private void SplitHulls(WorkBuffer <PartialHull> hulls, Event e)
{
var splitIdx = BinarySearch.LE(hulls.Data, e, FindSplit.Default, 0, hulls.UsedSize - 1);
var hull = hulls.Data[splitIdx];
var upperIds = hull.UpperIds;
var x = upperIds.Data[upperIds.UsedSize - 1];
hull.UpperIds = new WorkBuffer <int>(8);
hull.UpperIds.Push(ref x);
var h = hulls.Insert(splitIdx + 1);
h.A = e.A;
h.B = e.B;
h.Index = e.Index;
h.LowerIds.Clear();
h.LowerIds.Push(ref x);
h.UpperIds = upperIds;
if (Verbose)
{
Debug.Log("Split: " + splitIdx);
DumpHulls(hulls);
hulls.Dump();
}
}
private void AddPoint(List <int> cells, WorkBuffer <PartialHull> hulls, List <Vector3> points, Vector2 p, int idx)
{
var lo = BinarySearch.LT(hulls.Data, p, TestPoint.Default, 0, hulls.UsedSize - 1);
var hi = BinarySearch.GT(hulls.Data, p, TestPoint.Default, 0, hulls.UsedSize - 1);
for (var i = lo; i < hi; ++i)
{
var hull = hulls.Data[i];
//Insert p into lower hull
{
var lowerIds = hull.LowerIds;
var m = lowerIds.UsedSize;
var lowerIdsData = lowerIds.Data;
while (m > 1 && Robust.Orientation(points[lowerIdsData[m - 2]], points[lowerIdsData[m - 1]], p) > 0f)
{
cells.Add(lowerIdsData[m - 1]);
cells.Add(lowerIdsData[m - 2]);
cells.Add(idx);
m -= 1;
}
if (m < lowerIds.UsedSize)
{
lowerIds.RemoveLast(lowerIds.UsedSize - m);
}
lowerIds.Push(ref idx);
}
//Insert p into upper hull
{
var upperIds = hull.UpperIds;
var m = upperIds.UsedSize;
var upperIdsData = upperIds.Data;
while (m > 1 && Robust.Orientation(points[upperIdsData[m - 2]], points[upperIdsData[m - 1]], p) < 0f)
{
cells.Add(upperIdsData[m - 2]);
cells.Add(upperIdsData[m - 1]);
cells.Add(idx);
m -= 1;
}
if (m < upperIds.UsedSize)
{
upperIds.RemoveLast(upperIds.UsedSize - m);
}
upperIds.Push(ref idx);
}
}
if (Verbose)
{
Debug.Log("Add");
DumpHulls(hulls);
hulls.Dump();
}
}
private void MergeHulls(WorkBuffer <PartialHull> hulls, Event e)
{
//Swap pointers for merge search
var tmp = e.A;
e.A = e.B;
e.B = tmp;
var mergeIdx = BinarySearch.EQ(hulls.Data, e, FindSplit.Default, 0, hulls.UsedSize - 1);
var upper = hulls.Data[mergeIdx];
var lower = hulls.Data[mergeIdx - 1];
lower.UpperIds = upper.UpperIds;
hulls.RemoveAt(mergeIdx);
if (Verbose)
{
Debug.Log("Merge: " + mergeIdx);
DumpHulls(hulls);
hulls.Dump();
}
}