public void Export(CDBrush cdBrush)
{
if (cdBrush == null)
{
return;
}
cdBrush.Release();
for (int i = 0; i < GetFaceNum(); i++)
{
CDSide side = new CDSide();
HalfSpace HS = new HalfSpace();
HS.Normal = GetFace(i).Normal;
HS.Dist = GetFace(i).Dist;
side.Init(HS, false);
cdBrush.LstSides.Add(side);
cdBrush.cd = this;
}
Bounds tmpAABB;
GetAABB(out tmpAABB);
if (tmpAABB != null)
{
cdBrush.BoundAABB = tmpAABB;
}
cdBrush.Flags = Flags;
}
public void Init(Vector3 normal, float dist, bool bevel)
{
Plane = new HalfSpace();
Plane.Normal = normal;
Plane.Dist = dist;
Bevel = bevel;
}
// 计算生成的凸包是否合法
public bool ValidConvexHull()
{
// 检查共面的顶点是否会出现顶点到平面的距离超出阈值的情况
HalfSpace hs = new HalfSpace();
for (int i = 0; i < mLstPlanes.Count; i++)
{
if (mLstPlanes[i].Count < 3)
{
continue;
}
hs.Set(mLstVertex[mLstPlanes[i][0]], mLstVertex[mLstPlanes[i][1]], mLstVertex[mLstPlanes[i][2]]);
for (int j = 3; j < mLstPlanes[i].Count; j++)
{
if (Mathf.Abs(hs.Dist2Plane(mLstVertex[mLstPlanes[i][j]])) > CH_VALID_TOLERANCE)
{
return(false);
}
}
}
return(true);
}
protected bool ValidateCHPlane(HalfSpace hs)
{
for (int i = 0; i < mLstVertex.Count; i++)
{
if (!hs.Inside(mLstVertex[i]) && !hs.OnPlane(mLstVertex[i]))
{
return(false);
}
}
return(true);
}
public bool EditLoad(LEditTextFile file)
{
Normal = file.LoadVector3Line(_Key_FaceNormal);
Dist = file.LoadValueLine <float>(_Key_FaceDist);
int elenum = file.LoadValueLine <int>(_Key_FaceEleNum);
for (int i = 0; i < elenum; i++)
{
HalfSpace hs = new HalfSpace();
int vid = file.LoadValueLine <int>(_Key_FaceEleVid);
hs.Normal = file.LoadVector3Line(_Key_FaceEleNormal);
hs.Dist = file.LoadValueLine <float>(_Key_FaceEleDist);
AddElement(vid);
}
return(true);
}
public bool IsVertexOutside(Vector3 v, float fInflateRadius = 0.0f)
{
HalfSpace hs = new HalfSpace();
Patch cur = null;
for (int i = 0; i < LstPatches.Count; i++)
{
cur = LstPatches[i];
hs.Normal = cur.Normal;
hs.Dist = cur.Dist + fInflateRadius;
if (hs.Outside(v))
{
return(true);
}
}
return(false);
}
private int mCurOperator; //当前操作所在位置
public ConvexPolytope()
{
mLstIndices = new List <ushort>(); //初始化为一个大值
mLstLEPIndices = new List <ushort>(); //最小误差面片的三角形个数*3
mLstLEPNIndices = new List <ushort>(); //最小误差面片的邻域面片三角形个数*3
mLstVerticesForRender = new List <Vector3>(); //初始化渲染用到的顶点
OriginPatchNum = 0;
mCurOperator = -1;
mLstRemovedError = null;
ErrorBase = 1.0f; //给一个缺省值1.0f，即绝对误差
MinPatchNum = 4;
ExceptionOccur = false;
Centroid = Vector3.zero;
HalfSpace.SetDistThresh(); //将Halfspace恢复到缺省的阈值
}
public Patch IsVertexOnPatch(Vector3 v, float fInflateRadius)
{
HalfSpace hs = new HalfSpace();
Patch cur = null;
for (int i = 0; i < LstPatches.Count; i++)
{
cur = LstPatches[i];
hs.Normal = cur.Normal;
hs.Dist = cur.Dist + fInflateRadius;
if (hs.OnPlane(v))
{
return(cur);
}
}
return(null);
}
// compute the best-fit plane via an array of vertices, return true if all vertices's
// distances to plane is less than MaxDistError.
public static bool BestFitPlane(Vector3[] verts, ref HalfSpace plane, float maxDistErr)
{
Vector4 p = Vector4.zero;
BestFit.ComputeBestFitPlane(verts, null, ref p);
Vector3 normal = new Vector3(p[0], p[1], p[2]);
plane.Normal = normal;
plane.Dist = -p[3];
// now check the distance error...
for (int i = 0; i < verts.Length; i++)
{
if (plane.Dist2Plane(verts[i]) > maxDistErr)
{
return(false);
}
}
return(true);
}
public override void ComputeConvexHull()
{
//设置HalfSpace的共面距离阈值
float hsDistThresh = 1e-1f;
//保证没有异常的求出凸包！
do
{
hsDistThresh *= 0.1f; //放大阈值10倍
HalfSpace.SetDistThresh(hsDistThresh); //调整阈值
//先调用父类函数从而完成清空操作
base.ComputeConvexHull();
ResetSameVertices();
//寻找第一条边
Edge edge = SearchFirstEdge(Vector3.up);
mFirstEdge = edge;
//由于都是共面因此，不需要作压栈等处理了！
//处理该边
DealEdge(edge);
} while (mExceptionOccur && hsDistThresh > 5e-7);
if (hsDistThresh < 5e-7f)
{
//说明已经超出了阈值范围，如果还有异常发生
//则说明确实该模型的凸壳计算存在异常！
mExceptionOccur = true;
}
//计算完后，m_Planes中保存了2D凸包的顶点连接信息
//清空边栈
mEdgeStack.Clear();
HalfSpace.SetDistThresh(); //恢复到缺省的阈值
}
public void SetHS(HalfSpace hs)
{
Normal = hs.Normal;
Dist = hs.Dist;
}
public bool Init(GiftWrap gw)
{
if (gw.ExceptionOccur())
{
return(false);
}
Reset(); //重置为初始状态
Centroid = gw.Centroid; //质心置为初始化gw的质心
//分情况考虑构造CConvexPolytope
if (gw.HullType == GiftWrap.HULL_TYPE.HULL_3D) //3D Hull的情况
{
int[] map = new int[gw.LstVertex.Count]; //构造一个映射表
int count = 0;
//添加有效顶点&构造映射表
int i;
for (i = 0; i < gw.LstVertex.Count; i++)
{
map[i] = -1;
if (gw.LstExtremeVertex[i])
{
//当前点有效，用其初始化v，并将其插入到顶点列表
Vector3 v = gw.LstVertex[i];
LstVertecies.Add(v);
LstVertexInfo.Add(new VertexInfo());
map[i] = count++;
}
}
//构造面片
//添加三角形面片
for (i = 0; i < gw.LstFaces.Count; i++)
{
Face f = gw.LstFaces[i];
if (!f.InPolygon) //不属于任何多边形，添加
{
Vector3 v1 = gw.LstVertex[f.v1];
Vector3 v2 = gw.LstVertex[f.v2];
Vector3 v3 = gw.LstVertex[f.v3];
Patch pat = new Patch(this);
pat.Set(v1, v2, v3); //几何信息
//依次向Neighbors中添加元素
VPNeighbor vpn = new VPNeighbor();
List <VPNeighbor> lstNeighbor = pat.LstNeighbors;
vpn.Vid = map[f.v1]; //这里必须作一个映射
lstNeighbor.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = map[f.v2];
lstNeighbor.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = map[f.v3];
lstNeighbor.Add(vpn);
//各顶点度数增1
LstVertexInfo[map[f.v1]].Degree++;
LstVertexInfo[map[f.v2]].Degree++;
LstVertexInfo[map[f.v3]].Degree++;
//添加到链表
LstPatches.Add(pat);
}
}
//添加多边形面片
for (i = 0; i < gw.LstPlanes.Count; i++)
{
List <int> planes = gw.LstPlanes[i];
//取前三个点构造平面几何信息
Vector3 v1 = gw.LstVertex[planes[0]];
Vector3 v2 = gw.LstVertex[planes[1]];
Vector3 v3 = gw.LstVertex[planes[2]];
Patch pat = new Patch(this);
pat.Set(v1, v2, v3); //几何信息
//依次向Neighbors中添加元素
VPNeighbor vpn = new VPNeighbor();
List <VPNeighbor> lstNeighbors = pat.LstNeighbors;
for (int j = 0; j < planes.Count; j++)
{
vpn = new VPNeighbor();
vpn.Vid = map[planes[j]]; //这里必须作一个映射
lstNeighbors.Add(vpn);
LstVertexInfo[vpn.Vid].Degree++; //顶点度数增1
}
//添加到链表
LstPatches.Add(pat);
}
}
else
{
//说明是2D Hull的情况
List <int> lstCHVs = gw.GetCHVertecies();
if (lstCHVs == null)
{
return(false);
}
if (lstCHVs.Count < 3) //至少是一个三角形
{
return(false);
}
//顶点信息
VertexInfo vInfo = new VertexInfo();
vInfo.Degree = 3; //直棱拄所有顶点的面度数均为3
HalfSpace planeOut = new HalfSpace();
HalfSpace planeIn = new HalfSpace();
//取前三个点构造平面几何信息
Vector3 v1 = gw.LstVertex[lstCHVs[0]];
Vector3 v2 = gw.LstVertex[lstCHVs[1]];
Vector3 v3 = gw.LstVertex[lstCHVs[2]];
//构造两个平面PlaneOut和PlaneIn，分别表示顶面和底面
planeOut.Set(v1, v2, v3);
planeIn.Normal = -planeOut.Normal;
planeIn.Dist = -planeOut.Dist;
planeIn.Translate(HULL2D_HALF_THICKNESS);
planeOut.Translate(HULL2D_HALF_THICKNESS);
Vector3 vOutNormal = planeOut.Normal;
Vector3 vInNormal = planeIn.Normal;
//分别求出PlaneOut,PlaneIn上的两点
Vector3 vOut = v1 + HULL2D_HALF_THICKNESS * vOutNormal;
Vector3 vIn = v1 + HULL2D_HALF_THICKNESS * vInNormal;
//构造顶点及顶点信息
int i;
for (i = 0; i < lstCHVs.Count; i++)
{
//同时添加底面和顶面的一个顶点
Vector3 vec1 = gw.LstVertex[lstCHVs[i]];
Vector3 vec2 = vec1;
if (i < 3)
{
vec1 += HULL2D_HALF_THICKNESS * vOutNormal;
vec2 += HULL2D_HALF_THICKNESS * vInNormal;
}
else
{
Vector3 vDiff = vec1 - vOut;
vec1 -= Vector3.Dot(vDiff, vOutNormal) * vOutNormal;
vDiff = vec2 - vIn;
vec2 -= Vector3.Dot(vDiff, vInNormal) * vInNormal;
}
LstVertecies.Add(vec1);
LstVertecies.Add(vec2);
//相应的，添加两个顶点信息
LstVertexInfo.Add(vInfo);
LstVertexInfo.Add(vInfo);
}
//开始构造平面面片
//向外的面
Patch pat = new Patch(this);
pat.Normal = vOutNormal; //几何信息
pat.Dist = planeOut.Dist;
//依次向Neighbors中添加元素
VPNeighbor vpn = new VPNeighbor();
List <VPNeighbor> lstNeighbors1 = pat.LstNeighbors;
for (i = 0; i < lstCHVs.Count; i++)
{
vpn = new VPNeighbor();
vpn.Vid = 2 * i;
lstNeighbors1.Add(vpn);
}
//添加到链表
LstPatches.Add(pat);
//向内的面
pat = new Patch(this);
pat.Normal = vInNormal; //几何信息
pat.Dist = planeIn.Dist;
//依次向Neighbors中添加元素
List <VPNeighbor> lstNeighbors2 = pat.LstNeighbors;
//顶面按照逆序添加
for (i = lstCHVs.Count - 1; i >= 0; i--)
{
vpn = new VPNeighbor();
vpn.Vid = 2 * i + 1;
lstNeighbors2.Add(vpn);
}
//添加到链表
LstPatches.Add(pat);
//开始添加各个侧面
for (i = 0; i < lstCHVs.Count; i++)
{
pat = new Patch(this);
List <VPNeighbor> lstNeighbors = pat.LstNeighbors;
//每个侧面都是一个矩形
if (i < lstCHVs.Count - 1)
{
v1 = LstVertecies[2 * i + 2];
v2 = LstVertecies[2 * i];
v3 = LstVertecies[2 * i + 1];
pat.Set(v1, v2, v3);
vpn = new VPNeighbor();
vpn.Vid = 2 * i;
lstNeighbors.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = 2 * i + 1;
lstNeighbors.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = 2 * i + 3;
lstNeighbors.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = 2 * i + 2;
lstNeighbors.Add(vpn);
}
else
{
//最后一个矩形的情况比较特殊
v1 = LstVertecies[0];
v2 = LstVertecies[2 * i];
v3 = LstVertecies[2 * i + 1];
pat.Set(v1, v2, v3);
vpn = new VPNeighbor();
vpn.Vid = 2 * i;
lstNeighbors.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = 2 * i + 1;
lstNeighbors.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = 1;
lstNeighbors.Add(vpn);
vpn = new VPNeighbor();
vpn.Vid = 0;
lstNeighbors.Add(vpn);
}
LstPatches.Add(pat);
}
}
OriginPatchNum = LstPatches.Count;
CurVNum = LstVertecies.Count;
//初始化删除误差
if (mLstRemovedError == null)
{
mLstRemovedError = new List <float>(OriginPatchNum + 1);
}
mLstRemovedError.Clear();
for (int i = 0; i < OriginPatchNum + 1; i++)
{
mLstRemovedError.Add(-1.0f); //0,1,2,3都置为无效值
}
ExceptionOccur = false;
//计算每个patch的邻域patch
ComputePatchNeighbors();
//HalfSpace::SetDistThresh(1e-3); //恢复到缺省的阈值
//寻找最小删除误差对应的面片
SearchLeastErrorPatch();
//开始简化，简化到头
ReduceAll();
return(true);
}
protected void InternalComputeConvexHull()
{
HalfSpace hsFitPlane = new HalfSpace();
Vector3 vFitNormal = Vector3.zero;
bool bFit = HalfSpace.BestFitPlane(LstVertex.ToArray(), ref hsFitPlane, mIdenticalPosErr);
if (bFit)
{
// tune the vertices's position to make the convex-hull generation more accurately...
//for (int i = 0; i < LstVertex.Count; i++)
//{
// LstVertex[i] = hsFitPlane.GetPorjectPos(LstVertex[i]);
//}
}
vFitNormal = hsFitPlane.Normal;
if (vFitNormal == Vector3.zero)
{
vFitNormal.Set(0.0f, 1.0f, 0.0f);
}
//////////////////////////////////////////////////////////////////////////
// 由于求解凸包的过程在一定程度上依赖于HalfSpace类的距离阈值，因此
// 这里将设法找到一个可以得到正确结果的距离阈值。
// 一个重要的问题是能否求解出凸包与该阈值并非是单调的关系，即并非是阈值越大或越小
// 就一定可以得到结果。实际上，阈值的一个微小的扰动，将可能导致异常出现或求出凸包
// 但目前还没有找出两者之间的必然关系和规律。
// 因此，目前的阈值设定，采用了宽度优先的尝试法。简单说明如下：
// 首先尝试一个基本值hsDistThreshBase，然后将阈值设为hsDistThreshBase×0.1，
// 直到阈值<CH_FLT_EPSILON。
// 如果上述所有的阈值仍不能满足要求，则对hsDistThreshBase-0.1*hsDistThreshBase，
// 然后继续上面的循环！
// 可考虑另外的方法，如随机数的方法
//////////////////////////////////////////////////////////////////////////
float hsDistThreshBase = HSDistThresh * 10.0f; //每次递减循环的基数，先放大10倍
float hsDistThreshBaseStep = HSDistThresh; //递减步长
float hsDistThresh; //当前的阈值
//保证没有异常的求出凸包！
//双重循环
do
{
hsDistThresh = hsDistThreshBase;
do
{
HullType = HULL_TYPE.HULL_3D; //重新计算时，初始化为3D凸包
hsDistThresh *= 0.1f; //缩小阈值10倍
HalfSpace.SetDistThresh(hsDistThresh); //调整阈值
//先调用父类函数从而完成清空操作
base.ComputeConvexHull();
ResetSameVertices();
Edge e = SearchFirstEdge(vFitNormal);
if (!ValidateCHPlane(new HalfSpace(LstVertex[e.start], LstVertex[e.end], LstVertex[e.start] + vFitNormal)))
{
Vector3[] vAxis = new Vector3[3] {
Vector3.right, Vector3.up, Vector3.forward
};
for (int i = 0; i < 3; i++)
{
if (Mathf.Abs(Vector3.Dot(vFitNormal, vAxis[i])) > 0.9f)
{
continue;
}
Vector3 vN = Vector3.Cross(vFitNormal, vAxis[i]);
Edge e1 = SearchFirstEdge(vN);
if (ValidateCHPlane(new HalfSpace(LstVertex[e1.start], LstVertex[e1.end], LstVertex[e1.start] + vN)))
{
e = e1;
break;
}
}
}
mFirstEdge = e;
mEdgeStack.Push(e);
//e = new Edge(e.start,e.end);
mEdgeStack.Push(new Edge(e.start, e.end)); //注意，这里应该push两次！从而保证在while条件中的弹出后，仍有一个边被保存在栈中！
while (!mEdgeStack.IsEmpty() && !mExceptionOccur && HullType == HULL_TYPE.HULL_3D)
{
Edge se = mEdgeStack.Pop();
DealEdge(se);
}
} while (ExceptionOccur() && hsDistThresh > CH_FLT_EPSILON);
hsDistThreshBase -= hsDistThreshBaseStep; //外层循环再进行一个扰动
} while (ExceptionOccur() && hsDistThreshBase > 0.0f);
if (hsDistThreshBase <= 0.0f)
{
//说明已经超出了阈值范围，如果还有异常发生
//则说明确实该模型的凸壳计算存在异常！
Debug.LogError("gift wrap ExceptionOccur: hsDistThreshBase <= 0.0f");
mExceptionOccur = true;
}
//hsDistThresh*=0.01f;
//CHalfSpace::SetDistThresh(hsDistThresh); //恢复到缺省的阈值
HalfSpace.SetDistThresh(); //恢复到缺省的阈值
}
public HalfSpace(HalfSpace hs)
{
mNormal = hs.Normal;
mD = hs.Dist;
}
protected bool DealEdge(Edge edge)
{
int i;
for (i = 0; i == edge.start || i == edge.end || IsFaceInCH(new Face(edge.start, edge.end, i)) || mLstVInvalid[i]; i++)
{
;
}
//构造e和该点组成的半空间，此时的hs必定有效，因为，保证了不共线条件
HalfSpace hs = new HalfSpace(mLstVertex[edge.start], mLstVertex[edge.end], mLstVertex[i]);
List <int> lstCoPlanarVertexes = new List <int>(); //构造一个所有共面点的列表
lstCoPlanarVertexes.Add(i); //添加当前第一个元素
//开始主循环！注意循环开始条件！从下一个元素开始！
for (i++; i < mLstVertex.Count; i++)
{
//不是e端点，没有考察过，且不在半空间内部！
if (i != edge.start && i != edge.end && !mLstVInvalid[i] && !IsFaceInCH(new Face(edge.start, edge.end, i)) && !hs.Inside(mLstVertex[i]))
{
if (hs.OnPlane(mLstVertex[i]))
{
//在半空间的边界上，则添加到共面点列表
lstCoPlanarVertexes.Add(i); //添加当前点
}
else
{
//说明该点不在内部，则该点为新的目标点，并重构半空间
hs.Set(mLstVertex[edge.start], mLstVertex[edge.end], mLstVertex[i]);
//同时清空共面列表，并将该点添加至共面列表
lstCoPlanarVertexes.Clear();
lstCoPlanarVertexes.Add(i); //添加当前点
//注意，根据凸壳的性质，这里不需从头开始遍历
}
}
}
//经过上面的循环后，CoPlanarVertexes中就存储了由当前边e找到的一个凸面上的所有点
//在这里判断是否是2D的凸包
HullType = HULL_TYPE.HULL_2D;
for (i = 0; i < mLstVertex.Count; i++) //遍历所有顶点
{
if (i != edge.start && i != edge.end && !mLstVInvalid[i]) //非e的端点，而且有效
{
if (!IsVInVSets(i, lstCoPlanarVertexes)) // 如果当前顶点不再公面集中！
{
// 增加一个判断，从而使得结果更严密
HalfSpace hstmp = new HalfSpace(mLstVertex[edge.start], mLstVertex[edge.end], mLstVertex[lstCoPlanarVertexes[0]]);
if (hstmp.OnPlane(mLstVertex[i]))
{
lstCoPlanarVertexes.Add(i);
}
else
{
HullType = HULL_TYPE.HULL_3D;
break;
}
}
}
}
//下面开始进行处理，这里将原本在ComputeConvexHull的主循环中的处理放在这里！
if (lstCoPlanarVertexes.Count == 1)
{
//最简单的情况：没有共面点
int v3 = lstCoPlanarVertexes[0];
//将另两条边压栈
Edge e1 = new Edge(edge.start, v3);
Edge e2 = new Edge(v3, edge.end);
SelectivePushStack(e1);
SelectivePushStack(e2);
//构造三角面片，并插入队列中
mLstFaces.Add(new Face(edge.start, edge.end, v3));
//同时，该三角面片的三个顶点为凸壳的ExtremeVertex!
mLstExtremeVertex[edge.start] = true;
mLstExtremeVertex[edge.end] = true;
mLstExtremeVertex[v3] = true;
if (HullType == HULL_TYPE.HULL_2D) // 凸包为一个三角形的情况
{
lstCoPlanarVertexes.Add(edge.start);
lstCoPlanarVertexes.Add(edge.end);
mLstPlanes.Add(lstCoPlanarVertexes);
}
else
{
lstCoPlanarVertexes.Clear(); //没有多点共面
}
}
else //多点共面的情况！
{
//在由e.start,e.end和CoPlanarVertexes[0]组成的平面上找凸壳
DealCoPlanarV(edge, lstCoPlanarVertexes);
}
return(true);
}
/////////////////////////////////////////////////////////
// 该函数用来处理对于边edge，找到的目标点是多点共面的情况
// 注意，参数中的CoPlanarVertexes所含的点数应>1
/////////////////////////////////////////////////////////
protected void DealCoPlanarV(Edge edge, List <int> lstCoPlanarVertexes)
{
//如果出现该边的两点无效的情况，直接返回
if (mLstVInvalid[edge.start] || mLstVInvalid[edge.end])
{
//异常退出时，一定要释放内存
lstCoPlanarVertexes.Clear();
return;
}
//构造初始的halfspace
//注意构造的方法：该halfspace的分割面过e.end和CoPlanarVertexes[0]，同时平行于法向
HalfSpace hs = new HalfSpace();
List <int> lstExtremeVertexes = new List <int>(); //平面上所有点的凸壳点集，用来存储结果
List <int> lstCoLinearVertexes = new List <int>(); //共线的情况，用一个点集表示
//将edge.start和edge.end也存入CoPlanarVertexes中
lstCoPlanarVertexes.Add(edge.start);
lstCoPlanarVertexes.Add(edge.end);
//每条边edge已经是延伸到最大的情况，因此，不用考虑还能将其延伸的情况
int vidNotCL = lstCoPlanarVertexes[0];
//由于上面的条件，CoPlanarVertexes[0]一定不会和edge共线的
//利用vidNotCL，首先求出平面的法向
Vector3 normal = Vector3.Cross(mLstVertex[edge.end] - mLstVertex[edge.start], mLstVertex[vidNotCL] - mLstVertex[edge.start]);
normal.Normalize();
Edge curE = new Edge(edge.end, vidNotCL); //当前的边
int vSize = lstCoPlanarVertexes.Count;
//main loop
while (curE.start != edge.start) //当最后找到edge.start这一点时，表明找到了所有点处在凸壳上的点
{
//初始化hs
hs.Set(mLstVertex[curE.start], mLstVertex[curE.end], mLstVertex[curE.start] + normal);
lstCoLinearVertexes.Clear();
lstCoLinearVertexes.Add(curE.end); //当前点添加至共线点集
//寻找满足当前curE的目标点
for (int idx = 0; idx < lstCoPlanarVertexes.Count; idx++)
{
int id = lstCoPlanarVertexes[idx];
if (id != curE.start && id != curE.end && !mLstVInvalid[id] && !hs.Inside(mLstVertex[id]))
{
//判断是否共面，实际上为是否共线
if (hs.OnPlane(mLstVertex[lstCoPlanarVertexes[idx]]))
{
lstCoLinearVertexes.Add(lstCoPlanarVertexes[idx]);
}
else
{
//更改当前边
curE.end = lstCoPlanarVertexes[idx];
//重新计算halfspace
hs.Set(mLstVertex[curE.start], mLstVertex[curE.end], mLstVertex[curE.start] + normal);
//清空，并重新计算共线点集
lstCoLinearVertexes.Clear();
lstCoLinearVertexes.Add(lstCoPlanarVertexes[idx]);
}
}
}
//循环完成，此时应该已经找到一个点或一组点集
if (lstCoLinearVertexes.Count == 1)
{
//一个点的情况
//添加至凸壳边界点集
lstExtremeVertexes.Add(lstCoLinearVertexes[0]);
//找到的点成为当前边的起点
curE.start = lstCoLinearVertexes[0];
//找一个点作为curE.end
int j;
for (j = 0; j < lstCoPlanarVertexes.Count && lstCoPlanarVertexes[j] == curE.start; j++)
{
; //不能等于start!
}
curE.end = lstCoPlanarVertexes[j];
vSize--;
if (vSize < 0)
{
mExceptionOccur = true; //出现异常了，退出！
//异常退出时，一定要释放内存
lstCoPlanarVertexes.Clear();
return;
}
}
else
{
//多个点集的情况
//按点到curE.start欧氏距离的远近排序，从近到远
SortByDist(curE.start, ref lstCoLinearVertexes);
//重置起点为最远点
curE.start = lstCoLinearVertexes[lstCoLinearVertexes.Count - 1];
//插入最远点！
lstExtremeVertexes.Add(curE.start);
//找一个点作为curE.end
int j;
for (j = 0; j < lstCoPlanarVertexes.Count && (lstCoPlanarVertexes[j] == curE.start || mLstVInvalid[lstCoPlanarVertexes[j]]); j++)
{
; //不能等于start!
}
curE.end = lstCoPlanarVertexes[j];
vSize--;
if (vSize < 0)
{
mExceptionOccur = true; //出现异常了，退出！
//异常退出时，一定要释放内存
lstCoPlanarVertexes.Clear();
return;
}
}
} // end of main loop
//注意，经过前面的循环ExtremeVertexes的最后一个元素应该就是e.start
if (lstExtremeVertexes.Count <= 1)
{
mExceptionOccur = true; //出现异常了，退出！
//异常退出时，一定要释放内存
lstCoPlanarVertexes.Clear();
return;
}
//此时，已经得到了一组按顺序的顶点，可以向边堆栈和面列表中添加了
Edge ep = new Edge(lstExtremeVertexes[0], edge.end);
SelectivePushStack(ep);
mLstFaces.Add(new Face(edge.start, edge.end, lstExtremeVertexes[0], true)); //该面将被剖分
int i;
for (i = 0; i < lstExtremeVertexes.Count - 2; i++)
{
ep = new Edge(lstExtremeVertexes[i + 1], lstExtremeVertexes[i]);
//添加边到堆栈，一定要注意顺序！
//ep.Set(lstExtremeVertexes[i+1],lstExtremeVertexes[i]); //应该反向添加
SelectivePushStack(ep);
mLstFaces.Add(new Face(edge.start, lstExtremeVertexes[i], lstExtremeVertexes[i + 1], true));
}
//最后一条边
//注意：对该边的处理应该直接使用m_EdgeStack.CheckPush
//因为，此前已经添加了包含该边的三角面，所以
//如果使用SelectivePushStack，则会认为该边已经被
//添加到三角形列表中，从而漏掉了这条边！
//这样会导致最终凸壳缺少了一个面！
ep = new Edge(lstExtremeVertexes[i + 1], lstExtremeVertexes[i]);
//ep.Set(lstExtremeVertexes[i+1],lstExtremeVertexes[i]);
mEdgeStack.CheckPush(ep);
//将所有共面点都置为无效
for (i = 0; i < lstCoPlanarVertexes.Count; i++)
{
mLstVInvalid[lstCoPlanarVertexes[i]] = true;
}
//重新整理CoPlanarVertexes，使其仅包括边界点
lstCoPlanarVertexes.Clear();
//将e.end插入到ExtremeVertexes中
lstExtremeVertexes.Add(edge.end);
//然后将所有边界点置为有效
for (i = 0; i < lstExtremeVertexes.Count; i++)
{
mLstVInvalid[lstExtremeVertexes[i]] = false;
mLstExtremeVertex[lstExtremeVertexes[i]] = true;
lstCoPlanarVertexes.Add(lstExtremeVertexes[i]);
}
//此时再将CoPlanarVertexes插入到m_Planes中
//将共面的所有点构成的平面添加至m_Planes
mLstPlanes.Add(lstCoPlanarVertexes);
}
protected Edge SearchFirstEdge(Vector3 refNormal)
{
Edge edge = new Edge();
// find lowest vertexes
List <int> lstLowestVertexes = new List <int>();
float yMin = mLstVertex[0].y;
lstLowestVertexes.Add(0);
int i = 0;
for (i = 1; i < mLstVertex.Count; i++)
{
if (yMin - mLstVertex[i].y > mIdenticalPosErr) // smaller than yMin
{
yMin = mLstVertex[i].y;
lstLowestVertexes.Clear();
lstLowestVertexes.Add(i);
}
else if (Mathf.Abs(yMin - mLstVertex[i].y) < mIdenticalPosErr)
{
// vertex in the same plane
lstLowestVertexes.Add(i);
}
}
if (lstLowestVertexes.Count == 1) // only one vertex on bottom
{
edge.start = lstLowestVertexes[0];
// search second vertex on XOY plane
for (i = 0; i == edge.start; i++)
{
;
}
// 利用vRefNormal构造半平面...
HalfSpace hs = new HalfSpace(mLstVertex[edge.start], mLstVertex[i], mLstVertex[edge.start] + refNormal);
List <int> lstCoPlanarVertexes = new List <int>();
lstCoPlanarVertexes.Add(i); //add first vertex
for (i++; i < mLstVertex.Count; i++)
{
if (i != edge.start && !hs.Inside(mLstVertex[i]))
{
if (hs.OnPlane(mLstVertex[i]))
{
lstCoPlanarVertexes.Add(i); //add current vetex
}
else
{
// this vetex is not inside, use this vetex as a new one to reconstruct the helf space
hs.Set(mLstVertex[edge.start], mLstVertex[i], mLstVertex[edge.start] + refNormal);
lstCoPlanarVertexes.Clear();
lstCoPlanarVertexes.Add(i);
}
}
}
if (lstCoPlanarVertexes.Count == 1)
{
// only one vetex, let it be edge's end
edge.end = lstCoPlanarVertexes[0];
return(edge);
}
else
{
// more than one conplane vetex
Vector3 vd3 = hs.Normal;
// contruct initial half space
hs.Set(mLstVertex[edge.start], mLstVertex[lstCoPlanarVertexes[0]], mLstVertex[edge.start] + vd3);
List <int> lstCoLinearVertexes = new List <int>();
lstCoLinearVertexes.Add(lstCoPlanarVertexes[0]);
for (i = 1; i < lstCoPlanarVertexes.Count; i++)
{
if (!hs.Inside(mLstVertex[lstCoPlanarVertexes[i]]))
{
if (hs.OnPlane(mLstVertex[lstCoPlanarVertexes[i]]))
{
lstCoLinearVertexes.Add(lstCoPlanarVertexes[i]);
}
else
{
// rerconstruct halfspace
hs.Set(mLstVertex[edge.start], mLstVertex[lstCoPlanarVertexes[i]], mLstVertex[edge.start] + vd3);
lstCoLinearVertexes.Clear();
lstCoLinearVertexes.Add(lstCoPlanarVertexes[i]);
}
}
}
if (lstCoLinearVertexes.Count == 1)
{
// only one vetex, let it be edge's end
edge.end = lstCoLinearVertexes[0];
return(edge);
}
else
{
// sort all colinear vertex
SortByDist(edge.start, ref lstCoLinearVertexes);
// the farest veterx is the end, set other vertexes to invalid
edge.end = lstCoLinearVertexes[lstCoLinearVertexes.Count - 1];
for (i = 0; i < lstCoLinearVertexes.Count - 1; i++)
{
mLstVInvalid[lstCoLinearVertexes[i]] = true;
}
return(edge);
}
}
}
else // more than one vetexes on bottom
{
// just consider to find the edge on XOZ plane
if (lstLowestVertexes.Count == 2)
{
// only two vertex, just return the result edge
edge.start = lstLowestVertexes[0];
edge.end = lstLowestVertexes[1];
return(edge);
}
//find the minimum vetex acording to z value
List <int> lstZMinVertexes = new List <int>();
float zmin = mLstVertex[lstLowestVertexes[0]].z;
lstZMinVertexes.Add(lstLowestVertexes[0]);
for (i = 1; i < lstLowestVertexes.Count; i++)
{
if (zmin - mLstVertex[lstLowestVertexes[i]].z > mIdenticalPosErr)
{
zmin = mLstVertex[lstLowestVertexes[i]].z;
lstZMinVertexes.Clear();
lstZMinVertexes.Add(lstLowestVertexes[i]);
}
else if (Mathf.Abs(zmin - mLstVertex[lstLowestVertexes[i]].z) < mIdenticalPosErr)
{
// coplane
lstZMinVertexes.Add(lstLowestVertexes[i]);
}
}
if (lstZMinVertexes.Count == 1) //only one veterx found
{
//set the vertex to be start
edge.start = lstZMinVertexes[0];
List <int> lstCoLinearVertexes = new List <int>();
//find the other vertex in LowestVertexes
for (i = 0; lstLowestVertexes[i] == edge.start; i++)
{
;
}
lstCoLinearVertexes.Add(lstLowestVertexes[i]);
Vector3 vd3 = new Vector3(0.0f, -1.0f, 0.0f);
HalfSpace hs = new HalfSpace(mLstVertex[edge.start], mLstVertex[lstLowestVertexes[i]], mLstVertex[edge.start] + vd3);
for (i++; i < lstLowestVertexes.Count; i++)
{
if (lstLowestVertexes[i] != edge.start && !hs.Inside(mLstVertex[lstLowestVertexes[i]]))
{
if (hs.OnPlane(mLstVertex[lstLowestVertexes[i]]))
{
lstCoLinearVertexes.Add(lstLowestVertexes[i]);
}
else
{
//reonstruct halfspace
hs.Set(mLstVertex[edge.start], mLstVertex[lstLowestVertexes[i]], mLstVertex[edge.start] + vd3);
//清空，并重新计算共线点集
lstCoLinearVertexes.Clear();
lstCoLinearVertexes.Add(lstLowestVertexes[i]);
}
}
}
if (lstCoLinearVertexes.Count == 1)
{
//only one colinear vertex
edge.end = lstCoLinearVertexes[0];
return(edge);
}
else
{
// sort all colinear vertex
SortByDist(edge.start, ref lstCoLinearVertexes);
// the farest veterx is the end, set other vertexes to invalid
edge.end = lstCoLinearVertexes[lstCoLinearVertexes.Count - 1];
for (i = 0; i < lstCoLinearVertexes.Count - 1; i++)
{
mLstVInvalid[lstCoLinearVertexes[i]] = true;
}
return(edge);
}
}
else //more than one veterx found
{
//find the veterxs with min and max X value
int xminID = lstZMinVertexes[0];
int xmaxID = lstZMinVertexes[0];
float XMin = mLstVertex[lstZMinVertexes[0]].x;
float XMax = mLstVertex[lstZMinVertexes[0]].x;
for (i = 1; i < lstZMinVertexes.Count; i++)
{
if (XMin - mLstVertex[lstZMinVertexes[i]].x > mIdenticalPosErr)
{
XMin = mLstVertex[lstZMinVertexes[i]].x;
xminID = lstZMinVertexes[i];
}
if (mLstVertex[lstZMinVertexes[i]].x - XMax > mIdenticalPosErr)
{
XMax = mLstVertex[lstZMinVertexes[i]].x;
xmaxID = lstZMinVertexes[i];
}
}
// set all vertex to invalid
for (i = 0; i < lstZMinVertexes.Count; i++)
{
mLstVInvalid[lstZMinVertexes[i]] = true;
}
// set edge end vertex to valid
mLstVInvalid[xmaxID] = false;
mLstVInvalid[xminID] = false;
mLstExtremeVertex[xmaxID] = true;
mLstExtremeVertex[xminID] = true;
edge.start = xminID;
edge.end = xmaxID;
return(edge);
}
}
//return null;
}
public CDSide(HalfSpace hs, bool bevel)
{
Init(hs, bevel);
}
public void Init(HalfSpace hs, bool bevel)
{
Plane = hs;
Bevel = bevel;
}