private static Sphere CreateSphereBarrier(IEnumerable <ITrackBoundary> trackObjects, [NotNull] Sphere sphere)
{
if (sphere == null)
{
throw new ArgumentNullException(nameof(sphere));
}
var walls = trackObjects.OfType <Wall>().GroupBy(x =>
x.Corners.Select(y => Vector3D.AbsoluteValue(y - sphere.Center)).Min())
.OrderBy(x => x.Key).SelectMany(x => x).Take(3).ToList();
var corner = walls.Select(x => x.Corners).Aggregate((x, y) => x.Intersect(y).ToList()).Single();
var intersectionPoints = walls.Select(sphere.GetInterSection).ToList();
var barrier = new Plane(intersectionPoints[0], intersectionPoints[1], intersectionPoints[2]);
var sign = barrier.DeterminePointPosition(corner);
var checker = new PointChecker(barrier, sign);
sphere.Checker = checker;
return(sphere);
}
private static Cylinder CalculateCylinder(Line first, Line second, Line wallLine, double radius)
{
var angle = Vector3D.Angle(first.Direction, second.Direction);
var distance = Math.Sin(90.0.ToRadian()) / Math.Sin(angle / 2) * radius;
var minimumWallDistance = Math.Sqrt(Math.Pow(distance, 2) - Math.Pow(radius, 2));
var referencePoint = wallLine.Contains(first.BasePoint) ? first.BasePoint : first.SecondPoint;
var firstSign = first.BasePoint == referencePoint ? +1 : -1;
var secondSign = second.BasePoint == referencePoint ? +1 : -1;
var firstPoint = first.GetPointOnLine(referencePoint, firstSign * minimumWallDistance);
var secondPoint = second.GetPointOnLine(referencePoint, secondSign * minimumWallDistance);
var crossLine = new Line(firstPoint, secondPoint);
var directLine = new Line(referencePoint, crossLine.ClosestPoint(referencePoint));
var top = directLine.GetPointOnLine(distance);
var difference = top - referencePoint;
var otherPoint = referencePoint == wallLine.BasePoint ? wallLine.SecondPoint : wallLine.BasePoint;
var bottom = otherPoint + difference;
var basLine = new Line(top, bottom);
var reverseBase = new Line(bottom, top);
var correctTop = basLine.GetPointOnLine(radius);
var correctBottom = reverseBase.GetPointOnLine(radius);
var wallHeight = Vector3D.AbsoluteValue(wallLine.SecondPoint - wallLine.BasePoint);
var sign = otherPoint == wallLine.BasePoint ? -1 : +1;
var bottomPoint = firstPoint + sign * wallHeight * (wallLine.SecondPoint - wallLine.BasePoint).Normalize();
var barrier = new Plane(firstPoint, secondPoint, bottomPoint);
var checker = new PointChecker(barrier, barrier.DeterminePointPosition(referencePoint));
return(new Cylinder(correctTop, correctBottom, checker, radius));
}