private XVector3 BisectionSearch(XVector3 origin, XVector3 end, float min, float max)
{
float mid = (min + max) / 2;
XVector3 newEnd = end + mid * XVector3.Normalize(end - origin);
float minDot = float.MaxValue;
for (int i = 0; i < _verts.Length; i++)
{
float dot = XVector3.Dot(XVector3.Normalize(origin - newEnd), XVector3.Normalize(_verts[i] - newEnd));
if (dot < -_Epsilon)
{
return(BisectionSearch(origin, end, mid, max));
}
if (minDot > dot)
{
minDot = dot;
}
}
if (minDot > _Epsilon)
{
return(BisectionSearch(origin, end, min, mid));
}
return(newEnd);
}
private void GetReferencePoint()
{
bool assigned = false;
float min = float.MaxValue;
for (int i = 0; i < _verts.Length; i++)
{
int j = (i + 1) % _verts.Length;
int k = (i + 2) % _verts.Length;
int l = (i + 3) % _verts.Length;
var ji = XVector3.Normalize(_verts[i] - _verts[j]);
var jk = XVector3.Normalize(_verts[k] - _verts[j]);
var ij = XVector3.Normalize(_verts[j] - _verts[i]);
var il = XVector3.Normalize(_verts[l] - _verts[i]);
var kj = XVector3.Normalize(_verts[j] - _verts[k]);
var kl = XVector3.Normalize(_verts[l] - _verts[k]);
float nextDot = XVector3.Dot(kj, kl);
float dot = XVector3.Dot(ji, jk);
float prevDot = XVector3.Dot(ij, il);
if (dot > -_Epsilon && min > dot && (prevDot > -_Epsilon || nextDot > -_Epsilon))
{
assigned = true;
Start = _verts[j];
Corner = _verts[k];
min = dot;
}
}
if (!assigned)
{
Start = _verts[0];
Corner = _verts[1];
}
}
private int ExponentialSearch(XVector3 origin, XVector3 end, int step = 0)
{
var newEnd = end + Exp(step) * XVector3.Normalize(end - origin);
for (int i = 0; i < _verts.Length; i++)
{
float dot = XVector3.Dot(XVector3.Normalize(origin - newEnd), XVector3.Normalize(_verts[i] - newEnd));
if (dot < 0)
{
return(ExponentialSearch(origin, end, step + 1));
}
}
return(step);
}
