public eStatus Evaluate(GJK gjk, ref IndexedVector3 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 */
tetra[0] = NewFace(simplex.c[0], simplex.c[1], simplex.c[2], true);
tetra[1] = NewFace(simplex.c[1], simplex.c[0], simplex.c[3], true);
tetra[2] = NewFace(simplex.c[2], simplex.c[1], simplex.c[3], true);
tetra[3] = 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 = IndexedVector3.Dot(ref best.n, ref 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],
ref 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;
}
}
IndexedVector3 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] = IndexedVector3.Cross(outer.c[1].w - projection,
outer.c[2].w - projection).Length();
m_result.p[1] = IndexedVector3.Cross(outer.c[2].w - projection,
outer.c[0].w - projection).Length();
m_result.p[2] = IndexedVector3.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 IndexedVector3(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 EncloseOrigin()
{
switch (m_simplex.rank)
{
case 1:
{
for (int i = 0; i < 3; ++i)
{
IndexedVector3 axis = IndexedVector3.Zero;
axis[i] = 1f;
AppendVertice(m_simplex, ref axis);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
IndexedVector3 temp = -axis;
AppendVertice(m_simplex, ref temp);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
}
break;
}
case 2:
{
IndexedVector3 d = m_simplex.c[1].w - m_simplex.c[0].w;
for (int i = 0; i < 3; ++i)
{
IndexedVector3 axis = IndexedVector3.Zero;
axis[i] = 1f;
IndexedVector3 p = IndexedVector3.Cross(d, axis);
if (p.LengthSquared() > 0)
{
AppendVertice(m_simplex, ref p);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
IndexedVector3 temp = -p;
AppendVertice(m_simplex, ref temp);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
}
}
break;
}
case 3:
{
IndexedVector3 n = IndexedVector3.Cross(m_simplex.c[1].w - m_simplex.c[0].w,
m_simplex.c[2].w - m_simplex.c[0].w);
if (n.LengthSquared() > 0)
{
AppendVertice(m_simplex, ref n);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
IndexedVector3 temp = -n;
AppendVertice(m_simplex, ref temp);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
}
break;
}
case 4:
{
if (Math.Abs(GJK.Det(m_simplex.c[0].w - m_simplex.c[3].w,
m_simplex.c[1].w - m_simplex.c[3].w,
m_simplex.c[2].w - m_simplex.c[3].w)) > 0)
{
return(true);
}
break;
}
default:
{
break;
}
}
return(false);
}