/// <summary>
/// Populates a list with transformed face vertices.
/// </summary>
public static unsafe void ComputeFaceClippingPolygon(ref NativeList <ClipVertex> output, int faceIndex, RigidTransform t, NativeHull hull)
{
Debug.Assert(output.IsCreated);
NativeFace * face = hull.GetFacePtr(faceIndex);
NativePlane plane = hull.GetPlane(faceIndex);
NativeHalfEdge *start = hull.GetEdgePtr(face->Edge);
NativeHalfEdge *current = start;
do
{
NativeHalfEdge *twin = hull.GetEdgePtr(current->Twin);
float3 vertex = hull.GetVertex(current->Origin);
float3 P = math.transform(t, vertex);
ClipVertex clipVertex;
clipVertex.featurePair.InEdge1 = -1;
clipVertex.featurePair.OutEdge1 = -1;
clipVertex.featurePair.InEdge2 = (sbyte)current->Next;
clipVertex.featurePair.OutEdge2 = (sbyte)twin->Twin;
clipVertex.position = P;
clipVertex.hull2local = vertex;
clipVertex.plane = plane;
output.Add(clipVertex);
current = hull.GetEdgePtr(current->Next);
} while (current != start);
}
public static int CreateFaceContact2(ref NativeManifold output, int referenceFaceIndex, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
// todo, clean this up, i'm reversing the args here so that closest face is the one clipped instead of incident.
Debug.Assert(output.IsCreated);
NativePlane referencePlane = transform1 * hull1.GetPlane(referenceFaceIndex);
var incidentFaceIndex = ComputeIncidentFaceIndex(referencePlane, transform2, hull2);
return(CreateFaceContact(ref output, incidentFaceIndex, transform2, hull2, referenceFaceIndex, transform1, hull1));
}
/// <summary>
/// Finds the index to the least parallel face on the other hull.
/// </summary>
/// <param name="facePlane"></param>
/// <param name="transform"></param>
/// <param name="hull"></param>
/// <returns></returns>
public static unsafe int ComputeIncidentFaceIndex(NativePlane facePlane, RigidTransform transform, NativeHull hull)
{
int faceIndex = 0;
float min = math.dot(facePlane.Normal, (transform * hull.GetPlane(faceIndex)).Normal);
for (int i = 1; i < hull.FaceCount; ++i)
{
float dot = math.dot(facePlane.Normal, (transform * hull.GetPlane(i)).Normal);
if (dot < min)
{
min = dot;
faceIndex = i;
}
}
return(faceIndex);
}
public static int CreateFaceContact(ref NativeManifold output, int referenceFaceIndex, RigidTransform transform1, NativeHull hull1, int incidentFaceIndex, RigidTransform transform2, NativeHull hull2)
{
Debug.Assert(output.IsCreated);
var refPlane = hull1.GetPlane(referenceFaceIndex);
NativePlane referencePlane = transform1 * refPlane;
NativeList <ClipPlane> clippingPlanes = new NativeList <ClipPlane>((int)hull1.FaceCount, Allocator.Temp);
GetClippingPlanes(ref clippingPlanes, referencePlane, referenceFaceIndex, transform1, hull1);
// Create face polygon.
NativeList <ClipVertex> incidentPolygon = new NativeList <ClipVertex>((int)hull1.VertexCount, Allocator.Temp);
ComputeFaceClippingPolygon(ref incidentPolygon, incidentFaceIndex, transform2, hull2);
// Clip face polygon against the clipping planes.
for (int i = 0; i < clippingPlanes.Length; ++i)
{
NativeList <ClipVertex> outputPolygon = new NativeList <ClipVertex>((int)hull1.VertexCount, Allocator.Temp);
Clip(clippingPlanes[i], ref incidentPolygon, ref outputPolygon);
if (outputPolygon.Length == 0)
{
return(-1);
}
incidentPolygon.Dispose();
incidentPolygon = outputPolygon;
}
for (int i = 0; i < incidentPolygon.Length; ++i)
{
ClipVertex vertex = incidentPolygon[i];
float distance = referencePlane.Distance(vertex.position);
output.Add(vertex.position, distance, new ContactID {
FeaturePair = vertex.featurePair
});
}
clippingPlanes.Dispose();
incidentPolygon.Dispose();
return(incidentFaceIndex);
}
public static unsafe void QueryFaceDistance(out FaceQueryResult result, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
// Perform computations in the local space of the second hull.
RigidTransform transform = math.mul(math.inverse(transform2), transform1);
result.Distance = -float.MaxValue;
result.Index = -1;
for (int i = 0; i < hull1.FaceCount; ++i)
{
NativePlane plane = transform * hull1.GetPlane(i);
float3 support = hull2.GetSupport(-plane.Normal);
float distance = plane.Distance(support);
if (distance > result.Distance)
{
result.Distance = distance;
result.Index = i;
}
}
}
/// <summary>
/// Populates a list with transformed face planes
/// </summary>
public static unsafe void GetClippingPlanes(ref NativeList <ClipPlane> output, NativePlane facePlane, int faceIndex, RigidTransform transform, NativeHull hull)
{
Debug.Assert(output.IsCreated);
for (int i = 0; i < hull.FaceCount; i++)
{
var p = hull.GetPlane(i);
output.Add(new ClipPlane
{
plane = transform * p,
});
}
}
