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/* The MIT License
*
* Copyright (c) 2010 Intel Corporation.
* All rights reserved.
*
* Based on the convexdecomposition library from
* <http://codesuppository.googlecode.com> 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.PhysicsModules.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<float3> vertices, List<int> 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;
}
}
}
}
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