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diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs
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--- a/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.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
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class Wpoint
34 {
35 public float3 mPoint;
36 public float mWeight;
37
38 public Wpoint(float3 p, float w)
39 {
40 mPoint = p;
41 mWeight = w;
42 }
43 }
44
45 public class CTri
46 {
47 private const int WSCALE = 4;
48
49 public float3 mP1;
50 public float3 mP2;
51 public float3 mP3;
52 public float3 mNear1;
53 public float3 mNear2;
54 public float3 mNear3;
55 public float3 mNormal;
56 public float mPlaneD;
57 public float mConcavity;
58 public float mC1;
59 public float mC2;
60 public float mC3;
61 public int mI1;
62 public int mI2;
63 public int mI3;
64 public int mProcessed; // already been added...
65
66 public CTri(float3 p1, float3 p2, float3 p3, int i1, int i2, int i3)
67 {
68 mProcessed = 0;
69 mI1 = i1;
70 mI2 = i2;
71 mI3 = i3;
72
73 mP1 = new float3(p1);
74 mP2 = new float3(p2);
75 mP3 = new float3(p3);
76
77 mNear1 = new float3();
78 mNear2 = new float3();
79 mNear3 = new float3();
80
81 mNormal = new float3();
82 mPlaneD = mNormal.ComputePlane(mP1, mP2, mP3);
83 }
84
85 public float Facing(CTri t)
86 {
87 return float3.dot(mNormal, t.mNormal);
88 }
89
90 public bool clip(float3 start, ref float3 end)
91 {
92 float3 sect = new float3();
93 bool hit = lineIntersectsTriangle(start, end, mP1, mP2, mP3, ref sect);
94
95 if (hit)
96 end = sect;
97 return hit;
98 }
99
100 public bool Concave(float3 p, ref float distance, ref float3 n)
101 {
102 n.NearestPointInTriangle(p, mP1, mP2, mP3);
103 distance = p.Distance(n);
104 return true;
105 }
106
107 public void addTri(int[] indices, int i1, int i2, int i3, ref int tcount)
108 {
109 indices[tcount * 3 + 0] = i1;
110 indices[tcount * 3 + 1] = i2;
111 indices[tcount * 3 + 2] = i3;
112 tcount++;
113 }
114
115 public float getVolume()
116 {
117 int[] indices = new int[8 * 3];
118
119 int tcount = 0;
120
121 addTri(indices, 0, 1, 2, ref tcount);
122 addTri(indices, 3, 4, 5, ref tcount);
123
124 addTri(indices, 0, 3, 4, ref tcount);
125 addTri(indices, 0, 4, 1, ref tcount);
126
127 addTri(indices, 1, 4, 5, ref tcount);
128 addTri(indices, 1, 5, 2, ref tcount);
129
130 addTri(indices, 0, 3, 5, ref tcount);
131 addTri(indices, 0, 5, 2, ref tcount);
132
133 List<float3> vertices = new List<float3> { mP1, mP2, mP3, mNear1, mNear2, mNear3 };
134 List<int> indexList = new List<int>(indices);
135
136 float v = Concavity.computeMeshVolume(vertices, indexList);
137 return v;
138 }
139
140 public float raySect(float3 p, float3 dir, ref float3 sect)
141 {
142 float4 plane = new float4();
143
144 plane.x = mNormal.x;
145 plane.y = mNormal.y;
146 plane.z = mNormal.z;
147 plane.w = mPlaneD;
148
149 float3 dest = p + dir * 100000f;
150
151 intersect(p, dest, ref sect, plane);
152
153 return sect.Distance(p); // return the intersection distance
154 }
155
156 public float planeDistance(float3 p)
157 {
158 float4 plane = new float4();
159
160 plane.x = mNormal.x;
161 plane.y = mNormal.y;
162 plane.z = mNormal.z;
163 plane.w = mPlaneD;
164
165 return DistToPt(p, plane);
166 }
167
168 public bool samePlane(CTri t)
169 {
170 const float THRESH = 0.001f;
171 float dd = Math.Abs(t.mPlaneD - mPlaneD);
172 if (dd > THRESH)
173 return false;
174 dd = Math.Abs(t.mNormal.x - mNormal.x);
175 if (dd > THRESH)
176 return false;
177 dd = Math.Abs(t.mNormal.y - mNormal.y);
178 if (dd > THRESH)
179 return false;
180 dd = Math.Abs(t.mNormal.z - mNormal.z);
181 if (dd > THRESH)
182 return false;
183 return true;
184 }
185
186 public bool hasIndex(int i)
187 {
188 if (i == mI1 || i == mI2 || i == mI3)
189 return true;
190 return false;
191 }
192
193 public bool sharesEdge(CTri t)
194 {
195 bool ret = false;
196 uint count = 0;
197
198 if (t.hasIndex(mI1))
199 count++;
200 if (t.hasIndex(mI2))
201 count++;
202 if (t.hasIndex(mI3))
203 count++;
204
205 if (count >= 2)
206 ret = true;
207
208 return ret;
209 }
210
211 public float area()
212 {
213 float a = mConcavity * mP1.Area(mP2, mP3);
214 return a;
215 }
216
217 public void addWeighted(List<Wpoint> list)
218 {
219 Wpoint p1 = new Wpoint(mP1, mC1);
220 Wpoint p2 = new Wpoint(mP2, mC2);
221 Wpoint p3 = new Wpoint(mP3, mC3);
222
223 float3 d1 = mNear1 - mP1;
224 float3 d2 = mNear2 - mP2;
225 float3 d3 = mNear3 - mP3;
226
227 d1 *= WSCALE;
228 d2 *= WSCALE;
229 d3 *= WSCALE;
230
231 d1 = d1 + mP1;
232 d2 = d2 + mP2;
233 d3 = d3 + mP3;
234
235 Wpoint p4 = new Wpoint(d1, mC1);
236 Wpoint p5 = new Wpoint(d2, mC2);
237 Wpoint p6 = new Wpoint(d3, mC3);
238
239 list.Add(p1);
240 list.Add(p2);
241 list.Add(p3);
242
243 list.Add(p4);
244 list.Add(p5);
245 list.Add(p6);
246 }
247
248 private static float DistToPt(float3 p, float4 plane)
249 {
250 float x = p.x;
251 float y = p.y;
252 float z = p.z;
253 float d = x*plane.x + y*plane.y + z*plane.z + plane.w;
254 return d;
255 }
256
257 private static void intersect(float3 p1, float3 p2, ref float3 split, float4 plane)
258 {
259 float dp1 = DistToPt(p1, plane);
260
261 float3 dir = new float3();
262 dir.x = p2[0] - p1[0];
263 dir.y = p2[1] - p1[1];
264 dir.z = p2[2] - p1[2];
265
266 float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
267 float dot2 = dp1 - plane[3];
268
269 float t = -(plane[3] + dot2) / dot1;
270
271 split.x = (dir[0] * t) + p1[0];
272 split.y = (dir[1] * t) + p1[1];
273 split.z = (dir[2] * t) + p1[2];
274 }
275
276 private static bool rayIntersectsTriangle(float3 p, float3 d, float3 v0, float3 v1, float3 v2, out float t)
277 {
278 t = 0f;
279
280 float3 e1, e2, h, s, q;
281 float a, f, u, v;
282
283 e1 = v1 - v0;
284 e2 = v2 - v0;
285 h = float3.cross(d, e2);
286 a = float3.dot(e1, h);
287
288 if (a > -0.00001f && a < 0.00001f)
289 return false;
290
291 f = 1f / a;
292 s = p - v0;
293 u = f * float3.dot(s, h);
294
295 if (u < 0.0f || u > 1.0f)
296 return false;
297
298 q = float3.cross(s, e1);
299 v = f * float3.dot(d, q);
300 if (v < 0.0f || u + v > 1.0f)
301 return false;
302
303 // at this stage we can compute t to find out where
304 // the intersection point is on the line
305 t = f * float3.dot(e2, q);
306 if (t > 0f) // ray intersection
307 return true;
308 else // this means that there is a line intersection but not a ray intersection
309 return false;
310 }
311
312 private static bool lineIntersectsTriangle(float3 rayStart, float3 rayEnd, float3 p1, float3 p2, float3 p3, ref float3 sect)
313 {
314 float3 dir = rayEnd - rayStart;
315
316 float d = (float)Math.Sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
317 float r = 1.0f / d;
318
319 dir *= r;
320
321 float t;
322 bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, out t);
323
324 if (ret)
325 {
326 if (t > d)
327 {
328 sect.x = rayStart.x + dir.x * t;
329 sect.y = rayStart.y + dir.y * t;
330 sect.z = rayStart.z + dir.z * t;
331 }
332 else
333 {
334 ret = false;
335 }
336 }
337
338 return ret;
339 }
340 }
341}
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