/// <summary>
/// <para>获取otherVertsPloy相对于mainPoly的覆盖关系:(只在主多边形上找投影轴, 并且不考虑多边形中空的情况)</para>
/// <para>[ FullOverlap ]: otherVertsPloy完全重叠到mainPloy</para>
/// <para>[ PartOverlay ]：otherVertsPloy部分重叠mainPloy</para>
/// <para>[ NotOverlay ]：两个多边形互不重叠</para>
/// </summary>
/// <param name="mainPoly"></param>
/// <param name="otherVertsPloy"></param>
/// <returns>
/// FullOverlap: otherVertsPloy完全重叠到mainPloy
/// PartOverlay：otherVertsPloy部分重叠mainPloy
/// NotOverlay：两个多边形互不重叠
/// </returns>
public OverlapRelation GetOverlapRelation(Poly mainPoly, Vector3d[] otherVertsPloy)
{
double[] range;
PolySide[] sides = mainPoly.sidesList[0];
OverlapRelation relation = OverlapRelation.FullOverlap;
OverlapRelation tmpRelation;
for (int i = 0; i < sides.Length; i++)
{
range = ProjectPoly(sides[i].vertDir, otherVertsPloy);
tmpRelation = _OverlapRelation(range[0], range[1], mainPoly.projRange[i].min, mainPoly.projRange[i].max);
if (tmpRelation == OverlapRelation.PartOverlay)
{
relation = OverlapRelation.PartOverlay;
}
else if (tmpRelation == OverlapRelation.FullOverlap &&
relation != OverlapRelation.PartOverlay)
{
relation = OverlapRelation.FullOverlap;
}
else if (tmpRelation == OverlapRelation.NotOverlay)
{
return(OverlapRelation.NotOverlay);
}
}
return(relation);
}
/// <summary>
/// 排序多边形边上的交点顺序，按距离起始点
/// </summary>
/// <param name="poly"></param>
void SortPolyCrossPointInfo(Poly poly)
{
List <PolySide[]> sidesList = poly.sidesList;
PolySide[] sides;
List <CrossPointInfo> crossPtInfoList;
CrossPointInfo crossPtInfo;
for (int i = 0; i < sidesList.Count; i++)
{
sides = sidesList[i];
for (int j = 0; j < sides.Length; j++)
{
crossPtInfoList = sides[j].crossPointInfoList;
if (crossPtInfoList == null)
{
continue;
}
crossPtInfoList.Sort(cmp);
for (int k = 0; k < crossPtInfoList.Count; k++)
{
crossPtInfoList[k].pointIdx = k;
crossPtInfo = crossPtInfoList[k].GetCrossSideCrossPointInfo();
if (crossPtInfo != null)
{
crossPtInfo.crossSidePointIdx = k;
}
}
}
}
}
public Poly Copy()
{
Poly poly = new Poly();
poly.faceNormal = faceNormal;
for (int i = 0; i < sidesList.Count; i++)
{
PolySide[] polySides = new PolySide[sidesList[i].Length];
for (int j = 0; j < sidesList[i].Length; j++)
{
polySides[j] = sidesList[i][j].Copy();
}
poly.sidesList.Add(polySides);
}
for (int i = 0; i < sidesList.Count; i++)
{
Vector3d[] verts = new Vector3d[vertexsList[i].Length];
for (int j = 0; j < sidesList[i].Length; j++)
{
verts[j] = vertexsList[i][j];
}
poly.vertexsList.Add(verts);
}
return(poly);
}
void AdjustPolyEndPointInfo(Poly poly)
{
CrossPointInfo crossPtInfo;
List <PolySide[]> sidesList = poly.sidesList;
for (int i = 0; i < sidesList.Count; i++)
{
PolySide[] sides = sidesList[i];
for (int j = 0; j < sides.Length; j++)
{
crossPtInfo = sides[j].crossPointInfoList[0];
if (j == 0)
{
crossPtInfo.crossSide = sides[sides.Length - 1];
}
else
{
crossPtInfo.crossSide = sides[j - 1];
}
crossPtInfo.crossSidePointIdx = crossPtInfo.crossSide.crossPointInfoList.Count - 1;
crossPtInfo = sides[j].crossPointInfoList[sides[j].crossPointInfoList.Count - 1];
if (j == sides.Length - 1)
{
crossPtInfo.crossSide = sides[0];
}
else
{
crossPtInfo.crossSide = sides[j + 1];
}
crossPtInfo.crossSidePointIdx = 0;
}
}
}
bool HavCrossPoint(Poly poly, PolySide sideAB, IgnoreSideInfo[] ignoreSideInfos)
{
int result;
Vector3d pt;
for (int i = 0; i < poly.sidesList.Count; i++)
{
PolySide[] sides = poly.sidesList[i];
for (int j = 0; j < sides.Length; j++)
{
if (InIgnoreSides(i, j, ignoreSideInfos))
{
continue;
}
//求解ab线段和多边形边sides[j]的交点
result = geoAlgor.SolvePolySideCrossPoint2D(sides[j], sideAB, out pt);
if (result == 1) //存在交点
{
return(true);
}
}
}
return(false);
}
public void Union(Poly polyA, Poly polyB)
{
this.polyA = polyA.Copy();
this.polyB = polyB.Copy();
AdjustPolyPos(this.polyB);
CreatePolysCrossPointInfoGroup();
UnionOp();
}
/// <summary>
/// 判断点pt是否在多边形中
/// </summary>
/// <param name="poly">多边形</param>
/// <param name="polyFaceNormal"></param>
/// <param name="pt"></param>
/// <returns></returns>
public bool IsInsidePolyEx(Poly poly, Vector3d pt, PloySideType checkSideType = PloySideType.Allside)
{
PolySide[] polySides = poly.sidesList[0];
Vector3d n = Vector3d.Cross(pt - polySides[0].startpos, polySides[0].dir);
if (!IsZero(n) || !IsParallel(n, poly.faceNormal))
{
return(false);
}
return(IsInsidePoly(poly, pt, checkSideType));
}
void RestorePolyPos(Poly poly)
{
List <PolySide[]> sidesList = poly.sidesList;
for (int i = 0; i < sidesList.Count; i++)
{
PolySide[] sides = sidesList[i];
for (int j = 0; j < sides.Length; j++)
{
sides[j].startpos -= offsetValue;
}
}
}
/// <summary>
/// 判断点pointMustInPloyPlane是否在多边形中,
/// pointMustInPloyPlane必须在多边形的同一平面中,但不一定在多边形中
/// </summary>
/// <param name="polySides">多边形中所有点共面</param>
/// <param name="pointMustInPloyPlane"></param>
/// <returns></returns>
public bool IsInsidePoly(Poly poly, Vector3d pointMustInPloyPlane, PloySideType checkSideType = PloySideType.Allside)
{
PolySide[] polySides;
List <PolySide[]> polySidesList = poly.sidesList;
Vector3d pt = pointMustInPloyPlane;
Vector3d polyFaceNormal = poly.faceNormal;
//判断从点引出的平行于sides[0]方向的正向射线是否与其它边相交
Vector3d n = polySidesList[0][0].startpos - pt;
int crossPtCount = 0;
Vector3d crossPt;
PolySide polySide2 = new PolySide();
polySide2.startpos = pt;
polySide2.dir = n;
polySide2.step = 1000000;
for (int j = 0; j < polySidesList.Count; j++)
{
if (checkSideType == PloySideType.Outside)
{
if (j == 1)
{
break;
}
}
else if (checkSideType == PloySideType.Inside)
{
if (j == 0)
{
continue;
}
}
polySides = polySidesList[j];
for (int i = 0; i < polySides.Length; i++)
{
crossPtCount += SolvePolySideCrossPoint(polySides[i], polySide2, polyFaceNormal, true, out crossPt);
}
}
//判断是偶数个交点，还是奇数个交点
if (crossPtCount % 2 == 0)
{
return(false);
}
return(true);
}
/// <summary>
/// 计算多边形自身投影轴的范围
/// </summary>
/// <param name="poly"></param>
public void CreatePolySelfProjectAxisRange(Poly poly)
{
double[] range;
PolySide[] sides = poly.sidesList[0];
Range[] ranges = new Range[sides.Length];
for (int i = 0; i < sides.Length; i++)
{
range = ProjectPoly(sides[i].vertDir, poly.vertexsList[0]);
ranges[i].min = range[0];
ranges[i].max = range[1];
}
poly.projRange = ranges;
}
LinkedList <Vector3d> CreatePolyVertToList(Poly poly)
{
if (poly == null)
{
return(null);
}
LinkedList <Vector3d> polyVertList = new LinkedList <Vector3d>();
Vector3d[] triPts = poly.vertexsList[0];
for (int i = 0; i < triPts.Length; i++)
{
polyVertList.AddLast(triPts[i]);
}
return(polyVertList);
}
/// <summary>
/// 判断两个多边形是否互相重叠(只在主多边形上找投影轴, 并且不考虑多边形中空的情况)
/// </summary>
/// <param name="mainPoly">主多边形</param>
/// <param name="otherVertsPloy">需要判断的多边形点</param>
/// <returns></returns>
public bool IsOverlap(Poly mainPoly, Vector3d[] otherVertsPloy)
{
double[] range;
PolySide[] sides = mainPoly.sidesList[0];
for (int i = 0; i < sides.Length; i++)
{
range = ProjectPoly(sides[i].vertDir, otherVertsPloy);
if (!OverlapRange(range[0], range[1], mainPoly.projRange[i].min, mainPoly.projRange[i].max))
{
return(false);
}
}
return(true);
}
void CreateInoutTypeVertesxToResult(Poly polya, Poly polyb)
{
for (int i = 0; i < polya.vertexsList.Count; i++)
{
resultPolyVertsList.Add(polya.vertexsList[i]);
}
for (int i = 0; i < polyb.vertexsList.Count; i++)
{
int len = polyb.vertexsList[i].Length;
Vector3d[] verts = new Vector3d[len];
for (int j = 0; j < len; j++)
{
verts[j] = polyb.vertexsList[i][len - i - 1];
}
resultPolyVertsList.Add(verts);
}
}
/// <summary>
/// 生成多边形交点的进出点类型
/// </summary>
void CreatePolysCrossPointsInOutType(Poly polyA, Poly polyB)
{
List <PolySide[]> sidesListA = polyA.sidesList;
int inoutType = 0;
List <CrossPointInfo> cpinfoList;
CrossPointInfo cpinfo;
for (int i = 0; i < sidesListA.Count; i++)
{
PolySide[] sidesA = sidesListA[i];
if (geoAlgor.IsInsidePoly(polyB, sidesA[0].startpos))
{
inoutType = 1;
}
else
{
inoutType = 0;
}
cpinfoList = sidesA[0].crossPointInfoList;
cpinfoList[0].inoutType = inoutType;
for (int j = 0; j < sidesA.Length; j++)
{
cpinfoList = sidesA[j].crossPointInfoList;
for (int k = 1; k < cpinfoList.Count; k++)
{
if (k == cpinfoList.Count - 1)
{
cpinfoList[k].inoutType = cpinfoList[k - 1].inoutType;
cpinfo = cpinfoList[k].GetCrossSideCrossPointInfo();
cpinfo.inoutType = cpinfoList[k].inoutType;
}
else
{
cpinfoList[k].inoutType = 1 - cpinfoList[k - 1].inoutType;
}
}
}
}
}
void AdjustPolyPos(Poly poly)
{
Vector3d dir1 = poly.sidesList[0][0].dir;
Vector3d dir2 = poly.sidesList[0][1].dir;
Vector3d dir3 = poly.sidesList[0][2].dir;
float[] scales = CreateRandomScales();
offsetValue = dir1 * scales[0] + dir2 * scales[1] + dir3 * scales[2];
List <PolySide[]> sidesList = poly.sidesList;
for (int i = 0; i < sidesList.Count; i++)
{
PolySide[] sides = sidesList[i];
for (int j = 0; j < sides.Length; j++)
{
sides[j].startpos += offsetValue;
}
}
}
/// <summary>
/// 为多边形生成端点的交点信息
/// </summary>
/// <param name="poly"></param>
void CreatePolyEndPointInfo(Poly poly)
{
CrossPointInfo crossPtInfo;
List <PolySide[]> sidesList = poly.sidesList;
for (int i = 0; i < sidesList.Count; i++)
{
PolySide[] sides = sidesList[i];
for (int j = 0; j < sides.Length; j++)
{
if (sides[j].crossPointInfoList == null)
{
sides[j].crossPointInfoList = new List <CrossPointInfo>();
}
sides[j].crossPointInfoList = new List <CrossPointInfo>();
crossPtInfo = new CrossPointInfo();
crossPtInfo.type = PointType.EndPoint;
crossPtInfo.selfSide = sides[j];
crossPtInfo.crossSide = null;
crossPtInfo.pt = sides[j].startpos;
crossPtInfo.pointIdx = 0;
crossPtInfo.crossSidePointIdx = 1;
crossPtInfo.dist = 0 - 0.0001f;
sides[j].crossPointInfoList.Add(crossPtInfo);
crossPtInfo = new CrossPointInfo();
crossPtInfo.type = PointType.EndPoint;
crossPtInfo.selfSide = sides[j];
crossPtInfo.crossSide = null;
crossPtInfo.pt = sides[j].startpos + sides[j].dir * sides[j].step;
crossPtInfo.pointIdx = 1;
crossPtInfo.crossSidePointIdx = 0;
crossPtInfo.dist = sides[j].step + 0.0001f;
sides[j].crossPointInfoList.Add(crossPtInfo);
}
}
}
/// <summary>
/// 生成多边形
/// </summary>
/// <param name="vertexs"></param>
/// <returns></returns>
public Poly CreatePoly(List <Vector3d[]> polyVertexsList, Vector3d?faceNormal)
{
Poly poly = new Poly();
poly.vertexsList = polyVertexsList;
if (faceNormal == null)
{
Vector3d[] polyVertexs = polyVertexsList[0];
Vector3d vec1 = polyVertexs[1] - polyVertexs[0];
Vector3d vec2 = polyVertexs[2] - polyVertexs[0];
poly.faceNormal = Vector3d.Cross(vec1, vec2);
poly.faceNormal.Normalize();
}
else
{
poly.faceNormal = faceNormal.Value;
}
poly.sidesList = CreatePolySidesList(poly.vertexsList, poly.faceNormal);
return(poly);
}
void AddIgnoreSideInfos(Poly poly, int ring, int vertIdx, List <IgnoreSideInfo> ignoreSideInfos)
{
IgnoreSideInfo ignoreSideInfo;
int otherSideIdx;
if (vertIdx == 0)
{
otherSideIdx = poly.sidesList[ring].Length - 1;
}
else
{
otherSideIdx = vertIdx - 1;
}
ignoreSideInfo = new IgnoreSideInfo()
{
ringIdx = ring,
sideIdx1 = vertIdx,
sideIdx2 = otherSideIdx
};
ignoreSideInfos.Add(ignoreSideInfo);
}
bool HavOverlayPoint(Poly poly, Vector3d vert)
{
Vector3d[] vertexs;
int count = 0;
for (int i = 0; i < poly.vertexsList.Count; i++)
{
vertexs = poly.vertexsList[i];
for (int j = 0; j < vertexs.Length; j++)
{
if (geoAlgor.IsEqual(vertexs[j], vert) == false)
{
continue;
}
count++;
if (count == 2)
{
return(true);
}
}
}
return(false);
}
void CreatePoly()
{
poly = geoAlgo.CreatePoly(vertexs, triFaceNormal);
geoAlgo.CreatePolySelfProjectAxisRange(poly);
}
void CreatePolys(Vector3d[] polyVertsA, Vector3d[] polyVertsB)
{
polyA = geoAlgor.CreatePoly(polyVertsA, Vector3d.zero);
polyB = geoAlgor.CreatePoly(polyVertsB, Vector3d.zero);
AdjustPolyPos(polyB);
}
public List <Vector3d[]> Split(Poly poly)
{
LinkedList <Vector3d> polyVertList = CreatePolyVertToList(poly);
return(Split(polyVertList, poly.faceNormal));
}
/// <summary>
/// 生成去除一个内环后的多边形
/// </summary>
/// <param name="poly">原始多边形</param>
/// <param name="ringIdx">内环在原始多边形中的编号</param>
/// <param name="ringVertexIdx">内环分切点编号</param>
/// <param name="outVertexIdx">外环分切点编号</param>
/// <param name="endLinkSide">连接线段</param>
/// <returns></returns>
Poly CreatePolyByRemoveRing(
Poly poly,
int ringIdx,
int ringSplitVertIdx,
int outSplitVertIdx,
PolySide endLinkSide)
{
List <Vector3d> resultPolyVertexList = new List <Vector3d>();
List <PolySide> resultPolySideList = new List <PolySide>();
Vector3d outVert = poly.vertexsList[0][outSplitVertIdx];
Vector3d startVert = poly.vertexsList[ringIdx][ringSplitVertIdx];
for (int i = outSplitVertIdx; i < poly.vertexsList[0].Length; i++)
{
resultPolyVertexList.Add(poly.vertexsList[0][i]);
}
for (int i = 0; i <= outSplitVertIdx; i++)
{
resultPolyVertexList.Add(poly.vertexsList[0][i]);
}
for (int i = ringSplitVertIdx; i < poly.vertexsList[ringIdx].Length; i++)
{
resultPolyVertexList.Add(poly.vertexsList[ringIdx][i]);
}
for (int i = 0; i <= ringSplitVertIdx; i++)
{
resultPolyVertexList.Add(poly.vertexsList[ringIdx][i]);
}
//
for (int i = outSplitVertIdx; i < poly.sidesList[0].Length; i++)
{
resultPolySideList.Add(poly.sidesList[0][i]);
}
for (int i = 0; i < outSplitVertIdx; i++)
{
resultPolySideList.Add(poly.sidesList[0][i]);
}
PolySide linkSide = geoAlgor.CreatePolySide(outVert, startVert);
resultPolySideList.Add(linkSide);
for (int i = ringSplitVertIdx; i < poly.sidesList[ringIdx].Length; i++)
{
resultPolySideList.Add(poly.sidesList[ringIdx][i]);
}
for (int i = 0; i < ringSplitVertIdx; i++)
{
resultPolySideList.Add(poly.sidesList[ringIdx][i]);
}
resultPolySideList.Add(endLinkSide);
//
Poly resultPoly = new Poly();
resultPoly.sidesList.Add(resultPolySideList.ToArray());
for (int i = 1; i < poly.sidesList.Count; i++)
{
if (i == ringIdx)
{
continue;
}
resultPoly.sidesList.Add(poly.sidesList[i]);
}
//
resultPoly.vertexsList.Add(resultPolyVertexList.ToArray());
for (int i = 1; i < poly.vertexsList.Count; i++)
{
if (i == ringIdx)
{
continue;
}
resultPoly.vertexsList.Add(poly.vertexsList[i]);
}
resultPoly.faceNormal = poly.faceNormal;
return(resultPoly);
}
/// <summary>
/// 切割为简单多边形
/// </summary>
/// <param name="poly"></param>
/// <returns></returns>
public Poly ConvertToSimplePoly2D(Poly poly)
{
List <IgnoreSideInfo> ignoreSideInfos = new List <IgnoreSideInfo>();
Vector3d startVertA;
Vector3d endVertA;
PolySide sideAB;
Vector3d[] outsideVertexs;
Vector3d[] insideVertexs;
while (true)
{
//判断是否存在内环多边形,当不存在内环时,结束算法，返回最后生成的多边形
if (poly.vertexsList.Count <= 1)
{
return(poly);
}
outsideVertexs = poly.vertexsList[0];
for (int i = 1; i < poly.vertexsList.Count; i++)
{
insideVertexs = poly.vertexsList[i];
for (int j = 1; j < insideVertexs.Length; j++)
{
ignoreSideInfos.Clear();
startVertA = insideVertexs[j];
AddIgnoreSideInfos(poly, i, j, ignoreSideInfos);
for (int k = 0; k < outsideVertexs.Length; k++)
{
endVertA = outsideVertexs[k];
if (ignoreSideInfos.Count == 2)
{
ignoreSideInfos.RemoveAt(1);
}
AddIgnoreSideInfos(poly, 0, k, ignoreSideInfos);
if (HavOverlayPoint(poly, endVertA))
{
continue;
}
sideAB = geoAlgor.CreatePolySide(startVertA, endVertA);
if (HavCrossPoint(poly, sideAB, ignoreSideInfos.ToArray()))
{
continue;
}
poly = CreatePolyByRemoveRing(poly, i, j, k, sideAB);
i = poly.vertexsList.Count;
j = insideVertexs.Length;
break;
}
}
if (i == 0)
{
break;
}
else if (i == poly.vertexsList.Count - 1)
{
i = -1;
}
}
}
}
void CreateProjectionToFloorPoly()
{
polyProjectionFloor = geoAlgo.CreatePoly(vertexsProjectionFloor, floorGridNormal);
geoAlgo.CreatePolySelfProjectAxisRange(polyProjectionFloor);
}