internal static PartitionAABB[] RunForAABB(HashSet <Vertex> solidVerts, HashSet <PolygonalFace> solidFaces, Vertex[] corverVts)
{
// the corner vertices are all clock wise now.
var partitions = new List <PartitionAABB>();
//var ddds = solid.Vertices.Max(v => v.Position[1]);
for (var k = 0; k < corverVts.Length; k++) //obb.CornerVertices)
{
var verK = new Vertex(corverVts[k].Position); //cVer;
var prtn = new PartitionAABB();
var cornerVer = new List <Vertex>();
double Xmin = double.PositiveInfinity, Ymin = double.PositiveInfinity, Zmin = double.PositiveInfinity;
double Xmax = double.NegativeInfinity, Ymax = double.NegativeInfinity, Zmax = double.NegativeInfinity;
for (var j = 0; j < corverVts.Length; j++)
{
var verJ = new Vertex(corverVts[j].Position); //cVer;
var midVer = new Vertex((verJ.Position.add(verK.Position)).divide(2.0));
cornerVer.Add(midVer);
if (midVer.Position[0] > Xmax)
{
Xmax = midVer.Position[0];
}
if (midVer.Position[0] < Xmin)
{
Xmin = midVer.Position[0];
}
if (midVer.Position[1] > Ymax)
{
Ymax = midVer.Position[1];
}
if (midVer.Position[1] < Ymin)
{
Ymin = midVer.Position[1];
}
if (midVer.Position[2] > Zmax)
{
Zmax = midVer.Position[2];
}
if (midVer.Position[2] < Zmin)
{
Zmin = midVer.Position[2];
}
}
prtn.X = new[] { Xmin, Xmax };
prtn.Y = new[] { Ymin, Ymax };
prtn.Z = new[] { Zmin, Zmax };
prtn.CornerVertices = cornerVer.ToArray();
prtn.SolidVertices = new HashSet <Vertex>(solidVerts.Where(vertex => IsVertexInsidePartition(prtn, vertex)));
prtn.SolidTriangles = PartitionTrianglesPro(prtn, solidFaces);
// continue the octree or not?
if (prtn.SolidTriangles.Count > 200)
{
prtn.InnerPartition = RunForAABB(prtn.SolidVertices, prtn.SolidTriangles, prtn.CornerVertices);
}
partitions.Add(prtn);
}
return(partitions.ToArray());
}
private static bool IsVertexInsidePartition(PartitionAABB prtn, Vertex vertex)
{
var verPos = vertex.Position;
if (verPos[0] > prtn.X[1] || verPos[0] < prtn.X[0] ||
verPos[1] > prtn.Y[1] || verPos[1] < prtn.Y[0] ||
verPos[2] > prtn.Z[1] || verPos[2] < prtn.Z[0])
{
return(false);
}
return(true);
}
private static HashSet <PolygonalFace> PartitionTrianglesPro(PartitionAABB partition, HashSet <PolygonalFace> solidTrgs)
{
var trigs = new HashSet <PolygonalFace>();
foreach (var ver in partition.SolidVertices)
{
trigs.UnionWith(ver.Faces.Where(f => !trigs.Contains(f)));
}
// using seperating axis theorem (SAT). Among 6 faces of the box and the triangle candidate from the solid
// if any of them can seperate the
// normal of the partition planes and and a vertex on the plane
var normalsAndVertex = new Dictionary <double[], double[]>
{
{ new[] { 1.0, 0, 0 }, new[] { partition.X[1], partition.Y[1], partition.Z[1] } },
{ new[] { -1.0, 0, 0 }, new[] { partition.X[0], partition.Y[1], partition.Z[1] } },
{ new[] { 0, 1.0, 0 }, new[] { partition.X[1], partition.Y[1], partition.Z[1] } },
{ new[] { 0, -1.0, 0 }, new[] { partition.X[1], partition.Y[0], partition.Z[1] } },
{ new[] { 0, 0, 1.0 }, new[] { partition.X[1], partition.Y[1], partition.Z[1] } },
{ new[] { 0, 0, -1.0 }, new[] { partition.X[1], partition.Y[1], partition.Z[0] } }
};
foreach (var pF in solidTrgs.Where(t => !trigs.Contains(t)))
{
var dots =
partition.CornerVertices.Select(
corVer => (corVer.Position.subtract(pF.Vertices[0].Position)).dotProduct(pF.Normal)).ToList();
if (dots.All(d => d >= 0) || dots.All(d => d <= 0))
{
continue;
}
var overlap = normalsAndVertex.All(dic => !pF.Vertices.All(v => dic.Key.dotProduct(v.Position.subtract(dic.Value)) >= 0));
if (overlap)
{
trigs.Add(pF);
}
}
return(trigs);
}