Exemplo n.º 1
0
        /// 三角形描画
        public void DrawTriangle(GraphicsContext graphics, GeometryTriangle trgTri, Camera cam, Rgba color)
        {
            if (debShader == null)
            {
                return;
            }

            /// バーテクスの更新
            ///------------------------------------------------------------
            for (int i = 0; i < 3; i++)
            {
                debMesh.Positions[i * 3 + 0] = trgTri.GetPos(i).X;
                debMesh.Positions[i * 3 + 1] = trgTri.GetPos(i).Y;
                debMesh.Positions[i * 3 + 2] = trgTri.GetPos(i).Z;

                debMesh.Normals[i * 3 + 0] = trgTri.Plane.Nor.X;
                debMesh.Normals[i * 3 + 1] = trgTri.Plane.Nor.Y;
                debMesh.Normals[i * 3 + 2] = trgTri.Plane.Nor.Z;
            }

            debVb.SetVertices(0, debMesh.Positions);
            debVb.SetIndices(debMesh.Indices);

            drawMesh(graphics, cam, color);
        }
Exemplo n.º 2
0
        /// 三角形と点との内外判定
        static private bool checkInsideTriangle(GeometryTriangle trgTri, Vector3 crossPos)
        {
            int   type;
            float d1, d2, d3;

            if (FMath.Abs(trgTri.Plane.Nor.X) < FMath.Abs(trgTri.Plane.Nor.Y))
            {
                type = (FMath.Abs(trgTri.Plane.Nor.Y) < FMath.Abs(trgTri.Plane.Nor.Z)) ? 3 : 2;
            }
            else
            {
                type = (FMath.Abs(trgTri.Plane.Nor.X) < FMath.Abs(trgTri.Plane.Nor.Z)) ? 3 : 1;
            }


            switch (type)
            {
            /// X方向に面が傾いているためX軸を破棄
            case 1:
                d1 = ((crossPos.Y - trgTri.Pos1.Y) * (crossPos.Z - trgTri.Pos2.Z)) -
                     ((crossPos.Z - trgTri.Pos1.Z) * (crossPos.Y - trgTri.Pos2.Y));
                d2 = ((crossPos.Y - trgTri.Pos2.Y) * (crossPos.Z - trgTri.Pos3.Z)) -
                     ((crossPos.Z - trgTri.Pos2.Z) * (crossPos.Y - trgTri.Pos3.Y));
                d3 = ((crossPos.Y - trgTri.Pos3.Y) * (crossPos.Z - trgTri.Pos1.Z)) -
                     ((crossPos.Z - trgTri.Pos3.Z) * (crossPos.Y - trgTri.Pos1.Y));
                break;

            /// y方向に面が傾いているためY軸を破棄
            case 2:
                d1 = ((crossPos.X - trgTri.Pos1.X) * (crossPos.Z - trgTri.Pos2.Z)) -
                     ((crossPos.Z - trgTri.Pos1.Z) * (crossPos.X - trgTri.Pos2.X));
                d2 = ((crossPos.X - trgTri.Pos2.X) * (crossPos.Z - trgTri.Pos3.Z)) -
                     ((crossPos.Z - trgTri.Pos2.Z) * (crossPos.X - trgTri.Pos3.X));
                d3 = ((crossPos.X - trgTri.Pos3.X) * (crossPos.Z - trgTri.Pos1.Z)) -
                     ((crossPos.Z - trgTri.Pos3.Z) * (crossPos.X - trgTri.Pos1.X));
                break;

            /// Z方向に面が傾いているためZ軸を破棄
            case 3:
                d1 = ((crossPos.X - trgTri.Pos1.X) * (crossPos.Y - trgTri.Pos2.Y)) -
                     ((crossPos.Y - trgTri.Pos1.Y) * (crossPos.X - trgTri.Pos2.X));
                d2 = ((crossPos.X - trgTri.Pos2.X) * (crossPos.Y - trgTri.Pos3.Y)) -
                     ((crossPos.Y - trgTri.Pos2.Y) * (crossPos.X - trgTri.Pos3.X));
                d3 = ((crossPos.X - trgTri.Pos3.X) * (crossPos.Y - trgTri.Pos1.Y)) -
                     ((crossPos.Y - trgTri.Pos3.Y) * (crossPos.X - trgTri.Pos1.X));
                break;

            default:
                return(true);
            }

            /// 全て符号が同じなら当り。
            if ((d1 >= -epsilon && d2 >= -epsilon && d3 >= -epsilon) ||
                (d1 <= epsilon && d2 <= epsilon && d3 <= epsilon))
            {
                return(true);
            }

            return(false);
        }
Exemplo n.º 3
0
        /// 点の移動と三角形との衝突チェック

        /**
         * moveLineの軌道による点の移動とtrgTriとの衝突チェックを行います。
         * collPosには衝突した座標を返します(返り値がtrueの時のみ情報が更新)
         */
        static public bool CheckLineAndTriangle(GeometryLine moveLine, GeometryTriangle trgTri, ref Vector3 collPos)
        {
            /// 表裏判定
            if (moveLine.Vec.Dot(trgTri.Plane.Nor) >= 0.0f)
            {
                return(false);
            }
            /// 平面との交差チェック
            if (checkRayCrossPlane(trgTri.Plane, moveLine) == false)
            {
                return(false);
            }
            /// 平面との交点を求める
            if (getRayPlaneCrossPoint(trgTri.Plane, moveLine, ref collPos) < epsilon)
            {
                return(false);
            }
            /// 三角形の内外判定
            if (checkInsideTriangle(trgTri, collPos) == false)
            {
                return(false);
            }

            return(true);
        }
Exemplo n.º 4
0
        /// 点と三角形の3辺との最近接点を算出
        static private float getClosestPtPosTriangle(Vector3 trgPos, GeometryTriangle trgTri, ref Vector3 cPos)
        {
            float   isDis, bestDis;
            Vector3 crosePos = new Vector3(0, 0, 0);

            bestDis = 0.0f;
            for (int i = 0; i < 3; i++)
            {
                isDis = getClosestPtPosLine(trgPos, trgTri.GetPos(i), trgTri.GetPos((i + 1) % 3), ref crosePos);

                /// 最近接点を更新
                if (i == 0 || isDis < bestDis)
                {
                    bestDis = isDis;
                    cPos    = crosePos;
                }
            }
            return(bestDis);
        }
Exemplo n.º 5
0
/// public メンバ (球の移動)
///---------------------------------------------------------------------------

        /// 球の移動と三角形との衝突チェック

        /**
         * moveCapの軌道による球の移動とtrgTriとの衝突チェックを行います。
         * collPosには衝突した座標を返します(返り値がtrueの時のみ情報が更新)
         */
        static public bool CheckSphereAndTriangle(GeometryCapsule moveCap, GeometryTriangle trgTri, ref Vector3 collPos)
        {
            /// 表裏判定
            if (moveCap.Line.Vec.Dot(trgTri.Plane.Nor) >= 0.0f)
            {
                return(false);
            }

            Vector3 firstHitPos, firstHitMovePos;
            float   trgDis;
            bool    isCrossFlg;


            /// 三角形の平面との球の最近接点(頂点P)を算出
            firstHitPos.X = moveCap.Line.StartPos.X + (moveCap.R * (trgTri.Plane.Nor.X * -1));
            firstHitPos.Y = moveCap.Line.StartPos.Y + (moveCap.R * (trgTri.Plane.Nor.Y * -1));
            firstHitPos.Z = moveCap.Line.StartPos.Z + (moveCap.R * (trgTri.Plane.Nor.Z * -1));

            /// 既にPと球の中心が三角形を跨いでいるかチェック
            isCrossFlg = false;

            /// 符合が一致すると平面に対して交差した事にならない
            float sign1, sign2;

            sign1 = trgTri.Plane.Nor.Dot(moveCap.Line.StartPos) + trgTri.Plane.D;
            sign2 = trgTri.Plane.Nor.Dot(firstHitPos) + trgTri.Plane.D;

            if ((sign1 > epsilon && sign2 > epsilon) || (sign1 < epsilon && sign2 < epsilon))
            {
                calLine.Vec      = moveCap.Line.Vec;
                calLine.Length   = moveCap.Line.Length;
                calLine.StartPos = firstHitPos;

                /// Pが移動する地点P'を算出
                calLine.EndPos.X = firstHitPos.X + (moveCap.Line.Vec.X * moveCap.Line.Length);
                calLine.EndPos.Y = firstHitPos.Y + (moveCap.Line.Vec.Y * moveCap.Line.Length);
                calLine.EndPos.Z = firstHitPos.Z + (moveCap.Line.Vec.Z * moveCap.Line.Length);
            }

            else
            {
                isCrossFlg = true;

                /// Pが移動する地点P'を算出
                firstHitMovePos.X = moveCap.Line.StartPos.X + (moveCap.Line.Vec.X * (moveCap.Line.Length + moveCap.R));
                firstHitMovePos.Y = moveCap.Line.StartPos.Y + (moveCap.Line.Vec.Y * (moveCap.Line.Length + moveCap.R));
                firstHitMovePos.Z = moveCap.Line.StartPos.Z + (moveCap.Line.Vec.Z * (moveCap.Line.Length + moveCap.R));
                firstHitPos       = moveCap.Line.StartPos;

                /// 三角形との最初に衝突する移動ラインを作成
                calLine.Set(firstHitPos, firstHitMovePos);
            }


            /// 移動ラインと平面との交差チェック
            if (isCrossFlg == true || checkRayCrossPlane(trgTri.Plane, calLine) == true)
            {
                /// 平面との交点を求める
                trgDis = getRayPlaneCrossPoint(trgTri.Plane, calLine, ref collPos);

                /// 三角形の内外判定
                ///-----------------------------------------------------
                if (checkInsideTriangle(trgTri, collPos) == true)
                {
                    return(true);
                }

                /// カプセルが三角形の3辺と接触しているかのチェック
                ///-----------------------------------------------------
                else
                {
                    /// 三角形の3辺と点との最近接点を取得
                    Vector3 linePos = new Vector3(0, 0, 0);

                    getClosestPtPosTriangle(collPos, trgTri, ref linePos);

                    Vector3 calVec = moveCap.Line.Vec * -1.0f;


                    /// 球が三角形の交点と接触するかチェック
                    calSph.Set(moveCap.Line.StartPos, moveCap.R);

                    float aT = checkRayCrossSphere(linePos, calVec, calSph);
                    trgDis = FMath.Sqrt(calSph.Pos.Dot(linePos));
                    if (trgDis < calSph.R)
                    {
                        aT = trgDis;
                    }

                    /// 衝突確定
                    if (aT >= 0.0f && aT <= moveCap.Line.Length)
                    {
                        collPos = linePos;
                        return(true);
                    }
                }
            }

            return(false);
        }
Exemplo n.º 6
0
        /// 点と三角形の3辺との最近接点を算出
        private static float getClosestPtPosTriangle( Vector3 trgPos, GeometryTriangle trgTri, ref Vector3 cPos )
        {
            float isDis, bestDis;
            Vector3 crosePos = new Vector3(0,0,0);

            bestDis = 0.0f;
            for( int i=0; i<3; i++ ){
            isDis = getClosestPtPosLine( trgPos, trgTri.GetPos(i), trgTri.GetPos((i+1)%3), ref crosePos );

            /// 最近接点を更新
            if( i == 0 || isDis < bestDis ){
                bestDis = isDis;
                cPos = crosePos;
            }
            }
            return bestDis;
        }
Exemplo n.º 7
0
        /// 三角形と点との内外判定
        private static bool checkInsideTriangle( GeometryTriangle trgTri, Vector3 crossPos )
        {
            int type;
            float d1, d2, d3;

            if( FMath.Abs( trgTri.Plane.Nor.X ) < FMath.Abs( trgTri.Plane.Nor.Y ) ){
            type = (FMath.Abs( trgTri.Plane.Nor.Y ) < FMath.Abs( trgTri.Plane.Nor.Z ) ) ? 3 : 2;
            }
            else{
            type = (FMath.Abs( trgTri.Plane.Nor.X ) < FMath.Abs( trgTri.Plane.Nor.Z )) ? 3 : 1;
            }

            switch( type ){

            /// X方向に面が傾いているためX軸を破棄
            case 1:
            d1 = ( (crossPos.Y - trgTri.Pos1.Y) * (crossPos.Z - trgTri.Pos2.Z) ) -
                 ( (crossPos.Z - trgTri.Pos1.Z) * (crossPos.Y - trgTri.Pos2.Y) );
            d2 = ( (crossPos.Y - trgTri.Pos2.Y) * (crossPos.Z - trgTri.Pos3.Z) ) -
                 ( (crossPos.Z - trgTri.Pos2.Z) * (crossPos.Y - trgTri.Pos3.Y) );
            d3 = ( (crossPos.Y - trgTri.Pos3.Y) * (crossPos.Z - trgTri.Pos1.Z) ) -
                 ( (crossPos.Z - trgTri.Pos3.Z) * (crossPos.Y - trgTri.Pos1.Y) );
            break;

            /// y方向に面が傾いているためY軸を破棄
            case 2:
            d1 = ( (crossPos.X - trgTri.Pos1.X) * (crossPos.Z - trgTri.Pos2.Z) ) -
                 ( (crossPos.Z - trgTri.Pos1.Z) * (crossPos.X - trgTri.Pos2.X) );
            d2 = ( (crossPos.X - trgTri.Pos2.X) * (crossPos.Z - trgTri.Pos3.Z) ) -
                 ( (crossPos.Z - trgTri.Pos2.Z) * (crossPos.X - trgTri.Pos3.X) );
            d3 = ( (crossPos.X - trgTri.Pos3.X) * (crossPos.Z - trgTri.Pos1.Z) ) -
                 ( (crossPos.Z - trgTri.Pos3.Z) * (crossPos.X - trgTri.Pos1.X) );
            break;

            /// Z方向に面が傾いているためZ軸を破棄
            case 3:
            d1 = ( (crossPos.X - trgTri.Pos1.X) * (crossPos.Y - trgTri.Pos2.Y) ) -
                 ( (crossPos.Y - trgTri.Pos1.Y) * (crossPos.X - trgTri.Pos2.X) );
            d2 = ( (crossPos.X - trgTri.Pos2.X) * (crossPos.Y - trgTri.Pos3.Y) ) -
                 ( (crossPos.Y - trgTri.Pos2.Y) * (crossPos.X - trgTri.Pos3.X) );
            d3 = ( (crossPos.X - trgTri.Pos3.X) * (crossPos.Y - trgTri.Pos1.Y) ) -
                 ( (crossPos.Y - trgTri.Pos3.Y) * (crossPos.X - trgTri.Pos1.X) );
            break;

              default:
            return true;
            }

            /// 全て符号が同じなら当り。
            if( (d1 >= -epsilon && d2 >= -epsilon && d3 >= -epsilon ) ||
            (d1 <= epsilon && d2 <= epsilon && d3 <= epsilon ) ){
            return true;
            }

            return false;
        }
Exemplo n.º 8
0
        /// public メンバ (球の移動)
        ///---------------------------------------------------------------------------
        /// 球の移動と三角形との衝突チェック
        /**
         * moveCapの軌道による球の移動とtrgTriとの衝突チェックを行います。
         * collPosには衝突した座標を返します(返り値がtrueの時のみ情報が更新)
         */
        public static bool CheckSphereAndTriangle( GeometryCapsule moveCap, GeometryTriangle trgTri, ref Vector3 collPos )
        {
            /// 表裏判定
            if( moveCap.Line.Vec.Dot( trgTri.Plane.Nor ) >= 0.0f ){
            return false;
            }

            Vector3	firstHitPos, firstHitMovePos;
            float	trgDis;
            bool	isCrossFlg;

            /// 三角形の平面との球の最近接点(頂点P)を算出
            firstHitPos.X = moveCap.Line.StartPos.X + ( moveCap.R * (trgTri.Plane.Nor.X * -1) );
            firstHitPos.Y = moveCap.Line.StartPos.Y + ( moveCap.R * (trgTri.Plane.Nor.Y * -1) );
            firstHitPos.Z = moveCap.Line.StartPos.Z + ( moveCap.R * (trgTri.Plane.Nor.Z * -1) );

            /// 既にPと球の中心が三角形を跨いでいるかチェック
            isCrossFlg			= false;

            /// 符合が一致すると平面に対して交差した事にならない
            float sign1, sign2;
            sign1 = trgTri.Plane.Nor.Dot( moveCap.Line.StartPos ) + trgTri.Plane.D;
            sign2 = trgTri.Plane.Nor.Dot( firstHitPos ) + trgTri.Plane.D;

            if( (sign1 > epsilon && sign2 > epsilon) || (sign1 < epsilon && sign2 < epsilon) ){
            calLine.Vec		 = moveCap.Line.Vec;
            calLine.Length	 = moveCap.Line.Length;
            calLine.StartPos = firstHitPos;

            /// Pが移動する地点P'を算出
            calLine.EndPos.X = firstHitPos.X + ( moveCap.Line.Vec.X * moveCap.Line.Length );
            calLine.EndPos.Y = firstHitPos.Y + ( moveCap.Line.Vec.Y * moveCap.Line.Length );
            calLine.EndPos.Z = firstHitPos.Z + ( moveCap.Line.Vec.Z * moveCap.Line.Length );
            }

            else{
            isCrossFlg  = true;

            /// Pが移動する地点P'を算出
            firstHitMovePos.X = moveCap.Line.StartPos.X + ( moveCap.Line.Vec.X * (moveCap.Line.Length+moveCap.R) );
            firstHitMovePos.Y = moveCap.Line.StartPos.Y + ( moveCap.Line.Vec.Y * (moveCap.Line.Length+moveCap.R) );
            firstHitMovePos.Z = moveCap.Line.StartPos.Z + ( moveCap.Line.Vec.Z * (moveCap.Line.Length+moveCap.R) );
            firstHitPos		= moveCap.Line.StartPos;

            /// 三角形との最初に衝突する移動ラインを作成
            calLine.Set( firstHitPos, firstHitMovePos );
            }

            /// 移動ラインと平面との交差チェック
            if( isCrossFlg == true || checkRayCrossPlane( trgTri.Plane, calLine ) == true ){

            /// 平面との交点を求める
            trgDis = getRayPlaneCrossPoint( trgTri.Plane, calLine, ref collPos );

            /// 三角形の内外判定
            ///-----------------------------------------------------
            if( checkInsideTriangle( trgTri, collPos ) == true ){
                return true;
            }

            /// カプセルが三角形の3辺と接触しているかのチェック
            ///-----------------------------------------------------
            else{

                /// 三角形の3辺と点との最近接点を取得
                Vector3	linePos = new Vector3(0,0,0);

                getClosestPtPosTriangle( collPos, trgTri, ref linePos );

                Vector3	calVec = moveCap.Line.Vec * -1.0f;

                /// 球が三角形の交点と接触するかチェック
                calSph.Set( moveCap.Line.StartPos, moveCap.R );

                float aT = checkRayCrossSphere( linePos, calVec, calSph );
                trgDis = FMath.Sqrt( calSph.Pos.Dot( linePos ) );
                if( trgDis < calSph.R ){
                    aT = trgDis;
                }

                /// 衝突確定
                if( aT >= 0.0f && aT <= moveCap.Line.Length ){
                    collPos = linePos;
                    return true;
                }
            }
            }

            return false;
        }
Exemplo n.º 9
0
        /// 点の移動と三角形との衝突チェック
        /**
         * moveLineの軌道による点の移動とtrgTriとの衝突チェックを行います。
         * collPosには衝突した座標を返します(返り値がtrueの時のみ情報が更新)
         */
        public static bool CheckLineAndTriangle( GeometryLine moveLine, GeometryTriangle trgTri, ref Vector3 collPos )
        {
            /// 表裏判定
            if( moveLine.Vec.Dot( trgTri.Plane.Nor ) >= 0.0f ){
            return false;
            }
            /// 平面との交差チェック
            if( checkRayCrossPlane( trgTri.Plane, moveLine ) == false ){
            return false;
            }
            /// 平面との交点を求める
            if( getRayPlaneCrossPoint( trgTri.Plane, moveLine, ref collPos ) < epsilon ){
            return false;
            }
            /// 三角形の内外判定
            if( checkInsideTriangle( trgTri, collPos ) == false ){
            return false;
            }

            return true;
        }
Exemplo n.º 10
0
        /// 三角形描画
        public void DrawTriangle( GraphicsContext graphics, GeometryTriangle trgTri, Camera cam, Rgba color )
        {
            if( debShader == null ){
            return ;
            }

            /// バーテクスの更新
            ///------------------------------------------------------------
            for( int i=0; i<3; i++ ){
            debMesh.Positions[ i*3+0 ] = trgTri.GetPos(i).X;
            debMesh.Positions[ i*3+1 ] = trgTri.GetPos(i).Y;
            debMesh.Positions[ i*3+2 ] = trgTri.GetPos(i).Z;

            debMesh.Normals[ i*3+0 ] = trgTri.Plane.Nor.X;
            debMesh.Normals[ i*3+1 ] = trgTri.Plane.Nor.Y;
            debMesh.Normals[ i*3+2 ] = trgTri.Plane.Nor.Z;
            }

            debVb.SetVertices( 0, debMesh.Positions );
            debVb.SetIndices( debMesh.Indices );

            drawMesh( graphics, cam, color );
        }