public eStatus Evaluate(GJK gjk,ref Vector3 guess)
{
sSimplex simplex=gjk.m_simplex;
if((simplex.rank>1)&&gjk.EncloseOrigin())
{
/* Clean up */
while(m_hull.Count > 0)
{
sFace f = m_hull[0];
Remove(m_hull,f);
Append(m_stock,f);
}
m_status = eStatus.Valid;
m_nextsv = 0;
/* Orient simplex */
if(GJK.Det( simplex.c[0].w-simplex.c[3].w,
simplex.c[1].w-simplex.c[3].w,
simplex.c[2].w-simplex.c[3].w)<0)
{
SwapSv(simplex.c,0,1);
SwapFloat(simplex.p,0,1);
}
/* Build initial hull */
sFace[] tetra ={NewFace(simplex.c[0],simplex.c[1],simplex.c[2],true),
NewFace(simplex.c[1],simplex.c[0],simplex.c[3],true),
NewFace(simplex.c[2],simplex.c[1],simplex.c[3],true),
NewFace(simplex.c[0],simplex.c[2],simplex.c[3],true)};
if(m_hull.Count==4)
{
sFace best=FindBest();
sFace outer = best;
uint pass=0;
uint iterations=0;
Bind(tetra[0],0,tetra[1],0);
Bind(tetra[0],1,tetra[2],0);
Bind(tetra[0],2,tetra[3],0);
Bind(tetra[1],1,tetra[3],2);
Bind(tetra[1],2,tetra[2],1);
Bind(tetra[2],2,tetra[3],1);
m_status=eStatus.Valid;
for (; iterations < GjkEpaSolver2.EPA_MAX_ITERATIONS; ++iterations)
{
if (m_nextsv < GjkEpaSolver2.EPA_MAX_VERTICES)
{
sHorizon horizon = new sHorizon() ;
sSV w = m_sv_store[m_nextsv++];
bool valid = true;
best.pass = (uint)(++pass);
gjk.GetSupport(ref best.n,ref w);
float wdist=Vector3.Dot(best.n,w.w)-best.d;
if (wdist > GjkEpaSolver2.EPA_ACCURACY)
{
for(int j=0;(j<3)&&valid;++j)
{
valid&=Expand( pass,w,
best.f[j],best.e[j],
horizon);
}
if(valid&&(horizon.nf>=3))
{
Bind(horizon.cf,1,horizon.ff,2);
Remove(m_hull,best);
Append(m_stock,best);
best=FindBest();
if (best.p >= outer.p)
{
outer = best;
}
}
else
{
m_status=eStatus.InvalidHull;
break;
}
}
else
{
m_status=eStatus.AccuraryReached;
break;
}
}
else
{
m_status=eStatus.OutOfVertices;
break;
}
}
Vector3 projection=outer.n*outer.d;
m_normal = outer.n;
m_depth = outer.d;
m_result.rank = 3;
m_result.c[0] = outer.c[0];
m_result.c[1] = outer.c[1];
m_result.c[2] = outer.c[2];
m_result.p[0] = Vector3.Cross( outer.c[1].w-projection,
outer.c[2].w-projection).Length();
m_result.p[1] = Vector3.Cross(outer.c[2].w - projection,
outer.c[0].w-projection).Length();
m_result.p[2] = Vector3.Cross(outer.c[0].w - projection,
outer.c[1].w-projection).Length();
float sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
m_result.p[0] /= sum;
m_result.p[1] /= sum;
m_result.p[2] /= sum;
return(m_status);
}
}
/* Fallback */
m_status = eStatus.FallBack;
m_normal = -guess;
float nl=m_normal.LengthSquared();
if(nl>0)
{
m_normal.Normalize();
}
else
{
m_normal = new Vector3(1,0,0);
}
m_depth = 0;
m_result.rank=1;
m_result.c[0]=simplex.c[0];
m_result.p[0]=1;
return(m_status);
}
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);
}
