public static Vector3L ClosestPointOfPoint3dWithTriangle3d(Triangle3d t, Vector3L p)
{
Plane3d plane = FromTriangle(t);
Vector3L closest = ClosestPointOfPoint3dWithPlane3d(p, plane);
// Closest point was inside triangle
if (IntersectionTest3D.Point3dWithTriangle(closest, t))
{
return(closest);
}
Vector3L c1 = ClosestPointOfPoint3dWithSegment3d(closest, new Segment3d(t.m_point0, t.m_point1)); // Line AB
Vector3L c2 = ClosestPointOfPoint3dWithSegment3d(closest, new Segment3d(t.m_point1, t.m_point2)); // Line BC
Vector3L c3 = ClosestPointOfPoint3dWithSegment3d(closest, new Segment3d(t.m_point2, t.m_point0)); // Line CA
FloatL magSq1 = (closest - c1).sqrMagnitude;
FloatL magSq2 = (closest - c2).sqrMagnitude;
FloatL magSq3 = (closest - c3).sqrMagnitude;
if (magSq1 < magSq2 && magSq1 < magSq3)
{
return(c1);
}
else if (magSq2 < magSq1 && magSq2 < magSq3)
{
return(c2);
}
return(c3);
}
public Model3d Raycast(Ray3d ray)
{
if (m_octree != null)
{
// :: lets the compiler know to look outside class scope
return(Octree3d.Raycast(m_octree, ray));
}
Model3d result = null;
FloatL result_t = -1;
for (int i = 0, size = m_modleList.Count; i < size; ++i)
{
FloatL t = IntersectionTest3D.Ray3dWithModel3d(ray, m_modleList[i]);
if (result == null && t >= 0)
{
result = m_modleList[i];
result_t = t;
}
else if (result != null && t < result_t)
{
result = m_modleList[i];
result_t = t;
}
}
return(result);
}
public static List <Model3d> Query(OctreeNode node, AABB3d aabb)
{
//std::vector<Model*> result;
List <Model3d> result = new List <Model3d>();
if (IntersectionTest3D.AABB3dWithAABB3d(aabb, node.m_bounds))
{
if (node.m_children == null)
{
for (int i = 0, size = node.m_models.Count; i < size; ++i)
{
OBB3d bounds = node.m_models[i].GetOBB();
if (IntersectionTest3D.AABB3dWithOBB3d(aabb, bounds))
{
result.Add(node.m_models[i]);
}
}
}
else
{
for (int i = 0; i < 8; ++i)
{
List <Model3d> child = Query(node.m_children[i], aabb);
if (child.Count > 0)
{
//result.insert(result.end(), child.begin(), child.end());
result.AddRange(child);
}
}
}
}
return(result);
}
public static Model3d Raycast(OctreeNode node, Ray3d ray)
{
IntersectionTest3D.RaycastResult raycast = new IntersectionTest3D.RaycastResult();
IntersectionTest3D.Ray3dWithAABB3d(node.m_bounds, ray, ref raycast);
FloatL t = raycast.m_t;
if (t >= 0)
{
if (node.m_children == null)
{
return(FindClosest(node.m_models, ray));
}
else
{
/*std::vector<Model*> results;*/
List <Model3d> results = new List <Model3d>();
for (int i = 0; i < 8; ++i)
{
Model3d result = Raycast(node.m_children[i], ray);
if (result != null)
{
results.Add(result);
}
}
return(FindClosest(results, ray));
}
}
return(null);
}
public static Model3d FindClosest(List <Model3d> set, Ray3d ray)
{
if (set.Count == 0)
{
return(null);
}
Model3d closest = null;
FloatL closest_t = -1;
for (int i = 0, size = set.Count; i < size; ++i)
{
FloatL this_t = IntersectionTest3D.Ray3dWithModel3d(ray, set[i]);
if (this_t < 0)
{
continue;
}
if (closest_t < 0 || this_t < closest_t)
{
closest_t = this_t;
closest = set[i];
}
}
return(closest);
}
public static bool IsIntersction3d(HitShape3dData hitData, Segment3d segment)
{
if (hitData.m_type == HitShape3dType.Sphere)
{
//Sphere3d hitSphere = new Sphere3d(hitData.m_pos, hitData.m_radius);
return(IntersectionTest3D.Segment3dWithSphere3d(segment, hitData.m_sphere));
}
else if (hitData.m_type == HitShape3dType.OBB)
{
//OBB3d obb = new OBB3d(hitData.m_pos, hitData.m_rotation, hitData.m_size);
return(IntersectionTest3D.Segment3dWithOBB3d(segment, hitData.m_obb));
}
else
{
return(false);
}
}
public static void SplitTree(OctreeNode node, int depth)
{
if (depth-- <= 0)
{ // Decrements depth
return;
}
if (node.m_children == null)
{
node.m_children = new OctreeNode[8];
Vector3L c = node.m_bounds.m_pos;
Vector3L e = node.m_bounds.GetHalfSize() * 0.5f;
node.m_children[0].m_bounds = new AABB3d(c + new Vector3L(-e.x, +e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[1].m_bounds = new AABB3d(c + new Vector3L(+e.x, +e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[2].m_bounds = new AABB3d(c + new Vector3L(-e.x, +e.y, +e.z), node.m_bounds.GetHalfSize());
node.m_children[3].m_bounds = new AABB3d(c + new Vector3L(+e.x, +e.y, +e.z), node.m_bounds.GetHalfSize());
node.m_children[4].m_bounds = new AABB3d(c + new Vector3L(-e.x, -e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[5].m_bounds = new AABB3d(c + new Vector3L(+e.x, -e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[6].m_bounds = new AABB3d(c + new Vector3L(-e.x, -e.y, +e.z), node.m_bounds.GetHalfSize());
node.m_children[7].m_bounds = new AABB3d(c + new Vector3L(+e.x, -e.y, +e.z), node.m_bounds.GetHalfSize());
}
if (node.m_children != null && node.m_models.Count > 0)
{
for (int i = 0; i < 8; ++i)
{ // For each child
for (int j = 0, size = node.m_models.Count; j < size; ++j)
{
OBB3d obb = node.m_models[j].GetOBB();
if (IntersectionTest3D.AABB3dWithOBB3d(node.m_children[i].m_bounds, obb))
{
node.m_children[i].m_models.Add(node.m_models[j]);
}
}
}
node.m_models.Clear();
// Recurse
for (int i = 0; i < 8; ++i)
{
SplitTree(node.m_children[i], depth);
}
}
}
public static void Insert(OctreeNode node, Model3d model)
{
OBB3d bounds = model.GetOBB();
if (IntersectionTest3D.AABB3dWithOBB3d(node.m_bounds, bounds))
{
if (node.m_children == null)
{
node.m_models.Add(model);
}
else
{
for (int i = 0; i < 8; ++i)
{
Insert(node.m_children[i], model);
}
}
}
}
public List <Model3d> Query(AABB3d aabb)
{
if (m_octree != null)
{
// :: lets the compiler know to look outside class scope
return(Octree3d.Query(m_octree, aabb));
}
List <Model3d> result = new List <Model3d>();
for (int i = 0, size = m_modleList.Count; i < size; ++i)
{
OBB3d bounds = m_modleList[i].GetOBB();
if (IntersectionTest3D.AABB3dWithOBB3d(aabb, bounds))
{
result.Add(m_modleList[i]);
}
}
return(result);
}
public static bool IsIntersction3d(HitShape3dData hitData1, HitShape3dData hitData2)
{
if (hitData1.m_type == HitShape3dType.Sphere && hitData2.m_type == HitShape3dType.Sphere)
{
return(IntersectionTest3D.Sphere3dWithSphere3d(hitData1.m_sphere, hitData2.m_sphere));
}
else if (hitData1.m_type == HitShape3dType.Sphere && hitData2.m_type == HitShape3dType.OBB)
{
return(IntersectionTest3D.Sphere3dWithObb3d(hitData1.m_sphere, hitData2.m_obb));
}
else if (hitData1.m_type == HitShape3dType.OBB && hitData2.m_type == HitShape3dType.Sphere)
{
return(IntersectionTest3D.Sphere3dWithObb3d(hitData2.m_sphere, hitData1.m_obb));
}
else if (hitData1.m_type == HitShape3dType.OBB && hitData2.m_type == HitShape3dType.OBB)
{
return(IntersectionTest3D.OBB3dWithOBB3d(hitData2.m_obb, hitData1.m_obb));
}
else
{
return(false);
}
}
public List <Model3d> CullByFrustum(Frustum3d frustum)
{
List <Model3d> result = new List <Model3d>();
foreach (var iter in m_modleList)
{
iter.m_cullFlag = false;
}
if (m_octree == null)
{
foreach (var iter in m_modleList)
{
OBB3d bounds = iter.GetOBB();
if (IntersectionTest3D.Frustum3dWithOBB3d(frustum, bounds))
{
result.Add(iter);
}
}
}
else
{
List <OctreeNode> nodes = new List <OctreeNode>();
nodes.Add(m_octree);
while (nodes.Count > 0)
{
OctreeNode active = nodes[0];
nodes.RemoveAt(0);
if (active.m_children != null)
{
// Has child nodes
for (int i = 0; i < 8; ++i)
{
AABB3d bounds = active.m_children[i].m_bounds;
if (IntersectionTest3D.Frustum3dWithAABB3d(frustum, bounds))
{
nodes.Add(active.m_children[i]);
}
}
}
else
{
// Is leaf node
for (int i = 0; i < active.m_models.Count; ++i)
{
if (!active.m_models[i].m_cullFlag)
{
OBB3d bounds = active.m_models[i].GetOBB();
if (IntersectionTest3D.Frustum3dWithOBB3d(frustum, bounds))
{
active.m_models[i].m_cullFlag = true;
result.Add(active.m_models[i]);
}
}
}
}
}
}
return(result);
}
static void SplitBVHNode(BVHNode node, Mesh3d model, int depth)
{
if (depth-- <= 0) // Decrements depth
{
return;
}
if (node.m_children == null)
{
// Only split if this node contains triangles
if (node.m_triangles.Count > 0)
{
node.m_children = new BVHNode[8];
Vector3L c = node.m_bounds.m_pos;
Vector3L e = node.m_bounds.GetHalfSize() * 0.5f;
node.m_children[0].m_bounds = new AABB3d(c + new Vector3L(-e.x, +e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[1].m_bounds = new AABB3d(c + new Vector3L(+e.x, +e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[2].m_bounds = new AABB3d(c + new Vector3L(-e.x, +e.y, +e.z), node.m_bounds.GetHalfSize());
node.m_children[3].m_bounds = new AABB3d(c + new Vector3L(+e.x, +e.y, +e.z), node.m_bounds.GetHalfSize());
node.m_children[4].m_bounds = new AABB3d(c + new Vector3L(-e.x, -e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[5].m_bounds = new AABB3d(c + new Vector3L(+e.x, -e.y, -e.z), node.m_bounds.GetHalfSize());
node.m_children[6].m_bounds = new AABB3d(c + new Vector3L(-e.x, -e.y, +e.z), node.m_bounds.GetHalfSize());
node.m_children[7].m_bounds = new AABB3d(c + new Vector3L(+e.x, -e.y, +e.z), node.m_bounds.GetHalfSize());
}
}
// If this node was just split
if (node.m_children != null && node.m_triangles.Count > 0)
{
for (int i = 0; i < 8; ++i)
{ // For each child
// Count how many triangles each child will contain
//node.m_children[i].numTriangles = 0;
for (int j = 0; j < node.m_triangles.Count; ++j)
{
Triangle3d t = node.m_triangles[j];
if (IntersectionTest3D.Triangle3dWithAABB3d(t, node.m_children[i].m_bounds))
{
node.m_children[i].m_triangles.Add(t);
}
}
// if (node.children[i].numTriangles == 0) {
// continue;
// }
// node.children[i].triangles = new int[node.children[i].numTriangles];
// int index = 0; // Add the triangles in the new child arrau
// for (int j = 0; j < node.numTriangles; ++j)
// {
// Triangle t = model.triangles[node.triangles[j]];
// if (TriangleAABB(t, node.children[i].bounds)) {
// node.children[i].triangles[index++] = node.triangles[j];
// }
// }
}
//node.numTriangles = 0;
//delete[] node.triangles;
node.m_triangles.Clear();
// Recurse
for (int i = 0; i < 8; ++i)
{
SplitBVHNode(node.m_children[i], model, depth);
}
}
}