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author | Robert Adams | 2011-06-20 17:14:59 -0700 |
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committer | Dan Lake | 2011-06-20 17:24:42 -0700 |
commit | 302d72701da35b6d481a538c4cb953976d7e9044 (patch) | |
tree | fe11403b00e640da659c48dddbc9646860380ccd /OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs | |
parent | Merge branch 'master' of ssh://opensimulator.org/var/git/opensim (diff) | |
download | opensim-SC-302d72701da35b6d481a538c4cb953976d7e9044.zip opensim-SC-302d72701da35b6d481a538c4cb953976d7e9044.tar.gz opensim-SC-302d72701da35b6d481a538c4cb953976d7e9044.tar.bz2 opensim-SC-302d72701da35b6d481a538c4cb953976d7e9044.tar.xz |
BulletSim initial checkin
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs new file mode 100644 index 0000000..d099676 --- /dev/null +++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs | |||
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1 | /* The MIT License | ||
2 | * | ||
3 | * Copyright (c) 2010 Intel Corporation. | ||
4 | * All rights reserved. | ||
5 | * | ||
6 | * Based on the convexdecomposition library from | ||
7 | * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax. | ||
8 | * | ||
9 | * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
10 | * of this software and associated documentation files (the "Software"), to deal | ||
11 | * in the Software without restriction, including without limitation the rights | ||
12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
13 | * copies of the Software, and to permit persons to whom the Software is | ||
14 | * furnished to do so, subject to the following conditions: | ||
15 | * | ||
16 | * The above copyright notice and this permission notice shall be included in | ||
17 | * all copies or substantial portions of the Software. | ||
18 | * | ||
19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
25 | * THE SOFTWARE. | ||
26 | */ | ||
27 | |||
28 | using System; | ||
29 | |||
30 | namespace OpenSim.Region.Physics.ConvexDecompositionDotNet | ||
31 | { | ||
32 | public class Plane | ||
33 | { | ||
34 | public float3 normal = new float3(); | ||
35 | public float dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 | ||
36 | |||
37 | public Plane(float3 n, float d) | ||
38 | { | ||
39 | normal = new float3(n); | ||
40 | dist = d; | ||
41 | } | ||
42 | |||
43 | public Plane(Plane p) | ||
44 | { | ||
45 | normal = new float3(p.normal); | ||
46 | dist = p.dist; | ||
47 | } | ||
48 | |||
49 | public Plane() | ||
50 | { | ||
51 | dist = 0; | ||
52 | } | ||
53 | |||
54 | public void Transform(float3 position, Quaternion orientation) | ||
55 | { | ||
56 | // Transforms the plane to the space defined by the | ||
57 | // given position/orientation | ||
58 | float3 newNormal = Quaternion.Inverse(orientation) * normal; | ||
59 | float3 origin = Quaternion.Inverse(orientation) * (-normal * dist - position); | ||
60 | |||
61 | normal = newNormal; | ||
62 | dist = -float3.dot(newNormal, origin); | ||
63 | } | ||
64 | |||
65 | public override int GetHashCode() | ||
66 | { | ||
67 | return normal.GetHashCode() ^ dist.GetHashCode(); | ||
68 | } | ||
69 | |||
70 | public override bool Equals(object obj) | ||
71 | { | ||
72 | Plane p = obj as Plane; | ||
73 | if (p == null) | ||
74 | return false; | ||
75 | |||
76 | return this == p; | ||
77 | } | ||
78 | |||
79 | public static bool operator ==(Plane a, Plane b) | ||
80 | { | ||
81 | return (a.normal == b.normal && a.dist == b.dist); | ||
82 | } | ||
83 | |||
84 | public static bool operator !=(Plane a, Plane b) | ||
85 | { | ||
86 | return !(a == b); | ||
87 | } | ||
88 | |||
89 | public static Plane PlaneFlip(Plane plane) | ||
90 | { | ||
91 | return new Plane(-plane.normal, -plane.dist); | ||
92 | } | ||
93 | |||
94 | public static bool coplanar(Plane a, Plane b) | ||
95 | { | ||
96 | return (a == b || a == PlaneFlip(b)); | ||
97 | } | ||
98 | } | ||
99 | } | ||