// Use this for initialization
void Start()
{
VD = GetComponent <VertexDriver>();
Inter = Intersector.Instance;
// create target
TargetI = (float)(TargetDistance * Math.Tan(DegToRad(VD.TargetFOV.x / 2.0)));
TargetJ = (float)(TargetDistance * Math.Tan(DegToRad(VD.TargetFOV.y / 2.0)));
Vector3 TargetBotLeft = new Vector3(-TargetI, -TargetJ, TargetDistance);
Vector3 TargetBotRight = new Vector3(TargetI, -TargetJ, TargetDistance);
Vector3 TargetTopLeft = new Vector3(-TargetI, TargetJ, TargetDistance);
Vector3 TargetTopRight = new Vector3(TargetI, TargetJ, TargetDistance);
TargetLines = new List <Vector3[]>();
TargetLines.Add(new Vector3[] { TargetBotLeft, TargetBotRight }); // bottom
TargetLines.Add(new Vector3[] { TargetBotRight, TargetTopRight }); // right
TargetLines.Add(new Vector3[] { TargetTopRight, TargetTopLeft }); // top
TargetLines.Add(new Vector3[] { TargetTopLeft, TargetBotLeft }); // left
OcLines = new List <Vector3[]>();
for (int i = 1; i < Inter.OccGridSize.x; i++)
{
float offset = i * (2f * Math.Abs(TargetI)) / Inter.OccGridSize.x;
Vector3 bot = new Vector3(TargetBotLeft.x + offset, TargetBotLeft.y, TargetBotLeft.z);
Vector3 top = new Vector3(TargetTopLeft.x + offset, TargetTopLeft.y, TargetTopLeft.z);
OcLines.Add(new Vector3[] { bot, top });
}
for (int i = 1; i < Inter.OccGridSize.y; i++)
{
float offset = i * (2f * Math.Abs(TargetJ)) / Inter.OccGridSize.y;
Vector3 left = new Vector3(TargetBotLeft.x, TargetBotLeft.y + offset, TargetBotLeft.z);
Vector3 right = new Vector3(TargetBotRight.x, TargetBotRight.y + offset, TargetBotRight.z);
OcLines.Add(new Vector3[] { left, right });
}
TargetContainer = new GameObject();
TargetContainer.name = "TargetContainer";
for (int i = 0; i < TargetLines.Count; i++)
{
Vector3[] line = TargetLines[i];
VertexDriver.DrawLine(line[0], line[1], TargetContainer, TargetSize, TargetMaterial, i.ToString());
}
OcContainer = new GameObject();
OcContainer.name = "OcContainer";
for (int i = 0; i < OcLines.Count; i++)
{
Vector3[] line = OcLines[i];
VertexDriver.DrawLine(line[0], line[1], OcContainer, OcGridSize, TargetMaterial, i.ToString());
}
// create diagnostics panel
Diagnostics = new GameObject();
Diagnostics.transform.position = DiagnosticsPosition;
DiagnosticsText.transform.parent = Diagnostics.transform;
DiagnosticsText.transform.position = Diagnostics.transform.TransformPoint(DiagnosticsText.transform.position);
DiagnosticsBackground.transform.parent = Diagnostics.transform;
DiagnosticsBackground.transform.position = Diagnostics.transform.
TransformPoint(DiagnosticsBackground.transform.position);
}
public void Test_Intersect_Between_Arrays_Comparison_Hash()
{
long averageMs = 0;
long averageTicks = 0;
int count = 0;
Console.WriteLine("Test_Intersect_Between_Arrays_Hash_Average");
for (var i = 0; i < COMPARISON_LOOP; i++)
{
var stopWatch = new Stopwatch();
stopWatch.Start();
var intersection = Intersector.IntersectionWithHashSet(colorsArray, namesArray,
comparer: new CustomComparer(),
formatFunction: (i1, i2) => new string[] { i1[0], i1[1], i2[1] });
stopWatch.Stop();
Console.WriteLine($"Ran in {stopWatch.ElapsedTicks} ticks,{stopWatch.ElapsedMilliseconds}ms");
if (i != 0)
{
averageTicks += stopWatch.ElapsedTicks;
averageMs += stopWatch.ElapsedMilliseconds;
count++;
}
}
averageMs = averageMs / count;
averageTicks = averageTicks / count;
Console.WriteLine($"Average in {averageTicks} ticks,{averageMs}ms");
}
private List <TopologyIntersection> FindAllIntersections(Face2D target, List <ICuttableEdge> edges2cut)
{
Intersector intersector = new Intersector();
List <TopologyIntersection> res_list = new List <TopologyIntersection>();
for (int loop_idx = 0; loop_idx < target.Loops.Count; ++loop_idx)
{
var loop = target.Loops[loop_idx];
for (int target_edge_idx = 0; target_edge_idx < loop.Count; ++target_edge_idx)
{
List <TopologyIntersection> sorted_is = new List <TopologyIntersection>();
for (int tool_edge_idx = 0; tool_edge_idx < edges2cut.Count; ++tool_edge_idx)
{
var intersections = intersector.Intersect(loop[target_edge_idx], edges2cut[tool_edge_idx]);
foreach (var intersection in intersections)
{
TopologyIntersection res = new TopologyIntersection(
loop_idx, target_edge_idx, tool_edge_idx, intersection);
sorted_is.Add(res);
}
}
sorted_is.Sort(new TopologyIntersectionCompare_ByTarget());
res_list.AddRange(sorted_is);
}
}
return(res_list);
}
public ImageSensorData Measure()
{
var tmpLocation = GetCameraLocation(_robot);
var result = new KinectData(_settings.VerticalResolution, _settings.HorisontalResolution);
var horisontalAngle = -_settings.HorisontalViewAngle / 2.0;
var verticalAngle = -_settings.VerticalViewAngle / 2.0;
for (int i = 0; i < _settings.VerticalResolution; i++)
{
Frame3D mediateDirection = SensorRotation.VerticalFrameRotation(tmpLocation, -verticalAngle);
horisontalAngle = -_settings.HorisontalViewAngle / 2.0;
for (int j = 0; j < _settings.HorisontalResolution; j++)
{
Frame3D direction = SensorRotation.HorisontalFrameRotation(mediateDirection, horisontalAngle);
Ray ray = new Ray(tmpLocation.ToPoint3D(), SensorRotation.GetFrontDirection(direction));
var dist = double.PositiveInfinity;
foreach (var body in _worldRoot.GetSubtreeChildrenFirst())
{
if (_settings.Exclude.All(a => a != body))
{
var inter = Intersector.Intersect(body, ray);
dist = Math.Min(dist, inter);
}
}
result.Depth[i, j] = dist;
//verticalAngle += _settings.VStep;
horisontalAngle += _settings.HStep;
}
verticalAngle += _settings.VStep;
}
return(new ImageSensorData(result.GetBytes()));
}
// Use this for initialization
void Awake()
{
// gather dependencies
MeshMan = MeshManager.Instance;
VoxGridMan = new VoxelGridManager <byte>(myMinSize: DefaultVoxGridRes, myDefaultSize: DefaultVoxelSize);
VertVis = new Visualizer("VertexMarkers", "Marker", "Line", DefaultMaterial);
VertexInter = new Intersector();
Observer = GetComponent <SpatialMappingObserver>();
// finish setup
SensorField.Transform = Camera.main.transform;
SensorField.FOV = new Intersector.ViewVector((int)SensorFOV.x, (int)SensorFOV.y);
MeshDensity = MeshMan.Density;
SensorData = new byte[(int)SensorPixelCount.x, (int)SensorPixelCount.y];
for (int i = 0; i < SensorPixelCount.x; i++)
{
for (int j = 0; j < SensorPixelCount.y; j++)
{
SensorData[i, j] = (byte)(255f * (float)(i + j) / (SensorPixelCount.x + SensorPixelCount.y));
}
}
// finish dependendencies setup: some variables must be created in Start()
MeshMan.BoundsVis = new Visualizer("MeshBounds", "Marker", "Line", DefaultMaterial);
VerticesRendered = DefaultRenderVerts;
}
private Dictionary <Edge, Operation> GenerateLoop(string input, string output, List <Edge> edges, Dictionary <Edge, Operation> mapping)
{
//foreach 0 <= k1, k2, k3 < Length(s)
// eSet1 = GenerateStr(sigma, s[k1 : k2]);
// eSet2 = GenerateStr(sigma, s[k2 : k3]);
// eSet = Unify(eSet1, eSet2);
// if ([[Loop(lambda W : eSet)]]sigma = {s[k1 : k3]})
// W(<k1, k3>) = W'(<k1, k3>) U {Loop(lambda W : eSet)};
int len = output.Length;
for (int i = 0; i < len; ++i)
{
for (int j = i; j < len; ++j)
{
for (int k = j; k < len; ++k)
{
var traceSet1 = GenerateStr(input, output.Substring(i, j - i));
var traceSet2 = GenerateStr(input, output.Substring(j, k - j));
var traceSet = new Intersector().Unify(traceSet1, traceSet2);
Loop loop = new Loop(traceSet);
if (loop.Apply(input).Equals(output.Substring(i, k - i)))
{
Edge targetEdge = new Edge(i, k);
//mapping[targetEdge] = mapping[targetEdge] U loop;
}
}
}
}
return(mapping);
}
public void IntersectConvexTest()
{
var intersect = Intersector.IntersectConvex(m_diamond, m_squarePoly);
Assert.AreEqual(0.5f, intersect.Area);
Assert.Throws <GeomException>(() => Intersector.IntersectConvex(m_diamond, m_arrow));
}
public bool GetGroundPosition(Vec3D position, Vec3 direction, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
{
result = new MapPos();
// Coordinate is now in world Cartesian coordinates (Roi Position)
Vec3D origo = new Vec3D(0, 0, 0); // Set used origo
Intersector isect = new Intersector();
// Check camera frustrum -----------------------------------------------------------
if (_camera != null && _camera.IsValid())
{
origo = _camera.Position;
if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
{
isect.SetCamera(_camera);
}
}
// Adjust intersector to use origo as center
position = position - origo;
isect.SetStartPosition((Vec3)position);
isect.SetDirection(direction);
if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT | IntersectQuery.NORMAL | ((flags & ClampFlags.WAIT_FOR_DATA) != 0 ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0), 1, true, origo))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position = data.position + origo;
result.normal = data.normal;
result.clamped = true;
}
isect.Dispose(); // Drop handle and ignore GC
if (_topRoi != null)
{
RoiNode roi = _topRoi.GetClosestRoiNode(result.position);
result.node = roi;
// Remove roiNode position as offset - Go to local RoiNode based coordinate system
if (roi != null && roi.IsValid())
{
result.position -= roi.Position;
}
}
return(true);
}
// Use this for initialization
void Start()
{
TextObj = TextContainer.GetComponent <TextMesh>();
Driver = EFPContainer.GetComponent <ExternalFeedDriver>();
MeshManagerObj = EFPContainer.GetComponent <MeshManager>();
GridManager = EFPContainer.GetComponent <VoxelGridManager>();
Intersect = EFPContainer.GetComponent <Intersector>();
}
public void Test_Intersect_Between_Arrays_Linear_Search()
{
var intersection = Intersector.IntersectionWithLinearSearch(colorsArray, namesArray,
formatFunction: (i1, i2) => new string[] { i1[0], i1[1], i2[1] });
var result = string.Join("\r\n", intersection.Select(x => $"{x[0]},{x[1]},{x[2]}"));
Assert.AreEqual(expectedResult, result);
}
public void Test_Intersect_Between_Arrays_Hash()
{
var intersection = Intersector.IntersectionWithHashSet(colorsArray, namesArray,
comparer: new CustomComparer(),
formatFunction: (i1, i2) => new string[] { i1[0], i1[1], i2[1] });
var result = string.Join("\r\n", intersection.Select(x => $"{x[0]},{x[1]},{x[2]}"));
// Assert.AreEqual(expectedResult, result);
}
void Start()
{
observer = GetComponent <SpatialMappingObserver>();
Density = observer.Density;
MeshInter = new Intersector();
TotalMeshCount = 0;
MeshesInView = 0;
TrianglesInView = 0;
VerticesInView = 0;
}
void Start()
{
observer = GetComponent <SpatialMappingObserver>();
Density = observer.TrianglesPerCubicMeter;
MeshInter = new Intersector();
BoundsVis = new Visualizer("MeshBounds", "Marker", "Line", DefaultMaterial);
BoundsVisualized = DefaultVisualizeBounds;
TotalMeshCount = 0;
MeshesInView = 0;
TrianglesInView = 0;
VerticesInView = 0;
}
// Use this for initialization
void Start()
{
// finish setup
FOV = new ViewVector(TargetFOV.x, TargetFOV.y);
ViewField = new Frustum(Camera.main.transform, FOV);
CubeMin = new Vector3(CubeCenter.x - CubeSize / 2f, CubeCenter.y - CubeSize / 2f,
CubeCenter.z - CubeSize / 2f);
CubeMax = new Vector3(CubeCenter.x + CubeSize / 2f, CubeCenter.y + CubeSize / 2f,
CubeCenter.z + CubeSize / 2f);
for (int i = 0; i < Vertices; i++)
{
Points.Add(RandomPoint(CubeMin, CubeMax, Rand));
}
Scale = new Vector3(VertexSize, VertexSize, VertexSize);
Inter = Intersector.Instance;
// create point markers
Parent = new GameObject();
Parent.name = "VertexMarkers";
for (int i = 0; i < Vertices; i++)
{
GameObject Child = GameObject.CreatePrimitive(PrimitiveType.Sphere);
Child.AddComponent <MeshFilter>();
Child.AddComponent <MeshRenderer>();
Child.AddComponent <SphereCollider>();
Child.name = "Marker" + i.ToString();
Child.transform.parent = Parent.transform;
Child.transform.position = Points[i];
Child.transform.localScale = Scale;
Child.GetComponent <MeshRenderer>().material = OutViewMaterial;
if (ViewVectorLabels)
{
GameObject VVLabelT = Instantiate(VVLabelText);
VVLabelT.transform.parent = Parent.transform;
VVLabelT.name = "Text" + i.ToString();
VVLabelT.transform.position = Points[i] + VVLabelOffset;
GameObject VVLabelB = Instantiate(VVLabelBackground);
VVLabelB.transform.parent = Parent.transform;
VVLabelB.name = "Background" + i.ToString();
VVLabelB.transform.position = Points[i] + VVLabelOffset + new Vector3(0, 0, 0.01f);
}
}
// draw bounds box
GameObject BoxParent = new GameObject();
BoxParent.name = "BoxParent";
DrawBox(CubeMin, CubeMax, BoxParent, LineSize, LineMaterial);
}
// Use this for initialization
void Awake()
{
// gather dependencies
MeshMan = MeshManager.Instance;
VoxGridMan = new VoxelGridManager <byte>(myMinSize: DefaultVoxGridRes, myDefaultSize: DefaultVoxelSize);
VertVis = new Visualizer("VertexMarkers", "Marker", "Line", DefaultMaterial);
VertexInter = new Intersector();
Observer = GetComponent <SpatialMappingObserver>();
SensorDataUpdater = DataUpdateContainer.GetComponent <Receiving.ImageReceiver>();
// finish setup
SensorField.Transform = Camera.main.transform;
SensorField.FOV = new Intersector.ViewVector((int)(SensorFOV.x * SensorFOVReduction.x),
(int)(SensorFOV.y * SensorFOVReduction.y));
MeshDensity = MeshMan.Density;
SensorData = new byte[SensorDataHeight * SensorDataWidth];
// sync state to default values
VerticesRendered = DefaultRenderVerts;
ProximityConfig = DefaultToProximity;
}
/// <summary>
/// Calculates total area owned by each player separately.
/// </summary>
private void UpdatePlayerAreaOwned()
{
m_playerArea = new float[2] {
0, 0
};
foreach (var inputNode in m_delaunay.Vertices)
{
// get dcel face containing input node
var face = m_DCEL.GetContainingFace(inputNode);
if (m_ownership[inputNode] != EOwnership.UNOWNED)
{
// update player area with face that intersects with window
var playerIndex = m_ownership[inputNode] == EOwnership.PLAYER1 ? 0 : 1;
m_playerArea[playerIndex] += Intersector.IntersectConvex(m_meshRect, face.Polygon.Outside).Area;
}
}
// update GUI to reflect new player area owned
m_GUIManager.SetPlayerAreaOwned(m_playerArea[0], m_playerArea[1]);
}
public EdgeVisitor(Intersector intersector)
{
m_intersector = intersector;
m_e1c = null;
m_e1l = null;
}
/// <summary>
/// Creates ViewVector from spatialVector.
/// Note: spatialVector MUST originate from origin.
/// </summary>
public ViewVector(Vector3 spatialVector)
{
Theta = Intersector.RadToDeg(AdjAtanTheta(spatialVector.x, spatialVector.z));
Phi = Intersector.RadToDeg(AdjAtanPhi(spatialVector));
}
// Tests Intersector class
// Currently tests:
// Vector (T1)
// InverseTransformVector (T2 - not implemented)
// ViewVector alt. constructor (T3)
// Intersection (small scale) (T4 - not implemented)
// Intersection (large scale) (T5 - not implemented)
static string TestIntersector(Intersector IntersectorObj)
{
string output = "\n<size=144>Testing Intersector...</size>\n\n";
// Test 1: Vector from two points
output += "<b>Test 1</b>\n";
Vector3 p1 = new Vector3(0, 0, 0);
Vector3 p2 = new Vector3(2, 2, 2);
output += String.Format("Vector from two points: {0} to {1}\n", pointToStr(p1), pointToStr(p2));
Vector3 result = new Vector3();
IntersectorObj.Vector(p1, p2, ref result);
output += String.Format("Resultant vector: {0}\n\n", pointToStr(result));
// Cannot test Unity Library outside of Unity...
// Test 2: InverseTransformVector
output += "<b>Test 2</b>\n";
GameObject view2 = new GameObject();
view2.name = "ViewFieldTest2";
view2.transform.Rotate(new Vector3(90, 90, 0));
output += String.Format("InverseTransformVector... view-field position: {0}, view-field euler angles: {1}\n",
pointToStr(view2.transform.position), pointToStr(view2.transform.eulerAngles));
Vector3[] unitVectors = unitVectorsArray();
for (int i = 0; i < 8; i++)
{
output += String.Format("Vector{0}: World Space: {1}, View-Field Local Space: {2}\n",
i + 1, pointToStr(unitVectors[i]), pointToStr(view2.transform.InverseTransformVector(unitVectors[i])));
}
output += "\n";
// */
// Test 3: View Vector alt. constructor
output += "<b>Test 3</b>\n";
output += String.Format("ViewVector creation from position vector (in local space)... 2D cross-sectional plane is XY plane.\n");
Vector3 forward = new Vector3(0, 0, 1);
for (int i = 0; i < 8; i++)
{
output += String.Format("Vector{0} {1}: ViewVector{0} (deg): {2}\n",
i + 1, pointToStr(unitVectors[i]), viewVectorToStr(new ViewVector(unitVectors[i])));
}
output += String.Format("Vector {0}: ViewVector (deg): {1}\n",
pointToStr(forward), viewVectorToStr(new ViewVector(forward)));
output += "\n";
// Cannot test Unity Library outside of Unity...
// Test 4: Intersection (small scale)
output += "<b>Test 4</b>\n";
List <Vector3> unitVectorList = new List <Vector3>();
for (int i = 0; i < 8; i++)
{
unitVectorList.Add(unitVectors[i]);
}
GameObject view4 = new GameObject();
view4.name = "ViewFieldTest4";
ViewVector FOV4 = new ViewVector(170, 170);
Frustum projection4 = new Frustum(view4.transform, FOV4);
byte[,] raster4 = new byte[100, 100];
output += String.Format("Intersection... Raster: ({0}x{1}), Frustum FOV: ({2}x{3}), " +
"Frustum Pos: {4}, Frustum EA's: {5}\n" +
"Tested all 8 unit vectors, found intersection points...\n",
raster4.GetLength(0), raster4.GetLength(1), FOV4.Theta, FOV4.Phi,
pointToStr(projection4.Transform.position), pointToStr(projection4.Transform.eulerAngles));
List <PointValue <byte> > intersect = Intersector.Instance.Intersection(projection4, raster4, unitVectorList);
foreach (PointValue <byte> pv in intersect)
{
output += String.Format("Point: {0}, ViewVector: {1}\n",
pointToStr(pv.Point), viewVectorToStr(new ViewVector(pv.Point)));
}
output += "\n";
// Cannot test Unity Library outside of Unity...
// Test 5: Intersection (large scale)
output += "<b>Test 5</b>\n";
System.Random rand = new System.Random();
GameObject view5 = new GameObject();
view5.name = "ViewFieldTest5";
ViewVector FOV5 = new ViewVector(179, 179);
Frustum projection5 = new Frustum(view5.transform, FOV5);
byte[,] raster5 = new byte[100, 100];
int iterations = 100;
Stopwatch stopWatch = new Stopwatch();
Vector3 boundsMin = new Vector3(-5, -5, -5);
Vector3 boundsMax = new Vector3(5, 5, 5);
List <Vector3> randVectors = new List <Vector3>();
for (int i = 0; i < iterations; i++)
{
randVectors.Add(randomPoint(boundsMin, boundsMax, rand));
}
output += String.Format("Intersection... Raster: ({0}x{1}), Frustum FOV: ({2}x{3}). {4} Iterations...\n",
raster5.GetLength(0), raster5.GetLength(1), FOV5.Theta, FOV5.Phi, randVectors.Count);
Intersector tmp = Intersector.Instance;
stopWatch.Reset();
stopWatch.Start();
List <PointValue <byte> > result5 = tmp.Intersection(projection5, raster5, randVectors);
stopWatch.Stop();
long ms = (long)1000 * stopWatch.ElapsedTicks / Stopwatch.Frequency;
output += String.Format("Took {0} ms ({1} us / op)... {2} vectors in view\n", ms,
ms / (double)iterations * 1000.0, result5.Count);
output += "\n";
// Test 6: RequiredGrid
output += "<b>Test 6</b>\n";
ViewVector FOV6 = new ViewVector(60, 60);
output += String.Format("Testing RequiredGrid... FOV: {0}\n", viewVectorToStr(FOV6));
Dictionary <string, int> pixels = Intersector.Instance.RequiredGrid(FOV6);
output += String.Format("i: {0}, j: {1}\n", pixels["i"], pixels["j"]);
output += "\n";
/// Test 7: Occlusion (basic)
output += "<b>Test 7</b>\n";
GameObject view7 = new GameObject();
view7.name = "ViewFieldTest7";
ViewVector FOV7 = new ViewVector(170, 170);
Frustum projection7 = new Frustum(view7.transform, FOV7);
byte[,] raster7 = new byte[100, 100];
for (int i = 0; i < raster7.GetLength(0); i++)
{
for (int j = 0; j < raster7.GetLength(1); j++)
{
raster7[i, j] = (byte)(i + j);
}
}
output += String.Format("Created Frustum: pos: {0}, EA's {1}, FOV: {2}\n",
pointToStr(projection7.Transform.position), pointToStr(projection7.Transform.eulerAngles),
viewVectorToStr(projection7.FOV));
output += String.Format("Created Raster: {0}x{1}\n", raster7.GetLength(0), raster7.GetLength(1));
Vector3 v1 = new Vector3(1, 1, 1);
Vector3 v2 = new Vector3(2, 2, 2);
Vector3 v3 = new Vector3(0, 0, 1);
List <Vector3> vertices7 = new List <Vector3>();
vertices7.Add(v2);
vertices7.Add(v1);
vertices7.Add(v2);
vertices7.Add(v3);
output += String.Format("Trying vertices: v1: {0}, v2: {1}, v3: {2}. Intersection return...\n",
pointToStr(v1), pointToStr(v2), pointToStr(v3));
List <PointValue <byte> > intersectRet = Intersector.Instance.Intersection(projection7, raster7, vertices7);
for (int i = 0; i < intersectRet.Count; i++)
{
output += String.Format("Point: {0}, Value: {1}\n",
pointToStr(intersectRet[i].Point), intersectRet[i].Value);
}
output += "\n";
// Test 8: Occlusion (large scale)
output += "<b>Test 8</b>\n";
GameObject view8 = new GameObject();
view8.name = "ViewFieldTest8";
ViewVector FOV8 = new ViewVector(170, 170);
Frustum projection8 = new Frustum(view8.transform, FOV8);
byte[,] raster8 = new byte[100, 100];
output += String.Format("Created Frustum: pos: {0}, EA's {1}, FOV: {2}\n",
pointToStr(projection8.Transform.position), pointToStr(projection8.Transform.eulerAngles),
viewVectorToStr(projection8.FOV));
output += String.Format("Created Raster: {0}x{1}\n", raster8.GetLength(0), raster8.GetLength(1));
// create 'wall' vertices
double wallSize = 4.0;
double wallRes = 0.05;
double wallDistance = 3.0;
float wallWiggle = 0.001f;
int wallPixels = (int)(wallSize / wallRes);
double wallBotLeft = -(wallSize / 2.0);
int wallValue = 0;
int wallCount = (int)Math.Pow(wallPixels, 2);
List <Vector3> vertices = new List <Vector3>();
for (int i = 0; i < wallPixels; i++)
{
for (int j = 0; j < wallPixels; j++)
{
float vertX = (float)(i * wallRes + wallBotLeft);
float vertY = (float)(j * wallRes + wallBotLeft);
float vertZ = (float)wallDistance;
Vector3 vert = new Vector3(vertX, vertY, vertZ);
vertices.Add(wiggleVert(vert, wallWiggle, rand));
}
}
// create 'box' vertices
float boxSize = 1f;
Vector3 boxMin = new Vector3(-boxSize / 2, -boxSize / 2, (float)(wallDistance + 1));
Vector3 boxMax = new Vector3(boxSize / 2, boxSize / 2, (float)(wallDistance + 1 + boxSize));
int boxCount = 10000;
for (int i = 0; i < boxCount; i++)
{
vertices.Add(randomPoint(boxMin, boxMax, rand));
}
// report progress
output += String.Format("Created wall... ({0},{0}) to ({1},{1}), z: {2}, wiggle: {3}, " +
"vertices: {4}, resolution (m): {5}\n",
wallBotLeft, wallBotLeft + wallSize, wallDistance, wallWiggle, wallCount, wallRes);
output += String.Format("Created box: {0} to {1}, vertices: {2}\n",
pointToStr(boxMin), pointToStr(boxMax), boxCount);
// run intersection
List <PointValue <byte> > intersectRet8 = Intersector.Instance.Intersection(projection8, raster8, vertices);
int wallCountRet = 0;
int boxCountRet = 0;
for (int i = 0; i < intersectRet8.Count; i++)
{
Vector3 point = intersectRet8[i].Point;
if (within(point, boxMin, boxMax))
{
boxCountRet++;
}
else
{
wallCountRet++;
}
}
output += String.Format("Intersection Return... wall vertices: {0}/{1}, box vertices: {2}/{3}",
wallCountRet, wallCount, boxCountRet, boxCount);
return(output);
}
// Use this for initialization
void Start()
{
TextObj = TextContainer.GetComponent <TextMesh>();
IntersectorObj = IntersectorContainer.GetComponent <Intersector>();
TextObj.text = TestIntersector(IntersectorObj);
}
public bool UpdatePosition(ref MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
if (groundClamp != GroundClampType.NONE)
{
// Add ROINode position as offset - Go to global 3D coordinate system as we need to clamp in global 3D
if (result.roiNode != null && result.roiNode.IsValid())
{
result.position += result.roiNode.Position;
}
Intersector isect = new Intersector();
Vec3D eyePos = new Vec3D(0, 0, 0);
if (_camera != null && _camera.IsValid())
{
eyePos = _camera.Position;
if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
{
isect.SetCamera(_camera);
}
}
if ((flags & ClampFlags.ISECT_LOD_QUALITY) != 0) // Lets stand in the ray to get highest quality
{
eyePos = result.position;
}
Vec3 up = new Vec3(result.local_orientation.v13, result.local_orientation.v23, result.local_orientation.v33);
// TODO: Fix this....
if (up.x == 0 && up.y == 0 && up.z == 0)
{
up.y = 1;
}
isect.SetStartPosition((Vec3)(result.position - eyePos) + 10000.0f * up);
isect.SetDirection(-up);
if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT | IntersectQuery.NORMAL | ((flags & ClampFlags.WAIT_FOR_DATA) != 0 ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0), 1, true, eyePos))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position.x = data.position.x + eyePos.x;
result.position.y = data.position.y + eyePos.y;
result.position.z = data.position.z + eyePos.z;
result.normal = data.normal;
result.clamped = true;
}
else
{
result.normal = up;
result.clamped = false;
}
if (groundClamp == GroundClampType.GROUND)
{
result.normal = result.local_orientation.GetCol(2);
}
isect.Dispose(); // Drop handle and ignore GC
// Remove ROINode position as offset - Go to local coordinate system under ROI Node
if (result.roiNode != null && result.roiNode.IsValid())
{
result.position -= result.roiNode.Position;
}
}
return(true);
}
public bool GetScreenGroundPosition(int x, int y, uint size_x, uint size_y, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
{
result = new MapPos();
Vec3D position;
Vec3 direction;
if (!GetScreenVectors(x, y, size_x, size_y, out position, out direction))
{
return(false);
}
Intersector isect = new Intersector();
if ((flags & ClampFlags.FRUSTRUM_CULL) != 0 && _camera != null && _camera.IsValid())
{
isect.SetCamera(_camera);
if (_camera.RoiPosition)
{
position = position - _camera.Position;
}
}
isect.SetStartPosition((Vec3)(position));
isect.SetDirection(direction);
if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT | IntersectQuery.NORMAL | ((flags & ClampFlags.WAIT_FOR_DATA) != 0 ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0), 1, true, _camera.Position))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position = data.position;
if (_camera.RoiPosition)
{
result.position = result.position + _camera.Position;
}
result.normal = data.normal;
result.clamped = true;
}
isect.Dispose(); // Drop handle and ignore GC
if (_topRoi != null)
{
result.roiNode = _topRoi.GetClosestRoiNode(result.position);
// Remove roiNode position as offset - Go to local RoiNode based coordinate system
if (result.roiNode != null && result.roiNode.IsValid())
{
result.position -= result.roiNode.Position;
}
}
return(true);
}
/// <summary>
/// Get a Local mappos in Global ray direction
/// </summary>
/// <param name="global_position"></param>
/// <param name="direction"></param>
/// <param name="result"></param>
/// <param name="flags"></param>
/// <returns></returns>
public bool GetGroundPosition(Vec3D global_position, Vec3 direction, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
{
result = new MapPos();
// Coordinate is now in world Cartesian coordinates (Roi Position)
Vec3D origo = new Vec3D(0, 0, 0); // Set used origo for clamp operation
Intersector isect = new Intersector();
// Check camera frustrum -----------------------------------------------------------
if (_camera != null && _camera.IsValid())
{
origo = _camera.Position;
if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
{
isect.SetCamera(_camera);
}
}
// Adjust intersector to use origo as center
global_position = global_position - origo;
isect.SetStartPosition((Vec3)global_position);
isect.SetDirection(direction);
if (isect.Intersect(_currentMap, IntersectQuery.ABC_TRI |
IntersectQuery.NEAREST_POINT |
(flags.HasFlag(ClampFlags.ALIGN_NORMAL_TO_SURFACE) ? IntersectQuery.NORMAL : 0) | //IntersectQuery.NORMAL |
(flags.HasFlag(ClampFlags.WAIT_FOR_DATA) ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0),
1, true, origo))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position = data.coordinate + origo;
if ((data.resultMask & IntersectQuery.NORMAL) != 0)
{
result.normal = data.normal;
}
if (data.resultMask.HasFlag(IntersectQuery.ABC_TRI))
{
result.a = data.a + origo;
result.b = data.b + origo;
result.c = data.c + origo;
}
result.clampResult = data.resultMask;
}
else
{
result.clampResult = IntersectQuery.NULL;
}
isect.Dispose(); // Drop handle and ignore GC
result.local_orientation = GetLocalOrientation(result.position);
if (result.clampResult == IntersectQuery.NULL)
{
result.normal = result.local_orientation.GetCol(2);
}
return(ToLocal(result));
}
public bool UpdatePosition(MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
if (_currentMap == null) // No map
{
return(false);
}
result.normal = result.local_orientation.GetCol(2);
if (groundClamp != GroundClampType.NONE)
{
// Add ROINode position as offset - Go to global 3D coordinate system as we need to clamp in global 3D
RoiNode roi = result.node as RoiNode;
if (roi != null && roi.IsValid())
{
result.position += roi.Position;
}
// The defined down vector
Vec3 down = new Vec3(-result.local_orientation.v13, -result.local_orientation.v23, -result.local_orientation.v33);
// Check triangel ground
if (result.clampResult.HasFlag(IntersectQuery.ABC_TRI))
{
if (Intersect(result.position, down, result.a, result.b, result.c, out Vec3D p))
{
result.position = p;
ToLocal(result);
return(true);
}
}
// Check new intersector
Intersector isect = new Intersector();
Vec3D origo = new Vec3D(0, 0, 0);
// Check camera frustrum -----------------------------------------------------------
if (_camera != null && _camera.IsValid())
{
origo = _camera.Position;
if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
{
isect.SetCamera(_camera);
}
}
if ((flags & ClampFlags.ISECT_LOD_QUALITY) != 0) // Lets stand in the ray to get highest quality
{
origo = result.position;
}
isect.SetStartPosition((Vec3)(result.position - origo) - 10000.0f * down); // Move backwards
isect.SetDirection(down);
if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT | IntersectQuery.ABC_TRI |
(flags.HasFlag(ClampFlags.ALIGN_NORMAL_TO_SURFACE) ? IntersectQuery.NORMAL : 0) | //IntersectQuery.NORMAL |
(flags.HasFlag(ClampFlags.WAIT_FOR_DATA) ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0) |
(flags.HasFlag(ClampFlags.UPDATE_DATA) ? IntersectQuery.UPDATE_DYNAMIC_DATA : 0)
, 1, true, origo))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position = data.coordinate + origo;
if ((data.resultMask & IntersectQuery.NORMAL) != 0)
{
result.normal = data.normal;
}
if (data.resultMask.HasFlag(IntersectQuery.ABC_TRI))
{
result.a = data.a + origo;
result.b = data.b + origo;
result.c = data.c + origo;
}
result.clampResult = data.resultMask;
}
else
{
result.clampResult = IntersectQuery.NULL;
}
//if (groundClamp == GroundClampType.GROUND)
//{
// result.normal = result.local_orientation.GetCol(2);
//}
isect.Dispose(); // Drop handle and ignore GC
// Remove ROINode position as offset - Go to local coordinate system under ROI Node
ToLocal(result);
}
result.clampFlags = flags;
result.clampType = groundClamp;
return(true);
}
/// <summary>
/// Find cut line through the intersection of dcel faces.
/// Each dcel face is bounded by lines in the dual plane, representing the points to separate equally.
/// </summary>
/// <param name="a_region1"></param>
/// <param name="a_region2"></param>
/// <param name="a_region3"></param>
/// <returns></returns>
public static List <Line> FindCutlinesInDual(List <Face> a_region1, List <Face> a_region2, List <Face> a_region3)
{
a_region1.Sort((f1, f2) => f1.BoundingBox().xMin.CompareTo(f2.BoundingBox().xMin));
a_region2.Sort((f1, f2) => f1.BoundingBox().xMin.CompareTo(f2.BoundingBox().xMin));
a_region3.Sort((f1, f2) => f1.BoundingBox().xMin.CompareTo(f2.BoundingBox().xMin));
var region1 = a_region1.Select(x => x.Polygon.Outside).ToList();
var region2 = a_region2.Select(x => x.Polygon.Outside).ToList();
var region3 = a_region3.Select(x => x.Polygon.Outside).ToList();
var intermediateList = new List <Polygon2D>();
//Intersect first two lists
var list1index = 0;
var list2index = 0;
while (list1index < region1.Count && list2index < region2.Count)
{
//progress trough y coordinates
var intersection = Intersector.IntersectConvex(region1[list1index], region2[list2index]);
if (intersection != null)
{
intermediateList.Add(intersection);
}
if (region2[list2index].BoundingBox().xMax < region1[list1index].BoundingBox().xMax)
{
list2index++;
}
else
{
list1index++;
}
}
var result = new List <Polygon2D>();
//Intersect intermediate list and last list
var intermediateIndex = 0;
var list3index = 0;
while (intermediateIndex < intermediateList.Count && list3index < region3.Count)
{
//progress trough y coordinates
var intersection = Intersector.IntersectConvex(intermediateList[intermediateIndex], region3[list3index]);
if (intersection != null)
{
result.Add(intersection);
}
if (region3[list3index].BoundingBox().xMax < intermediateList[intermediateIndex].BoundingBox().xMax)
{
list3index++;
}
else
{
intermediateIndex++;
}
}
//Convert polygons to lines
return(FindCutLinesInDual(result));
}
public void Connect()
{
// check validness (1) 2pts, (2) line segment not exist; (3) not crossed with existing segments (5) not intersecting existing polygon
if (m_selected_points.Count < 2)
{
return;
}
var seg = new P2Segment(m_selected_points[0].Pos, m_selected_points[1].Pos, player1Turn);
var segLS = new LineSegment(m_selected_points[0].Pos, m_selected_points[1].Pos);
//Debug.Log(seg.Segment.Point1 + "," + seg.Segment.Point2);
if (m_segments.Contains(segLS))
{
return;
}
foreach (P2Segment s in PlayerSegments[playerIndex])
{
if (LineSegment.IntersectProper(s.Segment, seg.Segment) != null)
{
return;
}
}
if (SegIntersectPolygon(seg, playerIndex))
{
return;
}
//points on existing polygon cannot be selected.
//Some explanations: If we can select points on existing polygon, we need to deal with the case: one line segement connecting two polygon
//If we want to find a largest circle, this is NP-hard problem(Hamilton Cycle)
operated = true;
//add both vertices and segment to current player
PlayerPoints[playerIndex].Add(seg.Segment.Point1);
PlayerPoints[playerIndex].Add(seg.Segment.Point2);
PlayerPoints[playerIndex] = PlayerPoints[playerIndex].Distinct().ToList();
PlayerSegments[playerIndex].Add(seg);
m_segments.Add(segLS);
//draw line segment,
var mesh = Instantiate(PlayerLineMeshesPrefab[playerIndex], Vector3.forward, Quaternion.identity) as GameObject;
mesh.transform.parent = LineMeshCollection[playerIndex].transform;
mesh.GetComponent <P2Segment>().CopySegment(seg);
instantObjects.Add(mesh);
PlayerLineMeshes[playerIndex].Add(mesh);
var meshScript = mesh.GetComponent <ReshapingMesh>();
meshScript.CreateNewMesh(seg.Segment.Point1, seg.Segment.Point2);
// add new convex hull (if exist) to current player, draw convex hull, update score
Polygon2D newpolygon = FindPolygon(playerIndex, seg.Segment.Point1);
if (newpolygon != null)
{
Debug.Log("new polygon v cnt: " + newpolygon.VertexCount.ToString());
PlayerPolygons[playerIndex].Add(newpolygon);
CanvasPlayerPolygons[playerIndex].Add(PolygonOnCanvas(newpolygon));
string printtext = "";
foreach (var v in newpolygon.Vertices)
{
printtext += "(" + v.x + "," + v.y + ") ";
}
Debug.Log(printtext);
UpdateMesh(newpolygon, playerIndex, true);
if (newpolygon.VertexCount > 0)
{
PlayerScore[playerIndex] += newpolygon.Area;
}
//For the other player, disable the merging for polygon with intersection
foreach (Polygon2D polygon in PlayerPolygons[1 - playerIndex])
{
int i = PlayerPolygons[1 - playerIndex].IndexOf(polygon);
Debug.Log("Polygon in oppo1: " + PolygonOnCanvas(polygon).VertexCount);
Debug.Log("Polygon in oppo2: " + PolygonOnCanvas(newpolygon).VertexCount);
if (Intersector.ifIntersect(PolygonOnCanvas(polygon), PolygonOnCanvas(newpolygon)))
{
PlayerPolygonObjects[1 - playerIndex][i].GetComponent <P2Hull>().mergeChance = false;
}
}
UpdateScore();
}
UpdateTrapezoidalDecomposition();
}
public void Merge()
{
//check validness (1) 2 polygon, (2) mergechance > 1;
if (m_selected_convexhulls.Count < 2)
{
return;
}
foreach (GameObject hullObject in m_selected_convexhulls)
{
if (!hullObject.GetComponent <P2Hull>().mergeChance)
{
return;
}
}
//Compute new convex hull, add new convex hull to current player, update score
operated = true;
Polygon2D newhull = ConvexHull.ComputeConvexHull(m_selected_convexhulls[0].GetComponent <P2Hull>().hull, m_selected_convexhulls[1].GetComponent <P2Hull>().hull);
Debug.Log(m_selected_convexhulls[0].GetComponent <P2Hull>().hull.Area + ", " + m_selected_convexhulls[1].GetComponent <P2Hull>().hull.Area + "=" + newhull.Area);
PlayerPolygons[playerIndex].Add(newhull);
foreach (var v in newhull.Vertices)
{
PlayerPointsOnPolygons[playerIndex].Add(v);
}
CanvasPlayerPolygons[playerIndex].Add(PolygonOnCanvas(newhull));
foreach (var v in newhull.Vertices)
{
PlayerPoints[playerIndex].Add(v);
}
foreach (var seg in newhull.Segments)
{
PlayerSegments[playerIndex].Add(new P2Segment(seg.Point1, seg.Point2, player1Turn));
}
//disable merges
m_selected_convexhulls[0].GetComponent <P2Hull>().mergeChance = false;
m_selected_convexhulls[1].GetComponent <P2Hull>().mergeChance = false;
foreach (Polygon2D polygon in PlayerPolygons[1 - playerIndex])
{
int i = PlayerPolygons[1 - playerIndex].IndexOf(polygon);
if (Intersector.ifIntersect(PolygonOnCanvas(polygon), PolygonOnCanvas(newhull)))
{
PlayerPolygonObjects[1 - playerIndex][i].GetComponent <P2Hull>().mergeChance = false;
}
}
UpdateMesh(newhull, playerIndex, false);
if (newhull.VertexCount > 0)
{
PlayerScore[playerIndex] += newhull.Area;
}
UpdateScore();
UpdateTrapezoidalDecomposition();
}
