/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(IList<Vector3> points, IList<Vector3> outputSurfacePoints)
{
var rawPoints = new QuickList<Vector3>(BufferPools<Vector3>.Locking, BufferPool.GetPoolIndex(points.Count));
rawPoints.AddRange(points);
GetConvexHull(ref rawPoints, outputSurfacePoints);
rawPoints.Dispose();
}
public static IEnumerable <string> GetAllFiles(string path, string[] extensions = null, string[] excludedExtensions = null)
{
QuickList <string> files = new QuickList <string>();
files.AddRange(Directory.EnumerateFiles(path, "*.*", SearchOption.AllDirectories));
if (extensions != null && extensions.Length > 0)
{
for (int i = files.Count; i >= 0; --i)
{
string file = files.Array[i];
if (!extensions.Contains(Path.GetExtension(file)))
{
files.Remove(file);
}
}
}
if (excludedExtensions != null && excludedExtensions.Length > 0)
{
for (int i = files.Count; i >= 0; --i)
{
string file = files.Array[i];
if (excludedExtensions.Contains(Path.GetExtension(file)))
{
files.Remove(file);
}
}
}
return(files);
}
private static void RemoveInsidePoints(ref QuickList <Vector3> points, ref QuickList <int> triangleIndices, ref QuickList <int> outsidePoints)
{
var insidePoints = new QuickList <int>(BufferPools <int> .Locking);
//We're going to remove points from this list as we go to prune it down to the truly inner points.
insidePoints.AddRange(outsidePoints);
outsidePoints.Clear();
for (int i = 0; i < triangleIndices.Count && insidePoints.Count > 0; i += 3)
{
//Compute the triangle's plane in point-normal representation to test other points against.
Vector3 normal;
FindNormal(ref triangleIndices, ref points, i, out normal);
Vector3 p = points.Elements[triangleIndices.Elements[i]];
for (int j = insidePoints.Count - 1; j >= 0; --j)
{
//Offset from the triangle to the current point, tested against the normal, determines if the current point is visible
//from the triangle face.
Vector3 offset = points.Elements[insidePoints.Elements[j]] - p;
float dot = Vector3.Dot(offset, normal);
//If it's visible, then it's outside!
if (dot > 0)
{
//This point is known to be on the outside; put it on the outside!
outsidePoints.Add(insidePoints.Elements[j]);
insidePoints.FastRemoveAt(j);
}
}
}
insidePoints.Dispose();
}
/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(IList <Vector3> points, IList <Vector3> outputSurfacePoints)
{
var rawPoints = new QuickList <Vector3>(BufferPools <Vector3> .Locking, BufferPool.GetPoolIndex(points.Count));
rawPoints.AddRange(points);
GetConvexHull(ref rawPoints, outputSurfacePoints);
rawPoints.Dispose();
}
public void GetRaw <T>(QuickList <IPartitionObject> existingList) where T : IPartitionObject
{
lock (tileLock) {
if (!PartitionObjects.TryGetValue(typeof(T), out QuickList <IPartitionObject> objects))
{
return;
}
existingList.AddRange(objects);
}
}
/// <summary>
/// Removes redundant points. Two points are redundant if they occupy the same hash grid cell.
/// </summary>
/// <param name="points">List of points to prune.</param>
/// <param name="cellSize">Size of cells to determine redundancy.</param>
public static void RemoveRedundantPoints(IList<Vector3> points, double cellSize)
{
var rawPoints = new QuickList<Vector3>(BufferPools<Vector3>.Locking, BufferPool.GetPoolIndex(points.Count));
rawPoints.AddRange(points);
RemoveRedundantPoints(ref rawPoints, cellSize);
points.Clear();
for (int i = 0; i < rawPoints.Count; ++i)
{
points.Add(rawPoints.Elements[i]);
}
rawPoints.Dispose();
}
/// <summary>
/// Removes redundant points. Two points are redundant if they occupy the same hash grid cell.
/// </summary>
/// <param name="points">List of points to prune.</param>
/// <param name="cellSize">Size of cells to determine redundancy.</param>
public static void RemoveRedundantPoints(IList <Vector3> points, double cellSize)
{
var rawPoints = new QuickList <Vector3>(BufferPools <Vector3> .Locking, BufferPool.GetPoolIndex(points.Count));
rawPoints.AddRange(points);
RemoveRedundantPoints(ref rawPoints, cellSize);
points.Clear();
for (int i = 0; i < rawPoints.Count; ++i)
{
points.Add(rawPoints.Elements[i]);
}
rawPoints.Dispose();
}
/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(IList<Vector3> points, IList<int> outputTriangleIndices, IList<Vector3> outputSurfacePoints)
{
var rawPoints = new QuickList<Vector3>(BufferPools<Vector3>.Locking, BufferPool.GetPoolIndex(points.Count));
var rawIndices = new QuickList<int>(BufferPools<int>.Locking, BufferPool.GetPoolIndex(points.Count * 3));
rawPoints.AddRange(points);
GetConvexHull(ref rawPoints, ref rawIndices, outputSurfacePoints);
rawPoints.Dispose();
for (int i = 0; i < rawIndices.Count; i++)
{
outputTriangleIndices.Add(rawIndices[i]);
}
rawIndices.Dispose();
}
/// <summary>
/// Identifies the points on the surface of hull.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
/// <param name="outputSurfacePoints">Unique points on the surface of the convex hull.</param>
public static void GetConvexHull(IList <Vector3> points, IList <int> outputTriangleIndices, IList <Vector3> outputSurfacePoints)
{
var rawPoints = new QuickList <Vector3>(BufferPools <Vector3> .Locking, BufferPool.GetPoolIndex(points.Count));
var rawIndices = new QuickList <int>(BufferPools <int> .Locking, BufferPool.GetPoolIndex(points.Count * 3));
rawPoints.AddRange(points);
GetConvexHull(ref rawPoints, ref rawIndices, outputSurfacePoints);
rawPoints.Dispose();
for (int i = 0; i < rawIndices.Count; i++)
{
outputTriangleIndices.Add(rawIndices[i]);
}
rawIndices.Dispose();
}
private static void RemoveInsidePoints(ref QuickList<Vector3> points, ref QuickList<int> triangleIndices, ref QuickList<int> outsidePoints)
{
var insidePoints = new QuickList<int>(BufferPools<int>.Locking);
//We're going to remove points from this list as we go to prune it down to the truly inner points.
insidePoints.AddRange(outsidePoints);
outsidePoints.Clear();
for (int i = 0; i < triangleIndices.Count && insidePoints.Count > 0; i += 3)
{
//Compute the triangle's plane in point-normal representation to test other points against.
Vector3 normal;
FindNormal(ref triangleIndices, ref points, i, out normal);
Vector3 p = points.Elements[triangleIndices.Elements[i]];
for (int j = insidePoints.Count - 1; j >= 0; --j)
{
//Offset from the triangle to the current point, tested against the normal, determines if the current point is visible
//from the triangle face.
Vector3 offset = points.Elements[insidePoints.Elements[j]] - p;
float dot = Vector3.Dot(offset, normal);
//If it's visible, then it's outside!
if (dot > 0)
{
//This point is known to be on the outside; put it on the outside!
outsidePoints.Add(insidePoints.Elements[j]);
insidePoints.FastRemoveAt(j);
}
}
}
insidePoints.Dispose();
}
/// <summary>
/// Identifies the indices of points in a set which are on the outer convex hull of the set.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
public static void GetConvexHull(ref QuickList<Vector3> points, ref QuickList<int> outputTriangleIndices)
{
if (points.Count == 0)
{
throw new ArgumentException("Point set must have volume.");
}
var outsidePoints = new QuickList<int>(BufferPools<int>.Locking, BufferPool.GetPoolIndex(points.Count - 4));
//Build the initial tetrahedron.
//It will also give us the location of a point which is guaranteed to be within the
//final convex hull. We can use this point to calibrate the winding of triangles.
//A set of outside point candidates (all points other than those composing the tetrahedron) will be returned in the outsidePoints list.
//That list will then be further pruned by the RemoveInsidePoints call.
Vector3 insidePoint;
ComputeInitialTetrahedron(ref points, ref outsidePoints, ref outputTriangleIndices, out insidePoint);
//Compute outside points.
RemoveInsidePoints(ref points, ref outputTriangleIndices, ref outsidePoints);
var edges = new QuickList<int>(BufferPools<int>.Locking);
var toRemove = new QuickList<int>(BufferPools<int>.Locking);
var newTriangles = new QuickList<int>(BufferPools<int>.Locking);
//We're now ready to begin the main loop.
while (outsidePoints.Count > 0)
{
//While the convex hull is incomplete...
for (int k = 0; k < outputTriangleIndices.Count; k += 3)
{
//Find the normal of the triangle
Vector3 normal;
FindNormal(ref outputTriangleIndices, ref points, k, out normal);
//Get the furthest point in the direction of the normal.
int maxIndexInOutsideList = GetExtremePoint(ref normal, ref points, ref outsidePoints);
int maxIndex = outsidePoints.Elements[maxIndexInOutsideList];
Vector3 maximum = points.Elements[maxIndex];
//If the point is beyond the current triangle, continue.
Vector3 offset = maximum - points.Elements[outputTriangleIndices.Elements[k]];
float dot = Vector3.Dot(normal, offset);
if (dot > 0)
{
//It's been picked! Remove the maximum point from the outside.
outsidePoints.FastRemoveAt(maxIndexInOutsideList);
//Remove any triangles that can see the point, including itself!
edges.Clear();
toRemove.Clear();
for (int n = outputTriangleIndices.Count - 3; n >= 0; n -= 3)
{
//Go through each triangle, if it can be seen, delete it and use maintainEdge on its edges.
if (IsTriangleVisibleFromPoint(ref outputTriangleIndices, ref points, n, ref maximum))
{
//This triangle can see it!
//TODO: CONSIDER CONSISTENT WINDING HAPPYTIMES
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 1], ref edges);
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 2], ref edges);
MaintainEdge(outputTriangleIndices[n + 1], outputTriangleIndices[n + 2], ref edges);
//Because fast removals are being used, the order is very important.
//It's pulling indices in from the end of the list in order, and also ensuring
//that we never issue a removal order beyond the end of the list.
outputTriangleIndices.FastRemoveAt(n + 2);
outputTriangleIndices.FastRemoveAt(n + 1);
outputTriangleIndices.FastRemoveAt(n);
}
}
//Create new triangles.
for (int n = 0; n < edges.Count; n += 2)
{
//For each edge, create a triangle with the extreme point.
newTriangles.Add(edges[n]);
newTriangles.Add(edges[n + 1]);
newTriangles.Add(maxIndex);
}
//Only verify the windings of the new triangles.
VerifyWindings(ref newTriangles, ref points, ref insidePoint);
outputTriangleIndices.AddRange(ref newTriangles);
newTriangles.Count = 0;
//Remove all points from the outsidePoints if they are inside the polyhedron
RemoveInsidePoints(ref points, ref outputTriangleIndices, ref outsidePoints);
//The list has been significantly messed with, so restart the loop.
break;
}
}
}
outsidePoints.Dispose();
edges.Dispose();
toRemove.Dispose();
newTriangles.Dispose();
}
/// <summary>
/// Identifies the indices of points in a set which are on the outer convex hull of the set.
/// </summary>
/// <param name="points">List of points in the set.</param>
/// <param name="outputTriangleIndices">List of indices into the input point set composing the triangulated surface of the convex hull.
/// Each group of 3 indices represents a triangle on the surface of the hull.</param>
public static void GetConvexHull(ref QuickList <Vector3> points, ref QuickList <int> outputTriangleIndices)
{
if (points.Count == 0)
{
throw new ArgumentException("Point set must have volume.");
}
var outsidePoints = new QuickList <int>(BufferPools <int> .Locking, BufferPool.GetPoolIndex(points.Count - 4));
//Build the initial tetrahedron.
//It will also give us the location of a point which is guaranteed to be within the
//final convex hull. We can use this point to calibrate the winding of triangles.
//A set of outside point candidates (all points other than those composing the tetrahedron) will be returned in the outsidePoints list.
//That list will then be further pruned by the RemoveInsidePoints call.
Vector3 insidePoint;
ComputeInitialTetrahedron(ref points, ref outsidePoints, ref outputTriangleIndices, out insidePoint);
//Compute outside points.
RemoveInsidePoints(ref points, ref outputTriangleIndices, ref outsidePoints);
var edges = new QuickList <int>(BufferPools <int> .Locking);
var toRemove = new QuickList <int>(BufferPools <int> .Locking);
var newTriangles = new QuickList <int>(BufferPools <int> .Locking);
//We're now ready to begin the main loop.
while (outsidePoints.Count > 0)
{
//While the convex hull is incomplete...
for (int k = 0; k < outputTriangleIndices.Count; k += 3)
{
//Find the normal of the triangle
Vector3 normal;
FindNormal(ref outputTriangleIndices, ref points, k, out normal);
//Get the furthest point in the direction of the normal.
int maxIndexInOutsideList = GetExtremePoint(ref normal, ref points, ref outsidePoints);
int maxIndex = outsidePoints.Elements[maxIndexInOutsideList];
Vector3 maximum = points.Elements[maxIndex];
//If the point is beyond the current triangle, continue.
Vector3 offset = maximum - points.Elements[outputTriangleIndices.Elements[k]];
float dot = Vector3.Dot(normal, offset);
if (dot > 0)
{
//It's been picked! Remove the maximum point from the outside.
outsidePoints.FastRemoveAt(maxIndexInOutsideList);
//Remove any triangles that can see the point, including itself!
edges.Clear();
toRemove.Clear();
for (int n = outputTriangleIndices.Count - 3; n >= 0; n -= 3)
{
//Go through each triangle, if it can be seen, delete it and use maintainEdge on its edges.
if (IsTriangleVisibleFromPoint(ref outputTriangleIndices, ref points, n, ref maximum))
{
//This triangle can see it!
//TODO: CONSIDER CONSISTENT WINDING HAPPYTIMES
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 1], ref edges);
MaintainEdge(outputTriangleIndices[n], outputTriangleIndices[n + 2], ref edges);
MaintainEdge(outputTriangleIndices[n + 1], outputTriangleIndices[n + 2], ref edges);
//Because fast removals are being used, the order is very important.
//It's pulling indices in from the end of the list in order, and also ensuring
//that we never issue a removal order beyond the end of the list.
outputTriangleIndices.FastRemoveAt(n + 2);
outputTriangleIndices.FastRemoveAt(n + 1);
outputTriangleIndices.FastRemoveAt(n);
}
}
//Create new triangles.
for (int n = 0; n < edges.Count; n += 2)
{
//For each edge, create a triangle with the extreme point.
newTriangles.Add(edges[n]);
newTriangles.Add(edges[n + 1]);
newTriangles.Add(maxIndex);
}
//Only verify the windings of the new triangles.
VerifyWindings(ref newTriangles, ref points, ref insidePoint);
outputTriangleIndices.AddRange(ref newTriangles);
newTriangles.Count = 0;
//Remove all points from the outsidePoints if they are inside the polyhedron
RemoveInsidePoints(ref points, ref outputTriangleIndices, ref outsidePoints);
//The list has been significantly messed with, so restart the loop.
break;
}
}
}
outsidePoints.Dispose();
edges.Dispose();
toRemove.Dispose();
newTriangles.Dispose();
}