void Update()
{
var a = A.position.xz();
var b = B.position.xz();
DebugUtil.DrawLine(a, b);
var c = C.position.xz();
Math.ProjectSeg(a, b, c, out var r);
DebugUtil.DrawPoint((float2)r);
DebugUtil.DrawPoint(a);
DebugUtil.DrawPoint(b);
DebugUtil.DrawPoint(c);
}
void Update()
{
var p1 = ((float3)A.position).xz;
var p2 = ((float3)B.position).xz;
var p3 = ((float3)C.position).xz;
DebugUtil.DrawLine(p1.ToXxY(), p2.ToXxY());
DebugUtil.DrawCircle(p3, R, StartRot, Rot);
var hits = new NativeList <float2>(Allocator.Persistent);
IntersectSegCircleSeg(p1, p2, p3, R, NormalizeAngle(StartRot), NormalizeAngle(StartRot + Rot), hits);
foreach (var hit in hits)
{
DebugUtil.DrawPoint(hit, Color.magenta);
}
hits.Dispose();
}
void Update()
{
var p0 = C0.position.xz();
var p1 = C1.position.xz();
var c = C.position.xz();
var p = P.position.xz();
DebugUtil.DrawCircle(p0, R, Color.green);
DebugUtil.DrawCircle(p1, R, Color.red);
DebugUtil.DrawCircle(c, R);
Math.GetOuterTangentRight(p0, p1, R, out var ol0, out var ol1);
DebugUtil.DrawLine(ol0, ol1, Color.black);
DebugUtil.DrawPoint(ol0, Color.green);
DebugUtil.DrawPoint(ol1, Color.red);
Math.GetOuterTangentLeft(p0, p1, R, out var or0, out var or1);
DebugUtil.DrawLine(or0, or1, Color.white);
DebugUtil.DrawPoint(or0, Color.green);
DebugUtil.DrawPoint(or1, Color.red);
Math.GetInnerTangentRight(p0, p1, R, out var il0, out var il1);
DebugUtil.DrawLine(il0, il1, Color.black);
DebugUtil.DrawPoint(il0, Color.green);
DebugUtil.DrawPoint(il1, Color.red);
Math.GetInnerTangentLeft(p0, p1, R, out var ir0, out var ir1);
DebugUtil.DrawLine(ir0, ir1, Color.white);
DebugUtil.DrawPoint(ir0, Color.green);
DebugUtil.DrawPoint(ir1, Color.red);
var left = Math.GetTangentLeft(p, c, R);
DebugUtil.DrawLine(p, left, Color.white);
var right = Math.GetTangentRight(p, c, R);
DebugUtil.DrawLine(p, right, Color.black);
}
void Update()
{
var a = ((float3)A.position).xz;
var b = ((float3)B.position).xz;
var c = ((float3)C.position).xz;
var s1 = ((float3)S1.position).xz;
var s2 = ((float3)S2.position).xz;
var v = ((float3)V.position).xz;
DebugUtil.DrawLine(s1, s2, Color.red);
Math.CircleFromPoints(a, b, c, out var p, out var r);
DebugUtil.DrawCircle((float2)p, (float)r);
var ba = a - b;
var bc = c - b;
var validBacProjection = Math.ProjectSeg(a, c, b, out var bac);
if (validBacProjection)
{
var bbac = bac - b;
var bbaca = Math.Angle(bbac);
var lba = math.length(ba);
var lbc = math.length(bc);
float2 shortestEdge;
float clearance;
if (lba <= lbc)
{
shortestEdge = ba;
clearance = lba;
}
else
{
shortestEdge = bc;
clearance = lbc;
}
var angle = Math.Angle(bbac, shortestEdge);
var startRot = bbaca + angle;
var rot = bbaca - angle - startRot;
DebugUtil.DrawCircle(b, clearance, startRot, rot);
DebugUtil.DrawCircle(b + (c - 2 * bac + a), clearance, startRot, rot);
// todo check all edges crossing traversal zones to find s1, s2
var validBsProjection = Math.ProjectSeg(s1, s2, b, out var bi);
clearance = math.min(clearance, math.length(bi - b));
if (validBsProjection)
{
var s12 = s2 - s1;
// The paper says R is delimited by a line parallel to s passing by b.
// When cl(a, b, c) == dist(b, a) and dist(b, a) < dist(b, s) this allows
// for vertices in R violating definition 3.4: dist(v, s) < cl(a, b, c).
// R will be delimited by a line parallel to s with distance cl(a, b, c)
// Technially r1 should be at the intersection point with bc, but as bc
// is enclosed in the Delaunay circle of triangle abc this is irrelevant.
// R is triangle r1, r2, c
var r1 = bi + math.normalize(b - bi) * clearance;
DebugUtil.DrawLine(r1, r1 + s12);
var ac = c - a;
var aco = Math.PerpCw(ac);
DebugUtil.DrawLine(c, c + aco);
var s12o = Math.PerpCw(s12);
DebugUtil.DrawLine(c, c + s12o);
var r2 = Math.Angle(aco, s12o) < 0
? Math.IntersectLineLine(r1, r1 + s12, c, c + aco)
: Math.IntersectLineLine(r1, r1 + s12, c, c + s12o);
DebugUtil.DrawPoint(r1, Color.magenta);
DebugUtil.DrawPoint(r2, Color.magenta);
if (Math.TriContains(r1, r2, c, v))
{
// todo check all edges crossing R to find v, e and u
// todo check v is not shared by _two_ collinear constraints
var e = c;
var u = b;
var vi = Math.ProjectLine(s1, s2, v);
var lvs = math.length(vi - v);
var lve = math.length(e - v);
if (lvs < lve)
{
Assert.IsTrue(lvs <= clearance); // , $"lvs: {lvs} <= clearance: {clearance}");
Math.CircleFromPoints(u, v, e, out var centre, out var radius);
var t = Math.IntersectLineCircle(s1, s2, centre, radius, out var x1, out var x2);
Assert.IsTrue(t == 2);
var pRef = (x1 + x2) / 2;
DebugUtil.DrawPoint(pRef, Color.magenta);
}
}
}
}
DebugUtil.DrawLine(a, b, Color.black);
DebugUtil.DrawLine(b, c, Color.black);
DebugUtil.DrawLine(c, a, Color.black);
}
