public static BoundsF operator -(Vector3F v, BoundsF b)
{
BoundsF result;
Vector3F.Subtract(ref v, ref b.Minimum, out result.Minimum);
Vector3F.Subtract(ref v, ref b.Maximum, out result.Maximum);
return(result);
}
public static BoundsF Subtract(ref BoundsF b, ref Vector3F v)
{
BoundsF result;
Vector3F.Subtract(ref b.Minimum, ref v, out result.Minimum);
Vector3F.Subtract(ref b.Maximum, ref v, out result.Maximum);
return(result);
}
public bool Intersects(ref TriangleF triangle)
{
Vector3F point;
ClosestPtPointTriangle(ref Origin, ref triangle.A, ref triangle.B, ref triangle.C, out point);
Vector3F v;
Vector3F.Subtract(ref point, ref Origin, out v);
return(v.LengthSquared() <= Radius * Radius);
}
internal bool LineIntersection(ref Vector3F start, ref Vector3F end)
{
//unsafe
{
Vector3F center;
GetCenter(out center);
Vector3F extents;
Vector3F.Subtract(ref Maximum, ref center, out extents);
//Vec3 extents = Maximum - center;
Vector3F lineDir;
lineDir.X = 0.5f * (end.X - start.X);
lineDir.Y = 0.5f * (end.Y - start.Y);
lineDir.Z = 0.5f * (end.Z - start.Z);
//Vec3 lineDir = 0.5f * ( end - start );
Vector3F lineCenter;
Vector3F.Add(ref start, ref lineDir, out lineCenter);
//Vec3 lineCenter = start + lineDir;
Vector3F dir;
Vector3F.Subtract(ref lineCenter, ref center, out dir);
//Vec3 dir = lineCenter - center;
float ld0, ld1, ld2;
ld0 = Math.Abs(lineDir.X);
if (Math.Abs(dir.X) > extents.X + ld0)
{
return(false);
}
ld1 = Math.Abs(lineDir.Y);
if (Math.Abs(dir.Y) > extents.Y + ld1)
{
return(false);
}
ld2 = Math.Abs(lineDir.Z);
if (Math.Abs(dir.Z) > extents.Z + ld2)
{
return(false);
}
Vector3F cross;
Vector3F.Cross(ref lineDir, ref dir, out cross);
if (Math.Abs(cross.X) > extents.Y * ld2 + extents.Z * ld1)
{
return(false);
}
if (Math.Abs(cross.Y) > extents.X * ld2 + extents.Z * ld0)
return(false); }
if (Math.Abs(cross.Z) > extents.X * ld1 + extents.Y * ld0)
return(false); }
/// <summary>
/// Returns side of the plane that the given box lies on.
/// The box is defined as bounds.
/// </summary>
/// <param name="bounds">The given bounds.</param>
/// <returns>The resulting side.</returns>
public Side GetSide(ref BoundsF bounds)
{
Vector3F boundsCenter;
bounds.GetCenter(out boundsCenter);
//Vec3 boundsHalfSize = boundsCenter - bounds.Minimum;
Vector3F boundsHalfSize;
Vector3F.Subtract(ref boundsCenter, ref bounds.Minimum, out boundsHalfSize);
return(GetSide(ref boundsCenter, ref boundsHalfSize));
}
/// <summary>
/// Creates an instance of <see cref="PlaneF"/> that contains the three given points.
/// </summary>
/// <param name="point0">The first point defining the plane.</param>
/// <param name="point1">The second point defining the plane.</param>
/// <param name="point2">The third point defining the plane.</param>
/// <param name="result">When the method completes, contains the resulting plane.</param>
public static void FromPoints(ref Vector3F point0, ref Vector3F point1, ref Vector3F point2,
out PlaneF result)
{
Vector3F edge1;
Vector3F.Subtract(ref point1, ref point0, out edge1);
Vector3F edge2;
Vector3F.Subtract(ref point2, ref point0, out edge2);
Vector3F normal;
Vector3F.Cross(ref edge1, ref edge2, out normal);
normal.Normalize();
result.A = normal.X;
result.B = normal.Y;
result.C = normal.Z;
result.D = -(normal.X * point0.X + normal.Y * point0.Y + normal.Z * point0.Z);
}
public void GetDirection(out Vector3F result)
{
Vector3F.Subtract(ref Point2, ref Point1, out result);
result.Normalize();
}
//!!!!было. сложно.
//public bool Add( Vec3F p )
//{
// if( radius < 0.0f )
// {
// origin = p;
// radius = 0.0f;
// return true;
// }
// else
// {
// float x = p.x - origin.x;
// float y = p.y - origin.y;
// float z = p.z - origin.z;
// float lengthSqr = x * x + y * y + z * z;
// float r = lengthSqr;
// //float r = ( p - origin ).LengthSqr();
// if( r > radius * radius )
// {
// r = MathEx.Sqrt( r );
// float coef = .5f * ( 1.0f - radius / r );
// origin.x += x * coef;
// origin.y += y * coef;
// origin.z += z * coef;
// //origin += ( p - origin ) * 0.5f * ( 1.0f - radius / r );
// radius += .5f * ( r - radius );
// return true;
// }
// return false;
// }
//}
static void ClosestPtPointTriangle(ref Vector3F p, ref Vector3F a, ref Vector3F b, ref Vector3F c, out Vector3F result)
{
Vector3F ab;
Vector3F.Subtract(ref b, ref a, out ab);
//Vec3 ab = b - a;
Vector3F ac;
Vector3F.Subtract(ref c, ref a, out ac);
//Vec3 ac = c - a;
Vector3F ap;
Vector3F.Subtract(ref p, ref a, out ap);
//Vec3 ap = p - a;
float d1;
Vector3F.Dot(ref ab, ref ap, out d1);
float d2;
Vector3F.Dot(ref ac, ref ap, out d2);
if (d1 <= 0.0f && d2 <= 0.0f)
{
result = a;
return;
}
//check if P in vertex region outside B
Vector3F bp;
Vector3F.Subtract(ref p, ref b, out bp);
//Vec3 bp = p - b;
float d3;
Vector3F.Dot(ref ab, ref bp, out d3);
float d4;
Vector3F.Dot(ref ac, ref bp, out d4);
if (d3 >= 0.0f && d4 <= d3)
{
result = b;
return;
}
float vc = d1 * d4 - d3 * d2;
if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
{
float v = d1 / (d1 - d3);
result = a + v * ab;
return;
}
Vector3F cp;
Vector3F.Subtract(ref p, ref c, out cp);
//Vec3 cp = p - c;
float d5; Vector3F.Dot(ref ab, ref cp, out d5);
float d6; Vector3F.Dot(ref ac, ref cp, out d6);
if (d6 >= 0.0f && d5 <= d6)
{
result = c;
return;
}
float vb = d5 * d2 - d1 * d6;
if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
{
float w = d2 / (d2 - d6);
result = a + w * ac;
return;
}
float va = d3 * d6 - d5 * d4;
if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
{
float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
result = b + w * (c - b);
return;
}
{
float denom = 1.0f / (va + vb + vc);
float v = vb * denom;
float w = vc * denom;
result = a + ab * v + ac * w;
return;
}
}
public static void Subtract(ref Vector3F v, ref BoundsF b, out BoundsF result)
{
Vector3F.Subtract(ref v, ref b.Minimum, out result.Minimum);
Vector3F.Subtract(ref v, ref b.Maximum, out result.Maximum);
}
public void GetSize(out Vector3F result)
{
Vector3F.Subtract(ref Maximum, ref Minimum, out result);
}