private Tuple<Point3D, Vector3D>[] GetVisualizationOfHull_Plate(AxisForDouble axis1, AxisForDouble axis2, AxisForDouble axis3, Vector3D rayDirection)
{
//WARNING: Make sure rayDirection is long enough to pass through the entire hullD
List<Tuple<Point3D, Vector3D>> retVal = new List<Tuple<Point3D, Vector3D>>();
double percent;
Point3D? contactPoint;
Vector3D? contactNormal;
int faceID;
foreach (Point3D point in AxisForDouble.Iterate(axis1, axis2, axis3))
{
if (RayCast(out percent, out contactPoint, out contactNormal, out faceID, point, point + rayDirection))
{
retVal.Add(Tuple.Create(contactPoint.Value, contactNormal.Value));
}
}
return retVal.ToArray();
}
/// <summary>
/// This iterates over three axiis as points
/// WARNING: It's up to the caller to make sure each of the three axiis is unique (one for X, one for Y, one for Z)
/// </summary>
public static IEnumerable<Point3D> Iterate(AxisForDouble axis1, AxisForDouble axis2, AxisForDouble axis3)
{
foreach (double v1 in axis1.Iterate())
{
foreach (double v2 in axis2.Iterate())
{
foreach (double v3 in axis3.Iterate())
{
double x = 0, y = 0, z = 0;
axis1.SetCorrespondingValue(ref x, ref y, ref z, v1);
axis2.SetCorrespondingValue(ref x, ref y, ref z, v2);
axis3.SetCorrespondingValue(ref x, ref y, ref z, v3);
yield return new Point3D(x, y, z);
}
}
}
}
/// <summary>
/// This is a helper method to visualize the collision hull. It fires rays toward the hull, and returns where those rays hit
/// </summary>
/// <returns>
/// Item1=Position
/// Item2=Normal
/// </returns>
public Tuple<Point3D, Vector3D>[] GetVisualizationOfHull(int steps = 10)
{
Point3D aabbMin, aabbMax;
CalculateAproximateAABB(out aabbMin, out aabbMax);
List<Tuple<Point3D, Vector3D>> retVal = new List<Tuple<Point3D, Vector3D>>();
//TODO: Adjust the steps to get a square dpi
int xSteps = steps;
int ySteps = steps;
int zSteps = steps;
// XY
AxisForDouble axis1 = new AxisForDouble(Axis.X, aabbMin.X, aabbMax.X, xSteps);
AxisForDouble axis2 = new AxisForDouble(Axis.Y, aabbMin.Y, aabbMax.Y, ySteps);
Vector3D direction = new Vector3D(0, 0, aabbMax.Z - aabbMin.Z);
retVal.AddRange(GetVisualizationOfHull_Plate(axis1, axis2, new AxisForDouble(Axis.Z, aabbMin.Z), direction));
retVal.AddRange(GetVisualizationOfHull_Plate(axis1, axis2, new AxisForDouble(Axis.Z, aabbMax.Z), -direction));
// XZ
axis1 = new AxisForDouble(Axis.X, aabbMin.X, aabbMax.X, xSteps);
axis2 = new AxisForDouble(Axis.Z, aabbMin.Z, aabbMax.Z, zSteps);
direction = new Vector3D(0, aabbMax.Y - aabbMin.Y, 0);
retVal.AddRange(GetVisualizationOfHull_Plate(axis1, axis2, new AxisForDouble(Axis.Y, aabbMin.Y), direction));
retVal.AddRange(GetVisualizationOfHull_Plate(axis1, axis2, new AxisForDouble(Axis.Y, aabbMax.Y), -direction));
// YZ
axis1 = new AxisForDouble(Axis.Y, aabbMin.Y, aabbMax.Y, ySteps);
axis2 = new AxisForDouble(Axis.Z, aabbMin.Z, aabbMax.Z, zSteps);
direction = new Vector3D(aabbMax.X - aabbMin.X, 0, 0);
retVal.AddRange(GetVisualizationOfHull_Plate(axis1, axis2, new AxisForDouble(Axis.X, aabbMin.X), direction));
retVal.AddRange(GetVisualizationOfHull_Plate(axis1, axis2, new AxisForDouble(Axis.X, aabbMax.X), -direction));
return retVal.ToArray();
}
/// <summary>
/// This iterates over two axiis as points
/// WARNING: It's up to the caller to make sure each of the two axiis is unique (one for X, one for Y, nothing for Z)
/// </summary>
public static IEnumerable<Point> Iterate(AxisForDouble axis1, AxisForDouble axis2)
{
if (axis1.Axis == Axis.Z || axis2.Axis == Axis.Z)
{
throw new ArgumentException("Z should never be passed into this 2D method");
}
foreach (double v1 in axis1.Iterate())
{
foreach (double v2 in axis2.Iterate())
{
double x = 0, y = 0, dummy = 0;
axis1.SetCorrespondingValue(ref x, ref y, ref dummy, v1);
axis2.SetCorrespondingValue(ref x, ref y, ref dummy, v2);
yield return new Point(x, y);
}
}
}
