private List <Vector3> GetRayCastPositionsOnCharacterBoundByVelocity(FRay[] insideCastRays, BoundBase characterBound, Vector3 boundMax, Vector3 boundMin, Vector3 boundOrigin)
{
List <Vector3> rayCastPositions = new List <Vector3>();
for (Int32 i = 0; i < insideCastRays.Length; i++)
{
FRay ray = insideCastRays[i];
float localIntersectionDistance = -1.0f;
BoundBase.BoundType boundType = characterBound.GetBoundType();
if ((boundType & BoundBase.BoundType.AABB) == BoundBase.BoundType.AABB)
{
localIntersectionDistance = GeometryMath.Intersection_RayAABBExt(ray, boundMax, boundMin);
}
else if ((boundType & BoundBase.BoundType.OBB) == BoundBase.BoundType.OBB)
{
localIntersectionDistance = GeometryMath.Intersection_RayOBBExt(ray, (characterBound as OBB).GetTangetX(), (characterBound as OBB).GetTangetY(),
(characterBound as OBB).GetTangetZ(), boundOrigin, (characterBound as OBB).GetExtent());
}
if (localIntersectionDistance > -1.0f)
{
Vector3 intersectionPosition = ray.GetPositionInTime(localIntersectionDistance);
rayCastPositions.Add(new Vector3(intersectionPosition));
}
}
return(rayCastPositions);
}
private Selection GetSelection(int screenX, int screenY)
{
// Try to see what can be selected
Vector3 rayStart = GeometryMath.Unproject(new Vector3(screenX, Viewport.height - screenY, 0.1), ProjectionMatrix, Viewport);
Vector3 rayEnd = GeometryMath.Unproject(new Vector3(screenX, Viewport.height - screenY, IsPerspective ? 1.0 : -1.0), ProjectionMatrix, Viewport);
Vector3 rayDirection = (rayEnd - rayStart).GetNormalized();
bool closestHitOpaque = false;
double closestDistance = Double.MaxValue;
int closestPrimitiveTriangleIndex = -1;
DebugRenderPrimitive closestPrimitive = null;
List <DebugRenderPrimitive> debugRenderPrimitives = Session.DebugRenderStorage.GetCachedPrimitives();
foreach (DebugRenderPrimitive primitive in debugRenderPrimitives)
{
bool hitOpaque;
int triangleIndex;
Vector3 intersection = new Vector3(0, 0, 0);
if (primitive.RayCheck(Session.PlaybackPosition, rayStart, rayDirection, out triangleIndex, out hitOpaque, out intersection))
{
double distance = rayStart.Distance(intersection);
if (distance < closestDistance)
{
closestPrimitiveTriangleIndex = triangleIndex;
closestDistance = distance;
closestPrimitive = primitive;
closestHitOpaque = hitOpaque;
}
}
}
return(closestPrimitive != null ? new Selection(closestPrimitive, closestPrimitiveTriangleIndex, closestHitOpaque) : null);
}
private RayCastOutputData GetClosestRayCastResult(FRay ray, List <BoundBase> collidedBounds)
{
float resultShortestDistance = -1.0f;
BoundBase resultBound = null;
// DO RAY CAST IN ALL COLLIDED BOUNDING BOXES
for (Int32 i = 0; i < collidedBounds.Count; i++)
{
float localIntersectionDistance = 0.0f;
BoundBase.BoundType boundType = collidedBounds[i].GetBoundType();
if ((boundType & BoundBase.BoundType.AABB) == BoundBase.BoundType.AABB)
{
localIntersectionDistance = GeometryMath.Intersection_RayAABB(ray, collidedBounds[i] as AABB);
}
else if ((boundType & BoundBase.BoundType.OBB) == BoundBase.BoundType.OBB)
{
localIntersectionDistance = GeometryMath.Intersection_RayOBB(ray, collidedBounds[i] as OBB);
}
if (resultShortestDistance <= -1.0f || (localIntersectionDistance > 0.0f && localIntersectionDistance < resultShortestDistance))
{
resultShortestDistance = localIntersectionDistance;
resultBound = collidedBounds[i];
}
}
Vector3 intersectionPosition = ray.GetPositionInTime(resultShortestDistance);
return(new RayCastOutputData(ray, resultBound, resultShortestDistance, intersectionPosition));
}
private RayCastOutputData GetClosestAndHighestRay(List <RayCastOutputData> rayCastResults, BoundBase characterBound)
{
float boundMaxY = characterBound.GetMax().Y;
RayCastOutputData rayCastOutputData = null;
List <RayCastOutputData> mostHighRayCastPositionResults = new List <RayCastOutputData>();
// find rays with the most high start position
foreach (var result in rayCastResults)
{
if (result.shortestDistance > -1 && GeometryMath.CMP(result.parentRay.StartPosition.Y, boundMaxY) > 0)
{
mostHighRayCastPositionResults.Add(result);
}
}
if (mostHighRayCastPositionResults.Count > 1)
{
// find ray with the most close intersection position
float intersectionDistance = mostHighRayCastPositionResults.First().shortestDistance;
rayCastOutputData = mostHighRayCastPositionResults.First();
for (Int32 i = 1; i < mostHighRayCastPositionResults.Count; i++)
{
if (mostHighRayCastPositionResults[i].shortestDistance <= intersectionDistance)
{
rayCastOutputData = mostHighRayCastPositionResults[i];
intersectionDistance = rayCastOutputData.shortestDistance;
}
}
}
return(rayCastOutputData);
}
private void FindParameters(out double height, out double width)
{
var pts = GetPoints();
height = GeometryMath.FindMagnitude(new LineSegment(pts[0], pts[1]));
width = GeometryMath.FindMagnitude(new LineSegment(pts[1], pts[2]));
}
public override bool IsExisting()
{
var points = GetPoints();
// Checking for repeating points
for (int i = 0; i < points.Length; i++)
{
for (int j = 0; j < points.Length; j++)
{
if (i != j && GeometryMath.IsPointsEqual(points[i], points[j]))
{
return(false);
}
}
}
// Checking for self-intersections;
for (int i = 0; i < points.Length; i++)
{
for (int j = 0; j < points.Length; j++)
{
var a = new LineSegment(points[i], points[(i + 1) % points.Length]);
var b = new LineSegment(points[j], points[(j + 1) % points.Length]);
if (i != j && GeometryMath.IsIntersected(a, b))
{
return(false);
}
}
}
return(true);
}
public void TestRayAABBIntersect()
{
Vector3 rayStart = new Vector3(0, 0, 0);
Vector3 rayDir = new Vector3(0, 0, 1);
double s, t;
Bounds bounds = new Bounds(new Vector3(-1, -1, -1), new Vector3(1, 1, 1));
// Check that ray hits AABB (ray starts inside the bounds)
Assert.IsTrue(GeometryMath.IntersectAABB(rayStart, rayDir, bounds.Min, bounds.Max, out s, out t), "Expected to hit AABB but did not (ray starts inside AABB)");
rayStart = new Vector3(0, 0, -2);
// Check that ray hits AABB (ray starts outside the bounds)
Assert.IsTrue(GeometryMath.IntersectAABB(rayStart, rayDir, bounds.Min, bounds.Max, out s, out t), "Expected to hit AABB but did not (ray starts outside AABB)");
rayDir = new Vector3(0, 0, -1);
// Check that ray does not hit AABB (ray goes to other direction)
Assert.IsFalse(GeometryMath.IntersectAABB(rayStart, rayDir, bounds.Min, bounds.Max, out s, out t), "Expected to miss AABB but did not (ray goes away from AABB)");
rayStart = new Vector3(1, 0, -2);
rayDir = new Vector3(1, 0, 1);
// Check that ray does not hit AABB (ray is co-linear with one side of the AABB)
Assert.IsFalse(GeometryMath.IntersectAABB(rayStart, rayDir, bounds.Min, bounds.Max, out s, out t), "Expected to miss AABB but did not (ray is co-linear with one side of the AABB)");
}
public void TestBarycentricCoordinates()
{
Vector2 a = new Vector2(0, -0.5);
Vector2 b = new Vector2(-0.5, 0.5);
Vector2 c = new Vector2(0.5, 0.5);
Vector2 point = new Vector2(0, 0);
double t, u, v;
// Check that barycentric coordinates are all between 0..1
GeometryMath.GetBarycentricCoordinates(point, a, b, c, out t, out u, out v);
Assert.IsTrue(t >= 0.0 && t <= 1.0 && u >= 0.0 && u <= 1.0 && v >= 0.0 && v <= 1.0, "Expected t, u, v to be within 0..1 (point in middle of triangle)");
point = new Vector2(0, -0.5);
// Check that barycentric coordinates are 0, 0, 1 as point is exactly where with one of the triangle points
GeometryMath.GetBarycentricCoordinates(point, a, b, c, out t, out u, out v);
Assert.IsTrue(t == 1.0 && u == 0.0 && v == 0.0, "Expected t = 0, u = 0, v = 1 (point in the same place as one of the triangle points)");
point = new Vector2(-0.25, 0);
// Check that one of the barycentric coordinates is 0 as point is on one of the triangle edges
GeometryMath.GetBarycentricCoordinates(point, a, b, c, out t, out u, out v);
Assert.IsTrue(v == 0, "Expected one of the (t, u, v) be 0 (point is in one of the triangle edges)");
point = new Vector2(0, -0.51);
// Check that barycentric coordinates are not between 0..1
GeometryMath.GetBarycentricCoordinates(point, a, b, c, out t, out u, out v);
Assert.IsFalse(t >= 0.0 && t <= 1.0 && u >= 0.0 && u <= 1.0 && v >= 0.0 && v <= 1.0, "Expected one of the (t, u, v) be outside 0..1 (point is outside of the triangle)");
}
private Tile TileAt(Ray ray, List <Tile> list, Vector3 position)
{
for (int i = 0; i < list.Count; i++)
{
var tile = list[i];
Vector3 worldA = root.TransformPoint(tile.a);
Vector3 worldB = root.TransformPoint(tile.b);
Vector3 worldC = root.TransformPoint(tile.c);
Plane plane = new Plane(worldA, worldB, worldC);
float distance;
if (plane.Raycast(ray, out distance))
{
Vector3 point = ray.GetPoint(distance);
if (GeometryMath.PointInTriangle(worldA, worldB, worldC, point))
{
if (tile.children.Count > 0)
{
var t = TileAt(ray, tile.children, position);
if (t != null)
{
return(t);
}
}
else
{
return(tile);
}
}
}
}
return(null);
}
public void TestPointInCircumcircle()
{
Vector2 a = new Vector2(0, -0.5);
Vector2 b = new Vector2(-0.5, 0.5);
Vector2 c = new Vector2(0.5, 0.5);
Vector2 point = new Vector2(0, 0);
// Check that point is in circumcircle
Assert.IsTrue(GeometryMath.PointInCircumcircle(point, a, b, c), "Expected to be inside circumcircle but was not (point in middle of triangle)");
point = new Vector2(0, 1);
// Check that point is not in circumcircle
Assert.IsFalse(GeometryMath.PointInCircumcircle(point, a, b, c), "Expected to be outside circumcircle (point outside one of the corners)");
// Check that point is in circumcircle when triangle points are on the same line
a = new Vector2(0, 0);
b = new Vector2(1, 0);
c = new Vector2(2, 0);
Assert.IsTrue(GeometryMath.PointInCircumcircle(point, a, b, c), "Expected to be inside circumcircle (all triangle points on the same line)");
// Check that point is in circumcircle when on triangle side length is 0
a = new Vector2(0, 0);
b = new Vector2(0, 0);
c = new Vector2(0, 1);
Assert.IsTrue(GeometryMath.PointInCircumcircle(point, a, b, c), "Expected to be inside circumcircle (one triangle side length is 0)");
// Check that point is in circumcircle when is it just within radius
a = new Vector2(0, -0.5);
b = new Vector2(-0.5, 0.5);
c = new Vector2(0.5, 0.5);
point = new Vector2(0, -0.5);
Assert.IsTrue(GeometryMath.PointInCircumcircle(point, a, b, c), "Expected to be inside circumcircle (point is the same as one of the triangle points)");
}
public void RenderScreenSpace(RenderInfo info, Matrix4x4 transformMatrix, Viewport viewport)
{
if (info.showAnnotations)
{
Font font = new Font("Calibri", 12.0f * 0.75f);
List <DebugRenderPrimitive> primitivesToRender = GetCachedPrimitives();
foreach (DebugRenderPrimitive primitive in primitivesToRender)
{
if (primitive.Annotation != null && primitive.Annotation.IsValidAt(info.time))
{
Vector3 screenPosition = GeometryMath.Project(primitive.WorldBounds.Center, transformMatrix, viewport);
if (screenPosition.z >= 0.0)
{
Size textSize = TextRenderer.MeasureText(primitive.Annotation.Text, font);
Vector3 textHalfSize = new Vector3((double)textSize.Width, (double)textSize.Height, 0.0) * 0.5;
OpenGLDrawHelper.FillRectangle(DebugRenderControl.gl, screenPosition - textHalfSize, screenPosition + textHalfSize, primitive.Annotation.Color.Brightness > 0.5 ? new Color32(0, 0, 0, 255) : new Color32(255, 255, 255, 255), false);
DebugRenderControl.gl.DrawText((int)(screenPosition.x - textHalfSize.x) + 2, (int)(screenPosition.y - textHalfSize.y * 0.4),
primitive.Annotation.Color.R, primitive.Annotation.Color.G, primitive.Annotation.Color.B,
"Calibri", 12.0f, primitive.Annotation.Text);
}
}
}
}
}
public override void CameraTick(float DeltaTime)
{
if (bTransformationDirty)
{
if (m_collisionHeadUnit != null)
{
m_collisionHeadUnit.TryCameraCollision(this);
}
bTransformationDirty = false;
}
if (m_bThirdPersonTargetTransformationDirty)
{
m_lerpTimeElapsed = Math.Min(m_lerpTimeElapsed + DeltaTime, m_timeForInterpolation);
Vector3 finalTargetVector = m_thirdPersonTarget.ComponentTranslation;
m_actualTargetVector = LerpPosition(m_lerpTimeElapsed, 0.0f, m_timeForInterpolation, ref m_actualTargetVector, ref finalTargetVector);
// If camera is at final position
if (GeometryMath.CMP(m_lerpTimeElapsed, m_timeForInterpolation) > 0)
{
m_lerpTimeElapsed = 0.0f;
m_bThirdPersonTargetTransformationDirty = false;
}
}
}
private void CheckFrameBoundingBoxCollision(ref bool bFrameBoundBoxCollision, ref Component characterRootComponent, ref CollisionUnit characterCollisionUnit,
ref Component collidedRootComponent, ref List <BoundBase> collidedRootBounds)
{
foreach (var unit in CollisionUnits)
{
if (characterCollisionUnit.RootComponent == unit.RootComponent)
{
continue;
}
AABB aabb1 = characterCollisionUnit.GetAndTryUpdateFramingBoundingBox();
AABB aabb2 = unit.GetAndTryUpdateFramingBoundingBox();
if (GeometryMath.AABBAABB(aabb1, aabb2))
{
bFrameBoundBoxCollision = true;
collidedRootComponent = aabb2.ParentComponent.GetRootComponent();
collidedRootBounds.AddRange(unit.GetBoundingBoxes());
}
}
if (bFrameBoundBoxCollision)
{
CollisionOutput.Add(new CollisionOutputFramingAABB(characterRootComponent, collidedRootComponent));
}
else
{
CollisionOutput.Add(new CollisionOutputNoCollided(characterRootComponent));
}
}
static double CalculatePerimeters(GeometryMath gm, int[] valueIntegers)
{
if (valueIntegers != null)
return gm(valueIntegers);
else
return 0.0;
}
/// <summary>
///
/// </summary>
/// <param name="worldPosition"></param>
/// <returns></returns>
public bool Contains(Vector3 worldPosition)
{
Vector3 worldA = grid.root.TransformPoint(a);
Vector3 worldB = grid.root.TransformPoint(b);
Vector3 worldC = grid.root.TransformPoint(c);
return(GeometryMath.PointInTriangle(worldA, worldB, worldC, worldPosition));
}
private void GetEdgePoints(BaseCamera viewerCamera, ConvexVolume volume, out Vector3 LBN, out Vector3 RTF)
{
Vector3 ViewerPosition = viewerCamera.GetEyeVector();
// Find left and right edges
Vector3 IntersectionPointC = GetLeftRightIntersectionPoint(ViewerPosition, volume.FarPlane, volume.LeftPlane);
Vector3 IntersectionPointB = GetLeftRightIntersectionPoint(ViewerPosition, volume.FarPlane, volume.RightPlane);
// Find top and bottom edges
Vector3 IntersectionPointBottom = GetTopBottomIntersectionPoint(ViewerPosition, volume.FarPlane, volume.BottomPlane);
Vector3 IntersectionPointTop = GetTopBottomIntersectionPoint(ViewerPosition, volume.FarPlane, volume.TopPlane);
float left, right, top, bottom, near, far;
// left
Dictionary <float, Vector3> projectedValues = new Dictionary <float, Vector3>();
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointB, -RightVector), IntersectionPointB);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointC, -RightVector), IntersectionPointC);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(ViewerPosition, -RightVector), ViewerPosition);
left = projectedValues[projectedValues.Keys.Max()].X;
// right
projectedValues.Clear();
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointB, RightVector), IntersectionPointB);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointC, RightVector), IntersectionPointC);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(ViewerPosition, RightVector), ViewerPosition);
right = projectedValues[projectedValues.Keys.Max()].X;
// top
projectedValues.Clear();
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointTop, UpVector), IntersectionPointTop);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointBottom, UpVector), IntersectionPointBottom);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(ViewerPosition, UpVector), ViewerPosition);
top = projectedValues[projectedValues.Keys.Max()].Y;
// bottom
projectedValues.Clear();
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointTop, -UpVector), IntersectionPointTop);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointBottom, -UpVector), IntersectionPointBottom);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(ViewerPosition, -UpVector), ViewerPosition);
bottom = projectedValues[projectedValues.Keys.Max()].Y;
// far
projectedValues.Clear();
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointB, ForwardVector), IntersectionPointB);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointC, ForwardVector), IntersectionPointC);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(ViewerPosition, ForwardVector), ViewerPosition);
far = projectedValues[projectedValues.Keys.Max()].Z;
// near
projectedValues.Clear();
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointB, -ForwardVector), IntersectionPointB);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(IntersectionPointC, -ForwardVector), IntersectionPointC);
projectedValues.Add(GeometryMath.ProjectVectorOnNormalizedVector(ViewerPosition, -ForwardVector), ViewerPosition);
near = projectedValues[projectedValues.Keys.Max()].Z;
LBN = new Vector3(left, bottom, near);
RTF = new Vector3(right, top, far);
}
private void CreateMesh()
{
double height = 0.5;
double radius = 0.5;
Segments = SMath.Clamp(Segments, 3, 256);
VertexList = new VertexNormalColor[Segments * (CreateCaps ? 2 : 1) + 1];
IndexList = new uint[Segments * 3 + (CreateCaps ? (Segments - 2) * 3 : 0)];
// Create vertices
VertexList[0].Position = new Vector3(0, 0, height);
for (int i = 0; i < Segments; i++)
{
double angle = ((double)i / (double)Segments) * Math.PI * 2.0;
Vector2 planarCoordinate = Vector2.FromAngle(angle, radius);
VertexList[i + 1].Position = new Vector3(planarCoordinate.X, planarCoordinate.Y, -height);
if (CreateCaps)
{
// Top (for cap)
VertexList[i + Segments + 1].Position = new Vector3(planarCoordinate.X, planarCoordinate.Y, -height);
}
}
// Create normals
Vector3 capNormal = CreateCaps ? GeometryMath.GetTriangleNormal(VertexList[1].Position, VertexList[2].Position, VertexList[3].Position) : new Vector3(0, 0, 0);
for (int i = 0; i < Segments; i++)
{
Vector3 manifoldNormal = GeometryMath.GetTriangleNormal(VertexList[0].Position, VertexList[(i + 1) % Segments + 1].Position, VertexList[i + 1].Position);
VertexList[i + 1].Normal = manifoldNormal;
if (CreateCaps)
{
VertexList[Segments + i + 1].Normal = capNormal;
}
}
// Create triangles
int index = 0;
for (int i = 0; i < Segments; i++)
{
// Manifold
IndexList[index++] = 0;
IndexList[index++] = (uint)((i + 1) % Segments + 1);
IndexList[index++] = (uint)(i + 1);
if (CreateCaps && i < Segments - 2)
{
// Cap
IndexList[index++] = (uint)(Segments + 1);
IndexList[index++] = (uint)(Segments + i + 2);
IndexList[index++] = (uint)(Segments + i + 3);
}
}
}
public void AddTriangle(int time, Vector3 a, Vector3 b, Vector3 c, Color32 color)
{
LocalBounds.Encapsulate(a);
LocalBounds.Encapsulate(b);
LocalBounds.Encapsulate(c);
Vector3 newTriangleNormal = GeometryMath.GetTriangleNormal(a, b, c);
ArrayList <VertexNormalColor> vertexList = color.A < 255 ? transparentVertexList : opaqueVertexList;
List <DebugRenderTriangleIndexMarker> triangleMarkers = color.A < 255 ? transparentTriangleMarkers : opaqueTriangleMarkers;
vertexList.Add(new VertexNormalColor()
{
Position = a, Color = color, Normal = newTriangleNormal
});
vertexList.Add(new VertexNormalColor()
{
Position = b, Color = color, Normal = newTriangleNormal
});
vertexList.Add(new VertexNormalColor()
{
Position = c, Color = color, Normal = newTriangleNormal
});
// Find or create new index marker and add triangle
DebugRenderTriangleIndexMarker searchItem = new DebugRenderTriangleIndexMarker(0, time);
int index = triangleMarkers.BinarySearch(searchItem);
if (index < 0)
{
index = ~index;
}
while (index > 0 && index < triangleMarkers.Count && triangleMarkers[index].time > time)
{
// Not exact match but the next one -> Decrease index by one to have only the range that counts up for the requested time
index--;
}
if (index < triangleMarkers.Count && triangleMarkers[index].time == time)
{
// Has existing one for this time -> Update end index
triangleMarkers[index].index = vertexList.Count - 1;
}
else
{
// Insert new
DebugRenderTriangleIndexMarker range = new DebugRenderTriangleIndexMarker(vertexList.Count - 1, time);
triangleMarkers.Insert(index, range);
}
if (!InfiniteLength && EndTime < time)
{
EndTime = time;
}
}
public override bool IsExisting()
{
var lines = GetLines();
var a = GeometryMath.FindMagnitude(lines[0]);
var b = GeometryMath.FindMagnitude(lines[1]);
var c = GeometryMath.FindMagnitude(lines[2]);
return(a + b > c && a + c > b && b + c > a);
}
protected virtual bool RayCheckInternal(int time, Vector3 rayStart, Vector3 rayDirection, out int triangleIndex, out bool hitOpaque, out Vector3 intersection)
{
hitOpaque = false;
triangleIndex = -1;
double tmin, tmax;
Bounds bounds = WorldBounds;
GeometryMath.IntersectAABB(rayStart, rayDirection, bounds.Min, bounds.Max, out tmin, out tmax);
intersection = WorldBounds.Center - rayDirection.GetNormalized() * Math.Min(tmin, tmax);
return(true);
}
public override double FindArea()
{
var lines = GetLines();
var p = FindPerimeter() / 2;
var a = GeometryMath.FindMagnitude(lines[0]);
var b = GeometryMath.FindMagnitude(lines[1]);
var c = GeometryMath.FindMagnitude(lines[2]);
return(System.Math.Sqrt(p * (p - a) * (p - b) * (p - c)));
}
public virtual void IsLitByLightSource(List <PointLight> LightList)
{
m_lightVisibilityMap.Init(LightList.Count, false);
for (Int32 i = 0; i < LightList.Count; i++)
{
BoundBase bound = GetAABBFromAllChildComponents();
FSphere boundSphere = (FSphere)bound;
FSphere lightSphere = new FSphere(LightList[i].Position.Xyz, LightList[i].AttenuationRadius);
m_lightVisibilityMap[i] = GeometryMath.IsSphereVsSphereIntersection(ref boundSphere, ref lightSphere);
}
}
public bool Contains(Vector2 point)
{
if (GeometryMath.PointInTriangle(a, b, c, point) ||
GeometryMath.PointInTriangle(a, c, d, point) ||
GeometryMath.PointInSegment(a, c, point) ||
GeometryMath.PointInSegment(b, d, point))
{
return(true);
}
return(false);
}
public bool Intersect(Vector2 a, Vector2 b)
{
if (GeometryMath.SegmentIntersect(this.a, this.b, a, b) ||
GeometryMath.SegmentIntersect(this.b, this.c, a, b) ||
GeometryMath.SegmentIntersect(this.c, this.d, a, b) ||
GeometryMath.SegmentIntersect(this.d, this.a, a, b))
{
return(true);
}
return(false);
}
protected override bool RayCheckInternal(int time, Vector3 rayStart, Vector3 rayDirection, out int triangleIndex, out bool hitOpaque, out Vector3 intersection)
{
Matrix4x4 mat = GetTransform();
hitOpaque = false;
triangleIndex = -1;
intersection = new Vector3(0, 0, 0);
double minDistSq = Double.MaxValue;
Vector3 triangleIntersection = new Vector3(0, 0, 0);
int elementCount = GetElementCount(time, false);
for (int i = 0; i < elementCount; i += 3)
{
Vector3 a = mat * opaqueVertexList[i].Position;
Vector3 b = mat * opaqueVertexList[i + 1].Position;
Vector3 c = mat * opaqueVertexList[i + 2].Position;
if (GeometryMath.Intersect(rayStart, rayDirection, a, b, c, out triangleIntersection))
{
double distSq = rayStart.DistanceSquared(triangleIntersection);
if (distSq < minDistSq)
{
minDistSq = distSq;
intersection = triangleIntersection;
triangleIndex = i;
hitOpaque = true;
}
}
}
elementCount = GetElementCount(time, true);
for (int i = 0; i < elementCount; i += 3)
{
Vector3 a = mat * transparentVertexList[i].Position;
Vector3 b = mat * transparentVertexList[i + 1].Position;
Vector3 c = mat * transparentVertexList[i + 2].Position;
if (GeometryMath.Intersect(rayStart, rayDirection, a, b, c, out triangleIntersection))
{
double distSq = rayStart.DistanceSquared(triangleIntersection);
if (distSq < minDistSq)
{
minDistSq = distSq;
intersection = triangleIntersection;
triangleIndex = i;
hitOpaque = false;
}
}
}
return(triangleIndex != -1);
}
private void CheckRegularBoundingBoxAndCameraSphereCollision(ref bool bSphereAndFrameBoundingBoxCollision,
ref List <BoundBase> collidedRootBounds, ref FSphere cameraCollisionSphere)
{
foreach (var testingBound in collidedRootBounds)
{
FSphere obbCollisionSphere = (FSphere)testingBound;
if (GeometryMath.IsSphereVsSphereIntersection(ref cameraCollisionSphere, ref obbCollisionSphere))
{
bSphereAndFrameBoundingBoxCollision = true;
break;
}
}
}
private Vector3 GetTopBottomIntersectionPoint(Vector3 A, FPlane cbPlane, FPlane incidentPlane)
{
Vector3 result;
Vector3 acNormal = new Vector3(incidentPlane.X, incidentPlane.Y, incidentPlane.Z);
Vector3 acRayDirection = Vector3.Cross(acNormal, RightVector);
Vector3 cbNormal = new Vector3(cbPlane.X, cbPlane.Y, cbPlane.Z);
// if ac ray is opposite directed - invert it's direction
acRayDirection *= Vector3.Dot(cbNormal, acRayDirection) > 0.0 ? 1 : -1;
FRay acRay = new FRay(A, acRayDirection);
result = GeometryMath.GetIntersectionRayPlane(cbPlane, acRay);
return(result);
}
public bool RayCheck(int time, Vector3 rayStart, Vector3 rayDirection, out int triangleIndex, out bool hitOpaque, out Vector3 intersection)
{
hitOpaque = false;
triangleIndex = 0;
intersection = new Vector3(0, 0, 0);
double tmin, tmax;
Bounds bounds = WorldBounds;
if (GeometryMath.IntersectAABB(rayStart, rayDirection, bounds.Min, bounds.Max, out tmin, out tmax))
{
return(RayCheckInternal(time, rayStart, rayDirection, out triangleIndex, out hitOpaque, out intersection));
}
return(false);
}
public void TestLineLineDistance()
{
Vector3 startA = new Vector3(0, 0, 0);
Vector3 endA = new Vector3(1, 0, 0);
Vector3 startB = new Vector3(0, 2, 0);
Vector3 endB = new Vector3(1, 1, 0);
double t;
double s;
double distance = GeometryMath.LineLineDistance(startA, endA, startB, endB, true, true, out t, out s);
// Check that ray hits AABB (ray starts inside the bounds)
Assert.IsTrue(distance == 1, String.Format("Expected distance to be 1 but got {0}, t {1} s {2} (lines cross but testing against segments)", distance, t, s));
}
public override bool IsExisting()
{
var points = GetPoints();
for (int i = 0; i < points.Length; i++)
{
var angle = GeometryMath.FindAngle(
new LineSegment(points[i], points[(i + 1) % points.Length]),
new LineSegment(points[(i + 1) % points.Length], points[(i + 2) % points.Length])
);
if (GeometryMath.IsDoubleEqual(angle, System.Math.PI / 2) == false)
{
return(false);
}
}
return(true);
}
// CAMERA
private List <BoundBase> GetBoundingBoxesForCameraCollisionTest(ref FSphere cameraCollisionSphere, Component characterRootComponent)
{
List <BoundBase> resultCollidedRootBounds = new List <BoundBase>();
foreach (var unit in CollisionUnits)
{
if (unit.RootComponent == characterRootComponent)
{
continue;
}
FSphere aabbCollisionSphere = (FSphere)(unit.GetAndTryUpdateFramingBoundingBox());
if (GeometryMath.IsSphereVsSphereIntersection(ref cameraCollisionSphere, ref aabbCollisionSphere))
{
resultCollidedRootBounds.AddRange(unit.GetBoundingBoxes());
}
}
return(resultCollidedRootBounds);
}