private void CreateInitialSimplex()
{
List <int> list = FindInitialPoints();
int[] array = new int[NumOfDimensions + 1];
for (int i = 0; i < NumOfDimensions + 1; i++)
{
int[] array2 = new int[NumOfDimensions];
int j = 0;
int num = 0;
for (; j <= NumOfDimensions; j++)
{
if (i != j)
{
if (j == list.Count)
{
int num2 = 0;
num2++;
}
int num3 = list[j];
array2[num++] = num3;
}
}
ConvexFaceInternal convexFaceInternal = FacePool[ObjectManager.GetFace()];
convexFaceInternal.Vertices = array2;
Array.Sort(array2);
mathHelper.CalculateFacePlane(convexFaceInternal, Center);
array[i] = convexFaceInternal.Index;
}
for (int k = 0; k < NumOfDimensions; k++)
{
for (int l = k + 1; l < NumOfDimensions + 1; l++)
{
UpdateAdjacency(FacePool[array[k]], FacePool[array[l]]);
}
}
int[] array3 = array;
foreach (int num5 in array3)
{
ConvexFaceInternal convexFaceInternal2 = FacePool[num5];
FindBeyondVertices(convexFaceInternal2);
if (convexFaceInternal2.VerticesBeyond.Count == 0)
{
ConvexFaces.Add(convexFaceInternal2.Index);
}
else
{
UnprocessedFaces.Add(convexFaceInternal2);
}
}
foreach (int item in list)
{
VertexVisited[item] = false;
}
}
/// <summary>
/// Commits a cone and adds a vertex to the convex hull.
/// </summary>
void CommitCone()
{
// Add the current vertex.
ConvexHull.Add(CurrentVertex);
// Fill the adjacency.
for (int i = 0; i < ConeFaceBuffer.Count; i++)
{
var face = ConeFaceBuffer[i];
var newFace = face.Face;
var adjacentFace = face.Pivot;
var oldFace = face.OldFace;
var orderedPivotIndex = face.FaceIndex;
newFace.AdjacentFaces[orderedPivotIndex] = adjacentFace;
adjacentFace.AdjacentFaces[face.PivotIndex] = newFace;
// let there be a connection.
for (int j = 0; j < Dimension; j++)
{
if (j == orderedPivotIndex)
{
continue;
}
var connector = ObjectManager.GetConnector();
connector.Update(newFace, j, Dimension);
ConnectFace(connector);
}
// This could slightly help...
if (adjacentFace.VerticesBeyond.Count < oldFace.VerticesBeyond.Count)
{
FindBeyondVertices(newFace, adjacentFace.VerticesBeyond, oldFace.VerticesBeyond);
}
else
{
FindBeyondVertices(newFace, oldFace.VerticesBeyond, adjacentFace.VerticesBeyond);
}
// This face will definitely lie on the hull
if (newFace.VerticesBeyond.Count == 0)
{
ConvexFaces.Add(newFace);
UnprocessedFaces.Remove(newFace);
ObjectManager.DepositVertexBuffer(newFace.VerticesBeyond);
newFace.VerticesBeyond = EmptyBuffer;
}
else // Add the face to the list
{
UnprocessedFaces.Add(newFace);
}
// recycle the object.
ObjectManager.DepositDeferredFace(face);
}
// Recycle the affected faces.
for (int fIndex = 0; fIndex < AffectedFaceBuffer.Count; fIndex++)
{
var face = AffectedFaceBuffer[fIndex];
UnprocessedFaces.Remove(face);
ObjectManager.DepositFace(face);
}
}
/// <summary>
/// Removes the faces "covered" by the current vertex and adds the newly created ones.
/// </summary>
private void CreateCone()
{
var oldFaces = AffectedFaceBuffer;
var currentVertexIndex = CurrentVertex.Index;
for (int fIndex = 0; fIndex < oldFaces.Count; fIndex++)
{
var oldFace = oldFaces[fIndex];
// Find the faces that need to be updated
int updateCount = 0;
for (int i = 0; i < Dimension; i++)
{
var af = oldFace.AdjacentFaces[i];
if (af.Tag == 0) // Tag == 0 when oldFaces does not contain af
{
UpdateBuffer[updateCount] = af;
UpdateIndices[updateCount] = i;
++updateCount;
}
}
// Recycle the face for future use
if (updateCount == 0)
{
// If the face is present in the unprocessed list, remove it
UnprocessedFaces.Remove(oldFace);
RecycleFace(oldFace);
RecycledFaceStack.Push(oldFace);
}
for (int i = 0; i < updateCount; i++)
{
var adjacentFace = UpdateBuffer[i];
int oldFaceAdjacentIndex = 0;
var adjFaceAdjacency = adjacentFace.AdjacentFaces;
for (int j = 0; j < Dimension; j++)
{
if (object.ReferenceEquals(oldFace, adjFaceAdjacency[j]))
{
oldFaceAdjacentIndex = j;
break;
}
}
var forbidden = UpdateIndices[i]; // Index of the face that corresponds to this adjacent face
ConvexFaceInternal newFace;
int oldVertexIndex;
VertexWrap[] vertices;
// Recycle the oldFace
if (i == updateCount - 1)
{
RecycleFace(oldFace);
newFace = oldFace;
vertices = newFace.Vertices;
oldVertexIndex = vertices[forbidden].Index;
}
else // Pop a face from the recycled stack or create a new one
{
newFace = GetNewFace();
vertices = newFace.Vertices;
for (int j = 0; j < Dimension; j++)
{
vertices[j] = oldFace.Vertices[j];
}
oldVertexIndex = vertices[forbidden].Index;
}
int orderedPivotIndex;
// correct the ordering
if (currentVertexIndex < oldVertexIndex)
{
orderedPivotIndex = 0;
for (int j = forbidden - 1; j >= 0; j--)
{
if (vertices[j].Index > currentVertexIndex)
{
vertices[j + 1] = vertices[j];
}
else
{
orderedPivotIndex = j + 1;
break;
}
}
}
else
{
orderedPivotIndex = Dimension - 1;
for (int j = forbidden + 1; j < Dimension; j++)
{
if (vertices[j].Index < currentVertexIndex)
{
vertices[j - 1] = vertices[j];
}
else
{
orderedPivotIndex = j - 1;
break;
}
}
}
vertices[orderedPivotIndex] = CurrentVertex;
CalculateFacePlane(newFace);
newFace.AdjacentFaces[orderedPivotIndex] = adjacentFace;
adjacentFace.AdjacentFaces[oldFaceAdjacentIndex] = newFace;
// let there be a connection.
for (int j = 0; j < Dimension; j++)
{
if (j == orderedPivotIndex)
{
continue;
}
var connector = GetNewConnector();
connector.Update(newFace, j, Dimension);
ConnectFace(connector);
}
// This could slightly help...
if (adjacentFace.VerticesBeyond.Count < oldFace.VerticesBeyond.Count)
{
FindBeyondVertices(newFace, adjacentFace.VerticesBeyond, oldFace.VerticesBeyond);
}
else
{
FindBeyondVertices(newFace, oldFace.VerticesBeyond, adjacentFace.VerticesBeyond);
}
// This face will definitely lie on the hull
if (newFace.VerticesBeyond.Count == 0)
{
ConvexFaces.Add(newFace);
UnprocessedFaces.Remove(newFace);
EmptyBufferStack.Push(newFace.VerticesBeyond);
newFace.VerticesBeyond = EmptyBuffer;
}
else // Add the face to the list
{
UnprocessedFaces.Add(newFace);
}
}
}
}