public static void Remove(IList<sFace> list,sFace face)
{
//if(face->l[1]) face->l[1]->l[0]=face->l[0];
//if(face->l[0]) face->l[0]->l[1]=face->l[1];
//if(face==list.root) list.root=face->l[1];
//--list.count;
list.Remove(face);
}
public static void Append(IList<sFace> list,sFace face)
{
//face.l[0] = null;
//face.l[1] = list[0];
//if(list.Count > 0)
//{
// list[0].l[0]=face;
//}
//list.root = face;
//++list.count;
list.Add(face);
}
public void Initialize()
{
m_status = eStatus.Failed;
m_normal = Vector3.Zero;
m_depth = 0;
m_nextsv = 0;
m_result = new sSimplex();
for (int i = 0; i < m_sv_store.Length; ++i)
{
m_sv_store[i] = new sSV();
}
for (int i = 0; i < m_fc_store.Length; ++i)
{
m_fc_store[i] = new sFace();
}
for (int i = 0; i < GjkEpaSolver2.EPA_MAX_FACES; ++i)
{
Append(m_stock, m_fc_store[GjkEpaSolver2.EPA_MAX_FACES - i - 1]);
}
}
public static void Bind(sFace fa,uint ea,sFace fb,uint eb)
{
fa.e[ea]=(uint)eb;fa.f[ea]=fb;
fb.e[eb]=(uint)ea;fb.f[eb]=fa;
}
public bool Expand(uint pass,sSV w,sFace f,uint e,sHorizon horizon)
{
uint[] i1m3 = {1,2,0};
uint[] i2m3 = {2,0,1};
if(f.pass!=pass)
{
uint e1 = i1m3[e];
if ((Vector3.Dot(f.n, w.w) - f.d) < -GjkEpaSolver2.EPA_PLANE_EPS)
{
sFace nf = NewFace(f.c[e1],f.c[e],w,false);
if(nf != null)
{
Bind(nf,0,f,e);
if(horizon.cf != null)
{
Bind(horizon.cf,1,nf,2);
}
else
{
horizon.ff=nf;
}
horizon.cf=nf;
++horizon.nf;
return(true);
}
}
else
{
uint e2=i2m3[e];
f.pass = (uint)pass;
if( Expand(pass,w,f.f[e1],f.e[e1],horizon)&&
Expand(pass,w,f.f[e2],f.e[e2],horizon))
{
Remove(m_hull,f);
Append(m_stock,f);
return(true);
}
}
}
return(false);
}
