public void setxyz(float3 xyz)
{
x = xyz.x;
y = xyz.y;
z = xyz.z;
}
public static float4x4 MatrixTranslation(float3 t)
{
return(new float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, t.x, t.y, t.z, 1));
}
public static float4 Homogenize(float3 v3)
{
return(Homogenize(v3, 1.0f));
}
//C++ TO C# CONVERTER NOTE: C# does not allow default values for parameters. Overloaded methods are inserted above.
//ORIGINAL LINE: float4 Homogenize(const float3 &v3, const float &w =1.0f)
public static float4 Homogenize(float3 v3, float w)
{
return(new float4(v3.x, v3.y, v3.z, w));
}
private static bool lineIntersectsTriangle(float3 rayStart, float3 rayEnd, float3 p1, float3 p2, float3 p3, ref float3 sect)
{
float3 dir = rayEnd - rayStart;
float d = (float)Math.Sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
float r = 1.0f / d;
dir *= r;
float t;
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, out t);
if (ret)
{
if (t > d)
{
sect.x = rayStart.x + dir.x * t;
sect.y = rayStart.y + dir.y * t;
sect.z = rayStart.z + dir.z * t;
}
else
{
ret = false;
}
}
return(ret);
}
public Wpoint(float3 p, float w)
{
mPoint = p;
mWeight = w;
}
private static bool rayIntersectsTriangle(float3 p, float3 d, float3 v0, float3 v1, float3 v2, out float t)
{
t = 0f;
float3 e1, e2, h, s, q;
float a, f, u, v;
e1 = v1 - v0;
e2 = v2 - v0;
h = float3.cross(d, e2);
a = float3.dot(e1, h);
if (a > -0.00001f && a < 0.00001f)
{
return(false);
}
f = 1f / a;
s = p - v0;
u = f * float3.dot(s, h);
if (u < 0.0f || u > 1.0f)
{
return(false);
}
q = float3.cross(s, e1);
v = f * float3.dot(d, q);
if (v < 0.0f || u + v > 1.0f)
{
return(false);
}
// at this stage we can compute t to find out where
// the intersection point is on the line
t = f * float3.dot(e2, q);
if (t > 0f) // ray intersection
{
return(true);
}
else // this means that there is a line intersection but not a ray intersection
{
return(false);
}
}
public bool Concave(float3 p, ref float distance, ref float3 n)
{
n.NearestPointInTriangle(p, mP1, mP2, mP3);
distance = p.Distance(n);
return(true);
}
public static void calcConvexDecomposition(List <float3> vertices, List <int> indices, ConvexDecompositionCallback callback, float masterVolume, int depth,
int maxDepth, float concavePercent, float mergePercent)
{
float4 plane = new float4();
bool split = false;
if (depth < maxDepth)
{
float volume = 0f;
float c = Concavity.computeConcavity(vertices, indices, ref plane, ref volume);
if (depth == 0)
{
masterVolume = volume;
}
float percent = (c * 100.0f) / masterVolume;
if (percent > concavePercent) // if great than 5% of the total volume is concave, go ahead and keep splitting.
{
split = true;
}
}
if (depth >= maxDepth || !split)
{
HullResult result = new HullResult();
HullDesc desc = new HullDesc();
desc.SetHullFlag(HullFlag.QF_TRIANGLES);
desc.Vertices = vertices;
HullError ret = HullUtils.CreateConvexHull(desc, ref result);
if (ret == HullError.QE_OK)
{
ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
callback(r);
}
return;
}
List <int> ifront = new List <int>();
List <int> iback = new List <int>();
VertexPool vfront = new VertexPool();
VertexPool vback = new VertexPool();
// ok..now we are going to 'split' all of the input triangles against this plane!
for (int i = 0; i < indices.Count / 3; i++)
{
int i1 = indices[i * 3 + 0];
int i2 = indices[i * 3 + 1];
int i3 = indices[i * 3 + 2];
FaceTri t = new FaceTri(vertices, i1, i2, i3);
float3[] front = new float3[4];
float3[] back = new float3[4];
int fcount = 0;
int bcount = 0;
PlaneTriResult result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
if (fcount > 4 || bcount > 4)
{
result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
}
switch (result)
{
case PlaneTriResult.PTR_FRONT:
Debug.Assert(fcount == 3);
addTri(vfront, ifront, front[0], front[1], front[2]);
break;
case PlaneTriResult.PTR_BACK:
Debug.Assert(bcount == 3);
addTri(vback, iback, back[0], back[1], back[2]);
break;
case PlaneTriResult.PTR_SPLIT:
Debug.Assert(fcount >= 3 && fcount <= 4);
Debug.Assert(bcount >= 3 && bcount <= 4);
addTri(vfront, ifront, front[0], front[1], front[2]);
addTri(vback, iback, back[0], back[1], back[2]);
if (fcount == 4)
{
addTri(vfront, ifront, front[0], front[2], front[3]);
}
if (bcount == 4)
{
addTri(vback, iback, back[0], back[2], back[3]);
}
break;
}
}
// ok... here we recursively call
if (ifront.Count > 0)
{
// 20131224 not used int vcount = vfront.GetSize();
List <float3> vertices2 = vfront.GetVertices();
for (int i = 0; i < vertices2.Count; i++)
{
vertices2[i] = new float3(vertices2[i]);
}
// 20131224 not used int tcount = ifront.Count / 3;
calcConvexDecomposition(vertices2, ifront, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
}
ifront.Clear();
vfront.Clear();
if (iback.Count > 0)
{
// 20131224 not used int vcount = vback.GetSize();
List <float3> vertices2 = vback.GetVertices();
// 20131224 not used int tcount = iback.Count / 3;
calcConvexDecomposition(vertices2, iback, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
}
iback.Clear();
vback.Clear();
}
private static void addTri(VertexPool vl, List <int> list, float3 p1, float3 p2, float3 p3)
{
int i1 = vl.getIndex(p1);
int i2 = vl.getIndex(p2);
int i3 = vl.getIndex(p3);
// do *not* process degenerate triangles!
if (i1 != i2 && i1 != i3 && i2 != i3)
{
list.Add(i1);
list.Add(i2);
list.Add(i3);
}
}
public FaceTri(List <float3> vertices, int i1, int i2, int i3)
{
P1 = new float3(vertices[i1]);
P2 = new float3(vertices[i2]);
P3 = new float3(vertices[i3]);
}
