHitGlobalPoint.mPointArray[0];
Vector3 s4 = temp2.mHitGlobalPoint.mPointArray[1];
GeoSegmentUtils.IsSegmentOverlapSegment3(s1, s2, s3, s4, ref insect);
}
}
}
return(insect.mIsIntersect);
}
private bool IsNotFacePoints(Vector3 p)
{
return(!GeoPlaneUtils.IsPointOnPlane(mPlane.mNormal, mPlane.mD, p));
}