public static bool IsRayInsectRay3(Vector3 rayOrigin1, Vector3 rayDirection1, Vector3 rayOrigin2, Vector3 rayDirection2, ref GeoInsectPointInfo insect)
{
Vector3 close1, close2;
bool isinsect = GeoUtils.RayRayClosestPoint(rayOrigin1, rayDirection1, rayOrigin2, rayDirection2, out close1, out close2);
if (isinsect)
{
Vector3 t = close1 - close2;
if (t.magnitude < 1e-5f)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = close1;
return(true);
}
}
return(false);
}
// 线
public static bool IsLineInsectLine2(Vector2 line1, Vector2 line2, Vector2 line3, Vector2 line4, ref GeoInsectPointInfo insect)
{
Vector3 line11 = new Vector3(line1.x, line1.y, 0.0f);
Vector3 line12 = new Vector3(line2.x, line2.y, 0.0f);
Vector3 line21 = new Vector3(line3.x, line3.y, 0.0f);
Vector3 line22 = new Vector3(line4.x, line4.y, 0.0f);
return(IsLineInsectLine3(line11, line12, line21, line22, ref insect));
}
public static bool IsRayInsectRay2(Vector2 rayOrigin1, Vector2 rayDirection1, Vector2 rayOrigin2, Vector2 rayDirection2, ref GeoInsectPointInfo insect)
{
Vector3 rayOrigin11 = GeoUtils.ToVector2(rayOrigin1);
Vector3 rayDirection11 = GeoUtils.ToVector2(rayDirection1);
Vector3 rayOrigin21 = GeoUtils.ToVector2(rayOrigin2);
Vector3 rayDirection21 = GeoUtils.ToVector2(rayDirection2);
return(IsRayInsectRay3(rayOrigin11, rayDirection11, rayOrigin21, rayDirection21, ref insect));
}
public static bool IsPlaneInsectRay(Vector3 normal, float d, Vector3 origin, Vector3 direction, ref GeoInsectPointInfo insect)
{
float t = Vector3.Dot(normal, direction);
if (t == 0) // 平行 或 在平面内
{
if (IsPointOnPlane(normal, d, origin))
{
// 在平面内
return(false);
}
else
{
// 平行
return(false);
}
}
float up = -Vector3.Dot(normal, origin) + d;
t = up / t;
if (t > 0)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = origin + t * direction;
}
return(insect.mIsIntersect);
}
public static bool IsPlaneInsectLine(Vector3 normal, float d, Vector3 p1, Vector3 p2, ref GeoInsectPointInfo insect)
{
Vector3 direction = p2 - p1;
direction.Normalize(); // not required
float t = Vector3.Dot(normal, direction);
if (t == 0) // 平行 或 在平面内
{
if (IsPointOnPlane(normal, d, p1))
{
// 在平面内
return(false);
}
else
{
// 平行
return(false);
}
}
float up = -Vector3.Dot(normal, p1) + d;
t = up / t;
insect.mIsIntersect = true;
insect.mHitGlobalPoint = p1 + t * direction;
return(true);
}
public static bool IsSegmentInsectSegment3(Vector3 seg1, Vector3 seg2, Vector3 seg3, Vector3 seg4, ref GeoInsectPointInfo insect)
{
Vector3 close1, close2;
bool isinsect = GeoUtils.SegmentSegmentClosestPoint(seg1, seg2, seg3, seg4, out close1, out close2);
if (isinsect)
{
Vector3 t = close1 - close2;
if (t.sqrMagnitude < GeoUtils.PRECISION)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = close1;
return(true);
}
}
insect.mIsIntersect = false;
return(false);
}
public static bool IsSegmentInsectRay2(Vector2 seg1, Vector2 seg2, Vector2 rayOrigin, Vector2 rayDirection, ref GeoInsectPointInfo insect)
{
Vector3 seg11 = GeoUtils.ToVector3(seg1);
Vector3 seg21 = GeoUtils.ToVector3(seg2);
Vector3 rayOrigin1 = GeoUtils.ToVector3(rayOrigin);
Vector3 rayDirection1 = GeoUtils.ToVector3(rayDirection);
return(IsSegmentInsectRay3(seg11, seg21, rayOrigin1, rayDirection1, ref insect));
}
public static bool IsTriangleInsectRay2(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 rayOrigin, Vector2 rayDirection, ref GeoInsectPointInfo insect)
{
return(GeoRayUtils.IsRayInsectLine2(rayOrigin, rayDirection, rayOrigin, rayDirection, ref insect));
}
public static bool IsTriangleInsectRay3(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 rayOrigin, Vector3 rayDirection, ref GeoInsectPointInfo insect)
{
return(GeoRayUtils.IsRayInsectTriangle3(rayOrigin, rayDirection, p1, p2, p3, ref insect));
}
public static bool IsLineInsectRay2(Vector2 line1, Vector2 line2, Vector2 rayOrigin, Vector2 rayDirection, ref GeoInsectPointInfo insect)
{
Vector3 line11 = new Vector3(line1.x, line1.y, 0.0f);
Vector3 line12 = new Vector3(line2.x, line2.y, 0.0f);
Vector3 rayO = new Vector3(rayOrigin.x, rayOrigin.y, 0.0f);
Vector3 rayD = new Vector3(rayDirection.x, rayDirection.y, 0.0f);
return(IsLineInsectRay3(line11, line12, rayO, rayD, ref insect));
}
public static bool IsLineInsectRay3(Vector3 line1, Vector3 line2, Vector3 rayOrigin, Vector3 rayDirection, ref GeoInsectPointInfo insect)
{
Vector3 close1, close2;
bool issect = GeoUtils.RayLineClosestPoint(rayOrigin, rayDirection, line1, line2, out close1, out close2);
if (issect)
{
Vector3 t = close1 - close2;
if (t.sqrMagnitude < GeoUtils.PRECISION)
{
insect.mHitGlobalPoint = close1;
insect.mIsIntersect = true;
return(true);
}
}
insect.mIsIntersect = false;
return(false);
}
public static bool IsLineInsectSegment3(Vector3 line1, Vector3 line2, Vector3 seg1, Vector3 seg2, ref GeoInsectPointInfo insect)
{
Vector3 closest1, closest2;
bool issect = GeoUtils.LineSegmentClosestPoint(line1, line2, seg1, seg2, out closest1, out closest2);
if (issect)
{
Vector3 t = closest1 - closest2;
if (t.sqrMagnitude < GeoUtils.PRECISION)
{
insect.mHitGlobalPoint = closest1;
insect.mIsIntersect = true;
return(true);
}
}
insect.mIsIntersect = false;
return(false);
}
public static bool IsLineInsectSegment2(Vector2 line1, Vector2 line2, Vector2 seg1, Vector2 seg2, ref GeoInsectPointInfo insect)
{
Vector3 line11 = new Vector3(line1.x, line1.y, 0.0f);
Vector3 line21 = new Vector3(line2.x, line2.y, 0.0f);
Vector3 seg11 = new Vector3(seg1.x, seg1.y, 0.0f);
Vector3 seg21 = new Vector3(seg2.x, seg2.y, 0.0f);
return(IsLineInsectSegment3(line11, line21, seg11, seg21, ref insect));
}
public static bool IsLineInsectTriangle3(Vector3 line1, Vector3 line2, Vector3 p1, Vector3 p2, Vector3 p3, ref GeoInsectPointInfo insect)
{
// 376 计算几何
Vector3 d = line2 - line1;
Vector3 line1p1 = line1 - p1;
Vector3 v2v1 = p2 - p1;
Vector3 v3v1 = p3 - p1;
Vector3 normal = Vector3.Cross(v2v1, v3v1);
float dot = Vector3.Dot(normal, d.normalized);
if (dot < GeoUtils.PRECISION && dot > -GeoUtils.PRECISION)
{
// 平行或 共面
dot = Vector3.Dot(normal, line1p1);
if (dot < GeoUtils.PRECISION && dot > -GeoUtils.PRECISION)
{
// 共面 此处应该转化为 线与线段 相交
// 暂时处理为 false
return(false);
}
else
{
// 平行
return(false);
}
}
Vector3 d31 = Vector3.Cross(d, v3v1);
float d31v2v1 = Vector3.Dot(d31, v2v1);
float tmp = 1.0f / d31v2v1;
float t = Vector3.Dot(Vector3.Cross(line1p1, v2v1), v3v1);
float u = Vector3.Dot(Vector3.Cross(d, v3v1), line1p1);
float v = Vector3.Dot(Vector3.Cross(line1p1, v2v1), d);
if (u >= 0 && u <= 1 && v >= 0 && v <= 1 && (u + v) <= 1)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = line1p1 + t * d;
return(true);
}
return(false);
}
public static bool IsSegmentInsectCircle3(Vector3 seg1, Vector3 seg2, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointInfo insect)
{
bool isInsect = GeoPlaneUtils.IsPlaneInsectSegment(plane.mNormal, plane.mD, seg1, seg2, ref insect);
if (isInsect)
{
if (GeoCircleUtils.IsInSphere(center, r, insect.mHitGlobalPoint))
{
return(true);
}
}
insect.mIsIntersect = isInsect;
return(isInsect);
}
public static bool IsTriangleInsectLine3(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 line1, Vector3 line2, ref GeoInsectPointInfo insect)
{
return(GeoLineUtils.IsLineInsectTriangle3(line1, line2, p1, p2, p3, ref insect));
}
// 线段 相交 和 重叠 分开 计算 （线段重叠 不认为 相交）
public static bool IsSegmentInsectSegment2(Vector2 seg1, Vector2 seg2, Vector2 seg3, Vector2 seg4, ref GeoInsectPointInfo insect)
{
Vector3 seg11 = GeoUtils.ToVector3(seg1);
Vector3 seg21 = GeoUtils.ToVector3(seg2);
Vector3 seg31 = GeoUtils.ToVector3(seg3);
Vector3 seg41 = GeoUtils.ToVector3(seg4);
return(IsSegmentInsectSegment3(seg11, seg21, seg31, seg41, ref insect));
}
public static bool IsRayInsectCircle3(Vector3 rayOrigin, Vector3 rayDirection, Vector3 center, float r, GeoPlane plane, ref GeoInsectPointInfo insect)
{
if (GeoPlaneUtils.IsPlaneInsectRay(plane.mNormal, plane.mD, rayOrigin, rayDirection, ref insect))
{
if (GeoCircleUtils.IsInSphere(center, r, insect.mHitGlobalPoint))
{
return(true);
}
}
return(false);
}
public static bool IsSegmentInsectLine3(Vector3 seg1, Vector3 seg2, Vector3 line1, Vector3 line2, ref GeoInsectPointInfo insect)
{
return(GeoLineUtils.IsLineInsectSegment3(line1, line2, seg1, seg2, ref insect));
}
public static bool IsRayInsectTriangle3(Vector3 rayOrigin, Vector3 rayDirection, Vector3 p1, Vector3 p2, Vector3 p3, ref GeoInsectPointInfo insect)
{
// 376 计算几何
Vector3 d = rayDirection;
Vector3 line1p1 = rayOrigin - p1;
Vector3 v2v1 = p2 - p1;
Vector3 v3v1 = p3 - p1;
Vector3 normal = Vector3.Cross(v2v1, v3v1);
float dot = Vector3.Dot(normal, d.normalized);
if (dot < 1e-5f && dot > -1e-5f)
{
// 平行或 共面
dot = Vector3.Dot(normal, line1p1);
if (dot < 1e-5f && dot > -1e-5f)
{
// 共面 此处应该转化为 线与线段 相交
// 暂时处理为 false
return(false);
}
else
{
// 平行
return(false);
}
}
Vector3 d31 = Vector3.Cross(d, v3v1);
float d31v2v1 = Vector3.Dot(d31, v2v1);
float tmp = 1.0f / d31v2v1;
float t = Vector3.Dot(Vector3.Cross(line1p1, v2v1), v3v1) * tmp;
float u = Vector3.Dot(Vector3.Cross(d, v3v1), line1p1) * tmp;
float v = Vector3.Dot(Vector3.Cross(line1p1, v2v1), d) * tmp;
if (u >= 0 && u <= 1 && v >= 0 && v <= 1 && (u + v) <= 1 && t > 0)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = rayOrigin + t * d;
return(true);
}
return(false);
}
public static bool IsSegmentInsectRay3(Vector3 seg1, Vector3 seg2, Vector3 rayOrigin, Vector3 rayDirection, ref GeoInsectPointInfo insect)
{
Vector3 close1, close2;
bool isinsect = GeoUtils.RaySegmentClosestPoint(rayOrigin, rayDirection, seg1, seg2, out close1, out close2);
if (isinsect)
{
Vector3 t = close1 - close2;
if (t.sqrMagnitude < GeoUtils.PRECISION)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = close1;
insect.mLength = (rayOrigin - close1).magnitude;
}
}
return(insect.mIsIntersect);
}
public static bool IsRayInsectSegment3(Vector3 rayOrigin, Vector3 rayDirection, Vector3 seg1, Vector3 seg2, ref GeoInsectPointInfo insect)
{
return(GeoSegmentUtils.IsSegmentInsectRay3(seg1, seg2, rayOrigin, rayDirection, ref insect));
}
public static bool IsPlaneInsectSegment(Vector3 normal, float d, Vector3 p1, Vector3 p2, ref GeoInsectPointInfo insect)
{
Vector3 direction = p2 - p1;
float t = Vector3.Dot(normal, direction);
if (t == 0) // 平行 或 在平面内
{
if (IsPointOnPlane(normal, d, p1))
{
// 在平面内
return(false);
}
else
{
// 平行
return(false);
}
}
float up = -Vector3.Dot(normal, p1) + d;
t = up / t;
if (t > 0 && t < 1)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint = p1 + t * direction;
}
return(insect.mIsIntersect);
}
public static bool IsRayInsectLine3(Vector3 rayOrigin, Vector3 rayDirection, Vector3 line1, Vector3 line2, ref GeoInsectPointInfo insect)
{
return(GeoLineUtils.IsLineInsectRay3(line1, line2, rayOrigin, rayDirection, ref insect));
}
public static bool IsPlaneInsectTriangle(Vector3 normal, float d, Vector3 p1, Vector3 p2, Vector3 p3, ref GeoInsectPointArrayInfo insect)
{
// 414
List <Vector3> tri = new List <Vector3>();
tri.Add(p1);
tri.Add(p2);
tri.Add(p3);
List <Vector3> pPos = new List <Vector3>();
List <Vector3> pOn = new List <Vector3>();
foreach (Vector3 p in tri)
{
bool p1P = IsPointInPositiveHalf(normal, d, p);
if (p1P)
{
pPos.Add(p);
}
else
{
p1P = IsPointOnPlane(normal, d, p);
if (p1P)
{
pOn.Add(p);
}
}
}
if (pPos.Count == 3 && pOn.Count == 0) // 三点都在 一侧
{
return(false);
}
if (pPos.Count == 2 && pOn.Count == 1) // 一点在上，另两点同侧
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray.Add(pOn[0]);
return(true);
}
if (pPos.Count == 1 && pOn.Count == 2)
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray.Add(pOn[0]);
insect.mHitGlobalPoint.mPointArray.Add(pOn[1]);
return(true);
}
if (pPos.Count == 0 && pOn.Count == 3) // 共面
{
insect.mIsIntersect = true;
insect.mHitGlobalPoint.mPointArray.Add(pOn[0]);
insect.mHitGlobalPoint.mPointArray.Add(pOn[1]);
insect.mHitGlobalPoint.mPointArray.Add(pOn[2]);
return(true);
}
insect.mIsIntersect = true;
GeoInsectPointInfo temp = new GeoInsectPointInfo();
for (int i = 0; i < 3; ++i)
{
if (IsPlaneInsectSegment(normal, d, tri[i], tri[(i + 1) % 3], ref temp))
{
insect.mHitGlobalPoint.mPointArray.Add(temp.mHitGlobalPoint);
}
}
return(true);
}
public static bool IsLineInsectLine3(Vector3 line1, Vector3 line2, Vector3 line3, Vector3 line4, ref GeoInsectPointInfo insect)
{
Vector3 closest1, closest2;
bool isInsect = GeoUtils.LineLineClosestPoint(line1, line2, line3, line4, out closest1, out closest2);
if (isInsect)
{
Vector3 t = closest1 - closest2;
if (t.magnitude < 1e-5f)
{
insect.mHitGlobalPoint = closest1;
insect.mIsIntersect = true;
return(true);
}
}
insect.mIsIntersect = false;
return(false);
}
