From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../ConvexDecompositionDotNet/SplitPlane.cs | 265 +++++++++++++++++++++ 1 file changed, 265 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs (limited to 'OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs') diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs new file mode 100644 index 0000000..9f56bc5 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs @@ -0,0 +1,265 @@ +/* The MIT License + * + * Copyright (c) 2010 Intel Corporation. + * All rights reserved. + * + * Based on the convexdecomposition library from + * by John W. Ratcliff and Stan Melax. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +using System; +using System.Collections.Generic; + +namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet +{ + public class Rect3d + { + public float[] mMin = new float[3]; + public float[] mMax = new float[3]; + + public Rect3d() + { + } + + public Rect3d(float[] bmin, float[] bmax) + { + mMin[0] = bmin[0]; + mMin[1] = bmin[1]; + mMin[2] = bmin[2]; + + mMax[0] = bmax[0]; + mMax[1] = bmax[1]; + mMax[2] = bmax[2]; + } + + public void SetMin(float[] bmin) + { + mMin[0] = bmin[0]; + mMin[1] = bmin[1]; + mMin[2] = bmin[2]; + } + + public void SetMax(float[] bmax) + { + mMax[0] = bmax[0]; + mMax[1] = bmax[1]; + mMax[2] = bmax[2]; + } + + public void SetMin(float x, float y, float z) + { + mMin[0] = x; + mMin[1] = y; + mMin[2] = z; + } + + public void SetMax(float x, float y, float z) + { + mMax[0] = x; + mMax[1] = y; + mMax[2] = z; + } + } + + public static class SplitPlane + { + public static bool computeSplitPlane(List vertices, List indices, ref float4 plane) + { + float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue }; + float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue }; + + for (int i = 0; i < vertices.Count; i++) + { + float3 p = vertices[i]; + + if (p[0] < bmin[0]) + bmin[0] = p[0]; + if (p[1] < bmin[1]) + bmin[1] = p[1]; + if (p[2] < bmin[2]) + bmin[2] = p[2]; + + if (p[0] > bmax[0]) + bmax[0] = p[0]; + if (p[1] > bmax[1]) + bmax[1] = p[1]; + if (p[2] > bmax[2]) + bmax[2] = p[2]; + } + + float dx = bmax[0] - bmin[0]; + float dy = bmax[1] - bmin[1]; + float dz = bmax[2] - bmin[2]; + + float laxis = dx; + + int axis = 0; + + if (dy > dx) + { + axis = 1; + laxis = dy; + } + + if (dz > dx && dz > dy) + { + axis = 2; + laxis = dz; + } + + float[] p1 = new float[3]; + float[] p2 = new float[3]; + float[] p3 = new float[3]; + + p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f; + p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f; + p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f; + + Rect3d b = new Rect3d(bmin, bmax); + + Rect3d b1 = new Rect3d(); + Rect3d b2 = new Rect3d(); + + splitRect(axis, b, b1, b2, p1); + + switch (axis) + { + case 0: + p2[1] = bmin[1]; + p2[2] = bmin[2]; + + if (dz > dy) + { + p3[1] = bmax[1]; + p3[2] = bmin[2]; + } + else + { + p3[1] = bmin[1]; + p3[2] = bmax[2]; + } + + break; + case 1: + p2[0] = bmin[0]; + p2[2] = bmin[2]; + + if (dx > dz) + { + p3[0] = bmax[0]; + p3[2] = bmin[2]; + } + else + { + p3[0] = bmin[0]; + p3[2] = bmax[2]; + } + + break; + case 2: + p2[0] = bmin[0]; + p2[1] = bmin[1]; + + if (dx > dy) + { + p3[0] = bmax[0]; + p3[1] = bmin[1]; + } + else + { + p3[0] = bmin[0]; + p3[1] = bmax[1]; + } + + break; + } + + computePlane(p1, p2, p3, plane); + + return true; + } + + internal static void computePlane(float[] A, float[] B, float[] C, float4 plane) + { + float vx = (B[0] - C[0]); + float vy = (B[1] - C[1]); + float vz = (B[2] - C[2]); + + float wx = (A[0] - B[0]); + float wy = (A[1] - B[1]); + float wz = (A[2] - B[2]); + + float vw_x = vy * wz - vz * wy; + float vw_y = vz * wx - vx * wz; + float vw_z = vx * wy - vy * wx; + + float mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if (mag < 0.000001f) + { + mag = 0; + } + else + { + mag = 1.0f / mag; + } + + float x = vw_x * mag; + float y = vw_y * mag; + float z = vw_z * mag; + + float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2])); + + plane.x = x; + plane.y = y; + plane.z = z; + plane.w = D; + } + + public static void splitRect(int axis, Rect3d source, Rect3d b1, Rect3d b2, float[] midpoint) + { + switch (axis) + { + case 0: + b1.SetMin(source.mMin); + b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]); + + b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]); + b2.SetMax(source.mMax); + break; + case 1: + b1.SetMin(source.mMin); + b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]); + + b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]); + b2.SetMax(source.mMax); + break; + case 2: + b1.SetMin(source.mMin); + b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]); + + b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]); + b2.SetMax(source.mMax); + break; + } + } + } +} -- cgit v1.1