public static vecf32 CrossProduct(vecf32 A, vecf32 B)
{
return(new vecf32
{
x = (A.y * B.z) - (A.z * B.y),
y = (A.z * B.x) - (A.x * B.z),
z = (A.x * B.y) - (A.y * B.x)
});
}
public static vecf32 Subtract(vecf32 A, vecf32 B)
{
return(new vecf32
{
x = A.x - B.x,
y = A.y - B.y,
z = A.z - B.z
});
}
public static vecf32 Normalise(vecf32 A)
{
float a = Length(A);
return(new vecf32
{
x = A.x / a,
y = A.y / a,
z = A.z / a
});
}
private static void GetTriangleData(short[] verts)
{
CollisionTri T = new CollisionTri();
T.v1 = ReadVertex(verts[0]);
T.v2 = ReadVertex(verts[1]);
T.v3 = ReadVertex(verts[2]);
vecf32 AB = Subtract(T.v2, T.v1);
vecf32 BC = Subtract(T.v3, T.v2);
T.u_n = Normalise(CrossProduct(AB, BC));
T.d = PlaneDist(T.u_n, T.v1);
}
public static float PlaneDist(vecf32 n, vec16 p)
{
return(-((n.x * p.x) + (n.y * p.y) + (n.z * p.z)));
}
public static float Length(vecf32 A)
{
return((float)Math.Sqrt((A.x * A.x) + (A.y * A.y) + (A.z * A.z)));
}
