Exemple #1
0
        private static void CalculateEdgeVertexPoint(CollisionFunctor cf, PolyhedronPart a, MeshPart b, ref Triangle tri, ref CollisionInfo ci)
        {
            Vector3 pa, pb;
            Segment ea;
            float   sa;

            int[] edgeA = a.Edge(ci.FeatureA.Index);
            a.World(edgeA[0], out ea.P1);
            a.World(edgeA[1], out ea.P2);
            tri.Vertex(ci.FeatureB.Index, out pb);
            ea.ClosestPointTo(ref pb, out sa, out pa);
            cf.WritePoint(ref pa, ref pb, ref ci.Normal);
        }
        private static void CalculateVertexEdgePoint(CollisionFunctor cf, PolyhedronPart a, PolyhedronPart b, ref CollisionInfo ci)
        {
            Vector3 pa, pb;
            Segment eb;
            float   sb;

            int[] edgeB = b.Edge(ci.FeatureB.Index);
            b.World(edgeB[0], out eb.P1);
            b.World(edgeB[1], out eb.P2);
            a.World(ci.FeatureA.Index, out pa);
            eb.ClosestPointTo(ref pa, out sb, out pb);
            cf.WritePoint(ref pa, ref pb, ref ci.Normal);
        }
        private static void CalculateEdgeFacePoints(CollisionFunctor cf, PolyhedronPart a, PolyhedronPart b, ref CollisionInfo ci)
        {
            Vector3 pa, pb;
            Segment ea, eb, eab;

            int[] edgeA = a.Edge(ci.FeatureA.Index);
            a.World(edgeA[0], out ea.P1);
            a.World(edgeA[1], out ea.P2);
            int[] faceB = b.Face(ci.FeatureB.Index);
            b.World(faceB[0], out pb);
            var planeB = new Plane(pb, ci.Normal);

            planeB.ClosestPointTo(ref ea.P1, out eab.P1);
            planeB.ClosestPointTo(ref ea.P2, out eab.P2);

            int count = 0;

            if (b.IsPointOnFace(ci.FeatureB.Index, ref eab.P1, true))
            {
                count++;
                cf.WritePoint(ref ea.P1, ref eab.P1, ref ci.Normal);
            }
            if (b.IsPointOnFace(ci.FeatureB.Index, ref eab.P2, true))
            {
                count++;
                cf.WritePoint(ref ea.P2, ref eab.P2, ref ci.Normal);
            }

            for (int i = 0; i < faceB.Length && count < 2; i++)
            {
                b.World(faceB[i == 0 ? faceB.Length - 1 : i - 1], out eb.P1);
                b.World(faceB[i], out eb.P2);

                float sa, sb;
                Segment.ClosestPoints(ref ea, ref eb, out sa, out pa, out sb, out pb);
                if (sa > 0f && sa < 1f && sb > 0f && sb < 1f)
                {
                    count++;
                    cf.WritePoint(ref pa, ref pb, ref ci.Normal);
                }
            }
        }
Exemple #4
0
        private static void CalculateEdgeFacePoints(CollisionFunctor cf, PolyhedronPart a, MeshPart b, ref Triangle tri, ref CollisionInfo ci)
        {
            Vector3 pa, pb;
            Segment ea, eb, eab;

            int[] edge = a.Edge(ci.FeatureA.Index);
            a.World(edge[0], out ea.P1);
            a.World(edge[1], out ea.P2);
            Plane planeB = new Plane(tri.V1, tri.Normal);

            planeB.ClosestPointTo(ref ea.P1, out eab.P1);
            planeB.ClosestPointTo(ref ea.P2, out eab.P2);

            int count = 0;

            if (tri.Contains(ref eab.P1))
            {
                count++;
                cf.WritePoint(ref ea.P1, ref eab.P1, ref ci.Normal);
            }
            if (tri.Contains(ref eab.P2))
            {
                count++;
                cf.WritePoint(ref ea.P2, ref eab.P2, ref ci.Normal);
            }

            for (int i = 1; i <= 3 && count < 2; i++)
            {
                tri.Edge(i, out eb);
                float sa, sb;
                Segment.ClosestPoints(ref ea, ref eb, out sa, out pa, out sb, out pb);
                if (sa > 0f && sa < 1f && sb > 0f && sb < 1f)
                {
                    count++;
                    cf.WritePoint(ref pa, ref pb, ref ci.Normal);
                }
            }
        }
        private static void CalculateVertexEdgePoint(CollisionFunctor cf, PolyhedronPart a, PolyhedronPart b, ref CollisionInfo ci)
        {
            Vector3 pa, pb;
            Segment eb;
            float sb;

            int[] edgeB = b.Edge(ci.FeatureB.Index);
            b.World(edgeB[0], out eb.P1);
            b.World(edgeB[1], out eb.P2);
            a.World(ci.FeatureA.Index, out pa);
            eb.ClosestPointTo(ref pa, out sb, out pb);
            cf.WritePoint(ref pa, ref pb, ref ci.Normal);
        }
        private static void CalculateFaceEdgePoints(CollisionFunctor cf, PolyhedronPart a, PolyhedronPart b, ref CollisionInfo ci)
        {
            Vector3 pa, pb;
            Segment ea, eb, eba;
            int[] edgeB = b.Edge(ci.FeatureB.Index);
            b.World(edgeB[0], out eb.P1);
            b.World(edgeB[1], out eb.P2);
            int[] faceA = a.Face(ci.FeatureA.Index);
            a.World(faceA[0], out pa);
            var planeA = new Plane(pa, ci.Normal);
            planeA.ClosestPointTo(ref eb.P1, out eba.P1);
            planeA.ClosestPointTo(ref eb.P2, out eba.P2);

            int count = 0;
            if (a.IsPointOnFace(ci.FeatureA.Index, ref eba.P1, true))
            {
                count++;
                cf.WritePoint(ref eba.P1, ref eb.P1, ref ci.Normal);
            }
            if (a.IsPointOnFace(ci.FeatureA.Index, ref eba.P2, true))
            {
                count++;
                cf.WritePoint(ref eba.P2, ref eb.P2, ref ci.Normal);
            }

            for(int i = 0; i < faceA.Length && count < 2; i++)
            {
                a.World(faceA[i == 0 ? faceA.Length - 1 : i - 1], out ea.P1);
                a.World(faceA[i], out ea.P2);

                float sa, sb;
                Segment.ClosestPoints(ref ea, ref eb, out sa, out pa, out sb, out pb);
                if (sa > 0f && sa < 1f && sb > 0f && sb < 1f)
                {
                    count++;
                    cf.WritePoint(ref pa, ref pb, ref ci.Normal);
                }
            }
        }
		private static void CalculateEdgeFacePoints(CollisionFunctor cf, PolyhedronPart a, MeshPart b, ref Triangle tri, ref CollisionInfo ci)
		{
			Vector3 pa, pb;
			Segment ea, eb, eab;

			int[] edge = a.Edge(ci.FeatureA.Index);
			a.World(edge[0], out ea.P1);
			a.World(edge[1], out ea.P2);
			Plane planeB = new Plane(tri.V1, tri.Normal);
			planeB.ClosestPointTo(ref ea.P1, out eab.P1);
			planeB.ClosestPointTo(ref ea.P2, out eab.P2);

			int count = 0;
			if (tri.Contains(ref eab.P1))
			{
				count++;
				cf.WritePoint(ref ea.P1, ref eab.P1, ref ci.Normal);
			}
			if (tri.Contains(ref eab.P2))
			{
				count++;
				cf.WritePoint(ref ea.P2, ref eab.P2, ref ci.Normal);
			}

			for (int i = 1; i <= 3 && count < 2; i++)
			{
				tri.Edge(i, out eb);
				float sa, sb;
				Segment.ClosestPoints(ref ea, ref eb, out sa, out pa, out sb, out pb);
				if (sa > 0f && sa < 1f && sb > 0f && sb < 1f)
				{
					count++;
					cf.WritePoint(ref pa, ref pb, ref ci.Normal);
				}
			}
		}
		private static void CalculateEdgeEdgePoints(CollisionFunctor cf, PolyhedronPart a, MeshPart b, ref Triangle tri, ref CollisionInfo ci)
		{
			Vector3 pa, pb;
			Segment ea, eb;

			int[] edgeA = a.Edge(ci.FeatureA.Index);
			a.World(edgeA[0], out ea.P1);
			a.World(edgeA[1], out ea.P2);
			tri.Edge(ci.FeatureB.Index, out eb);

			float sa, sb;
			Segment.ClosestPoints(ref ea, ref eb, out sa, out pa, out sb, out pb);
			cf.WritePoint(ref pa, ref pb, ref ci.Normal);
		}