// from http://stackoverflow.com/questions/2168055/k-dop-collision-between-different-k-and-volumes
public static bool checkIntersect(KDop a, KDop b)
{
Debug.Assert(a.k == b.k);
for (int i = 0; i < a.k / 2; i++)
{
if ((a.min[i] > b.max[i]) || (a.max[i] < b.min[i]))
{
return(false);
}
}
return(true);
}
// based on http://stackoverflow.com/questions/2168055/k-dop-collision-between-different-k-and-volumes
public static bool checkIntersectAabb(KDop other, KDop aabb)
{
Debug.Assert(other.baseVectorsStartWithAabb);
Debug.Assert(aabb.baseVectorsStartWithAabb); // must be AABB
for (int i = 0; i < 3; i++) // we just have to check the first 3 base vectors
{
if ((other.min[i] > aabb.max[i]) || (other.max[i] < aabb.min[i]))
{
return(false);
}
}
return(true);
}
public static KDop makeAabbKDopByCenterAndRadius(SpatialVectorDouble center, double radius)
{
Debug.Assert(radius > 0.0);
KDop result = new KDop(KDop.BASEVECTORSOFKDOP6, 6, true);
result.min[0] = center.x - radius;
result.min[1] = center.y - radius;
result.min[2] = center.z - radius;
result.max[0] = center.x + radius;
result.max[1] = center.y + radius;
result.max[2] = center.z + radius;
return(result);
}
public static KDop calculateKdopFromVerticesAndbaseVectors(IList <SpatialVectorDouble> vertices, SpatialVectorDouble[] baseVectors, bool baseVectorsStartWithAabb)
{
uint k = (uint)baseVectors.Length * 2;
KDop result = new KDop(baseVectors, k, baseVectorsStartWithAabb);
foreach (SpatialVectorDouble iterationVertex in vertices)
{
for (int baseVectorI = 0; baseVectorI < baseVectors.Length; baseVectorI++)
{
double dotWithIterationVector = SpatialVectorDouble.dot(iterationVertex, baseVectors[baseVectorI]);
result.min[baseVectorI] = System.Math.Min(result.min[baseVectorI], dotWithIterationVector);
result.max[baseVectorI] = System.Math.Max(result.max[baseVectorI], dotWithIterationVector);
}
}
return(result);
}