Esempio n. 1
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        public static bool IsOnSamePlane(GeoPointsArray3 points, ref GeoPlane plane)
        {
            if (points.Size() < 4)
            {
                return(true);
            }
            int     count = points.Size();
            int     i     = 2;
            Vector3 p     = points[0];

            for (; i < count; ++i)
            {
                p = points[i];
                if (!GeoLineUtils.IsPointInLine3(points[0], points[1], ref p))
                {
                    break;
                }
            }
            if (i == count)
            {
                return(true);
            }
            plane = GeoPlaneUtils.CreateFromTriangle(points[0], points[1], p);
            i     = 2;
            int c = 2;

            for (; i < count; ++i)
            {
                if (GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, points[i]))
                {
                    c++;
                }
            }
            return(c == count);
        }
Esempio n. 2
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        public static List <Vector3> PlaneTransformGlobal(List <Vector2> ps, GeoPlane plane)
        {
            List <Vector3> tmp = new List <Vector3>();

            foreach (Vector3 p in ps)
            {
                Vector3 v = new Vector3(p.x, 0.0f, p.y);
                tmp.Add(plane.TransformToGlobal(v));
            }
            return(tmp);
        }
Esempio n. 3
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        public static List <Vector2> PlaneTransformLocal(List <Vector3> ps, GeoPlane plane)
        {
            List <Vector2> tmp = new List <Vector2>();

            foreach (Vector3 p in ps)
            {
                Vector3 p1 = plane.TransformToLocal(p);
                tmp.Add(new Vector2(p1.x, p1.z));
            }
            return(tmp);
        }
Esempio n. 4
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        public QHullTrianglePlane(Vector3 a, Vector3 b)
        {
            Vector3 normal = Vector3.Cross(b - a, Vector3.forward);

            normal.Normalize();
            float d = -Vector3.Dot(normal, a);

            mPlane           = new GeoPlane(normal, d);
            mVertexPoints    = new Vector3[3];
            mVertexPoints[0] = a;
            mVertexPoints[1] = b;
            mVertexPoints[2] = Vector3.zero;
        }
Esempio n. 5
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        public static bool IsTriangleInsectSphere(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 center, float r, ref GeoInsectPointArrayInfo insect)
        {
            GeoPlane plane   = GeoPlaneUtils.CreateFromTriangle(p1, p2, p3);
            bool     isInsec = GeoPlaneUtils.IsPlaneInsectSphere(plane, center, r, ref insect);

            if (isInsec)
            {
                Vector3 c1  = insect.mHitGlobalPoint.mPointArray[0];
                float   rad = insect.mHitGlobalPoint.mPointArray[0][0];
                insect.Clear();
                return(IsTriangleInsectPlaneCircle2(p1, p2, p3, c1, rad, plane, ref insect));
            }
            return(false);
        }
Esempio n. 6
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        public static float PointClosest2Triangle3(Vector3 p1, Vector3 p2, Vector3 p3, ref Vector3 p, ref Vector3 close)
        {
            GeoPlane plane = new GeoPlane(p1, p2, p3);
            float    d     = GeoPlaneUtils.PointClosestToPlaneAbs(plane.mNormal, plane.mD, p, ref close);

            if (GeoTriangleUtils.IsPointInTriangle3(p1, p2, p3, ref close))
            {
                return(d);
            }
            else
            {
                Vector3 close1 = new Vector3();
                float   dt     = PointClosest2PlaneTriangle2(p1, p2, p3, plane, ref p, ref close1);
                return((float)Math.Sqrt(d * d + dt * dt));
            }
        }
Esempio n. 7
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        public static bool IsAABBInsectTriangle2Plane(Vector3 min, Vector3 max, GeoPlane plane, Vector3 p1, Vector3 p2, Vector3 p3, ref GeoInsectPointArrayInfo insect)
        {
            Vector2 p11, p21, p31;

            GeoPlaneUtils.PlaneTransformLocalTriangle(p1, p2, p3, plane, out p11, out p21, out p31);
            Vector3 vmin     = plane.TransformToLocal(min);
            Vector3 vmax     = plane.TransformToLocal(max);
            bool    isInsect = IsAABBInsectTriangle2(vmin, vmax, p11, p21, p31, ref insect);

            if (isInsect)
            {
                insect.mIsIntersect = true;
                insect.mHitGlobalPoint.mPointArray = GeoPlaneUtils.PlaneTransformGlobal(insect.mHitGlobalPoint.mPointArray, plane);
            }
            return(insect.mIsIntersect);
        }
Esempio n. 8
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        public static bool IsPlaneInsectSphere(GeoPlane plane, Vector3 center, float r, ref GeoInsectPointArrayInfo insect)
        {
            Vector3 close = new Vector3();
            float   dist  = PointClosestToPlaneAbs(plane.mNormal, plane.mD, center, ref close);

            if (dist > r)
            {
                return(false);
            }
            float rad = Mathf.Sqrt(r * r - dist * dist);

            insect.mIsIntersect = true;
            insect.mHitGlobalPoint.mPointArray.Add(close);
            insect.mHitGlobalPoint.mPointArray.Add(Vector3.one * rad);  // 相交为一个圆,所在平明为 plane
            return(true);
        }
Esempio n. 9
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        public static GeoPointsArray3 BuildConvexHull(GeoPointsArray3 points)
        {
            points.Distinct();
            GeoPlane plane = new GeoPlane(Vector3.zero, 0);

            if (IsOnSamePlane(points, ref plane))
            {
                GeoPointsArray2 point2 = new GeoPointsArray2(GeoPlaneUtils.PlaneTransformLocal(points.mPointArray, plane));
                point2 = BuildConvexHull(point2);
                return(new GeoPointsArray3(GeoPlaneUtils.PlaneTransformGlobal(point2.mPointArray, plane)));
            }
            else
            {
                return(new GeoPointsArray3(QuickHull.BuildHull(points)));
            }
        }
Esempio n. 10
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        public static float PointClosest2PlaneAABB2(Vector3 min, Vector3 max, GeoPlane plane, ref Vector3 p, ref Vector3 close1)
        {
            Vector3 min1  = plane.TransformToLocal(min);
            Vector3 max1  = plane.TransformToLocal(max);
            Vector3 p1    = plane.TransformToLocal(p);
            Vector2 min2  = new Vector2(min1.x, min1.z);
            Vector2 max2  = new Vector2(max1.x, max1.z);
            Vector2 p2    = new Vector2(p1.x, p1.z);
            Vector2 close = new Vector2();
            float   temp  = PointClosest2AABB2(min2, max2, ref p2, ref close);

            if (p1.y != 0)
            {
                temp = Mathf.Sqrt(temp * temp + p1.y * p1.y);
            }
            p1     = new Vector3(close.x, 0.0f, close.y);
            close1 = plane.TransformToGlobal(p1);
            return(temp);
        }
Esempio n. 11
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        public static bool IsPointInAABB2Plane(Vector3 min, Vector3 max, GeoPlane plane, ref Vector3 p)
        {
            if (!GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, p))
            {
                return(false);
            }
            Vector3 size = max - min;
            float   sx   = Vector3.Dot(size, plane.mAxisX);
            float   sz   = Vector3.Dot(size, plane.mAxisZ);
            Vector3 pc   = p - min;
            float   d1   = Vector3.Dot(pc, plane.mAxisX);
            float   d2   = Vector3.Dot(pc, plane.mAxisZ);

            if (d1 < sx && d2 < sz)
            {
                return(true);
            }
            return(false);
        }
Esempio n. 12
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        // 两三角面 共面的情况
        private static bool IsTriangleInsectTrianglePlane2(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4, Vector3 p5, Vector3 p6, ref GeoInsectPointArrayInfo insect)
        {
            GeoPlane plane = GeoPlaneUtils.CreateFromTriangle(p1, p2, p3);
            Vector2  p11, p21, p31, p41, p51, p61;

            GeoPlaneUtils.PlaneTransformLocalTriangle(p1, p2, p3, plane, out p11, out p21, out p31);
            GeoPlaneUtils.PlaneTransformLocalTriangle(p4, p5, p6, plane, out p41, out p51, out p61);
            GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
            bool isInsect = IsTriangleInsectTriangle2(p11, p21, p31, p41, p51, p61, ref tmp);

            if (isInsect)
            {
                foreach (Vector3 v in tmp.mHitGlobalPoint.mPointArray)
                {
                    Vector3 vt = new Vector3(v.x, 0.0f, v.z);
                    vt = plane.TransformToGlobal(vt);
                    insect.mHitGlobalPoint.mPointArray.Add(vt);
                }
                insect.mIsIntersect = insect.mHitGlobalPoint.mPointArray.Count > 0;
            }
            return(insect.mIsIntersect);
        }
Esempio n. 13
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        public static bool IsCircleInsectCircle3(Vector3 center1, float r1, GeoPlane plane1, Vector3 center2, float r2, GeoPlane plane2, ref GeoInsectPointArrayInfo insect)
        {
            float dot = Mathf.Abs(Vector3.Dot(plane1.mNormal, plane2.mNormal));

            if (1 - dot < 1e-5f)
            {
                if (GeoPlaneUtils.IsPointOnPlane(plane2.mNormal, plane2.mD, center1)) // 共面
                {
                    return(IsCircleInsectCirclePlane2(center1, r1, center2, r2, plane2, ref insect));
                }
                return(false);
            }
            GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
            bool isInsect = GeoPlaneUtils.IsPlaneInsectCircle(plane1.mNormal, plane1.mD, center2, r2, plane2, ref tmp);

            if (isInsect)
            {
                Vector3 lin1 = tmp.mHitGlobalPoint.mPointArray[0];
                Vector3 lin2 = lin1 + tmp.mHitGlobalPoint.mPointArray[1];
                GeoLineUtils.IsLineInsectCirclePlane2(lin1, lin2, center1, r1, plane1, ref insect);
            }
            return(insect.mIsIntersect);
        }
Esempio n. 14
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        public static bool IsAABBInsectCircle3(Vector3 min, Vector3 max, GeoPlane plane1, Vector3 center, float r, GeoPlane plane2, ref GeoInsectPointArrayInfo insect)
        {
            float dot = Vector3.Dot(plane1.mNormal, plane2.mNormal);

            if (1 - Mathf.Abs(dot) < 1e-5f)
            {
                if (GeoPlaneUtils.IsPointOnPlane(plane2.mNormal, plane2.mD, min))
                {
                    return(IsAABBInsectCirclePlane2(min, max, center, r, plane1, ref insect)); // should use plane1
                }
                return(false);
            }
            GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
            bool isInsect = GeoPlaneUtils.IsPlaneInsectCircle(plane1.mNormal, plane1.mD, center, r, plane2, ref tmp);

            if (isInsect)
            {
                if (tmp.mHitGlobalPoint.mPointArray.Count == 1)
                {
                    Vector3 line1 = tmp.mHitGlobalPoint.mPointArray[0];
                    if (GeoAABBUtils.IsPointInAABB2Plane(min, max, plane1, ref line1))
                    {
                        insect.mIsIntersect = true;
                        insect.mHitGlobalPoint.mPointArray.Add(line1);
                        return(true);
                    }
                }
                else
                {
                    Vector3 seg1 = tmp.mHitGlobalPoint.mPointArray[0];
                    Vector3 seg2 = seg1 + tmp.mHitGlobalPoint.mPointArray[1];
                    return(GeoSegmentUtils.IsSegmentInsectAABB2Plane(seg1, seg2, min, max, plane1, ref insect));
                }
            }
            return(false);
        }
Esempio n. 15
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 public static bool IsRayInsectCircle3(Vector3 rayOrigin, Vector3 rayDirection, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointInfo insect)
 {
     if (GeoPlaneUtils.IsPlaneInsectRay(plane.mNormal, plane.mD, rayOrigin, rayDirection, ref insect))
     {
         if (GeoCircleUtils.IsInSphere(center, r, insect.mHitGlobalPoint))
         {
             return(true);
         }
     }
     return(false);
 }
Esempio n. 16
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        public static bool IsAABBInsectCirclePlane2(Vector3 min, Vector3 max, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            Vector3 min1     = plane.TransformToLocal(min);
            Vector3 max1     = plane.TransformToLocal(max);
            Vector3 c1       = plane.TransformToLocal(center);
            bool    isInsect = IsAABBInsectCircle2(min1, max1, c1, r, ref insect);

            if (isInsect)
            {
                insect.mHitGlobalPoint.mPointArray = GeoPlaneUtils.PlaneTransformGlobal(insect.mHitGlobalPoint.mPointArray, plane);
            }
            return(isInsect);
        }
Esempio n. 17
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        public static void PlaneTransformGlobaleTriangle(Vector3 p1, Vector3 p2, Vector3 p3, GeoPlane plane, out Vector2 p11, out Vector2 p21, out Vector2 p31)
        {
            Vector3 p1t = plane.TransformToGlobal(p1);
            Vector3 p2t = plane.TransformToGlobal(p2);
            Vector3 p3t = plane.TransformToGlobal(p3);

            p11 = new Vector2(p1t.x, p1t.z);
            p21 = new Vector2(p2t.x, p2t.z);
            p31 = new Vector2(p3t.x, p3t.z);
        }
Esempio n. 18
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 public static void PlaneTransformGlobaleTriangle(Vector3 p1, Vector3 p2, Vector3 p3, GeoPlane plane, out Vector3 p11, out Vector3 p21, out Vector3 p31)
 {
     p11 = plane.TransformToGlobal(p1);
     p21 = plane.TransformToGlobal(p2);
     p31 = plane.TransformToGlobal(p3);
 }
Esempio n. 19
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        public static bool IsPlaneInsectAABB2(Vector3 normal, float d, Vector3 min, Vector3 max, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            float dot = Vector3.Dot(normal, plane.mNormal);

            if (1 - Mathf.Abs(dot) < 1e-5f)
            {
                return(false);
            }
            GeoInsectPointArrayInfo tmp = new GeoInsectPointArrayInfo();
            bool isInsect = GeoPlaneUtils.IsPlaneInsectPlane(normal, d, plane.mNormal, plane.mD, ref tmp);

            if (isInsect)
            {
                Vector3 l1 = tmp.mHitGlobalPoint.mPointArray[0];
                Vector3 l2 = l1 + tmp.mHitGlobalPoint.mPointArray[1];
                isInsect = GeoLineUtils.IsLineInsectAABBPlane2(l1, l2, min, max, plane, ref insect);
            }
            return(insect.mIsIntersect);
        }
Esempio n. 20
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        public static bool IsTriangleInsectCircle3(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            bool isInsect = GeoPlaneUtils.IsPlaneInsectTriangle(plane.mNormal, plane.mD, p1, p2, p3, ref insect);

            if (isInsect)
            {
                if (insect.mHitGlobalPoint.mPointArray.Count == 3) // 共面, 转化成 2d
                {
                    insect.Clear();
                    return(IsTriangleInsectPlaneCircle2(p1, p2, p3, center, r, plane, ref insect));
                }
                else if (insect.mHitGlobalPoint.mPointArray.Count == 1)
                {
                    if (GeoCircleUtils.IsInSphere(center, r, insect.mHitGlobalPoint.mPointArray[0]))
                    {
                        return(true);
                    }
                }
                else if (insect.mHitGlobalPoint.mPointArray.Count == 2)
                {
                    Vector3 seg1 = plane.TransformToLocal(insect.mHitGlobalPoint.mPointArray[0]);
                    Vector3 seg2 = plane.TransformToLocal(insect.mHitGlobalPoint.mPointArray[1]);
                    Vector3 c1   = plane.TransformToLocal(center);
                    Vector2 p12  = new Vector2(seg1.x, seg1.z);
                    Vector2 p22  = new Vector2(seg2.x, seg2.z);
                    Vector2 c2   = new Vector2(c1.x, c1.z);
                    insect.Clear();
                    GeoInsectPointArrayInfo temp = new GeoInsectPointArrayInfo();
                    if (GeoSegmentUtils.IsSegmentInsectCircle2(p12, p22, c2, r, ref temp))
                    {
                        insect.mIsIntersect = true;
                        foreach (Vector3 v in temp.mHitGlobalPoint.mPointArray)
                        {
                            Vector3 vv = new Vector3(v.x, 0.0f, v.y);
                            vv = plane.TransformToGlobal(vv);
                            insect.mHitGlobalPoint.mPointArray.Add(vv);
                        }
                        return(true);
                    }
                }
            }
            return(false);
        }
Esempio n. 21
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        public static bool IsLineInsectAABBPlane2(Vector3 line1, Vector3 line2, Vector3 min, Vector3 max, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            Vector3 min1     = plane.TransformToLocal(min);
            Vector3 max1     = plane.TransformToLocal(max);
            Vector3 l1       = plane.TransformToLocal(line1);
            Vector3 l2       = plane.TransformToLocal(line2);
            bool    isInsect = IsLineInsectAABB2(new Vector2(l1.x, l1.z), new Vector2(l2.x, l2.z), new Vector2(min1.x, min1.z), new Vector2(max1.x, max1.z), ref insect);

            if (isInsect)
            {
                insect.mHitGlobalPoint.mPointArray = GeoPlaneUtils.PlaneTransformGlobal(insect.mHitGlobalPoint.mPointArray, plane);
            }
            return(isInsect);
        }
Esempio n. 22
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        public static bool IsSegmentInsectCircle3(Vector3 seg1, Vector3 seg2, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointInfo insect)
        {
            bool isInsect = GeoPlaneUtils.IsPlaneInsectSegment(plane.mNormal, plane.mD, seg1, seg2, ref insect);

            if (isInsect)
            {
                if (GeoCircleUtils.IsInSphere(center, r, insect.mHitGlobalPoint))
                {
                    return(true);
                }
            }
            insect.mIsIntersect = isInsect;
            return(isInsect);
        }
Esempio n. 23
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        public static bool IsTriangleInsectPlaneCircle2(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            Vector3 p11 = plane.TransformToLocal(p1);
            Vector3 p21 = plane.TransformToLocal(p2);
            Vector3 p31 = plane.TransformToLocal(p3);
            Vector3 c1  = plane.TransformToLocal(center);
            Vector2 p12 = new Vector2(p11.x, p11.z);
            Vector2 p22 = new Vector2(p21.x, p21.z);
            Vector2 p32 = new Vector2(p31.x, p31.z);
            Vector2 c2  = new Vector2(c1.x, c1.z);
            GeoInsectPointArrayInfo temp = new GeoInsectPointArrayInfo();
            bool isInsect1 = IsTriangleInsectCircle2(p12, p22, p32, c2, r, ref temp);

            if (isInsect1)
            {
                insect.mIsIntersect = true;
                foreach (Vector3 v in temp.mHitGlobalPoint.mPointArray)
                {
                    Vector3 vv = new Vector3(v.x, 0.0f, v.y);
                    vv = plane.TransformToGlobal(vv);
                    insect.mHitGlobalPoint.mPointArray.Add(vv);
                }
                return(true);
            }
            return(false);
        }
Esempio n. 24
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        public static float PointClosest2PlaneTriangle2(Vector3 p1, Vector3 p2, Vector3 p3, GeoPlane plane, ref Vector3 p, ref Vector3 close)
        {
            Vector2 p11, p21, p31, pt;

            GeoPlaneUtils.PlaneTransformLocalTriangle(p1, p2, p3, plane, out p11, out p21, out p31);
            Vector3 pp = plane.TransformToLocal(p);

            pt = new Vector2(pp.x, pp.z);
            Vector2 close1 = new Vector2();
            float   d      = PointClosest2Triangle2(p11, p21, p31, ref pt, ref close1);

            close.x = close1.x;
            close.y = 0;
            close.z = close1.y;
            close   = plane.TransformToGlobal(close);
            return(d);
        }
Esempio n. 25
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        public static bool IsSegmentInsectAABB2Plane(Vector3 seg1, Vector3 seg2, Vector3 min, Vector2 max, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            Vector3 s1       = plane.TransformToLocal(seg1);
            Vector3 s2       = plane.TransformToLocal(seg2);
            Vector3 min1     = plane.TransformToLocal(min);
            Vector3 max1     = plane.TransformToLocal(max);
            bool    isInsect = IsSegmentInsectAABB2(s1, s2, min1, max1, ref insect);

            if (isInsect)
            {
                insect.mHitGlobalPoint.mPointArray = GeoPlaneUtils.PlaneTransformGlobal(insect.mHitGlobalPoint.mPointArray, plane);
            }
            return(isInsect);
        }
Esempio n. 26
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        public static bool IsLineInsectCirclePlane2(Vector3 line1, Vector3 line2, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            Vector3 l1       = plane.TransformToLocal(line1);
            Vector3 l2       = plane.TransformToLocal(line2);
            Vector3 c1       = plane.TransformToLocal(center);
            bool    isInsect = IsLineInsectCircle2(new Vector2(l1.x, l1.z), new Vector2(l2.x, l2.z), new Vector2(c1.x, c1.z), r, ref insect);

            if (isInsect)
            {
                insect.mHitGlobalPoint.mPointArray = GeoPlaneUtils.PlaneTransformGlobal(insect.mHitGlobalPoint.mPointArray, plane);
            }
            return(insect.mIsIntersect);
        }
Esempio n. 27
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 public static float PointDistanceToPlane(GeoPlane plane, Vector3 p)
 {
     return(PointDistanceToPlane(plane.mNormal, plane.mD, p));
 }
Esempio n. 28
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        public static bool IsPlaneInsectCircle(Vector3 normal, float d, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            float tmp = Mathf.Abs(Vector3.Dot(plane.mNormal.normalized, normal.normalized));

            if (1 - tmp < 1e-5f)
            {
                return(false); // 平行 或 共面
            }
            GeoInsectPointArrayInfo tmp1 = new GeoInsectPointArrayInfo();
            bool inSect = IsPlaneInsectPlane(normal, d, plane.mNormal, plane.mD, ref tmp1);

            if (inSect)
            {
                Vector3 line1 = tmp1.mHitGlobalPoint.mPointArray[0] + tmp1.mHitGlobalPoint.mPointArray[1];
                GeoLineUtils.IsLineInsectCirclePlane2(tmp1.mHitGlobalPoint.mPointArray[0], line1, center, r, plane, ref insect);
            }
            return(insect.mIsIntersect);
        }
Esempio n. 29
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        public static bool IsPointInPositiveHalf(GeoPlane plane, Vector3 p)
        {
            float d = PointDistanceToPlane(plane, p);

            return(d > 1e-5f);
        }
Esempio n. 30
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        public static bool IsLineInsectCircle3(Vector3 line1, Vector3 line2, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointArrayInfo insect)
        {
            if (GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, line1) && GeoPlaneUtils.IsPointOnPlane(plane.mNormal, plane.mD, line2))
            {
                return(IsLineInsectCirclePlane2(line1, line2, center, r, plane, ref insect));
            }
            GeoInsectPointInfo info = new GeoInsectPointInfo();
            bool isInsect           = GeoPlaneUtils.IsPlaneInsectLine(plane.mNormal, plane.mD, line1, line2, ref info);

            if (isInsect)
            {
                if (GeoCircleUtils.IsInSphere(center, r, info.mHitGlobalPoint))
                {
                    insect.mIsIntersect = true;
                    insect.mHitGlobalPoint.mPointArray.Add(info.mHitGlobalPoint);
                    return(true);
                }
                insect.mIsIntersect = false;
            }
            return(false);
        }