public bool ContainsPoint(HoleInstanceMetadata instanceMetadata, DoubleVector3 pointWorld, double agentRadius)
{
var pointLocal = Vector3.Transform(pointWorld.ToDotNetVector(), instanceMetadata.WorldTransformInv);
var mag = pointLocal.Length();
return(mag <= Radius + agentRadius);
}
public bool TryProjectOnto(HoleInstanceMetadata instanceMetadata, SectorNodeDescription sectorNodeDescription, out IReadOnlyList <Polygon2> projectedHoleIncludedContours, out IReadOnlyList <Polygon2> projectedHoleExcludedContours)
{
// transformation matrix from hole-local space to sector-local space
var transformHoleToSector = instanceMetadata.WorldTransform * sectorNodeDescription.WorldTransformInv;
// compute projected poly's bounds in sector-local space.
var boundsWorld = ComputeExtrudedBoundsLocal().Map(p => Vector3.Transform(p, transformHoleToSector));
// test if projected poly is within sector-local space.
var intersects = Enumerable.Any <Vector3>(boundsWorld, p => sectorNodeDescription.StaticMetadata.LocalBoundary.Contains((int)p.X, (int)p.Y));
var withinHeight = Enumerable.Any <Vector3>(boundsWorld, p => p.Z >= -1E-3 && p.Z <= Height);
// if (false && () !intersects || !withinHeight) {
// projectedHoleIncludedContours = null;
// projectedHoleExcludedContours = null;
// return false;
// }
// Project rest of points into sector-local space.
projectedHoleIncludedContours = LocalIncludedContours.Map(contour =>
new Polygon2(
contour.Points.Map(p => DotNetVector4ToIV2XY(Vector4.Transform(IV2ToDotNetVector4(p, Height), transformHoleToSector))).ToList()));
projectedHoleExcludedContours = LocalExcludedContours.Map(contour =>
new Polygon2(
contour.Points.Map(p => DotNetVector4ToIV2XY(Vector4.Transform(IV2ToDotNetVector4(p, Height), transformHoleToSector))).ToList()));
return(true);
}
public bool ContainsPoint(HoleInstanceMetadata instanceMetadata, DoubleVector3 pointWorld, double agentRadius)
{
var pointLocal3 = Vector3.Transform(pointWorld.ToDotNetVector(), instanceMetadata.WorldTransformInv);
var pointLocal = new IntVector2((int)pointLocal3.X, (int)pointLocal3.Y);
if (!dilatedPunchResultByAgentRadius.TryGetValue(agentRadius, out var dilatedPunchedLand))
{
dilatedPunchedLand = PolygonOperations.Offset()
.Include(punchResult.FlattenToPolygonAndIsHoles())
.Dilate(agentRadius)
.Execute();
dilatedPunchResultByAgentRadius[agentRadius] = dilatedPunchedLand;
}
return(dilatedPunchedLand.PointInPolytree(pointLocal, out var _));
}
public bool TryProjectOnto(HoleInstanceMetadata instanceMetadata, SectorNodeDescription sectorNodeDescription, out IReadOnlyList <Polygon2> projectedHoleIncludedContours, out IReadOnlyList <Polygon2> projectedHoleExcludedContours)
{
Trace.Assert(Matrix4x4.Decompose(instanceMetadata.WorldTransform, out var scale, out var rotation, out var translation));
Trace.Assert(Math.Abs(scale.X - scale.Y) < 1E-9 && Math.Abs(scale.X - scale.Z) < 1E-9);
var effectiveRadiusWorld = scale.X * Radius;
var normalSectorWorld = Vector3.TransformNormal(new Vector3(0, 0, 1), sectorNodeDescription.WorldTransform).ToOpenMobaVector();
var normalSectorWorldUnit = normalSectorWorld / normalSectorWorld.Norm2D();
var sectorOriginWorld = Vector3.Transform(new Vector3(0, 0, 0), sectorNodeDescription.WorldTransform).ToOpenMobaVector();
var distanceWorld = Math.Abs((sectorOriginWorld - translation.ToOpenMobaVector()).Dot(normalSectorWorldUnit));
var c2MinusA2 = effectiveRadiusWorld * effectiveRadiusWorld - distanceWorld * distanceWorld;
if (c2MinusA2 <= 0)
{
projectedHoleIncludedContours = null;
projectedHoleExcludedContours = null;
return(false);
}
var effectiveRadiusWorldOnSectorPlane = (float)Math.Sqrt(c2MinusA2);
var effectiveRadiusSector = Vector3.TransformNormal(
new Vector3(0, 0, effectiveRadiusWorldOnSectorPlane),
sectorNodeDescription.InstanceMetadata.WorldTransformInv
).Length();
// if (effectiveRadiusSector < 200) {
// projectedHoleIncludedContours = null;
// projectedHoleExcludedContours = null;
// return false;
// } else {
// projectedHoleIncludedContours = new List<Polygon2> {
// Polygon2.CreateCircle(0, 0, 20)
// };
// projectedHoleExcludedContours = new List<Polygon2>();
// return true;
// }
var centerSector = Vector3.Transform(
translation,
sectorNodeDescription.InstanceMetadata.WorldTransformInv
);
projectedHoleIncludedContours = new List <Polygon2> {
Polygon2.CreateCircle((int)centerSector.X, (int)centerSector.Y, (int)effectiveRadiusSector)
};
projectedHoleExcludedContours = new List <Polygon2>();
return(true);
}
