//Note: Corner vertices must be ordered correctly. See below where - = low and + = high along directions 0, 1, and 2 respectively.
// [0] = +++, [1] = +-+, [2] = +--, [3] = ++-, [4] = -++, [5] = --+, [6] = ---, [7] = -+-
public static BoundingBox FromCornerVertices(double[][] directions, Vertex[] cornerVertices, bool areVerticesInCorrectOrder)
{
if (!areVerticesInCorrectOrder)
{
throw new Exception("Not implemented exception. Vertices must be in correct order for OBB");
}
if (cornerVertices.Length != 8)
{
throw new Exception("Must set Bounding Box using eight corner vertices in correct order");
}
var dimensions = new[] { 0.0, 0.0, 0.0 };
dimensions[0] = MinimumEnclosure.GetLengthAndExtremeVertices(directions[0], cornerVertices, out _, out _);
dimensions[1] = MinimumEnclosure.GetLengthAndExtremeVertices(directions[1], cornerVertices, out _, out _);
dimensions[2] = MinimumEnclosure.GetLengthAndExtremeVertices(directions[2], cornerVertices, out _, out _);
//Add in the center
var centerPosition = new[] { 0.0, 0.0, 0.0 };
centerPosition = cornerVertices.Aggregate(centerPosition, (c, v) => c.add(v.Position, 3))
.divide(cornerVertices.Count(), 3);
return(new BoundingBox
{
Center = new Vertex(centerPosition),
Volume = dimensions[0] * dimensions[1] * dimensions[2],
Dimensions = dimensions,
Directions = directions,
PointsOnFaces = null,
CornerVertices = cornerVertices
});
}
/// <summary>
/// Gets the silhouette of a solid along a given normal.
/// </summary>
/// <param name="ts"></param>
/// <param name="normal"></param>
/// <param name="minAngle"></param>
/// <returns></returns>
public static List <List <PointLight> > Run(TessellatedSolid ts, double[] normal, double minAngle = 0.1)
{
var depthOfPart = MinimumEnclosure.GetLengthAndExtremeVertices(normal, ts.Vertices, out _, out _);
return(Run(ts.Faces, normal, ts, minAngle, ts.SameTolerance, depthOfPart));
}
/// <summary>
/// Adds the corner vertices to the bounding box.
/// This method is used when the face vertices are not known.
/// The dimensions are also updated, in the event that the points of faces were altered (replaced or shifted).
/// </summary>
/// <returns>BoundingBox.</returns>
public void SetCornerVertices(List <Vertex> verticesOfInterest)
{
var cornerVertices = new Vertex[8];
//Get the low extreme vertices along each direction
List <Vertex> vLows, vHighs;
Dimensions[0] = MinimumEnclosure.GetLengthAndExtremeVertices(Directions[0], verticesOfInterest, out vLows, out vHighs);
var v0 = new Vertex(vLows.First().Position);
Dimensions[1] = MinimumEnclosure.GetLengthAndExtremeVertices(Directions[1], verticesOfInterest, out vLows, out vHighs);
var v1 = new Vertex(vLows.First().Position);
Dimensions[2] = MinimumEnclosure.GetLengthAndExtremeVertices(Directions[2], verticesOfInterest, out vLows, out vHighs);
var v2 = new Vertex(vLows.First().Position);
//Start with v0 and move along direction[1] by projection
var vector0To1 = v1.Position.subtract(v0.Position, 3);
var projectionOntoD1 = Directions[1].multiply(Directions[1].dotProduct(vector0To1, 3));
var v4 = v0.Position.add(projectionOntoD1, 3);
//Move along direction[2] by projection
var vector4To2 = v2.Position.subtract(v4, 3);
var projectionOntoD2 = Directions[2].multiply(Directions[2].dotProduct(vector4To2, 3));
var bottomCorner = new Vertex(v4.add(projectionOntoD2, 3));
//Double Check to make sure it is the bottom corner
verticesOfInterest.Add(bottomCorner);
MinimumEnclosure.GetLengthAndExtremeVertices(Directions[0], verticesOfInterest, out vLows, out vHighs);
if (!vLows.Contains(bottomCorner))
{
throw new Exception("Error in defining bottom corner");
}
MinimumEnclosure.GetLengthAndExtremeVertices(Directions[1], verticesOfInterest, out vLows, out vHighs);
if (!vLows.Contains(bottomCorner))
{
throw new Exception("Error in defining bottom corner");
}
MinimumEnclosure.GetLengthAndExtremeVertices(Directions[2], verticesOfInterest, out vLows, out vHighs);
if (!vLows.Contains(bottomCorner))
{
throw new Exception("Error in defining bottom corner");
}
//Create the vertices that make up the box and add them to the corner vertices array
for (var i = 0; i < 2; i++)
{
var d0Vector = i == 0 ? new[] { 0.0, 0.0, 0.0 } : Directions[0].multiply(Dimensions[0]);
for (var j = 0; j < 2; j++)
{
var d1Vector = j == 0 ? new[] { 0.0, 0.0, 0.0 } : Directions[1].multiply(Dimensions[1]);
for (var k = 0; k < 2; k++)
{
var d2Vector = k == 0 ? new[] { 0.0, 0.0, 0.0 } : Directions[2].multiply(Dimensions[2]);
var newVertex = new Vertex(bottomCorner.Position.add(d0Vector, 3).add(d1Vector, 3).add(d2Vector, 3));
//
var b = k == 0 ? 0 : 4;
if (j == 0)
{
if (i == 0)
{
cornerVertices[b] = newVertex; //i == 0 && j== 0 && k == 0 or 1
}
else
{
cornerVertices[b + 1] = newVertex; //i == 1 && j == 0 && k == 0 or 1
}
}
else
{
if (i == 0)
{
cornerVertices[b + 3] = newVertex; //i == 0 && j== 1 && k == 0 or 1
}
else
{
cornerVertices[b + 2] = newVertex; //i == 1 && j == 1 && k == 0 or 1
}
}
}
}
}
//Add in the center
var centerPosition = new[] { 0.0, 0.0, 0.0 };
foreach (var vertex in cornerVertices)
{
centerPosition[0] += vertex.Position[0];
centerPosition[1] += vertex.Position[1];
centerPosition[2] += vertex.Position[2];
}
centerPosition[0] = centerPosition[0] / cornerVertices.Count();
centerPosition[1] = centerPosition[1] / cornerVertices.Count();
centerPosition[2] = centerPosition[2] / cornerVertices.Count();
CornerVertices = cornerVertices;
Center = new Vertex(centerPosition);
}
/// <summary>
/// Sets the corner points and center position for the bounding rectangle
/// </summary>
/// <exception cref="Exception"></exception>
public void SetCornerPoints()
{
var cornerPoints = new Point[4];
var dir0 = Directions2D[0];
var dir1 = Directions2D[1];
var extremePoints = new List <Point>();
foreach (var pair in PointsOnSides)
{
extremePoints.AddRange(pair);
}
//Lower left point
List <Point> bottomPoints, topPoints;
MinimumEnclosure.GetLengthAndExtremePoints(dir0, extremePoints, out bottomPoints, out topPoints);
var bp = bottomPoints.First().Position;
var p0 = new [] { bp[0], bp[1] };
MinimumEnclosure.GetLengthAndExtremePoints(dir1, extremePoints, out bottomPoints, out topPoints);
bp = bottomPoints.First().Position;
var p1 = new[] { bp[0], bp[1] };
//Start with v0 and move along direction[1] by projection
var vector0To1 = p1.subtract(p0, 2);
var projectionOntoD1 = dir1.multiply(dir1.dotProduct(vector0To1, 2));
var p2 = p0.add(projectionOntoD1, 2);
var bottomCorner = new Point(p2);
//Double Check to make sure it is the bottom corner
extremePoints.Add(bottomCorner);
MinimumEnclosure.GetLengthAndExtremePoints(dir0, extremePoints, out bottomPoints, out topPoints);
if (!bottomPoints.Contains(bottomCorner))
{
throw new Exception("Error in defining bottom corner");
}
MinimumEnclosure.GetLengthAndExtremePoints(dir1, extremePoints, out bottomPoints, out topPoints);
if (!bottomPoints.Contains(bottomCorner))
{
throw new Exception("Error in defining bottom corner");
}
//Create the vertices that make up the box and add them to the corner vertices array
for (var i = 0; i < 2; i++)
{
var d0Vector = i == 0 ? new[] { 0.0, 0.0 } : dir0.multiply(Dimensions[0]);
for (var j = 0; j < 2; j++)
{
var d1Vector = j == 0 ? new[] { 0.0, 0.0 } : dir1.multiply(Dimensions[1]);
var newPoint = new Point(bottomCorner.Position.add(d0Vector, 2).add(d1Vector, 2));
//Put the points in the correct position to be ordered CCW, starting with the bottom corner
if (i == 0)
{
if (j == 0)
{
cornerPoints[0] = newPoint; // i == 0, j == 0
}
else
{
cornerPoints[1] = newPoint; // i == 0, j == 1
}
}
else if (j == 1)
{
cornerPoints[2] = newPoint; //i == 1, j ==1
}
else
{
cornerPoints[3] = newPoint; //i == 1, j == 0
}
}
}
//Add in the center
var centerPosition = new[] { 0.0, 0.0 };
foreach (var vertex in cornerPoints)
{
centerPosition[0] += vertex.X;
centerPosition[1] += vertex.Y;
}
centerPosition[0] = centerPosition[0] / cornerPoints.Count();
centerPosition[1] = centerPosition[1] / cornerPoints.Count();
//Check to make sure the points are ordered correctly (within 1 %)
if (!MiscFunctions.AreaOfPolygon(cornerPoints).IsPracticallySame(Area, 0.01 * Area))
{
throw new Exception("Points are ordered incorrectly");
}
CornerPoints = new List <Point>(cornerPoints);
CenterPosition = centerPosition;
}
