| public static Min ( Vector3D, lhs, Vector3D, rhs ) : Vector3D, | ||
| lhs | Vector3D, | |
| rhs | Vector3D, | |
| return | Vector3D, | |
static void DrawSlidingLine(Vector3D startPosition, Vector3D endPosition, Color color1, Color color2)
{
float pieceLength = 0.1f;
float lineLength = Vector3.Distance(startPosition, endPosition);
Vector3D lineDir = Vector3D.Normalize(endPosition - startPosition);
Vector3D delta = lineDir * pieceLength;
Color currentColor = color1;
Vector3D min = Vector3D.Min(startPosition, endPosition);
Vector3D max = Vector3D.Max(startPosition, endPosition);
float startOffset = SlidingOffset - (pieceLength * 2.0f) * ((int)(SlidingOffset / (pieceLength * 2.0f))) - 2 * pieceLength;
Vector3D currentPos = startPosition + startOffset * lineDir;
float actualLength = 0;
while (actualLength < lineLength)
{
MyRenderProxy.DebugDrawLine3D(Vector3D.Clamp(currentPos, min, max), Vector3D.Clamp(currentPos + delta, min, max), currentColor, currentColor, false);
if (currentColor == color1)
{
currentColor = color2;
}
else
{
currentColor = color1;
}
actualLength += pieceLength;
currentPos += delta;
}
//MyRenderProxy.DebugDrawLine3D(startPosition, endPosition, color1, color2, false);
}
/// <summary>
/// Creates the smallest BoundingBox that will contain a group of points.
/// </summary>
/// <param name="points">A list of points the BoundingBox should contain.</param>
public static BoundingBoxD CreateFromPoints(IEnumerable <Vector3D> points)
{
if (points == null)
{
throw new ArgumentNullException();
}
bool flag = false;
Vector3D result1 = new Vector3D(double.MaxValue);
Vector3D result2 = new Vector3D(double.MinValue);
foreach (Vector3D vector3 in points)
{
Vector3D vec3 = vector3;
Vector3D.Min(ref result1, ref vec3, out result1);
Vector3D.Max(ref result2, ref vec3, out result2);
flag = true;
}
if (!flag)
{
throw new ArgumentException();
}
else
{
return(new BoundingBoxD(result1, result2));
}
}
static public OrientedBoundingBoxD GetBoundingBox(IMyCubeGrid entity)
{
var min = new Vector3D(int.MaxValue, int.MaxValue, int.MaxValue);
var max = new Vector3D(int.MinValue, int.MinValue, int.MinValue);
float multiplier = 2.5f;
if (entity.GridSizeEnum == MyCubeSize.Small)
{
multiplier = 0.5f;
}
List <IMySlimBlock> blocks = new List <IMySlimBlock>();
entity.GetBlocks(blocks, null);
foreach (IMySlimBlock block in blocks)
{
//Vector3 pos = Entity.GetBlockEntityPosition(block);
min = Vector3D.Min(block.Position * multiplier, min);
max = Vector3D.Max(block.Position * multiplier, max);
}
Vector3D size = max - min;
BoundingBoxD bb = new BoundingBoxD(new Vector3D(0, 0, 0), size).Translate(entity.GetPosition() - (size / 2));
return(new OrientedBoundingBoxD(bb.Center, bb.HalfExtents, Quaternion.CreateFromRotationMatrix(entity.WorldMatrix.GetOrientation())));
}
public void SetAddVoxelContents(byte[] contents, ref BoundingBoxD bounding)
{
unchecked
{
// for QUANTIZATION_BITS == 8 we can just do System.Buffer.BlockCopy
Array.Clear(this._packed, 0, this._packed.Length);
for (int bitadr = 0, adr = 0; bitadr < MyVoxelConstants.VOXEL_DATA_CELL_SIZE_IN_VOXELS_TOTAL * QuantizationBits; bitadr += QuantizationBits, adr++)
{
var byteadr = bitadr >> 3;
var c = ((uint)contents[adr] >> ThrowawayBits) << (bitadr & 7);
if (c > 0)
{
// Find the bounding region for content.
var x = adr / XStep;
var y = (adr % XStep) / YStep;
var z = (adr % XStep) % YStep;
bounding.Min = Vector3D.Min(bounding.Min, new Vector3D(x, y, z));
bounding.Max = Vector3D.Max(bounding.Max, new Vector3D(x, y, z));
}
this._packed[byteadr] |= (byte)c;
this._packed[byteadr + 1] |= (byte)(c >> 8); // this needs to be done only for QUANTIZATION_BITS == 1,2,4,8
}
}
}
public void Advance()
{
if (_rotationLookVelocity == 0 && _rotationVelocity == 0 && _forwardVelocity == 0 && _rightVelocity == 0)
{
_timeLastUpdate = DateTime.Now;
return;
}
DateTime now = DateTime.Now;
TimeSpan span = now - _timeLastUpdate;
float seconds = Math.Min(span.Milliseconds / 1000.0f, 0.5f) * 20;
_timeLastUpdate = now;
Vector3D localUp = this.World.LocalUpAxis;
Vector3D localRight = this.World.LocalRightAxis;
Vector3D localForward = this.World.LocalForwardAxis;
// updating rotations are easy...
_rotationBody += seconds * (_rotationVelocity * 30);
_rotationLook = Math2.Clamp(_rotationLook + seconds * _rotationLookVelocity * 30, -1.4f, 1.4f);
Matrix3D xfrm = Matrix3D.FromRotation(localUp, _rotationBody);
Vector3D localVelocity =
seconds * _forwardVelocity * localForward * 35 +
seconds * _rightVelocity * localRight * 35;
Vector3D absoluteVelocity = xfrm * localVelocity;
Vector3D absoluteUp = xfrm * this.World.LocalUpAxis;
Vector3D absoluteRight = xfrm * this.World.LocalRightAxis;
Vector3D absoluteForward = xfrm * this.World.LocalForwardAxis;
//Debug.WriteLine( "Velocity: " + velocityBody );
//Debug.WriteLine( "TimeStep Velocity: " + incrementalMovement );
//Vector3D extentCenter = xfrm * ( localForward * _bodyRadius );
//Vector3D extentTop = localUp * _bodyRadius;
//Vector3D extentBottom = - localUp * ( _bodyHeight - _liftSize );
//Debug.WriteLine( "Old Position: " + _translationBody );
if (absoluteVelocity.GetMagnitude() > 0)
{
Vector3D moveDirection = absoluteVelocity.GetUnit();
Vector3D centerDelta = SmartStep(_translationBody, moveDirection, _bodyRadius, absoluteVelocity.GetMagnitude()); //+ extentCenter, _translationBody + extentCenter + absoluteVelocity ) - ( _translationBody + extentCenter ) - forwardStep;
Vector3D topDelta = SmartStep(_translationBody + absoluteUp * _bodyRadius, moveDirection, _bodyRadius, absoluteVelocity.GetMagnitude()); //MoveTo( _translationBody + extentTop, _translationBody + extentTop + absoluteVelocity ) - ( _translationBody + extentTop ) - forwardStep;
Vector3D bottomDelta = SmartStep(_translationBody - absoluteUp * (_bodyHeight - _liftSize), moveDirection, _bodyRadius, absoluteVelocity.GetMagnitude()); // MoveTo( _translationBody + extentBottom, _translationBody + extentBottom + absoluteVelocity ) - ( _translationBody + extentBottom ) - forwardStep;
_translationBody += Vector3D.Min(Vector3D.Min(centerDelta, topDelta), bottomDelta);
}
_translationBody += SmartStep(_translationBody, absoluteRight, _bodyRadius, 0);
_translationBody += SmartStep(_translationBody, -absoluteRight, _bodyRadius, 0);
_translationBody += SmartStep(_translationBody, -absoluteUp, _bodyHeight, _liftSize);
}
/// <summary>
/// Constructs a <see cref="SlimMath.BoundingBox"/> that is as large as the total combined area of the two specified boxes.
/// </summary>
/// <param name="value1">The first box to merge.</param>
/// <param name="value2">The second box to merge.</param>
/// <returns>The newly constructed bounding box.</returns>
public static BoundingBox Merge(BoundingBox value1, BoundingBox value2)
{
BoundingBox box;
Vector3D.Min(ref value1.Minimum, ref value2.Minimum, out box.Minimum);
Vector3D.Max(ref value1.Maximum, ref value2.Maximum, out box.Maximum);
return(box);
}
public static BoundingBoxD CreateMerged(BoundingBoxD original, BoundingBoxD additional)
{
BoundingBoxD xd;
Vector3D.Min(ref original.Min, ref additional.Min, out xd.Min);
Vector3D.Max(ref original.Max, ref additional.Max, out xd.Max);
return(xd);
}
public void Min()
{
Vector3D v1 = new Vector3D(1.0, 2.0, 2.5);
Vector3D v2 = new Vector3D(-1.0, 2.0, 3.0);
Vector3D min = Vector3D.Min(v1, v2);
Assert.AreEqual(new Vector3D(-1.0, 2.0, 2.5), min);
}
public static BoundingBoxD TransformBoundingBox(BoundingBoxD box, MatrixD matrix)
{
Vector3D a, b;
Vector3D.Transform(ref box.Min, ref matrix, out a);
Vector3D.Transform(ref box.Max, ref matrix, out b);
return(new BoundingBoxD(Vector3D.Min(a, b), Vector3D.Max(a, b)));
}
public static (double Size, Vector3D Center) GetBound(IEnumerable <Vector3D> positions)
{
var minPos = positions.Aggregate(Vector3D.MaxValue, (s, n) => Vector3D.Min(s, n));
var maxPos = positions.Aggregate(Vector3D.MinValue, (s, n) => Vector3D.Max(s, n));
var size = Vector3D.Distance(minPos, maxPos);
var center = (minPos + maxPos) / 2;
return(size, center);
}
public MyBBSetSampler(Vector3D min, Vector3D max)
{
Vector3D newMax = Vector3D.Max(min, max);
Vector3D newMin = Vector3D.Min(min, max);
m_bBox = new BoundingBoxD(newMin, newMax);
m_sampler = new IntervalSampler(newMin.X, newMax.X, (newMax.Y - newMin.Y) * (newMax.Z - newMin.Z), Base6Directions.Axis.LeftRight);
}
public static void CreateMerged(ref BoundingBoxD original, ref BoundingBoxD additional, out BoundingBoxD result)
{
Vector3D vectord;
Vector3D vectord2;
Vector3D.Min(ref original.Min, ref additional.Min, out vectord);
Vector3D.Max(ref original.Max, ref additional.Max, out vectord2);
result.Min = vectord;
result.Max = vectord2;
}
public void Vector3MinTest()
{
Vector3D <float> a = new Vector3D <float>(-1.0f, 4.0f, -3.0f);
Vector3D <float> b = new Vector3D <float>(2.0f, 1.0f, -1.0f);
Vector3D <float> expected = new Vector3D <float>(-1.0f, 1.0f, -3.0f);
Vector3D <float> actual;
actual = Vector3D.Min(a, b);
Assert.True(MathHelper.Equal(expected, actual), "Vector3D<float>f.Min did not return the expected value.");
}
public static Vector3D MinCoord(TriMesh mesh)
{
Vector3D minCoord = new Vector3D(double.MaxValue, double.MaxValue, double.MaxValue);
for (int i = 0; i < mesh.Vertices.Count; i++)
{
Vector3D v = mesh.Vertices[i].Traits.Position;
minCoord = Vector3D.Min(minCoord, v);
}
return(minCoord);
}
/// <summary>
/// Creates the smallest BoundingBox that contains the two specified BoundingBox instances.
/// </summary>
/// <param name="original">One of the BoundingBox instances to contain.</param><param name="additional">One of the BoundingBox instances to contain.</param><param name="result">[OutAttribute] The created BoundingBox.</param>
public static void CreateMerged(ref BoundingBoxD original, ref BoundingBoxD additional, out BoundingBoxD result)
{
Vector3D result1;
Vector3D.Min(ref original.Min, ref additional.Min, out result1);
Vector3D result2;
Vector3D.Max(ref original.Max, ref additional.Max, out result2);
result.Min = result1;
result.Max = result2;
}
public Vector3D MinCoord()
{
Vector3D minCoord = new Vector3D(double.MaxValue, double.MaxValue, double.MaxValue);
for (int i = 0, j = 0; i < vertexCount; i++, j += 3)
{
Vector3D v = new Vector3D(vertexPos, j);
minCoord = Vector3D.Min(minCoord, v);
}
return(minCoord);
}
private bool TickThrusters(MotionState state, MotionTarget target)
{
Vector3D currentVelocity = state.VelocityLocal;
Vector3D currentPosition = Vector3D.Transform(state.Position, state.WorldMatrixInverse);
Vector3D currentGravity = state.GravityLocal;
Vector3D targetSpeed = target.Speed;
Vector3D targetPosition = Vector3D.Transform(target.Position ?? (state.Position + (targetSpeed + currentVelocity) * DELTA * .66), state.WorldMatrixInverse);
Vector3D speedDifference = targetSpeed - currentVelocity;
Vector3D positionDifference = targetPosition - currentPosition;
if (speedDifference.LengthSquared() < velocityPrecision && positionDifference.LengthSquared() < positionPrecision)
{
ClearThrustersOverride();
SetDampeners(true);
return(true);
}
Vector3D deceleration = GetAccelerations(speedDifference) + currentGravity;
Vector3D decelerationTimes = speedDifference / deceleration;
Vector3D positionAtFullStop = currentPosition + currentVelocity * decelerationTimes + deceleration * decelerationTimes * decelerationTimes / 2;
Vector3D maxAccelerationDelta = targetPosition - positionAtFullStop;
Vector3D shipAcceleration = GetAccelerations(maxAccelerationDelta);
Vector3D acceleration = shipAcceleration + currentGravity;
Vector3D accelerationForTick = (maxAccelerationDelta - currentVelocity * DELTA) / DELTA_SQ_2 - currentGravity;
Vector3D overrides = Vector3D.Max(-Vector3D.One, Vector3D.Min(Vector3D.One, 0.5 * accelerationForTick / shipAcceleration)) * 100;
if (maxAccelerationDelta.X < 0)
{
overrides.X = -overrides.X;
}
if (maxAccelerationDelta.Y < 0)
{
overrides.Y = -overrides.Y;
}
if (maxAccelerationDelta.Z < 0)
{
overrides.Z = -overrides.Z;
}
if (currentVelocity.LengthSquared() >= maxSpeed * maxSpeed && (overrides * currentVelocity).Min() >= -0.01)
{
ClearThrustersOverride();
return(false);
}
SetDampeners(decelerationTimes.Max() < DELTA);
SetThrustersOverride(overrides);
return(false);
}
public static Vector3D Center(this IEnumerable <IMyCubeGrid> grids)
{
Vector3D min = Vector3D.MaxValue;
Vector3D max = Vector3D.MinValue;
foreach (var grid in grids)
{
min = Vector3D.Min(min, grid.WorldAABB.Min);
max = Vector3D.Max(max, grid.WorldAABB.Max);
}
return((min + max) / 2.0);
}
private void MoveProxy()
{
var bb = new BoundingBoxD(Vector3D.Min(From.Position, To.Position) - .1f, Vector3D.Max(From.Position, To.Position) + .1f);
if (_proxyId >= 0)
{
Graph.Edges.MoveProxy(_proxyId, in bb, Vector3D.Zero);
}
else
{
_proxyId = Graph.Edges.AddProxy(in bb, this, 0);
}
}
public static MatrixD AsMatrixD(this MyPositionAndOrientation posAndOrient)
{
var matrix = MatrixD.CreateWorld(posAndOrient.Position, posAndOrient.Forward, posAndOrient.Up);
const float offset = 100.0f;
if (MyAPIGatewayShortcuts.GetWorldBoundaries == null)
{
return(matrix);
}
var bound = MyAPIGatewayShortcuts.GetWorldBoundaries();
matrix.Translation = Vector3D.Min(Vector3D.Max(matrix.Translation, bound.Min + offset), bound.Max - offset);
return(matrix);
}
public static MyDefinitionId?VoxelMaterialAt(this MyVoxelBase voxel, Vector3D min, Vector3D grow,
ref MyStorageData cache)
{
if (cache == null)
{
cache = new MyStorageData();
}
var shape = new BoundingBoxD(Vector3D.Min(min, min + grow), Vector3D.Max(min, min + grow));
Vector3I voxMin;
Vector3I voxMax;
Vector3I voxCells;
GetVoxelShapeDimensions(voxel, shape, out voxMin, out voxMax, out voxCells);
Vector3I_RangeIterator cellsItr = new Vector3I_RangeIterator(ref Vector3I.Zero, ref voxCells);
while (cellsItr.IsValid())
{
Vector3I cellMinCorner;
Vector3I cellMaxCorner;
GetCellCorners(ref voxMin, ref voxMax, ref cellsItr, out cellMinCorner, out cellMaxCorner);
Vector3I rangeMin = cellMinCorner - 1;
Vector3I rangeMax = cellMaxCorner + 1;
voxel.Storage.ClampVoxelCoord(ref rangeMin);
voxel.Storage.ClampVoxelCoord(ref rangeMax);
cache.Resize(rangeMin, rangeMax);
voxel.Storage.ReadRange(cache, MyStorageDataTypeFlags.Material, 0, rangeMin, rangeMax);
var mortonCode = -1;
var maxMortonCode = cache.Size3D.Size;
while (++mortonCode < maxMortonCode)
{
Vector3I pos;
MyMortonCode3D.Decode(mortonCode, out pos);
var content = cache.Content(ref pos);
if (content <= MyVoxelConstants.VOXEL_CONTENT_EMPTY)
{
continue;
}
var material = cache.Material(ref pos);
var def = MyDefinitionManager.Static.GetVoxelMaterialDefinition(material);
if (def != null)
{
return(def.Id);
}
}
cellsItr.MoveNext();
}
return(null);
}
public Solve(List <Vector3D> _points, List <Thetra> _thetras, double[,] _coefficients, double[] _q, Func <double, double, double, double> _exact)
{
q = _q;
points = _points;
max = points[0];
min = points[0];
foreach (Vector3D item in points)
{
max = Vector3D.Max(item, max);
min = Vector3D.Min(item, min);
}
thetras = _thetras;
coefficients = _coefficients;
exact = _exact;
}
/// <summary>
/// Constructs a <see cref="SlimMath.BoundingBox"/> that fully contains the given points.
/// </summary>
/// <param name="points">The points that will be contained by the box.</param>
/// <returns>The newly constructed bounding box.</returns>
/// <exception cref="ArgumentNullException">Thrown when <paramref name="points"/> is <c>null</c>.</exception>
public static BoundingBox FromPoints(Vector3D[] points)
{
if (points == null)
{
throw new ArgumentNullException("points");
}
Vector3D min = new Vector3D(double.MaxValue);
Vector3D max = new Vector3D(double.MinValue);
for (int i = 0; i < points.Length; ++i)
{
Vector3D.Min(ref min, ref points[i], out min);
Vector3D.Max(ref max, ref points[i], out max);
}
return(new BoundingBox(min, max));
}
public void Vector3MinMaxCodeCoverageTest()
{
Vector3D min = Vector3D.Zero;
Vector3D max = Vector3D.One;
Vector3D actual;
// Min.
actual = Vector3D.Min(min, max);
Assert.AreEqual(actual, min);
actual = Vector3D.Min(max, min);
Assert.AreEqual(actual, min);
// Max.
actual = Vector3D.Max(min, max);
Assert.AreEqual(actual, max);
actual = Vector3D.Max(max, min);
Assert.AreEqual(actual, max);
}
public void Vector3MinMaxCodeCoverageTest()
{
Vector3D <float> min = Vector3D <float> .Zero;
Vector3D <float> max = Vector3D <float> .One;
Vector3D <float> actual;
// Min.
actual = Vector3D.Min(min, max);
Assert.Equal(actual, min);
actual = Vector3D.Min(max, min);
Assert.Equal(actual, min);
// Max.
actual = Vector3D.Max(min, max);
Assert.Equal(actual, max);
actual = Vector3D.Max(max, min);
Assert.Equal(actual, max);
}
public void Draw()
{
MatrixD transfromMatrix = this.Origin.TransformMatrix;
Vector3D min = Vector3D.One;
Vector3D max = Vector3D.Zero;
for (int i = 0; i < 8; i++)
{
Vector3D corner = World.MySector.MainCamera.WorldToScreen(ref m_corners[i]);
min = Vector3D.Min(min, corner);
max = Vector3D.Max(max, corner);
}
Vector3D distProj = max - min; // distance vec in screen coordinates (from 0 to 1, where 1 is screen width(for X) or height(for Y)
float lineWidth = BBOX_BORDER_THICKNESS_MODIF / (float)MathHelper.Clamp(distProj.Length(), 0.01, 1);
Color boxColor = RenderColor;
BoundingBoxD box = new BoundingBoxD(-m_boundingBox.HalfExtent, m_boundingBox.HalfExtent);
MySimpleObjectDraw.DrawTransparentBox(ref transfromMatrix, ref box, ref boxColor, MySimpleObjectRasterizer.SolidAndWireframe, 1, lineWidth, "Square", "Square");
if (Engine.Utils.MyFakes.ENABLE_DEBUG_DRAW_COORD_SYS)
{
//x
for (int i = -10; i < 11; i++)
{
Vector3D v1 = this.Origin.Position + transfromMatrix.Forward * 20 + transfromMatrix.Right * (i * 2.5);
Vector3D v2 = this.Origin.Position - transfromMatrix.Forward * 20 + transfromMatrix.Right * (i * 2.5);
VRageRender.MyRenderProxy.DebugDrawLine3D(v1, v2, boxColor, boxColor, false);
}
//y
for (int i = -10; i < 11; i++)
{
Vector3D v1 = this.Origin.Position + transfromMatrix.Right * 20 + transfromMatrix.Forward * (i * 2.5);
Vector3D v2 = this.Origin.Position - transfromMatrix.Right * 20 + transfromMatrix.Forward * (i * 2.5);
VRageRender.MyRenderProxy.DebugDrawLine3D(v1, v2, boxColor, boxColor, false);
}
}
}
internal void DebugDraw(Vector3I sectorPos, float sectorSize)
{
foreach (var part in m_instanceParts.Values)
{
foreach (var data in part.InstanceData)
{
var dist = (data.LocalMatrix.Translation - Sandbox.Game.World.MySector.MainCamera.Position).Length();
if (dist < 30)
{
MyRenderProxy.DebugDrawText3D(data.LocalMatrix.Translation, part.SubtypeId.ToString(), Color.Red, (float)(7.0 / dist), true);
}
}
}
BoundingBoxD bb = new BoundingBoxD(sectorPos * sectorSize, (sectorPos + Vector3I.One) * sectorSize);
BoundingBoxD bb2 = new BoundingBoxD(m_AABB.Min, m_AABB.Max);
bb2.Min = Vector3D.Max(bb2.Min, bb.Min);
bb2.Max = Vector3D.Min(bb2.Max, bb.Max);
MyRenderProxy.DebugDrawAABB(bb, Color.Orange, 1.0f, 1.0f, true);
MyRenderProxy.DebugDrawAABB(bb2, Color.OrangeRed, 1.0f, 1.0f, true);
}
public void Draw()
{
MatrixD transfromMatrix = this.Origin.TransformMatrix;
Vector3D min = Vector3D.One;
Vector3D max = Vector3D.Zero;
for (int i = 0; i < 8; i++)
{
Vector3D corner = World.MySector.MainCamera.WorldToScreen(ref m_corners[i]);
min = Vector3D.Min(min, corner);
max = Vector3D.Max(max, corner);
}
Vector3D distProj = max - min; // distance vec in screen coordinates (from 0 to 1, where 1 is screen width(for X) or height(for Y)
float lineWidth = BBOX_BORDER_THICKNESS_MODIF / (float)MathHelper.Clamp(distProj.Length(), 0.01, 1);
Color boxColor = RenderColor;
BoundingBoxD box = new BoundingBoxD(-m_boundingBox.HalfExtent, m_boundingBox.HalfExtent);
MySimpleObjectDraw.DrawTransparentBox(ref transfromMatrix, ref box, ref boxColor, MySimpleObjectRasterizer.SolidAndWireframe, 1, lineWidth, "Square", "Square");
}
public static BoundingBoxD CreateFromPoints(IEnumerable <Vector3D> points)
{
if (points == null)
{
throw new ArgumentNullException();
}
bool flag = false;
Vector3D vectord = new Vector3D(double.MaxValue);
Vector3D vectord2 = new Vector3D(double.MinValue);
foreach (Vector3D vectord3 in points)
{
Vector3D vectord4 = vectord3;
Vector3D.Min(ref vectord, ref vectord4, out vectord);
Vector3D.Max(ref vectord2, ref vectord4, out vectord2);
flag = true;
}
if (!flag)
{
throw new ArgumentException();
}
return(new BoundingBoxD(vectord, vectord2));
}
//double IntersectionLineAndSphere(Vector3D centerPoint, double radius, Vector3D lineOrigin, Vector3D lineDir)
//{
// // https://en.wikipedia.org/wiki/Line%E2%80%93sphere_intersection
// Vector3D c = centerPoint;
// double r = radius;
// Vector3D o = lineOrigin;
// Vector3D l = lineDir;
// double sq1 = Math.Pow(Vector3D.Dot((o - c)*(o - c), l), 2);
// double sq2 = l.LengthSquared() * ((o - c).LengthSquared() - r*r);
// double sq = sq1 - sq2;
// MyRenderProxy.Assert(sq >= 0, "the line needs to be crossing sphere! Some internal bug...");
// double d1 = Vector3D.Dot(l, o - c);
// return -d1 + Math.Sqrt(sq);
//}
MatrixD CreateRigidLightMatrix(Vector3D[] verts, Vector3D lightDir, double zOffset)
{
// Create orthoghonal vectors:
Vector3D lightUp = Math.Abs(Vector3.UnitX.Dot(lightDir)) < 0.99f ? Vector3.UnitX : Vector3.UnitY;
Vector3D lightRight = Vector3.Cross(lightDir, lightUp);
lightUp = Vector3D.Cross(lightRight, lightDir);
lightUp.Normalize();
lightRight.Normalize();
// Look for the most compact encapsulation of verts: ... vMin and vMax will contain corners of encapsulation box with sides defined lightUp, lightRight,and lightDir
var lightMatrix = MatrixD.CreateLookAt(new Vector3D(0, 0, 0), lightDir, lightUp);
var invLightMatrix = MatrixD.Invert(lightMatrix);
Vector3D.Transform(verts, ref lightMatrix, m_tmpCreateOrthoVertsLS);
Vector3D vMinLS = m_tmpCreateOrthoVertsLS[0];
Vector3D vMaxLS = m_tmpCreateOrthoVertsLS[0];
for (uint i = 1; i < verts.Length; i++)
{
vMinLS = Vector3D.Min(vMinLS, m_tmpCreateOrthoVertsLS[i]);
vMaxLS = Vector3D.Max(vMaxLS, m_tmpCreateOrthoVertsLS[i]);
}
Vector3D vMinWS = Vector3D.Transform(vMinLS, ref invLightMatrix);
Vector3D vMaxWS = Vector3D.Transform(vMaxLS, ref invLightMatrix);
// Create matrices:
Vector3D vMinOffsetLS = -(vMaxLS - vMinLS) / 2;
Vector3D vMaxOffsetLS = (vMaxLS - vMinLS) / 2;
Vector3D vCenterWS = (vMaxWS + vMinWS) / 2;
MatrixD matrixLightPlacer = MatrixD.CreateLookAt(vCenterWS, vCenterWS - lightDir, lightUp);
MatrixD matrixLightSizer = MatrixD.CreateOrthographicOffCenter(vMinOffsetLS.X, vMaxOffsetLS.X,
vMinOffsetLS.Y, vMaxOffsetLS.Y, vMaxOffsetLS.Z + zOffset, vMinOffsetLS.Z);
return(matrixLightPlacer * matrixLightSizer);
}