public void Clear()
{
UpdateBuffer = new SimplexWrap <VERTEX> [Dimension];
UpdateIndices = new int[Dimension];
InputVertices = null;
CurrentVertex = null;
FurthestVertex = null;
MaxDistance = float.NegativeInfinity;
ConvexSimplexs.Clear();
AffectedFaceBuffer.Clear();
TraverseStack.Clear();
SingularVertices.Clear();
ConeFaceBuffer.Clear();
ObjectManager.Clear();
UnprocessedFaces.Clear();
EmptyBuffer.Clear();
BeyondBuffer.Clear();
for (int i = 0; i < CONNECTOR_TABLE_SIZE; i++)
{
ConnectorTable[i].Clear();
}
}
/// <summary>
/// Removes the faces "covered" by the current vertex and adds the newly created ones.
/// </summary>
/// <returns><c>true</c> if XXXX, <c>false</c> otherwise.</returns>
private bool CreateCone()
{
var currentVertexIndex = CurrentVertex;
ConeFaceBuffer.Clear();
for (var fIndex = 0; fIndex < AffectedFaceBuffer.Count; fIndex++)
{
var oldFaceIndex = AffectedFaceBuffer[fIndex];
var oldFace = FacePool[oldFaceIndex];
// Find the faces that need to be updated
var updateCount = 0;
for (var i = 0; i < NumOfDimensions; i++)
{
var af = oldFace.AdjacentFaces[i];
if (!AffectedFaceFlags[af]) // Tag == false when oldFaces does not contain af
{
UpdateBuffer[updateCount] = af;
UpdateIndices[updateCount] = i;
++updateCount;
}
}
for (var i = 0; i < updateCount; i++)
{
var adjacentFace = FacePool[UpdateBuffer[i]];
var oldFaceAdjacentIndex = 0;
var adjFaceAdjacency = adjacentFace.AdjacentFaces;
for (var j = 0; j < adjFaceAdjacency.Length; j++)
{
if (oldFaceIndex == adjFaceAdjacency[j])
{
oldFaceAdjacentIndex = j;
break;
}
}
var forbidden = UpdateIndices[i]; // Index of the face that corresponds to this adjacent face
int oldVertexIndex;
int[] vertices;
var newFaceIndex = ObjectManager.GetFace();
var newFace = FacePool[newFaceIndex];
vertices = newFace.Vertices;
for (var j = 0; j < NumOfDimensions; j++)
{
vertices[j] = oldFace.Vertices[j];
}
oldVertexIndex = vertices[forbidden];
int orderedPivotIndex;
// correct the ordering
if (currentVertexIndex < oldVertexIndex)
{
orderedPivotIndex = 0;
for (var j = forbidden - 1; j >= 0; j--)
{
if (vertices[j] > currentVertexIndex)
{
vertices[j + 1] = vertices[j];
}
else
{
orderedPivotIndex = j + 1;
break;
}
}
}
else
{
orderedPivotIndex = NumOfDimensions - 1;
for (var j = forbidden + 1; j < NumOfDimensions; j++)
{
if (vertices[j] < currentVertexIndex)
{
vertices[j - 1] = vertices[j];
}
else
{
orderedPivotIndex = j - 1;
break;
}
}
}
vertices[orderedPivotIndex] = CurrentVertex;
if (!mathHelper.CalculateFacePlane(newFace, Center))
{
return(false);
}
ConeFaceBuffer.Add(MakeDeferredFace(newFace, orderedPivotIndex, adjacentFace, oldFaceAdjacentIndex,
oldFace));
}
}
return(true);
}
/// <summary>
/// Удаляет закрытые грание текущей вершины и добовляет к новосозданным
/// </summary>
private bool CreateCone()
{
var currentVertexIndex = CurrentVertex;
ConeFaceBuffer.Clear();
for (int fIndex = 0; fIndex < AffectedFaceBuffer.Count; fIndex++)
{
var oldFaceIndex = AffectedFaceBuffer[fIndex];
var oldFace = FacePool[oldFaceIndex];
// Найти грани, которые должны быть обновлены
int updateCount = 0;
for (int i = 0; i < Dimension; i++)
{
var af = oldFace.AdjacentFaces[i];
if (!AffectedFaceFlags[af]) // Tag == false , когда oldFaces не содержит af
{
UpdateBuffer[updateCount] = af;
UpdateIndices[updateCount] = i;
++updateCount;
}
}
for (int i = 0; i < updateCount; i++)
{
var adjacentFace = FacePool[UpdateBuffer[i]];
int oldFaceAdjacentIndex = 0;
var adjFaceAdjacency = adjacentFace.AdjacentFaces;
for (int j = 0; j < adjFaceAdjacency.Length; j++)
{
if (oldFaceIndex == adjFaceAdjacency[j])
{
oldFaceAdjacentIndex = j;
break;
}
}
var forbidden = UpdateIndices[i]; // Индекс грани, который соответствует этой смежной грани
ConvexFaceInternal newFace;
int oldVertexIndex;
int[] vertices;
var newFaceIndex = ObjectManager.GetFace();
newFace = FacePool[newFaceIndex];
vertices = newFace.Vertices;
for (int j = 0; j < Dimension; j++)
{
vertices[j] = oldFace.Vertices[j];
}
oldVertexIndex = vertices[forbidden];
int orderedPivotIndex;
// скорректировать порядок
if (currentVertexIndex < oldVertexIndex)
{
orderedPivotIndex = 0;
for (int j = forbidden - 1; j >= 0; j--)
{
if (vertices[j] > currentVertexIndex)
{
vertices[j + 1] = vertices[j];
}
else
{
orderedPivotIndex = j + 1;
break;
}
}
}
else
{
orderedPivotIndex = Dimension - 1;
for (int j = forbidden + 1; j < Dimension; j++)
{
if (vertices[j] < currentVertexIndex)
{
vertices[j - 1] = vertices[j];
}
else
{
orderedPivotIndex = j - 1;
break;
}
}
}
vertices[orderedPivotIndex] = CurrentVertex;
if (!MathHelper.CalculateFacePlane(newFace, Center))
{
return(false);
}
ConeFaceBuffer.Add(MakeDeferredFace(newFace, orderedPivotIndex, adjacentFace, oldFaceAdjacentIndex, oldFace));
}
}
return(true);
}