//get rotation angle
//public float GetAngle(Transform from, Transform to, TetraEdge edge)
//{
// var v0 = edge.GetCenter();
// var F = from.position - v0;
// var T = to.position - v0;
// var D = (from.position - to.position).magnitude;
// var E = GetEdgeLength();
// var A = Vector3.Angle(F, T);
// print(A);
// if (D > E)
// {
// A = 360 - A;
// }
// return A;
//}
//check the edge and get axis edge if edge was shared with others
public void CheckSharedEdge(TetraBot nb)
{
//for (int i = 0; i < transform.childCount; i++)
//{
// var e = transform.GetChild(i);
// if (e.tag == "ColliderBall")
// {
// //get other tetra edge which is shared with this one
// Debug.Log("get connect edge" + e);
// GetTetraEdge(e);
// _axis.Add(e);
// }
// else
// {
// }
//}
foreach (var e in Edges)
{
var tf = e.GetTransform();
if (tf.tag == "ColliderBall")
{
var ee = e._Axis[0];
GetTetraEdge(ee);
}
}
print(_axis);
Evaluatedis();
}
public void EvaluateNeighbor(TetraBot nb)
{
if (_sharedBotEdgeDic.ContainsKey(nb) && nb._sharedBotEdgeDic.ContainsKey(this))
{
_sharedBotEdgeDic[nb] = new List <TetraEdge>();
nb._sharedBotEdgeDic[this] = new List <TetraEdge>();
_movablePoints[nb] = new List <Transform>();
nb._movablePoints[this] = new List <Transform>();
}
foreach (var e in Edges)
{
foreach (var en in nb.GetEdges())
{
var ec = e.GetCenterXform();
var nc = en.GetCenterXform();
if (CloseEnoughPoint(ec, nc))
{
print("share");
AddSharedEdge(nb, e);
nb.AddSharedEdge(this, en);
}
}
}
foreach (var v in _vertexs)
{
foreach (var vn in nb._vertexs)
{
AddMovablePoints(nb, v);
nb.AddMovablePoints(this, vn);
}
}
foreach (var v in _vertexs)
{
foreach (var vn in nb._vertexs)
{
if (CloseEnoughPoint(v, vn))
{
_movablePoints[nb].Remove(v);
nb._movablePoints[this].Remove(vn);
}
}
}
print(_movablePoints[nb].Count);
}
public void AddSharedEdge(TetraBot nb, TetraEdge EdgeDir)
{
if (!_sharedBotEdgeDic.ContainsKey(nb))
{
_sharedBotEdgeDic.Add(nb, new List <TetraEdge>()
{
EdgeDir
});
}
else
{
if (!_sharedBotEdgeDic[nb].Contains(EdgeDir))
{
_sharedBotEdgeDic[nb].Add(EdgeDir);
}
}
}
public void AddMovablePoints(TetraBot nb, Transform point)
{
if (!_movablePoints.ContainsKey(nb))
{
_movablePoints.Add(nb, new List <Transform>()
{
point
});
}
else
{
if (!_movablePoints[nb].Contains(point))
{
_movablePoints[nb].Add(point);
}
}
}
public void Rotate(TetraBot nb, int edge, Transform fromPoint, Transform toPoint)
{
var e = nb._sharedBotEdgeDic[this][edge];
var axis = transform.InverseTransformDirection(e.GetDirection());
var angle = GetAngle(fromPoint, toPoint, e);
var center = e.GetCenter();
var from = fromPoint.position - center;
var to = toPoint.position - center;
// var q = transform.rotation.eulerAngles + Quaternion.AngleAxis(angle, axis).eulerAngles;
//transform.SetPositionAndRotation();
transform.Rotate(axis, angle, Space.Self);
}
public void Rotate(TetraBot nb, int edge, Transform fromPoint, Transform toPoint)
{
var e = nb._sharedBotEdgeDic[this][edge];
var axis = e.GetDirection();
var angle = GetAngle(fromPoint, toPoint, e);
var center = e.GetCenter();
var pivot = e.GetCenterXform();
transform.parent = pivot;
pivot.Rotate(axis, angle);
// var q = transform.rotation.eulerAngles + Quaternion.AngleAxis(angle, axis).eulerAngles;
//transform.SetPositionAndRotation();
transform.parent = pivot.parent.parent;
}
public void EvaluateNeighbor(TetraBot nb)
{
foreach (var e in Edges)
{
foreach (var en in nb.GetEdges())
{
var es = e._start.position;
var ee = e._end.position;
var ns = en._start.position;
var ne = en._end.position;
if (CloseEnough(es, ns) && CloseEnough(ee, ne) || CloseEnough(es, ne) && CloseEnough(ee, ns))
{
AddSharedEdge(nb, e);
nb.AddSharedEdge(this, en);
}
if (!CloseEnough(es, ns) && !CloseEnough(ee, ne) && !CloseEnough(es, ne) && !CloseEnough(ee, ns))
{
//if (_sharedBotEdgeDic.ContainsKey(nb))
//{
// if (_sharedBotEdgeDic[nb].Contains(e))
// {
// _sharedBotEdgeDic[nb].Remove(e);
// print("remove");
// }
//}
//if (nb._sharedBotEdgeDic.ContainsKey(this))
//{
// if (nb._sharedBotEdgeDic[this].Contains(en))
// {
// nb._sharedBotEdgeDic[this].Remove(en);
// print("remove nb");
// }
//}
if (MovablePoints.Contains(e._start) || MovablePoints.Contains(e._end))
{
continue;
}
else
{
MovablePoints.AddRange(e.GetPoints());
}
nb.MovablePoints.AddRange(en.GetPoints());
}
}
if (_sharedBotEdgeDic.ContainsKey(nb))
{
if (_sharedBotEdgeDic[nb].Count == 0)
{
_sharedBotEdgeDic.Remove(nb);
}
}
if (nb._sharedBotEdgeDic.ContainsKey(this))
{
if (nb._sharedBotEdgeDic[this].Count == 0)
{
_sharedBotEdgeDic.Remove(this);
}
}
}
}
public TetraEdge GetSharedEdge(TetraBot nb, int edgeIndex)
{
int i = Mathf.Clamp(edgeIndex, 0, _sharedBotEdgeDic[nb].Count - 1);
return(_sharedBotEdgeDic[nb][i]);
}
