public static uint3 hash_wide(float3x4 v)
{
return((asuint(v.c0) * uint3(0x9C8A2F05u, 0x4DDC6509u, 0x7CF083CBu) +
asuint(v.c1) * uint3(0x5C4D6CEDu, 0xF9137117u, 0xE857DCE1u) +
asuint(v.c2) * uint3(0xF62213C5u, 0x9CDAA959u, 0xAA269ABFu) +
asuint(v.c3) * uint3(0xD54BA36Fu, 0xFD0847B9u, 0x8189A683u)) + 0xB139D651u);
}
public int3x4(float3x4 v)
{
this.c0 = (int3)v.c0;
this.c1 = (int3)v.c1;
this.c2 = (int3)v.c2;
this.c3 = (int3)v.c3;
}
public static uint hash(float3x4 v)
{
return(csum(asuint(v.c0) * uint3(0x7AA2C2BDu, 0xE16BC89Du, 0x7AA07CD3u) +
asuint(v.c1) * uint3(0xAF642BA9u, 0xA8F2213Bu, 0x9F3FDC37u) +
asuint(v.c2) * uint3(0xAC60D0C3u, 0x9263662Fu, 0xE69626FFu) +
asuint(v.c3) * uint3(0xBD010EEBu, 0x9CEDE1D1u, 0x43BE0B51u)) + 0xAF836EE1u);
}
public static uint hash(float3x4 v)
{
return(csum(asuint(v.c0) * uint3(0x69B60C81u, 0xE0EB6C25u, 0xF648BEABu) +
asuint(v.c1) * uint3(0x6BDB2B07u, 0xEF63C699u, 0x9001903Fu) +
asuint(v.c2) * uint3(0xA895B9CDu, 0x9D23B201u, 0x4B01D3E1u) +
asuint(v.c3) * uint3(0x7461CA0Du, 0x79725379u, 0xD6258E5Bu)) + 0xEE390C97u);
}
public static uint hash(float3x4 v)
{
return(csum(asuint(v.c0) * uint3(0xB36DE767u, 0x6FCA387Du, 0xAF0F3103u) +
asuint(v.c1) * uint3(0xE4A056C7u, 0x841D8225u, 0xC9393C7Du) +
asuint(v.c2) * uint3(0xD42EAFA3u, 0xD9AFD06Du, 0x97A65421u) +
asuint(v.c3) * uint3(0x7809205Fu, 0x9C9F0823u, 0x5A9CA13Bu)) + 0xAFCDD5EFu);
}
public static uint3 hashwide(float3x4 v)
{
return((asuint(v.c0) * uint3(0xB130C137u, 0x54834775u, 0x7C022221u) +
asuint(v.c1) * uint3(0xA2D00EDFu, 0xA8977779u, 0x9F1C739Bu) +
asuint(v.c2) * uint3(0x4B1BD187u, 0x9DF50593u, 0xF18EEB85u) +
asuint(v.c3) * uint3(0x9E19BFC3u, 0x8196B06Fu, 0xD24EFA19u)) + 0x7D8048BBu);
}
public static uint hash(float3x4 v)
{
return(csum(asuint(v.c0) * uint3(0xF9EA92D5u, 0xC2FAFCB9u, 0x616E9CA1u) +
asuint(v.c1) * uint3(0xC5C5394Bu, 0xCAE78587u, 0x7A1541C9u) +
asuint(v.c2) * uint3(0xF83BD927u, 0x6A243BCBu, 0x509B84C9u) +
asuint(v.c3) * uint3(0x91D13847u, 0x52F7230Fu, 0xCF286E83u)) + 0xE121E6ADu);
}
public double3x4(float3x4 v)
{
this.c0 = v.c0;
this.c1 = v.c1;
this.c2 = v.c2;
this.c3 = v.c3;
}
public fix64p3x4(float3x4 v)
{
this.c0 = (fix64p3)v.c0;
this.c1 = (fix64p3)v.c1;
this.c2 = (fix64p3)v.c2;
this.c3 = (fix64p3)v.c3;
}
public static float4x3 transpose(float3x4 v)
{
return(float4x3(
v.c0.x, v.c0.y, v.c0.z,
v.c1.x, v.c1.y, v.c1.z,
v.c2.x, v.c2.y, v.c2.z,
v.c3.x, v.c3.y, v.c3.z));
}
/// <summary>Fast matrix inverse for rigid transforms (orthonormal basis and translation)</summary>
/// <param name="m">Matrix to invert.</param>
/// <returns>The inverted matrix.</returns>
public static float3x4 fastinverse(float3x4 m)
{
float3 c0 = m.c0;
float3 c1 = m.c1;
float3 c2 = m.c2;
float3 pos = m.c3;
float3 r0 = float3(c0.x, c1.x, c2.x);
float3 r1 = float3(c0.y, c1.y, c2.y);
float3 r2 = float3(c0.z, c1.z, c2.z);
pos = -(r0 * pos.x + r1 * pos.y + r2 * pos.z);
return(float3x4(r0, r1, r2, pos));
}
public static int3x4 int3x4(float3x4 v)
{
return(new int3x4(v));
}
public static fix64p3x4 fix64p3x4(float3x4 v)
{
return(new fix64p3x4(v));
}
public static uint3x4 uint3x4(float3x4 v)
{
return(new uint3x4(v));
}
public AffineTransform(float3x4 m)
{
rs = math.float3x3(m.c0, m.c1, m.c2);
t = m.c3;
}
public static AffineTransform AffineTransform(float3x4 m)
{
return(new AffineTransform(m));
}
public static double3x4 double3x4(float3x4 v)
{
return(new double3x4(v));
}
public void crossSectTetrahedron(Unity.Mathematics.float3 point, Unity.Mathematics.float3 normalDirection,
Unity.Mathematics.float3x4 vertices, UnityEngine.Mesh tetrahedronMesh)
{
//take vertices and organize them into clockwise triangles to be passed to triangle intersection function
Unity.Mathematics.float3 a = vertices.c0;
Unity.Mathematics.float3 b = vertices.c1;
Unity.Mathematics.float3 c = vertices.c2;
Unity.Mathematics.float3 d = vertices.c3;
Unity.Mathematics.float3[] triangle1 = { a, b, c };
Unity.Mathematics.float3[] triangle2 = { a, c, d };
Unity.Mathematics.float3[] triangle3 = { a, d, b };
Unity.Mathematics.float3[] triangle4 = { b, c, d };
Unity.Mathematics.float3 triangle1point = a;
Unity.Mathematics.float3 triangle2point = a;
Unity.Mathematics.float3 triangle3point = a;
Unity.Mathematics.float3 triangle4point = b;
Unity.Mathematics.float3 triangle1Normal =
Unity.Mathematics.math.cross(UnityEngine.Vector3.Normalize(c - a),
UnityEngine.Vector3.Normalize(b - a));
Unity.Mathematics.float3 triangle2Normal =
Unity.Mathematics.math.cross(UnityEngine.Vector3.Normalize(c - a),
UnityEngine.Vector3.Normalize(d - a));
Unity.Mathematics.float3 triangle3Normal =
Unity.Mathematics.math.cross(UnityEngine.Vector3.Normalize(d - a),
UnityEngine.Vector3.Normalize(b - a));
Unity.Mathematics.float3 triangle4Normal =
Unity.Mathematics.math.cross(UnityEngine.Vector3.Normalize(c - b),
UnityEngine.Vector3.Normalize(d - b));
//TODO make this pretty
UnityEngine.LineRenderer crossSectionRenderer1 = triXC[0].GetComponent <UnityEngine.LineRenderer>();
UnityEngine.LineRenderer crossSectionRenderer2 = triXC[1].GetComponent <UnityEngine.LineRenderer>();
UnityEngine.LineRenderer crossSectionRenderer3 = triXC[2].GetComponent <UnityEngine.LineRenderer>();
UnityEngine.LineRenderer crossSectionRenderer4 = triXC[3].GetComponent <UnityEngine.LineRenderer>();
int vertCount = 0;
bool line1 = false, line2 = false, line3 = false, line4 = false;
if (crossSectionRenderer1.enabled)
{
vertCount++;
line1 = true;
}
if (crossSectionRenderer2.enabled)
{
vertCount++;
line2 = true;
}
if (crossSectionRenderer3.enabled)
{
vertCount++;
line3 = true;
}
if (crossSectionRenderer4.enabled)
{
vertCount++;
line4 = true;
}
//Intersection is Triangle
if (vertCount == 3)
{
//verts
UnityEngine.Vector3[] verts = new UnityEngine.Vector3[3];
if (line1 && line2 && line3)
{
//a way to avoid checking orientation of line segments
verts[0] = crossSectionRenderer1.GetPosition(0);
verts[1] = crossSectionRenderer1.GetPosition(1);
verts[2] =
crossSectionRenderer2.GetPosition(1) == verts[0] ||
crossSectionRenderer2.GetPosition(1) == verts[1]
? crossSectionRenderer2.GetPosition(0)
: crossSectionRenderer2.GetPosition(1);
}
else if (line1 && line2 && line4)
{
verts[0] = crossSectionRenderer1.GetPosition(0);
verts[1] = crossSectionRenderer1.GetPosition(1);
verts[2] =
crossSectionRenderer2.GetPosition(1) == verts[0] ||
crossSectionRenderer2.GetPosition(1) == verts[1]
? crossSectionRenderer2.GetPosition(0)
: crossSectionRenderer2.GetPosition(1);
}
else if (line1 && line3 && line4)
{
verts[0] = crossSectionRenderer1.GetPosition(0);
verts[1] = crossSectionRenderer1.GetPosition(1);
verts[2] =
crossSectionRenderer3.GetPosition(1) == verts[0] ||
crossSectionRenderer3.GetPosition(1) == verts[1]
? crossSectionRenderer3.GetPosition(0)
: crossSectionRenderer3.GetPosition(1);
}
else if (line2 && line3 && line4)
{
verts[0] = crossSectionRenderer2.GetPosition(0);
verts[1] = crossSectionRenderer2.GetPosition(1);
verts[2] =
crossSectionRenderer3.GetPosition(1) == verts[0] ||
crossSectionRenderer3.GetPosition(1) == verts[1]
? crossSectionRenderer3.GetPosition(0)
: crossSectionRenderer3.GetPosition(1);
}
tetrahedronMesh.vertices = verts;
//tris
int[] tris = { 0, 1, 2 };
tetrahedronMesh.triangles = tris;
}
//Intersection is quadrilateral
else if (vertCount == 4)
{
//verts
UnityEngine.Vector3[] verts = new UnityEngine.Vector3[4];
verts[0] = crossSectionRenderer2.GetPosition(0);
verts[1] = crossSectionRenderer2.GetPosition(1);
verts[2] =
(crossSectionRenderer3.GetPosition(1) == verts[0] ||
crossSectionRenderer3.GetPosition(1) == verts[1])
? crossSectionRenderer3.GetPosition(0)
: crossSectionRenderer3.GetPosition(1);
verts[3] =
(crossSectionRenderer4.GetPosition(1) == verts[0] ||
crossSectionRenderer4.GetPosition(1) == verts[1] ||
crossSectionRenderer4.GetPosition(1) == verts[2])
? crossSectionRenderer4.GetPosition(0)
: crossSectionRenderer4.GetPosition(1);
tetrahedronMesh.vertices = verts;
//tris
//find the opposite corner to #0
//assume 0,1,2,3
float3 cross0 = IMRE.Math.Operations.AngleCrossProduct(verts, 3, 0, 1);
//float3 cross1 = Unity.Mathematics.math.cross(verts[3] - verts[0], verts[1] - verts[0]);
//float3 cross1 = Unity.Mathematics.math.cross(verts[a] - verts[b], verts[c] - verts[b]);
float3 cross1 = IMRE.Math.Operations.AngleCrossProduct(verts, 0, 1, 2);
float3 cross2 = IMRE.Math.Operations.AngleCrossProduct(verts, 1, 2, 3);
float3 cross3 = IMRE.Math.Operations.AngleCrossProduct(verts, 2, 3, 0);
int[] tris = { 0, 1, 2, 0, 2, 3 };
if (!(cross0.Equals(cross1) && cross1.Equals(cross2) && cross2.Equals(cross3)))
{
//assume 0,1,3,2
cross0 = IMRE.Math.Operations.AngleCrossProduct(verts, 2, 0, 1);
cross1 = IMRE.Math.Operations.AngleCrossProduct(verts, 0, 1, 3);
cross2 = IMRE.Math.Operations.AngleCrossProduct(verts, 1, 3, 2);
cross3 = IMRE.Math.Operations.AngleCrossProduct(verts, 3, 2, 0);
tris = new int[] { 0, 1, 3, 0, 3, 2 };
if (!(cross0.Equals(cross1) && cross1.Equals(cross2) && cross2.Equals(cross3)))
{
//assume 0,2,1,3 (switch 1 and 2)
cross0 = IMRE.Math.Operations.AngleCrossProduct(verts, 3, 0, 2);
cross1 = IMRE.Math.Operations.AngleCrossProduct(verts, 0, 2, 1);
cross2 = IMRE.Math.Operations.AngleCrossProduct(verts, 2, 1, 3);
cross3 = IMRE.Math.Operations.AngleCrossProduct(verts, 1, 3, 0);
if (!(cross0.Equals(cross1) && cross1.Equals(cross2) && cross2.Equals(cross3)))
{
UnityEngine.Debug.LogWarning("failed check on vertex ordering");
}
tris = new int[] { 0, 2, 1, 0, 1, 3 };
}
}
tetrahedronMesh.triangles = tris;
}
}