/* outdated, was implementing a universal (convex or concave) mesh vs ray check
*
* public static void checkMeshRayCollision(SpatialVectorDouble rayOrigin, SpatialVectorDouble rayDirection, PhysicsComponentAndCollidersPair physicsComponentAndMesh, CollisionDescriptor collisionDescriptor) {
* TransformedMeshComponent transformedMeshComponent = physicsComponentAndMesh.transformedMeshComponent;
*
* PlueckerCoordinate plueckerCoordinateOfRay = PlueckerCoordinate.createByVector(rayOrigin, rayDirection);
*
* for(int faceIndex = 0; faceIndex < transformedMeshComponent.meshComponent.mesh.faces.Length; faceIndex++) {
* if( !doesFaceIntersectRay(plueckerCoordinateOfRay, (uint)faceIndex, transformedMeshComponent) ) {
* continue;
* }
*
* SpatialVectorDouble planeNormal;
* SpatialVectorDouble planeOrigin;
* {
* uint
* vertexIndex0 = physicsComponentAndMesh.transformedMeshComponent.meshComponent.mesh.faces[faceIndex].verticesIndices[0],
* vertexIndex1 = physicsComponentAndMesh.transformedMeshComponent.meshComponent.mesh.faces[faceIndex].verticesIndices[1],
* vertexIndex2 = physicsComponentAndMesh.transformedMeshComponent.meshComponent.mesh.faces[faceIndex].verticesIndices[2];
*
* SpatialVectorDouble
* p0 = physicsComponentAndMesh.transformedMeshComponent.transformedVertices[vertexIndex0],
* p1 = physicsComponentAndMesh.transformedMeshComponent.transformedVertices[vertexIndex1],
* p2 = physicsComponentAndMesh.transformedMeshComponent.transformedVertices[vertexIndex2];
*
* SpatialVectorDouble
* diff01 = p1 - p0,
* diff02 = p2 - p0;
*
* planeOrigin = p0;
*
* planeNormal = SpatialVectorDouble.crossProduct(diff01, diff02);
* // TODO< normalize >
* }
*
* // calculate distance of intersection to face
* double intersectionDistance = WhiteSphereEngine.geometry.Plane.calcD(planeOrigin, planeNormal, rayOrigin, rayDirection);
*
* // check if distance to plane is smaller than the last collision and bigger than 0.0
* if ( intersectionDistance < 0.0 ) {
* continue;
* }
*
* if (collisionDescriptor.rayDistance < intersectionDistance) {
* continue;
* }
*
* // store collision information
* collisionDescriptor.rayDistance = intersectionDistance;
* collisionDescriptor.faceIndex = (uint)faceIndex;
* collisionDescriptor.faceNormal = planeNormal;
* collisionDescriptor.physicsComponentAndMesh = physicsComponentAndMesh;
* collisionDescriptor.hit = true;
* }
* }
*/
public static bool doesFaceIntersectRay(PlueckerCoordinate plueckerCoordinate, uint faceIndex, TransformedMeshComponent transformedMeshComponent)
{
uint[] verticesIndices = transformedMeshComponent.meshComponent.mesh.faces[(int)faceIndex].verticesIndices;
for (int edgeIndex = 0; edgeIndex < verticesIndices.Length - 1; edgeIndex++)
{
uint vertexIndex0 = verticesIndices[edgeIndex];
uint vertexIndex1 = verticesIndices[edgeIndex + 1];
SpatialVectorDouble vertex0 = transformedMeshComponent.transformedVertices[vertexIndex0];
SpatialVectorDouble vertex1 = transformedMeshComponent.transformedVertices[vertexIndex1];
if (!checkPlueckerCoordinateAgainstEdge(plueckerCoordinate, vertex1, vertex0))
{
return(false);
}
}
// check last vertex to first
{
SpatialVectorDouble vertex0 = transformedMeshComponent.transformedVertices[verticesIndices.Length - 1];
SpatialVectorDouble vertex1 = transformedMeshComponent.transformedVertices[0];
if (!checkPlueckerCoordinateAgainstEdge(plueckerCoordinate, vertex1, vertex0))
{
return(false);
}
}
return(true);
}
static bool checkPlueckerCoordinateAgainstEdge(PlueckerCoordinate plueckerCoordinate, SpatialVectorDouble vertex0, SpatialVectorDouble vertex1)
{
PlueckerCoordinate plueckerCoordinateOfEdge = PlueckerCoordinate.createByPandQ(vertex0, vertex1);
return(PlueckerCoordinate.checkCcw(plueckerCoordinate, plueckerCoordinateOfEdge));
}
