public void Move()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList<int> intList = new RawList<int>();
intList.AddRange(testArray);
intList.Move(0, 3, 1);
CollectionAssert.AreEqual(new int[] { 0, 0, 1, 2, 4, 5, 6, 7, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(0, 3, 3);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 0, 1, 2, 6, 7, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(0, 3, 5);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 3, 4, 0, 1, 2, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(7, 3, -1);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 3, 4, 5, 7, 8, 9, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(7, 3, -3);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 3, 7, 8, 9, 7, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(7, 3, -5);
CollectionAssert.AreEqual(new int[] { 0, 1, 7, 8, 9, 5, 6, 7, 8, 9 }, intList);
intList.Clear();
}
[Test] public void Basics()
{
RawList <int> intList = new RawList <int>();
intList.Add(10);
intList.AddRange(new int[] { 17, 42, 94 });
Assert.AreEqual(4, intList.Count);
Assert.IsTrue(intList.Contains(42));
Assert.AreEqual(2, intList.IndexOf(42));
CollectionAssert.AreEqual(new int[] { 10, 17, 42, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 17, 42, 94 }, intList.Data.Take(4));
intList.ShrinkToFit();
Assert.AreEqual(intList.Count, intList.Capacity);
intList.Remove(42);
Assert.AreEqual(3, intList.Count);
Assert.IsTrue(!intList.Contains(42));
Assert.AreEqual(-1, intList.IndexOf(42));
CollectionAssert.AreEqual(new int[] { 10, 17, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 17, 94 }, intList.Data.Take(3));
intList.Insert(1, 100);
CollectionAssert.AreEqual(new int[] { 10, 100, 17, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 100, 17, 94 }, intList.Data.Take(4));
intList.InsertRange(2, new int[] { 150, 200, 250, 300 });
CollectionAssert.AreEqual(new int[] { 10, 100, 150, 200, 250, 300, 17, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 100, 150, 200, 250, 300, 17, 94 }, intList.Data.Take(8));
intList.Clear();
Assert.AreEqual(0, intList.Count);
Assert.IsTrue(!intList.Contains(94));
}
[Test] public void Basics()
{
RawList<int> intList = new RawList<int>();
intList.Add(10);
intList.AddRange(new int[] { 17, 42, 94 });
Assert.AreEqual(4, intList.Count);
Assert.IsTrue(intList.Contains(42));
Assert.AreEqual(2, intList.IndexOf(42));
CollectionAssert.AreEqual(new int[] { 10, 17, 42, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 17, 42, 94 }, intList.Data.Take(4));
intList.ShrinkToFit();
Assert.AreEqual(intList.Count, intList.Capacity);
intList.Remove(42);
Assert.AreEqual(3, intList.Count);
Assert.IsTrue(!intList.Contains(42));
Assert.AreEqual(-1, intList.IndexOf(42));
CollectionAssert.AreEqual(new int[] { 10, 17, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 17, 94 }, intList.Data.Take(3));
intList.Insert(1, 100);
CollectionAssert.AreEqual(new int[] { 10, 100, 17, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 100, 17, 94 }, intList.Data.Take(4));
intList.InsertRange(2, new int[] { 150, 200, 250, 300 });
CollectionAssert.AreEqual(new int[] { 10, 100, 150, 200, 250, 300, 17, 94 }, intList);
CollectionAssert.AreEqual(new int[] { 10, 100, 150, 200, 250, 300, 17, 94 }, intList.Data.Take(8));
intList.Clear();
Assert.AreEqual(0, intList.Count);
Assert.IsTrue(!intList.Contains(94));
}
/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(IList <Vector3> points, IList <Vector3> outputSurfacePoints)
{
RawList <Vector3> rawPoints = CommonResources.GetVectorList();
rawPoints.AddRange(points);
GetConvexHull(rawPoints, outputSurfacePoints);
CommonResources.GiveBack(rawPoints);
}
[Test] public void Sort()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList <int> intList = new RawList <int>();
intList.AddRange(testArray.Reverse().ToArray());
CollectionAssert.AreEqual(testArray.Reverse(), intList);
intList.Sort();
CollectionAssert.AreEqual(testArray, intList);
}
[Test] public void Move()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList <int> intList = new RawList <int>();
intList.AddRange(testArray);
intList.Move(0, 3, 1);
CollectionAssert.AreEqual(new int[] { 0, 0, 1, 2, 4, 5, 6, 7, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(0, 3, 3);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 0, 1, 2, 6, 7, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(0, 3, 5);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 3, 4, 0, 1, 2, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(7, 3, -1);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 3, 4, 5, 7, 8, 9, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(7, 3, -3);
CollectionAssert.AreEqual(new int[] { 0, 1, 2, 3, 7, 8, 9, 7, 8, 9 }, intList);
intList.Clear();
intList.AddRange(testArray);
intList.Move(7, 3, -5);
CollectionAssert.AreEqual(new int[] { 0, 1, 7, 8, 9, 5, 6, 7, 8, 9 }, intList);
intList.Clear();
}
/// <summary>
/// Removes redundant points. Two points are redundant if they occupy the same hash grid cell.
/// </summary>
/// <param name="points">List of points to prune.</param>
/// <param name="cellSize">Size of cells to determine redundancy.</param>
public static void RemoveRedundantPoints(IList<Vector3> points, double cellSize)
{
RawList<Vector3> rawPoints = CommonResources.GetVectorList();
rawPoints.AddRange(points);
RemoveRedundantPoints(rawPoints, cellSize);
points.Clear();
for (int i = 0; i < rawPoints.Count; ++i)
{
points.Add(rawPoints.Elements[i]);
}
CommonResources.GiveBack(rawPoints);
}
/// <summary>
/// Identifies the indices of points in a set which are on the outer convex hull of the set.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
public static void GetConvexHull(IList <Vector3> points, IList <int> outputTriangleIndices)
{
RawList <Vector3> rawPoints = CommonResources.GetVectorList();
RawList <int> rawIndices = CommonResources.GetIntList();
rawPoints.AddRange(points);
GetConvexHull(rawPoints, rawIndices);
CommonResources.GiveBack(rawPoints);
for (int i = 0; i < rawIndices.Count; i++)
{
outputTriangleIndices.Add(rawIndices[i]);
}
CommonResources.GiveBack(rawIndices);
}
[Test] public void Resize()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList <int> intList = new RawList <int>();
intList.AddRange(testArray);
CollectionAssert.AreEqual(testArray, intList);
intList.Count = 20;
Assert.IsTrue(intList.Count == 20);
CollectionAssert.AreEqual(testArray.Concat(new int[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }), intList);
intList[19] = 19;
Assert.IsTrue(intList[19] == 19);
Assert.IsTrue(intList.Data[19] == 19);
}
[Test] public void Sort()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList <int> intList = new RawList <int>();
// Sorting an empty array is a no-op, but entirely valid. No exceptions expected.
intList.Sort();
// Insert the reversed data
intList.AddRange(testArray.Reverse().ToArray());
CollectionAssert.AreEqual(testArray.Reverse(), intList);
// Sort it and check if its equal to the original data
intList.Sort();
CollectionAssert.AreEqual(testArray, intList);
}
private static void RemoveInsidePoints(RawList <Vector3> points, RawList <int> triangleIndices,
RawList <int> outsidePoints)
{
RawList <int> insidePoints = CommonResources.GetIntList();
//We're going to remove points from this list as we go to prune it down to the truly inner points.
insidePoints.AddRange(outsidePoints);
outsidePoints.Clear();
for (int i = 0; i < triangleIndices.Count && insidePoints.Count > 0; i += 3)
{
//Compute the triangle's plane in point-normal representation to test other points against.
Vector3 normal;
FindNormal(triangleIndices, points, i, out normal);
Vector3 p = points.Elements[triangleIndices.Elements[i]];
for (int j = insidePoints.Count - 1; j >= 0; --j)
{
//Offset from the triangle to the current point, tested against the normal, determines if the current point is visible
//from the triangle face.
Vector3 offset;
Vector3.Subtract(ref points.Elements[insidePoints.Elements[j]], ref p, out offset);
float dot;
Vector3.Dot(ref offset, ref normal, out dot);
//If it's visible, then it's outside!
if (dot > 0)
{
//This point is known to be on the outside; put it on the outside!
outsidePoints.Add(insidePoints.Elements[j]);
insidePoints.FastRemoveAt(j);
}
}
}
CommonResources.GiveBack(insidePoints);
}
/// <summary>
/// Identifies the indices of points in a set which are on the outer convex hull of the set.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
public static void GetConvexHull(RawList <Vector3> points, RawList <int> outputTriangleIndices)
{
if (points.Count == 0)
{
throw new ArgumentException("Point set must have volume.");
}
RawList <int> outsidePoints = CommonResources.GetIntList();
if (outsidePoints.Capacity < points.Count - 4)
{
outsidePoints.Capacity = points.Count - 4;
}
//Build the initial tetrahedron.
//It will also give us the location of a point which is guaranteed to be within the
//final convex hull. We can use this point to calibrate the winding of triangles.
//A set of outside point candidates (all points other than those composing the tetrahedron) will be returned in the outsidePoints list.
//That list will then be further pruned by the RemoveInsidePoints call.
Vector3 insidePoint;
ComputeInitialTetrahedron(points, outsidePoints, outputTriangleIndices, out insidePoint);
//Compute outside points.
RemoveInsidePoints(points, outputTriangleIndices, outsidePoints);
var edges = CommonResources.GetIntList();
var toRemove = CommonResources.GetIntList();
var newTriangles = CommonResources.GetIntList();
//We're now ready to begin the main loop.
while (outsidePoints.Count > 0)
{
//While the convex hull is incomplete...
for (int k = 0; k < outputTriangleIndices.Count; k += 3)
{
//Find the normal of the triangle
Vector3 normal;
FindNormal(outputTriangleIndices, points, k, out normal);
//Get the furthest point in the direction of the normal.
int maxIndexInOutsideList = GetExtremePoint(ref normal, points, outsidePoints);
int maxIndex = outsidePoints.Elements[maxIndexInOutsideList];
Vector3 maximum = points.Elements[maxIndex];
//If the point is beyond the current triangle, continue.
Vector3 offset;
Vector3.Subtract(ref maximum, ref points.Elements[outputTriangleIndices.Elements[k]], out offset);
float dot;
Vector3.Dot(ref normal, ref offset, out dot);
if (dot > 0)
{
//It's been picked! Remove the maximum point from the outside.
outsidePoints.FastRemoveAt(maxIndexInOutsideList);
//Remove any triangles that can see the point, including itself!
edges.Clear();
toRemove.Clear();
for (int n = outputTriangleIndices.Count - 3; n >= 0; n -= 3)
{
//Go through each triangle, if it can be seen, delete it and use maintainEdge on its edges.
if (IsTriangleVisibleFromPoint(outputTriangleIndices, points, n, ref maximum))
{
//This triangle can see it!
//TODO: CONSIDER CONSISTENT WINDING HAPPYTIMES
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 1], edges);
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 2], edges);
MaintainEdge(outputTriangleIndices[n + 1], outputTriangleIndices[n + 2], edges);
//Because fast removals are being used, the order is very important.
//It's pulling indices in from the end of the list in order, and also ensuring
//that we never issue a removal order beyond the end of the list.
outputTriangleIndices.FastRemoveAt(n + 2);
outputTriangleIndices.FastRemoveAt(n + 1);
outputTriangleIndices.FastRemoveAt(n);
}
}
//Create new triangles.
for (int n = 0; n < edges.Count; n += 2)
{
//For each edge, create a triangle with the extreme point.
newTriangles.Add(edges[n]);
newTriangles.Add(edges[n + 1]);
newTriangles.Add(maxIndex);
}
//Only verify the windings of the new triangles.
VerifyWindings(newTriangles, points, ref insidePoint);
outputTriangleIndices.AddRange(newTriangles);
newTriangles.Clear();
//Remove all points from the outsidePoints if they are inside the polyhedron
RemoveInsidePoints(points, outputTriangleIndices, outsidePoints);
//The list has been significantly messed with, so restart the loop.
break;
}
}
}
CommonResources.GiveBack(outsidePoints);
CommonResources.GiveBack(edges);
CommonResources.GiveBack(toRemove);
CommonResources.GiveBack(newTriangles);
}
[Test] public void Resize()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList<int> intList = new RawList<int>();
intList.AddRange(testArray);
CollectionAssert.AreEqual(testArray, intList);
intList.Count = 20;
Assert.IsTrue(intList.Count == 20);
CollectionAssert.AreEqual(testArray.Concat(new int[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }), intList);
intList[19] = 19;
Assert.IsTrue(intList[19] == 19);
Assert.IsTrue(intList.Data[19] == 19);
}
[Test] public void Sort()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList<int> intList = new RawList<int>();
// Sorting an empty array is a no-op, but entirely valid. No exceptions expected.
intList.Sort();
// Insert the reversed data
intList.AddRange(testArray.Reverse().ToArray());
CollectionAssert.AreEqual(testArray.Reverse(), intList);
// Sort it and check if its equal to the original data
intList.Sort();
CollectionAssert.AreEqual(testArray, intList);
}
/// <summary>
/// Identifies the indices of points in a set which are on the outer convex hull of the set.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
public static void GetConvexHull(RawList<Vector3> points, RawList<int> outputTriangleIndices)
{
if (points.Count == 0)
{
throw new ArgumentException("Point set must have volume.");
}
RawList<int> outsidePoints = CommonResources.GetIntList();
if (outsidePoints.Capacity < points.Count - 4)
outsidePoints.Capacity = points.Count - 4;
//Build the initial tetrahedron.
//It will also give us the location of a point which is guaranteed to be within the
//final convex hull. We can use this point to calibrate the winding of triangles.
//A set of outside point candidates (all points other than those composing the tetrahedron) will be returned in the outsidePoints list.
//That list will then be further pruned by the RemoveInsidePoints call.
Vector3 insidePoint;
ComputeInitialTetrahedron(points, outsidePoints, outputTriangleIndices, out insidePoint);
//Compute outside points.
RemoveInsidePoints(points, outputTriangleIndices, outsidePoints);
var edges = CommonResources.GetIntList();
var toRemove = CommonResources.GetIntList();
var newTriangles = CommonResources.GetIntList();
//We're now ready to begin the main loop.
while (outsidePoints.Count > 0)
{
//While the convex hull is incomplete...
for (int k = 0; k < outputTriangleIndices.Count; k += 3)
{
//Find the normal of the triangle
Vector3 normal;
FindNormal(outputTriangleIndices, points, k, out normal);
//Get the furthest point in the direction of the normal.
int maxIndexInOutsideList = GetExtremePoint(ref normal, points, outsidePoints);
int maxIndex = outsidePoints.Elements[maxIndexInOutsideList];
Vector3 maximum = points.Elements[maxIndex];
//If the point is beyond the current triangle, continue.
Vector3 offset;
Vector3.Subtract(ref maximum, ref points.Elements[outputTriangleIndices.Elements[k]], out offset);
float dot;
Vector3.Dot(ref normal, ref offset, out dot);
if (dot > 0)
{
//It's been picked! Remove the maximum point from the outside.
outsidePoints.FastRemoveAt(maxIndexInOutsideList);
//Remove any triangles that can see the point, including itself!
edges.Clear();
toRemove.Clear();
for (int n = outputTriangleIndices.Count - 3; n >= 0; n -= 3)
{
//Go through each triangle, if it can be seen, delete it and use maintainEdge on its edges.
if (IsTriangleVisibleFromPoint(outputTriangleIndices, points, n, ref maximum))
{
//This triangle can see it!
//TODO: CONSIDER CONSISTENT WINDING HAPPYTIMES
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 1], edges);
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 2], edges);
MaintainEdge(outputTriangleIndices[n + 1], outputTriangleIndices[n + 2], edges);
//Because fast removals are being used, the order is very important.
//It's pulling indices in from the end of the list in order, and also ensuring
//that we never issue a removal order beyond the end of the list.
outputTriangleIndices.FastRemoveAt(n + 2);
outputTriangleIndices.FastRemoveAt(n + 1);
outputTriangleIndices.FastRemoveAt(n);
}
}
//Create new triangles.
for (int n = 0; n < edges.Count; n += 2)
{
//For each edge, create a triangle with the extreme point.
newTriangles.Add(edges[n]);
newTriangles.Add(edges[n + 1]);
newTriangles.Add(maxIndex);
}
//Only verify the windings of the new triangles.
VerifyWindings(newTriangles, points, ref insidePoint);
outputTriangleIndices.AddRange(newTriangles);
newTriangles.Clear();
//Remove all points from the outsidePoints if they are inside the polyhedron
RemoveInsidePoints(points, outputTriangleIndices, outsidePoints);
//The list has been significantly messed with, so restart the loop.
break;
}
}
}
CommonResources.GiveBack(outsidePoints);
CommonResources.GiveBack(edges);
CommonResources.GiveBack(toRemove);
CommonResources.GiveBack(newTriangles);
}
public void Sort()
{
int[] testArray = Enumerable.Range(0, 10).ToArray();
RawList<int> intList = new RawList<int>();
intList.AddRange(testArray.Reverse().ToArray());
CollectionAssert.AreEqual(testArray.Reverse(), intList);
intList.Sort();
CollectionAssert.AreEqual(testArray, intList);
}