public CanSeeEdge (Edge e) {
edge = e;
canSeeA = true;
canSeeB = true;
}
public Edge Merge (Edge rhs) {
//this.borderA = (this.borderA || rhs.borderA);
//this.borderB = (this.borderB || rhs.borderB);
return this;
}
public float NearestPointOnEdges (Edge e2) {
return NearestPointsOnEdges (this,e2).x;
}
public static Vector2 NearestPointsOnEdges (Edge e1, Edge e2) {
Vector3 u = e1.endPointB - e1.endPointA;
Vector3 v = e2.endPointB - e2.endPointA;
Vector3 w = e1.endPointA - e2.endPointA;
float a = Vector3.Dot(u,u); // always >= 0
float b = Vector3.Dot(u,v);
float c = Vector3.Dot(v,v); // always >= 0
float d = Vector3.Dot(u,w);
float e = Vector3.Dot(v,w);
float D = a*c - b*b; // always >= 0
float sc, sN, sD = D; // sc = sN / sD, default sD = D >= 0
float tc, tN, tD = D; // tc = tN / tD, default tD = D >= 0
// compute the line parameters of the two closest points
if (D < 0.05F) { // the lines are almost parallel
sN = 0.0F; // force using point P0 on segment S1
sD = 1.0F; // to prevent possible division by 0.0 later
tN = e;
tD = c;
}
else { // get the closest points on the infinite lines
sN = (b*e - c*d);
tN = (a*e - b*d);
if (sN < 0.0F) { // sc < 0 => the s=0 edge is visible
sN = 0.0F;
tN = e;
tD = c;
}
else if (sN > sD) { // sc > 1 => the s=1 edge is visible
sN = sD;
tN = e + b;
tD = c;
}
}
if (tN < 0.0F) { // tc < 0 => the t=0 edge is visible
tN = 0.0F;
// recompute sc for this edge
if (-d < 0.0F)
sN = 0.0F;
else if (-d > a)
sN = sD;
else {
sN = -d;
sD = a;
}
}
else if (tN > tD) { // tc > 1 => the t=1 edge is visible
tN = tD;
// recompute sc for this edge
if ((-d + b) < 0.0F)
sN = 0;
else if ((-d + b) > a)
sN = sD;
else {
sN = (-d + b);
sD = a;
}
}
// finally do the division to get sc and tc
sc = (Mathf.Abs(sN) < 0.05F ? 0.0F : sN / sD);
tc = (Mathf.Abs(tN) < 0.05F ? 0.0F : tN / tD);
// get the difference of the two closest points
//Vector3 dP = w + (sc * u) - (tc * v); // = S1(sc) - S2(tc)
return new Vector2 (sc,tc); // return the closest distance
}
public static Vector2 IntersectionFactorFast (Edge memberEdge, Edge testEdge) {
Vector2 memberEdgePointA = new Vector2(memberEdge.endPointA.x, memberEdge.endPointA.z);
Vector2 memberEdgePointB = new Vector2(memberEdge.endPointB.x, memberEdge.endPointB.z);
Vector2 testEdgePointA = new Vector2(testEdge.endPointA.x, testEdge.endPointA.z);
Vector2 testEdgePointB = new Vector2(testEdge.endPointB.x, testEdge.endPointB.z);
float Ax_Minus_Cx = memberEdgePointA.x - testEdgePointA.x;
float Ay_Minus_Cy = memberEdgePointA.y - testEdgePointA.y;
float Dx_Minus_Cx = testEdgePointB.x - testEdgePointA.x;
float Dy_Minus_Cy = testEdgePointB.y - testEdgePointA.y;
float Bx_Minus_Ax = memberEdgePointB.x - memberEdgePointA.x;
float By_Minus_Ay = memberEdgePointB.y - memberEdgePointA.y;
float numerator = (Ay_Minus_Cy * Dx_Minus_Cx) - (Ax_Minus_Cx * Dy_Minus_Cy);
float denominator = (Bx_Minus_Ax * Dy_Minus_Cy) - (By_Minus_Ay * Dx_Minus_Cx);
// if lines do not intersect, return now
if (denominator == 0)
{
return new Vector2 (0,0);
}
float factorAB = numerator / denominator;
float factorCD = ((Ay_Minus_Cy * Bx_Minus_Ax) - (Ax_Minus_Cx * By_Minus_Ay)) / denominator;
return new Vector2 (factorAB,factorCD);
}
public static EdgeIntersection DoesLinesIntersect (Edge memberEdge, Edge testEdge) {
Vector2 memberEdgePointA = new Vector2(memberEdge.endPointA.x, memberEdge.endPointA.z);
Vector2 memberEdgePointB = new Vector2(memberEdge.endPointB.x, memberEdge.endPointB.z);
Vector2 testEdgePointA = new Vector2(testEdge.endPointA.x, testEdge.endPointA.z);
Vector2 testEdgePointB = new Vector2(testEdge.endPointB.x, testEdge.endPointB.z);
float Ax_Minus_Cx = memberEdgePointA.x - testEdgePointA.x;
float Ay_Minus_Cy = memberEdgePointA.y - testEdgePointA.y;
float Dx_Minus_Cx = testEdgePointB.x - testEdgePointA.x;
float Dy_Minus_Cy = testEdgePointB.y - testEdgePointA.y;
float Bx_Minus_Ax = memberEdgePointB.x - memberEdgePointA.x;
float By_Minus_Ay = memberEdgePointB.y - memberEdgePointA.y;
float numerator = (Ay_Minus_Cy * Dx_Minus_Cx) - (Ax_Minus_Cx * Dy_Minus_Cy);
float denominator = (Bx_Minus_Ax * Dy_Minus_Cy) - (By_Minus_Ay * Dx_Minus_Cx);
// if lines do not intersect, return now
if (denominator == 0)
{
return new EdgeIntersection (Vector3.zero,Vector3.zero,OnLinePosition.Paralell);
}
float factorAB = numerator / denominator;
float factorCD = ((Ay_Minus_Cy * Bx_Minus_Ax) - (Ax_Minus_Cx * By_Minus_Ay)) / denominator;
Vector3 intersectA = memberEdge.endPointA+(memberEdge.endPointB-memberEdge.endPointA)*factorAB;
Vector3 intersectB = testEdge.endPointA+(testEdge.endPointB-testEdge.endPointA)*factorCD;
//If the factor is less than 0 or greater than 1, then the nearest point is not on the line
if (factorAB < 0) {
return new EdgeIntersection (intersectA,intersectB,OnLinePosition.Left);
} else if (factorAB > 1) {
return new EdgeIntersection (intersectA,intersectB,OnLinePosition.Right);
}
return new EdgeIntersection (intersectA,intersectB,OnLinePosition.OnLine);
}
public static OnLinePosition DoesLinesIntersectFast (Edge memberEdge, Edge testEdge) {
Vector2 memberEdgePointA = new Vector2(memberEdge.endPointA.x, memberEdge.endPointA.z);
Vector2 memberEdgePointB = new Vector2(memberEdge.endPointB.x, memberEdge.endPointB.z);
Vector2 testEdgePointA = new Vector2(testEdge.endPointA.x, testEdge.endPointA.z);
Vector2 testEdgePointB = new Vector2(testEdge.endPointB.x, testEdge.endPointB.z);
float Ax_Minus_Cx = memberEdgePointA.x - testEdgePointA.x;
float Ay_Minus_Cy = memberEdgePointA.y - testEdgePointA.y;
float Dx_Minus_Cx = testEdgePointB.x - testEdgePointA.x;
float Dy_Minus_Cy = testEdgePointB.y - testEdgePointA.y;
float Bx_Minus_Ax = memberEdgePointB.x - memberEdgePointA.x;
float By_Minus_Ay = memberEdgePointB.y - memberEdgePointA.y;
float numerator = (Ay_Minus_Cy * Dx_Minus_Cx) - (Ax_Minus_Cx * Dy_Minus_Cy);
float denominator = (Bx_Minus_Ax * Dy_Minus_Cy) - (By_Minus_Ay * Dx_Minus_Cx);
// if lines do not intersect, return now
if (denominator == 0)
{
return OnLinePosition.Paralell;
}
float factorAB = numerator / denominator;
//If the factor is less than 0 or greater than 1, then the nearest point is not on the line
if (factorAB < 0) {
return OnLinePosition.Left;
} else if (factorAB > 1) {
return OnLinePosition.Right;
}
return OnLinePosition.OnLine;
}
public static EdgeIntersection IntersectionTest(Edge memberEdge, Edge testEdge)
{
Vector2 memberEdgePointA = new Vector2(memberEdge.endPointA.x, memberEdge.endPointA.z);
Vector2 memberEdgePointB = new Vector2(memberEdge.endPointB.x, memberEdge.endPointB.z);
Vector2 testEdgePointA = new Vector2(testEdge.endPointA.x, testEdge.endPointA.z);
Vector2 testEdgePointB = new Vector2(testEdge.endPointB.x, testEdge.endPointB.z);
float Ax_Minus_Cx = memberEdgePointA.x - testEdgePointA.x;
float Ay_Minus_Cy = memberEdgePointA.y - testEdgePointA.y;
float Dx_Minus_Cx = testEdgePointB.x - testEdgePointA.x;
float Dy_Minus_Cy = testEdgePointB.y - testEdgePointA.y;
float Bx_Minus_Ax = memberEdgePointB.x - memberEdgePointA.x;
float By_Minus_Ay = memberEdgePointB.y - memberEdgePointA.y;
float numerator = (Ay_Minus_Cy * Dx_Minus_Cx) - (Ax_Minus_Cx * Dy_Minus_Cy);
float denominator = (Bx_Minus_Ax * Dy_Minus_Cy) - (By_Minus_Ay * Dx_Minus_Cx);
// if lines do not intersect, return now
if (denominator == 0)
{
if (numerator == 0)
{
return new EdgeIntersection (LineClassification.Collinear);
}
// Debug.Log("Intersect Reuslt \t" + LineClassification.Paralell);
return new EdgeIntersection (LineClassification.Paralell);
}
float factorAB = numerator / denominator;
float factorCD = ((Ay_Minus_Cy * Bx_Minus_Ax) - (Ax_Minus_Cx * By_Minus_Ay)) / denominator;
Vector3 intersectA = memberEdge.endPointA+(memberEdge.endPointB-memberEdge.endPointA)*factorAB;
Vector3 intersectB = testEdge.endPointA+(testEdge.endPointB-testEdge.endPointA)*factorCD;
//Debug.DrawRay (memberEdge.endPointA+(memberEdge.endPointB-memberEdge.endPointA)*factorAB,Vector3.up*3,Color.red);
//Debug.DrawRay (testEdge.endPointA+(testEdge.endPointB-testEdge.endPointA)*factorCD,Vector3.up*2,Color.blue);
//now determine the type of intersection
if ((factorAB >= 0f) && (factorAB <= 1f) && (factorCD >= 0f) && (factorCD <= 1f))
{
//Debug.Log("Intersect Reuslt \t" + LineClassification.SegmentIntersect);
return new EdgeIntersection (LineClassification.SegmentIntersect,intersectA,intersectB);
}
else if ((factorCD >= 0f) && (factorCD <= 1f))
{
//Debug.Log("Intersect Reuslt \t" + LineClassification.A_BISECTS_B);
return new EdgeIntersection (LineClassification.A_BISECTS_B,intersectA,intersectB);
}
else if ((factorAB >= 0f) && (factorAB <= 1.0f))
{
//Debug.Log("Intersect Reuslt \t" + LineClassification.B_BISECTS_A);
return new EdgeIntersection (LineClassification.B_BISECTS_A,intersectA,intersectB);
}
//Debug.Log("Intersect Reuslt \t" + LineClassification.LinesIntersect);
return new EdgeIntersection (LineClassification.LinesIntersect,intersectA,intersectB);
}
public Edge TurningRadius (float rad) {
Edge e1;
//if (borderA || borderB) {
float magn = edgeVector3D.magnitude;
Vector3 norm = edgeVector3D/magn;
//if (borderA && borderB) {
if (rad*2.0F >= magn) {
//e1 = new Edge (center,center);
e1 = new Edge (endPointA+edgeVector3D*0.45F,endPointB-edgeVector3D*0.45F);
} else {
e1 = new Edge (endPointA+norm*rad,endPointB-norm*rad);
}
//} else if (borderA) {
// e1 = new Edge (endPointA+norm*rad,endPointB);
//} else {
// e1 = new Edge (endPointA,endPointB-norm*rad);
//}
//} else {
// e1 = new Edge (endPointA,endPointB);
//}
return e1;
}
