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/HullUtils.cs | 1868 ++++++++++++++++++++ 1 file changed, 1868 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs (limited to 'OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs') diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs new file mode 100644 index 0000000..3903254 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs @@ -0,0 +1,1868 @@ +/* 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; +using System.Diagnostics; + +namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet +{ + public static class HullUtils + { + public static int argmin(float[] a, int n) + { + int r = 0; + for (int i = 1; i < n; i++) + { + if (a[i] < a[r]) + { + r = i; + } + } + return r; + } + + public static float clampf(float a) + { + return Math.Min(1.0f, Math.Max(0.0f, a)); + } + + public static float Round(float a, float precision) + { + return (float)Math.Floor(0.5f + a / precision) * precision; + } + + public static float Interpolate(float f0, float f1, float alpha) + { + return f0 * (1 - alpha) + f1 * alpha; + } + + public static void Swap(ref T a, ref T b) + { + T tmp = a; + a = b; + b = tmp; + } + + public static bool above(List vertices, int3 t, float3 p, float epsilon) + { + float3 vtx = vertices[t.x]; + float3 n = TriNormal(vtx, vertices[t.y], vertices[t.z]); + return (float3.dot(n, p - vtx) > epsilon); // EPSILON??? + } + + public static int hasedge(int3 t, int a, int b) + { + for (int i = 0; i < 3; i++) + { + int i1 = (i + 1) % 3; + if (t[i] == a && t[i1] == b) + return 1; + } + return 0; + } + + public static bool hasvert(int3 t, int v) + { + return (t[0] == v || t[1] == v || t[2] == v); + } + + public static int shareedge(int3 a, int3 b) + { + int i; + for (i = 0; i < 3; i++) + { + int i1 = (i + 1) % 3; + if (hasedge(a, b[i1], b[i]) != 0) + return 1; + } + return 0; + } + + public static void b2bfix(HullTriangle s, HullTriangle t, List tris) + { + int i; + for (i = 0; i < 3; i++) + { + int i1 = (i + 1) % 3; + int i2 = (i + 2) % 3; + int a = (s)[i1]; + int b = (s)[i2]; + Debug.Assert(tris[s.neib(a, b)].neib(b, a) == s.id); + Debug.Assert(tris[t.neib(a, b)].neib(b, a) == t.id); + tris[s.neib(a, b)].setneib(b, a, t.neib(b, a)); + tris[t.neib(b, a)].setneib(a, b, s.neib(a, b)); + } + } + + public static void removeb2b(HullTriangle s, HullTriangle t, List tris) + { + b2bfix(s, t, tris); + s.Dispose(); + t.Dispose(); + } + + public static void checkit(HullTriangle t, List tris) + { + int i; + Debug.Assert(tris[t.id] == t); + for (i = 0; i < 3; i++) + { + int i1 = (i + 1) % 3; + int i2 = (i + 2) % 3; + int a = (t)[i1]; + int b = (t)[i2]; + Debug.Assert(a != b); + Debug.Assert(tris[t.n[i]].neib(b, a) == t.id); + } + } + + public static void extrude(HullTriangle t0, int v, List tris) + { + int3 t = t0; + int n = tris.Count; + HullTriangle ta = new HullTriangle(v, t[1], t[2], tris); + ta.n = new int3(t0.n[0], n + 1, n + 2); + tris[t0.n[0]].setneib(t[1], t[2], n + 0); + HullTriangle tb = new HullTriangle(v, t[2], t[0], tris); + tb.n = new int3(t0.n[1], n + 2, n + 0); + tris[t0.n[1]].setneib(t[2], t[0], n + 1); + HullTriangle tc = new HullTriangle(v, t[0], t[1], tris); + tc.n = new int3(t0.n[2], n + 0, n + 1); + tris[t0.n[2]].setneib(t[0], t[1], n + 2); + checkit(ta, tris); + checkit(tb, tris); + checkit(tc, tris); + if (hasvert(tris[ta.n[0]], v)) + removeb2b(ta, tris[ta.n[0]], tris); + if (hasvert(tris[tb.n[0]], v)) + removeb2b(tb, tris[tb.n[0]], tris); + if (hasvert(tris[tc.n[0]], v)) + removeb2b(tc, tris[tc.n[0]], tris); + t0.Dispose(); + } + + public static HullTriangle extrudable(float epsilon, List tris) + { + int i; + HullTriangle t = null; + for (i = 0; i < tris.Count; i++) + { + if (t == null || (tris.Count > i && (object)tris[i] != null && t.rise < tris[i].rise)) + { + t = tris[i]; + } + } + return (t.rise > epsilon) ? t : null; + } + + public static Quaternion RotationArc(float3 v0, float3 v1) + { + Quaternion q = new Quaternion(); + v0 = float3.normalize(v0); // Comment these two lines out if you know its not needed. + v1 = float3.normalize(v1); // If vector is already unit length then why do it again? + float3 c = float3.cross(v0, v1); + float d = float3.dot(v0, v1); + if (d <= -1.0f) // 180 about x axis + { + return new Quaternion(1f, 0f, 0f, 0f); + } + float s = (float)Math.Sqrt((1 + d) * 2f); + q.x = c.x / s; + q.y = c.y / s; + q.z = c.z / s; + q.w = s / 2.0f; + return q; + } + + public static float3 PlaneLineIntersection(Plane plane, float3 p0, float3 p1) + { + // returns the point where the line p0-p1 intersects the plane n&d + float3 dif = p1 - p0; + float dn = float3.dot(plane.normal, dif); + float t = -(plane.dist + float3.dot(plane.normal, p0)) / dn; + return p0 + (dif * t); + } + + public static float3 LineProject(float3 p0, float3 p1, float3 a) + { + float3 w = new float3(); + w = p1 - p0; + float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z); + return p0 + w * t; + } + + public static float3 PlaneProject(Plane plane, float3 point) + { + return point - plane.normal * (float3.dot(point, plane.normal) + plane.dist); + } + + public static float LineProjectTime(float3 p0, float3 p1, float3 a) + { + float3 w = new float3(); + w = p1 - p0; + float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z); + return t; + } + + public static float3 ThreePlaneIntersection(Plane p0, Plane p1, Plane p2) + { + float3x3 mp = float3x3.Transpose(new float3x3(p0.normal, p1.normal, p2.normal)); + float3x3 mi = float3x3.Inverse(mp); + float3 b = new float3(p0.dist, p1.dist, p2.dist); + return -b * mi; + } + + public static bool PolyHit(List vert, float3 v0, float3 v1) + { + float3 impact = new float3(); + float3 normal = new float3(); + return PolyHit(vert, v0, v1, out impact, out normal); + } + + public static bool PolyHit(List vert, float3 v0, float3 v1, out float3 impact) + { + float3 normal = new float3(); + return PolyHit(vert, v0, v1, out impact, out normal); + } + + public static bool PolyHit(List vert, float3 v0, float3 v1, out float3 impact, out float3 normal) + { + float3 the_point = new float3(); + + impact = null; + normal = null; + + int i; + float3 nrml = new float3(0, 0, 0); + for (i = 0; i < vert.Count; i++) + { + int i1 = (i + 1) % vert.Count; + int i2 = (i + 2) % vert.Count; + nrml = nrml + float3.cross(vert[i1] - vert[i], vert[i2] - vert[i1]); + } + + float m = float3.magnitude(nrml); + if (m == 0.0) + { + return false; + } + nrml = nrml * (1.0f / m); + float dist = -float3.dot(nrml, vert[0]); + float d0; + float d1; + if ((d0 = float3.dot(v0, nrml) + dist) < 0 || (d1 = float3.dot(v1, nrml) + dist) > 0) + { + return false; + } + + // By using the cached plane distances d0 and d1 + // we can optimize the following: + // the_point = planelineintersection(nrml,dist,v0,v1); + float a = d0 / (d0 - d1); + the_point = v0 * (1 - a) + v1 * a; + + + bool inside = true; + for (int j = 0; inside && j < vert.Count; j++) + { + // let inside = 0 if outside + float3 pp1 = new float3(); + float3 pp2 = new float3(); + float3 side = new float3(); + pp1 = vert[j]; + pp2 = vert[(j + 1) % vert.Count]; + side = float3.cross((pp2 - pp1), (the_point - pp1)); + inside = (float3.dot(nrml, side) >= 0.0); + } + if (inside) + { + if (normal != null) + { + normal = nrml; + } + if (impact != null) + { + impact = the_point; + } + } + return inside; + } + + public static bool BoxInside(float3 p, float3 bmin, float3 bmax) + { + return (p.x >= bmin.x && p.x <= bmax.x && p.y >= bmin.y && p.y <= bmax.y && p.z >= bmin.z && p.z <= bmax.z); + } + + public static bool BoxIntersect(float3 v0, float3 v1, float3 bmin, float3 bmax, float3 impact) + { + if (BoxInside(v0, bmin, bmax)) + { + impact = v0; + return true; + } + if (v0.x <= bmin.x && v1.x >= bmin.x) + { + float a = (bmin.x - v0.x) / (v1.x - v0.x); + //v.x = bmin.x; + float vy = (1 - a) * v0.y + a * v1.y; + float vz = (1 - a) * v0.z + a * v1.z; + if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z) + { + impact.x = bmin.x; + impact.y = vy; + impact.z = vz; + return true; + } + } + else if (v0.x >= bmax.x && v1.x <= bmax.x) + { + float a = (bmax.x - v0.x) / (v1.x - v0.x); + //v.x = bmax.x; + float vy = (1 - a) * v0.y + a * v1.y; + float vz = (1 - a) * v0.z + a * v1.z; + if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z) + { + impact.x = bmax.x; + impact.y = vy; + impact.z = vz; + return true; + } + } + if (v0.y <= bmin.y && v1.y >= bmin.y) + { + float a = (bmin.y - v0.y) / (v1.y - v0.y); + float vx = (1 - a) * v0.x + a * v1.x; + //v.y = bmin.y; + float vz = (1 - a) * v0.z + a * v1.z; + if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z) + { + impact.x = vx; + impact.y = bmin.y; + impact.z = vz; + return true; + } + } + else if (v0.y >= bmax.y && v1.y <= bmax.y) + { + float a = (bmax.y - v0.y) / (v1.y - v0.y); + float vx = (1 - a) * v0.x + a * v1.x; + // vy = bmax.y; + float vz = (1 - a) * v0.z + a * v1.z; + if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z) + { + impact.x = vx; + impact.y = bmax.y; + impact.z = vz; + return true; + } + } + if (v0.z <= bmin.z && v1.z >= bmin.z) + { + float a = (bmin.z - v0.z) / (v1.z - v0.z); + float vx = (1 - a) * v0.x + a * v1.x; + float vy = (1 - a) * v0.y + a * v1.y; + // v.z = bmin.z; + if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x) + { + impact.x = vx; + impact.y = vy; + impact.z = bmin.z; + return true; + } + } + else if (v0.z >= bmax.z && v1.z <= bmax.z) + { + float a = (bmax.z - v0.z) / (v1.z - v0.z); + float vx = (1 - a) * v0.x + a * v1.x; + float vy = (1 - a) * v0.y + a * v1.y; + // v.z = bmax.z; + if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x) + { + impact.x = vx; + impact.y = vy; + impact.z = bmax.z; + return true; + } + } + return false; + } + + public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint) + { + return DistanceBetweenLines(ustart, udir, vstart, vdir, upoint, null); + } + + public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir) + { + return DistanceBetweenLines(ustart, udir, vstart, vdir, null, null); + } + + public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint, float3 vpoint) + { + float3 cp = float3.normalize(float3.cross(udir, vdir)); + + float distu = -float3.dot(cp, ustart); + float distv = -float3.dot(cp, vstart); + float dist = (float)Math.Abs(distu - distv); + if (upoint != null) + { + Plane plane = new Plane(); + plane.normal = float3.normalize(float3.cross(vdir, cp)); + plane.dist = -float3.dot(plane.normal, vstart); + upoint = PlaneLineIntersection(plane, ustart, ustart + udir); + } + if (vpoint != null) + { + Plane plane = new Plane(); + plane.normal = float3.normalize(float3.cross(udir, cp)); + plane.dist = -float3.dot(plane.normal, ustart); + vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir); + } + return dist; + } + + public static float3 TriNormal(float3 v0, float3 v1, float3 v2) + { + // return the normal of the triangle + // inscribed by v0, v1, and v2 + float3 cp = float3.cross(v1 - v0, v2 - v1); + float m = float3.magnitude(cp); + if (m == 0) + return new float3(1, 0, 0); + return cp * (1.0f / m); + } + + public static int PlaneTest(Plane p, float3 v, float planetestepsilon) + { + float a = float3.dot(v, p.normal) + p.dist; + int flag = (a > planetestepsilon) ? (2) : ((a < -planetestepsilon) ? (1) : (0)); + return flag; + } + + public static int SplitTest(ref ConvexH convex, Plane plane, float planetestepsilon) + { + int flag = 0; + for (int i = 0; i < convex.vertices.Count; i++) + { + flag |= PlaneTest(plane, convex.vertices[i], planetestepsilon); + } + return flag; + } + + public static Quaternion VirtualTrackBall(float3 cop, float3 cor, float3 dir1, float3 dir2) + { + // routine taken from game programming gems. + // Implement track ball functionality to spin stuf on the screen + // cop center of projection + // cor center of rotation + // dir1 old mouse direction + // dir2 new mouse direction + // pretend there is a sphere around cor. Then find the points + // where dir1 and dir2 intersect that sphere. Find the + // rotation that takes the first point to the second. + float m; + // compute plane + float3 nrml = cor - cop; + float fudgefactor = 1.0f / (float3.magnitude(nrml) * 0.25f); // since trackball proportional to distance from cop + nrml = float3.normalize(nrml); + float dist = -float3.dot(nrml, cor); + float3 u = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir1); + u = u - cor; + u = u * fudgefactor; + m = float3.magnitude(u); + if (m > 1) + { + u /= m; + } + else + { + u = u - (nrml * (float)Math.Sqrt(1 - m * m)); + } + float3 v = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir2); + v = v - cor; + v = v * fudgefactor; + m = float3.magnitude(v); + if (m > 1) + { + v /= m; + } + else + { + v = v - (nrml * (float)Math.Sqrt(1 - m * m)); + } + return RotationArc(u, v); + } + + public static bool AssertIntact(ConvexH convex, float planetestepsilon) + { + int i; + int estart = 0; + for (i = 0; i < convex.edges.Count; i++) + { + if (convex.edges[estart].p != convex.edges[i].p) + { + estart = i; + } + int inext = i + 1; + if (inext >= convex.edges.Count || convex.edges[inext].p != convex.edges[i].p) + { + inext = estart; + } + Debug.Assert(convex.edges[inext].p == convex.edges[i].p); + int nb = convex.edges[i].ea; + Debug.Assert(nb != 255); + if (nb == 255 || nb == -1) + return false; + Debug.Assert(nb != -1); + Debug.Assert(i == convex.edges[nb].ea); + } + for (i = 0; i < convex.edges.Count; i++) + { + Debug.Assert((0) == PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon)); + if ((0) != PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon)) + return false; + if (convex.edges[estart].p != convex.edges[i].p) + { + estart = i; + } + int i1 = i + 1; + if (i1 >= convex.edges.Count || convex.edges[i1].p != convex.edges[i].p) + { + i1 = estart; + } + int i2 = i1 + 1; + if (i2 >= convex.edges.Count || convex.edges[i2].p != convex.edges[i].p) + { + i2 = estart; + } + if (i == i2) // i sliced tangent to an edge and created 2 meaningless edges + continue; + float3 localnormal = TriNormal(convex.vertices[convex.edges[i].v], convex.vertices[convex.edges[i1].v], convex.vertices[convex.edges[i2].v]); + Debug.Assert(float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) > 0); + if (float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) <= 0) + return false; + } + return true; + } + + public static ConvexH test_btbq(float planetestepsilon) + { + // back to back quads + ConvexH convex = new ConvexH(4, 8, 2); + convex.vertices[0] = new float3(0, 0, 0); + convex.vertices[1] = new float3(1, 0, 0); + convex.vertices[2] = new float3(1, 1, 0); + convex.vertices[3] = new float3(0, 1, 0); + convex.facets[0] = new Plane(new float3(0, 0, 1), 0); + convex.facets[1] = new Plane(new float3(0, 0, -1), 0); + convex.edges[0] = new ConvexH.HalfEdge(7, 0, 0); + convex.edges[1] = new ConvexH.HalfEdge(6, 1, 0); + convex.edges[2] = new ConvexH.HalfEdge(5, 2, 0); + convex.edges[3] = new ConvexH.HalfEdge(4, 3, 0); + + convex.edges[4] = new ConvexH.HalfEdge(3, 0, 1); + convex.edges[5] = new ConvexH.HalfEdge(2, 3, 1); + convex.edges[6] = new ConvexH.HalfEdge(1, 2, 1); + convex.edges[7] = new ConvexH.HalfEdge(0, 1, 1); + AssertIntact(convex, planetestepsilon); + return convex; + } + + public static ConvexH test_cube() + { + ConvexH convex = new ConvexH(8, 24, 6); + convex.vertices[0] = new float3(0, 0, 0); + convex.vertices[1] = new float3(0, 0, 1); + convex.vertices[2] = new float3(0, 1, 0); + convex.vertices[3] = new float3(0, 1, 1); + convex.vertices[4] = new float3(1, 0, 0); + convex.vertices[5] = new float3(1, 0, 1); + convex.vertices[6] = new float3(1, 1, 0); + convex.vertices[7] = new float3(1, 1, 1); + + convex.facets[0] = new Plane(new float3(-1, 0, 0), 0); + convex.facets[1] = new Plane(new float3(1, 0, 0), -1); + convex.facets[2] = new Plane(new float3(0, -1, 0), 0); + convex.facets[3] = new Plane(new float3(0, 1, 0), -1); + convex.facets[4] = new Plane(new float3(0, 0, -1), 0); + convex.facets[5] = new Plane(new float3(0, 0, 1), -1); + + convex.edges[0] = new ConvexH.HalfEdge(11, 0, 0); + convex.edges[1] = new ConvexH.HalfEdge(23, 1, 0); + convex.edges[2] = new ConvexH.HalfEdge(15, 3, 0); + convex.edges[3] = new ConvexH.HalfEdge(16, 2, 0); + + convex.edges[4] = new ConvexH.HalfEdge(13, 6, 1); + convex.edges[5] = new ConvexH.HalfEdge(21, 7, 1); + convex.edges[6] = new ConvexH.HalfEdge(9, 5, 1); + convex.edges[7] = new ConvexH.HalfEdge(18, 4, 1); + + convex.edges[8] = new ConvexH.HalfEdge(19, 0, 2); + convex.edges[9] = new ConvexH.HalfEdge(6, 4, 2); + convex.edges[10] = new ConvexH.HalfEdge(20, 5, 2); + convex.edges[11] = new ConvexH.HalfEdge(0, 1, 2); + + convex.edges[12] = new ConvexH.HalfEdge(22, 3, 3); + convex.edges[13] = new ConvexH.HalfEdge(4, 7, 3); + convex.edges[14] = new ConvexH.HalfEdge(17, 6, 3); + convex.edges[15] = new ConvexH.HalfEdge(2, 2, 3); + + convex.edges[16] = new ConvexH.HalfEdge(3, 0, 4); + convex.edges[17] = new ConvexH.HalfEdge(14, 2, 4); + convex.edges[18] = new ConvexH.HalfEdge(7, 6, 4); + convex.edges[19] = new ConvexH.HalfEdge(8, 4, 4); + + convex.edges[20] = new ConvexH.HalfEdge(10, 1, 5); + convex.edges[21] = new ConvexH.HalfEdge(5, 5, 5); + convex.edges[22] = new ConvexH.HalfEdge(12, 7, 5); + convex.edges[23] = new ConvexH.HalfEdge(1, 3, 5); + + return convex; + } + + public static ConvexH ConvexHMakeCube(float3 bmin, float3 bmax) + { + ConvexH convex = test_cube(); + convex.vertices[0] = new float3(bmin.x, bmin.y, bmin.z); + convex.vertices[1] = new float3(bmin.x, bmin.y, bmax.z); + convex.vertices[2] = new float3(bmin.x, bmax.y, bmin.z); + convex.vertices[3] = new float3(bmin.x, bmax.y, bmax.z); + convex.vertices[4] = new float3(bmax.x, bmin.y, bmin.z); + convex.vertices[5] = new float3(bmax.x, bmin.y, bmax.z); + convex.vertices[6] = new float3(bmax.x, bmax.y, bmin.z); + convex.vertices[7] = new float3(bmax.x, bmax.y, bmax.z); + + convex.facets[0] = new Plane(new float3(-1, 0, 0), bmin.x); + convex.facets[1] = new Plane(new float3(1, 0, 0), -bmax.x); + convex.facets[2] = new Plane(new float3(0, -1, 0), bmin.y); + convex.facets[3] = new Plane(new float3(0, 1, 0), -bmax.y); + convex.facets[4] = new Plane(new float3(0, 0, -1), bmin.z); + convex.facets[5] = new Plane(new float3(0, 0, 1), -bmax.z); + return convex; + } + + public static ConvexH ConvexHCrop(ref ConvexH convex, Plane slice, float planetestepsilon) + { + int i; + int vertcountunder = 0; + int vertcountover = 0; + List vertscoplanar = new List(); // existing vertex members of convex that are coplanar + List edgesplit = new List(); // existing edges that members of convex that cross the splitplane + + Debug.Assert(convex.edges.Count < 480); + + EdgeFlag[] edgeflag = new EdgeFlag[512]; + VertFlag[] vertflag = new VertFlag[256]; + PlaneFlag[] planeflag = new PlaneFlag[128]; + ConvexH.HalfEdge[] tmpunderedges = new ConvexH.HalfEdge[512]; + Plane[] tmpunderplanes = new Plane[128]; + Coplanar[] coplanaredges = new Coplanar[512]; + int coplanaredges_num = 0; + + List createdverts = new List(); + + // do the side-of-plane tests + for (i = 0; i < convex.vertices.Count; i++) + { + vertflag[i].planetest = (byte)PlaneTest(slice, convex.vertices[i], planetestepsilon); + if (vertflag[i].planetest == (0)) + { + // ? vertscoplanar.Add(i); + vertflag[i].undermap = (byte)vertcountunder++; + vertflag[i].overmap = (byte)vertcountover++; + } + else if (vertflag[i].planetest == (1)) + { + vertflag[i].undermap = (byte)vertcountunder++; + } + else + { + Debug.Assert(vertflag[i].planetest == (2)); + vertflag[i].overmap = (byte)vertcountover++; + vertflag[i].undermap = 255; // for debugging purposes + } + } + int vertcountunderold = vertcountunder; // for debugging only + + int under_edge_count = 0; + int underplanescount = 0; + int e0 = 0; + + for (int currentplane = 0; currentplane < convex.facets.Count; currentplane++) + { + int estart = e0; + int enextface = 0; + int planeside = 0; + int e1 = e0 + 1; + int vout = -1; + int vin = -1; + int coplanaredge = -1; + do + { + + if (e1 >= convex.edges.Count || convex.edges[e1].p != currentplane) + { + enextface = e1; + e1 = estart; + } + ConvexH.HalfEdge edge0 = convex.edges[e0]; + ConvexH.HalfEdge edge1 = convex.edges[e1]; + ConvexH.HalfEdge edgea = convex.edges[edge0.ea]; + + planeside |= vertflag[edge0.v].planetest; + //if((vertflag[edge0.v].planetest & vertflag[edge1.v].planetest) == COPLANAR) { + // assert(ecop==-1); + // ecop=e; + //} + + if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (2)) + { + // both endpoints over plane + edgeflag[e0].undermap = -1; + } + else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (1)) + { + // at least one endpoint under, the other coplanar or under + + edgeflag[e0].undermap = (short)under_edge_count; + tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap; + tmpunderedges[under_edge_count].p = (byte)underplanescount; + if (edge0.ea < e0) + { + // connect the neighbors + Debug.Assert(edgeflag[edge0.ea].undermap != -1); + tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap; + tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count; + } + under_edge_count++; + } + else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (0)) + { + // both endpoints coplanar + // must check a 3rd point to see if UNDER + int e2 = e1 + 1; + if (e2 >= convex.edges.Count || convex.edges[e2].p != currentplane) + { + e2 = estart; + } + Debug.Assert(convex.edges[e2].p == currentplane); + ConvexH.HalfEdge edge2 = convex.edges[e2]; + if (vertflag[edge2.v].planetest == (1)) + { + + edgeflag[e0].undermap = (short)under_edge_count; + tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap; + tmpunderedges[under_edge_count].p = (byte)underplanescount; + tmpunderedges[under_edge_count].ea = -1; + // make sure this edge is added to the "coplanar" list + coplanaredge = under_edge_count; + vout = vertflag[edge0.v].undermap; + vin = vertflag[edge1.v].undermap; + under_edge_count++; + } + else + { + edgeflag[e0].undermap = -1; + } + } + else if (vertflag[edge0.v].planetest == (1) && vertflag[edge1.v].planetest == (2)) + { + // first is under 2nd is over + + edgeflag[e0].undermap = (short)under_edge_count; + tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap; + tmpunderedges[under_edge_count].p = (byte)underplanescount; + if (edge0.ea < e0) + { + Debug.Assert(edgeflag[edge0.ea].undermap != -1); + // connect the neighbors + tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap; + tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count; + vout = tmpunderedges[edgeflag[edge0.ea].undermap].v; + } + else + { + Plane p0 = convex.facets[edge0.p]; + Plane pa = convex.facets[edgea.p]; + createdverts.Add(ThreePlaneIntersection(p0, pa, slice)); + //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]))); + //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])); + vout = vertcountunder++; + } + under_edge_count++; + /// hmmm something to think about: i might be able to output this edge regarless of + // wheter or not we know v-in yet. ok i;ll try this now: + tmpunderedges[under_edge_count].v = (byte)vout; + tmpunderedges[under_edge_count].p = (byte)underplanescount; + tmpunderedges[under_edge_count].ea = -1; + coplanaredge = under_edge_count; + under_edge_count++; + + if (vin != -1) + { + // we previously processed an edge where we came under + // now we know about vout as well + + // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!! + } + + } + else if (vertflag[edge0.v].planetest == (0) && vertflag[edge1.v].planetest == (2)) + { + // first is coplanar 2nd is over + + edgeflag[e0].undermap = -1; + vout = vertflag[edge0.v].undermap; + // I hate this but i have to make sure part of this face is UNDER before ouputting this vert + int k = estart; + Debug.Assert(edge0.p == currentplane); + while (!((planeside & 1) != 0) && k < convex.edges.Count && convex.edges[k].p == edge0.p) + { + planeside |= vertflag[convex.edges[k].v].planetest; + k++; + } + if ((planeside & 1) != 0) + { + tmpunderedges[under_edge_count].v = (byte)vout; + tmpunderedges[under_edge_count].p = (byte)underplanescount; + tmpunderedges[under_edge_count].ea = -1; + coplanaredge = under_edge_count; // hmmm should make a note of the edge # for later on + under_edge_count++; + + } + } + else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (1)) + { + // first is over next is under + // new vertex!!! + Debug.Assert(vin == -1); + if (e0 < edge0.ea) + { + Plane p0 = convex.facets[edge0.p]; + Plane pa = convex.facets[edgea.p]; + createdverts.Add(ThreePlaneIntersection(p0, pa, slice)); + //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])); + //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]))); + vin = vertcountunder++; + } + else + { + // find the new vertex that was created by edge[edge0.ea] + int nea = edgeflag[edge0.ea].undermap; + Debug.Assert(tmpunderedges[nea].p == tmpunderedges[nea + 1].p); + vin = tmpunderedges[nea + 1].v; + Debug.Assert(vin < vertcountunder); + Debug.Assert(vin >= vertcountunderold); // for debugging only + } + if (vout != -1) + { + // we previously processed an edge where we went over + // now we know vin too + // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!! + } + // output edge + tmpunderedges[under_edge_count].v = (byte)vin; + tmpunderedges[under_edge_count].p = (byte)underplanescount; + edgeflag[e0].undermap = (short)under_edge_count; + if (e0 > edge0.ea) + { + Debug.Assert(edgeflag[edge0.ea].undermap != -1); + // connect the neighbors + tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap; + tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count; + } + Debug.Assert(edgeflag[e0].undermap == under_edge_count); + under_edge_count++; + } + else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (0)) + { + // first is over next is coplanar + + edgeflag[e0].undermap = -1; + vin = vertflag[edge1.v].undermap; + Debug.Assert(vin != -1); + if (vout != -1) + { + // we previously processed an edge where we came under + // now we know both endpoints + // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!! + } + + } + else + { + Debug.Assert(false); + } + + + e0 = e1; + e1++; // do the modulo at the beginning of the loop + + } while (e0 != estart); + e0 = enextface; + if ((planeside & 1) != 0) + { + planeflag[currentplane].undermap = (byte)underplanescount; + tmpunderplanes[underplanescount] = convex.facets[currentplane]; + underplanescount++; + } + else + { + planeflag[currentplane].undermap = 0; + } + if (vout >= 0 && (planeside & 1) != 0) + { + Debug.Assert(vin >= 0); + Debug.Assert(coplanaredge >= 0); + Debug.Assert(coplanaredge != 511); + coplanaredges[coplanaredges_num].ea = (ushort)coplanaredge; + coplanaredges[coplanaredges_num].v0 = (byte)vin; + coplanaredges[coplanaredges_num].v1 = (byte)vout; + coplanaredges_num++; + } + } + + // add the new plane to the mix: + if (coplanaredges_num > 0) + { + tmpunderplanes[underplanescount++] = slice; + } + for (i = 0; i < coplanaredges_num - 1; i++) + { + if (coplanaredges[i].v1 != coplanaredges[i + 1].v0) + { + int j = 0; + for (j = i + 2; j < coplanaredges_num; j++) + { + if (coplanaredges[i].v1 == coplanaredges[j].v0) + { + Coplanar tmp = coplanaredges[i + 1]; + coplanaredges[i + 1] = coplanaredges[j]; + coplanaredges[j] = tmp; + break; + } + } + if (j >= coplanaredges_num) + { + Debug.Assert(j < coplanaredges_num); + return null; + } + } + } + + ConvexH punder = new ConvexH(vertcountunder, under_edge_count + coplanaredges_num, underplanescount); + ConvexH under = punder; + + { + int k = 0; + for (i = 0; i < convex.vertices.Count; i++) + { + if (vertflag[i].planetest != (2)) + { + under.vertices[k++] = convex.vertices[i]; + } + } + i = 0; + while (k < vertcountunder) + { + under.vertices[k++] = createdverts[i++]; + } + Debug.Assert(i == createdverts.Count); + } + + for (i = 0; i < coplanaredges_num; i++) + { + ConvexH.HalfEdge edge = under.edges[under_edge_count + i]; + edge.p = (byte)(underplanescount - 1); + edge.ea = (short)coplanaredges[i].ea; + edge.v = (byte)coplanaredges[i].v0; + under.edges[under_edge_count + i] = edge; + + tmpunderedges[coplanaredges[i].ea].ea = (short)(under_edge_count + i); + } + + under.edges = new List(tmpunderedges); + under.facets = new List(tmpunderplanes); + return punder; + } + + public static ConvexH ConvexHDup(ConvexH src) + { + ConvexH dst = new ConvexH(src.vertices.Count, src.edges.Count, src.facets.Count); + dst.vertices = new List(src.vertices.Count); + foreach (float3 f in src.vertices) + dst.vertices.Add(new float3(f)); + dst.edges = new List(src.edges.Count); + foreach (ConvexH.HalfEdge e in src.edges) + dst.edges.Add(new ConvexH.HalfEdge(e)); + dst.facets = new List(src.facets.Count); + foreach (Plane p in src.facets) + dst.facets.Add(new Plane(p)); + return dst; + } + + public static int candidateplane(List planes, int planes_count, ConvexH convex, float epsilon) + { + int p = 0; + float md = 0; + int i; + for (i = 0; i < planes_count; i++) + { + float d = 0; + for (int j = 0; j < convex.vertices.Count; j++) + { + d = Math.Max(d, float3.dot(convex.vertices[j], planes[i].normal) + planes[i].dist); + } + if (i == 0 || d > md) + { + p = i; + md = d; + } + } + return (md > epsilon) ? p : -1; + } + + public static float3 orth(float3 v) + { + float3 a = float3.cross(v, new float3(0f, 0f, 1f)); + float3 b = float3.cross(v, new float3(0f, 1f, 0f)); + return float3.normalize((float3.magnitude(a) > float3.magnitude(b)) ? a : b); + } + + public static int maxdir(List p, int count, float3 dir) + { + Debug.Assert(count != 0); + int m = 0; + float currDotm = float3.dot(p[0], dir); + for (int i = 1; i < count; i++) + { + float currDoti = float3.dot(p[i], dir); + if (currDoti > currDotm) + { + currDotm = currDoti; + m = i; + } + } + return m; + } + + public static int maxdirfiltered(List p, int count, float3 dir, byte[] allow) + { + //Debug.Assert(count != 0); + int m = 0; + float currDotm = float3.dot(p[0], dir); + float currDoti; + + while (allow[m] == 0) + m++; + + for (int i = 1; i < count; i++) + { + if (allow[i] != 0) + { + currDoti = float3.dot(p[i], dir); + if (currDoti > currDotm) + { + currDotm = currDoti; + m = i; + } + } + } + //Debug.Assert(m != -1); + return m; + } + + public static int maxdirsterid(List p, int count, float3 dir, byte[] allow) + { + int m = -1; + while (m == -1) + { + m = maxdirfiltered(p, count, dir, allow); + if (allow[m] == 3) + return m; + float3 u = orth(dir); + float3 v = float3.cross(u, dir); + int ma = -1; + for (float x = 0.0f; x <= 360.0f; x += 45.0f) + { + int mb; + { + float s = (float)Math.Sin((3.14159264f / 180.0f) * (x)); + float c = (float)Math.Cos((3.14159264f / 180.0f) * (x)); + mb = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow); + } + if (ma == m && mb == m) + { + allow[m] = 3; + return m; + } + if (ma != -1 && ma != mb) // Yuck - this is really ugly + { + int mc = ma; + for (float xx = x - 40.0f; xx <= x; xx += 5.0f) + { + float s = (float)Math.Sin((3.14159264f / 180.0f) * (xx)); + float c = (float)Math.Cos((3.14159264f / 180.0f) * (xx)); + int md = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow); + if (mc == m && md == m) + { + allow[m] = 3; + return m; + } + mc = md; + } + } + ma = mb; + } + allow[m] = 0; + m = -1; + } + + Debug.Assert(false); + return m; + } + + public static int4 FindSimplex(List verts, byte[] allow) + { + float3[] basis = new float3[3]; + basis[0] = new float3(0.01f, 0.02f, 1.0f); + int p0 = maxdirsterid(verts, verts.Count, basis[0], allow); + int p1 = maxdirsterid(verts, verts.Count, -basis[0], allow); + basis[0] = verts[p0] - verts[p1]; + if (p0 == p1 || basis[0] == new float3(0, 0, 0)) + return new int4(-1, -1, -1, -1); + basis[1] = float3.cross(new float3(1, 0.02f, 0), basis[0]); + basis[2] = float3.cross(new float3(-0.02f, 1, 0), basis[0]); + basis[1] = float3.normalize((float3.magnitude(basis[1]) > float3.magnitude(basis[2])) ? basis[1] : basis[2]); + int p2 = maxdirsterid(verts, verts.Count, basis[1], allow); + if (p2 == p0 || p2 == p1) + { + p2 = maxdirsterid(verts, verts.Count, -basis[1], allow); + } + if (p2 == p0 || p2 == p1) + return new int4(-1, -1, -1, -1); + basis[1] = verts[p2] - verts[p0]; + basis[2] = float3.normalize(float3.cross(basis[1], basis[0])); + int p3 = maxdirsterid(verts, verts.Count, basis[2], allow); + if (p3 == p0 || p3 == p1 || p3 == p2) + p3 = maxdirsterid(verts, verts.Count, -basis[2], allow); + if (p3 == p0 || p3 == p1 || p3 == p2) + return new int4(-1, -1, -1, -1); + Debug.Assert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3)); + if (float3.dot(verts[p3] - verts[p0], float3.cross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0) + { + Swap(ref p2, ref p3); + } + return new int4(p0, p1, p2, p3); + } + + public static float GetDist(float px, float py, float pz, float3 p2) + { + float dx = px - p2.x; + float dy = py - p2.y; + float dz = pz - p2.z; + + return dx * dx + dy * dy + dz * dz; + } + + public static void ReleaseHull(PHullResult result) + { + if (result.Indices != null) + result.Indices = null; + if (result.Vertices != null) + result.Vertices = null; + } + + public static int calchullgen(List verts, int vlimit, List tris) + { + if (verts.Count < 4) + return 0; + if (vlimit == 0) + vlimit = 1000000000; + int j; + float3 bmin = new float3(verts[0]); + float3 bmax = new float3(verts[0]); + List isextreme = new List(verts.Count); + byte[] allow = new byte[verts.Count]; + for (j = 0; j < verts.Count; j++) + { + allow[j] = 1; + isextreme.Add(0); + bmin = float3.VectorMin(bmin, verts[j]); + bmax = float3.VectorMax(bmax, verts[j]); + } + float epsilon = float3.magnitude(bmax - bmin) * 0.001f; + + int4 p = FindSimplex(verts, allow); + if (p.x == -1) // simplex failed + return 0; + + float3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / 4.0f; // a valid interior point + HullTriangle t0 = new HullTriangle(p[2], p[3], p[1], tris); + t0.n = new int3(2, 3, 1); + HullTriangle t1 = new HullTriangle(p[3], p[2], p[0], tris); + t1.n = new int3(3, 2, 0); + HullTriangle t2 = new HullTriangle(p[0], p[1], p[3], tris); + t2.n = new int3(0, 1, 3); + HullTriangle t3 = new HullTriangle(p[1], p[0], p[2], tris); + t3.n = new int3(1, 0, 2); + isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1; + checkit(t0, tris); + checkit(t1, tris); + checkit(t2, tris); + checkit(t3, tris); + + for (j = 0; j < tris.Count; j++) + { + HullTriangle t = tris[j]; + Debug.Assert((object)t != null); + Debug.Assert(t.vmax < 0); + float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]); + t.vmax = maxdirsterid(verts, verts.Count, n, allow); + t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]); + } + HullTriangle te; + vlimit -= 4; + while (vlimit > 0 && (te = extrudable(epsilon, tris)) != null) + { + int3 ti = te; + int v = te.vmax; + Debug.Assert(isextreme[v] == 0); // wtf we've already done this vertex + isextreme[v] = 1; + //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already + j = tris.Count; + while (j-- != 0) + { + if (tris.Count <= j || (object)tris[j] == null) + continue; + int3 t = tris[j]; + if (above(verts, t, verts[v], 0.01f * epsilon)) + { + extrude(tris[j], v, tris); + } + } + // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle + j = tris.Count; + while (j-- != 0) + { + if (tris.Count <= j || (object)tris[j] == null) + continue; + if (!hasvert(tris[j], v)) + break; + int3 nt = tris[j]; + if (above(verts, nt, center, 0.01f * epsilon) || float3.magnitude(float3.cross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]])) < epsilon * epsilon * 0.1f) + { + HullTriangle nb = tris[tris[j].n[0]]; + Debug.Assert(nb != null); + Debug.Assert(!hasvert(nb, v)); + Debug.Assert(nb.id < j); + extrude(nb, v, tris); + j = tris.Count; + } + } + j = tris.Count; + while (j-- != 0) + { + HullTriangle t = tris[j]; + if (t == null) + continue; + if (t.vmax >= 0) + break; + float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]); + t.vmax = maxdirsterid(verts, verts.Count, n, allow); + if (isextreme[t.vmax] != 0) + { + t.vmax = -1; // already done that vertex - algorithm needs to be able to terminate. + } + else + { + t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]); + } + } + vlimit--; + } + return 1; + } + + public static bool calchull(List verts, out List tris_out, int vlimit, List tris) + { + tris_out = null; + + int rc = calchullgen(verts, vlimit, tris); + if (rc == 0) + return false; + List ts = new List(); + for (int i = 0; i < tris.Count; i++) + { + if ((object)tris[i] != null) + { + for (int j = 0; j < 3; j++) + ts.Add((tris[i])[j]); + tris[i] = null; + } + } + + tris_out = ts; + tris.Clear(); + return true; + } + + public static int calchullpbev(List verts, int vlimit, out List planes, float bevangle, List tris) + { + int i; + int j; + planes = new List(); + int rc = calchullgen(verts, vlimit, tris); + if (rc == 0) + return 0; + for (i = 0; i < tris.Count; i++) + { + if (tris[i] != null) + { + Plane p = new Plane(); + HullTriangle t = tris[i]; + p.normal = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]); + p.dist = -float3.dot(p.normal, verts[(t)[0]]); + planes.Add(p); + for (j = 0; j < 3; j++) + { + if (t.n[j] < t.id) + continue; + HullTriangle s = tris[t.n[j]]; + float3 snormal = TriNormal(verts[(s)[0]], verts[(s)[1]], verts[(s)[2]]); + if (float3.dot(snormal, p.normal) >= Math.Cos(bevangle * (3.14159264f / 180.0f))) + continue; + float3 n = float3.normalize(snormal + p.normal); + planes.Add(new Plane(n, -float3.dot(n, verts[maxdir(verts, verts.Count, n)]))); + } + } + } + + tris.Clear(); + return 1; + } + + public static int overhull(List planes, List verts, int maxplanes, out List verts_out, out List faces_out, float inflate) + { + verts_out = null; + faces_out = null; + + int i; + int j; + if (verts.Count < 4) + return 0; + maxplanes = Math.Min(maxplanes, planes.Count); + float3 bmin = new float3(verts[0]); + float3 bmax = new float3(verts[0]); + for (i = 0; i < verts.Count; i++) + { + bmin = float3.VectorMin(bmin, verts[i]); + bmax = float3.VectorMax(bmax, verts[i]); + } + // float diameter = magnitude(bmax-bmin); + // inflate *=diameter; // RELATIVE INFLATION + bmin -= new float3(inflate, inflate, inflate); + bmax += new float3(inflate, inflate, inflate); + for (i = 0; i < planes.Count; i++) + { + planes[i].dist -= inflate; + } + float3 emin = new float3(bmin); + float3 emax = new float3(bmax); + float epsilon = float3.magnitude(emax - emin) * 0.025f; + float planetestepsilon = float3.magnitude(emax - emin) * (0.001f); + // todo: add bounding cube planes to force bevel. or try instead not adding the diameter expansion ??? must think. + // ConvexH *convex = ConvexHMakeCube(bmin - float3(diameter,diameter,diameter),bmax+float3(diameter,diameter,diameter)); + ConvexH c = ConvexHMakeCube(new float3(bmin), new float3(bmax)); + int k; + while (maxplanes-- != 0 && (k = candidateplane(planes, planes.Count, c, epsilon)) >= 0) + { + ConvexH tmp = c; + c = ConvexHCrop(ref tmp, planes[k], planetestepsilon); + if (c == null) // might want to debug this case better!!! + { + c = tmp; + break; + } + if (AssertIntact(c, planetestepsilon) == false) // might want to debug this case better too!!! + { + c = tmp; + break; + } + tmp.edges = null; + tmp.facets = null; + tmp.vertices = null; + } + + Debug.Assert(AssertIntact(c, planetestepsilon)); + //return c; + //C++ TO C# CONVERTER TODO TASK: The memory management function 'malloc' has no equivalent in C#: + faces_out = new List(); //(int)malloc(sizeof(int) * (1 + c.facets.Count + c.edges.Count)); // new int[1+c->facets.count+c->edges.count]; + int faces_count_out = 0; + i = 0; + faces_out[faces_count_out++] = -1; + k = 0; + while (i < c.edges.Count) + { + j = 1; + while (j + i < c.edges.Count && c.edges[i].p == c.edges[i + j].p) + { + j++; + } + faces_out[faces_count_out++] = j; + while (j-- != 0) + { + faces_out[faces_count_out++] = c.edges[i].v; + i++; + } + k++; + } + faces_out[0] = k; // number of faces. + Debug.Assert(k == c.facets.Count); + Debug.Assert(faces_count_out == 1 + c.facets.Count + c.edges.Count); + verts_out = c.vertices; // new float3[c->vertices.count]; + int verts_count_out = c.vertices.Count; + for (i = 0; i < c.vertices.Count; i++) + { + verts_out[i] = new float3(c.vertices[i]); + } + + c.edges = null; + c.facets = null; + c.vertices = null; + return 1; + } + + public static int overhullv(List verts, int maxplanes, out List verts_out, out List faces_out, float inflate, float bevangle, int vlimit, List tris) + { + verts_out = null; + faces_out = null; + + if (verts.Count == 0) + return 0; + List planes = new List(); + int rc = calchullpbev(verts, vlimit, out planes, bevangle, tris); + if (rc == 0) + return 0; + return overhull(planes, verts, maxplanes, out verts_out, out faces_out, inflate); + } + + public static void addPoint(ref uint vcount, List p, float x, float y, float z) + { + p.Add(new float3(x, y, z)); + vcount++; + } + + public static bool ComputeHull(List vertices, ref PHullResult result, int vlimit, float inflate) + { + List tris = new List(); + List faces; + List verts_out; + + if (inflate == 0.0f) + { + List tris_out; + bool ret = calchull(vertices, out tris_out, vlimit, tris); + if (ret == false) + return false; + + result.Indices = tris_out; + result.Vertices = vertices; + return true; + } + else + { + int ret = overhullv(vertices, 35, out verts_out, out faces, inflate, 120.0f, vlimit, tris); + if (ret == 0) + return false; + + List tris2 = new List(); + int n = faces[0]; + int k = 1; + for (int i = 0; i < n; i++) + { + int pn = faces[k++]; + for (int j = 2; j < pn; j++) + tris2.Add(new int3(faces[k], faces[k + j - 1], faces[k + j])); + k += pn; + } + Debug.Assert(tris2.Count == faces.Count - 1 - (n * 3)); + + result.Indices = new List(tris2.Count * 3); + for (int i = 0; i < tris2.Count; i++) + { + result.Indices.Add(tris2[i].x); + result.Indices.Add(tris2[i].y); + result.Indices.Add(tris2[i].z); + } + result.Vertices = verts_out; + + return true; + } + } + + private static bool CleanupVertices(List svertices, out List vertices, float normalepsilon, out float3 scale) + { + const float EPSILON = 0.000001f; + + vertices = new List(); + scale = new float3(1f, 1f, 1f); + + if (svertices.Count == 0) + return false; + + uint vcount = 0; + + float[] recip = new float[3]; + + float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue }; + float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue }; + + for (int i = 0; i < svertices.Count; i++) + { + float3 p = svertices[i]; + + for (int j = 0; j < 3; j++) + { + if (p[j] < bmin[j]) + bmin[j] = p[j]; + if (p[j] > bmax[j]) + bmax[j] = p[j]; + } + } + + float dx = bmax[0] - bmin[0]; + float dy = bmax[1] - bmin[1]; + float dz = bmax[2] - bmin[2]; + + float3 center = new float3(); + + center.x = dx * 0.5f + bmin[0]; + center.y = dy * 0.5f + bmin[1]; + center.z = dz * 0.5f + bmin[2]; + + if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svertices.Count < 3) + { + float len = Single.MaxValue; + + if (dx > EPSILON && dx < len) + len = dx; + if (dy > EPSILON && dy < len) + len = dy; + if (dz > EPSILON && dz < len) + len = dz; + + if (len == Single.MaxValue) + { + dx = dy = dz = 0.01f; // one centimeter + } + else + { + if (dx < EPSILON) // 1/5th the shortest non-zero edge. + dx = len * 0.05f; + if (dy < EPSILON) + dy = len * 0.05f; + if (dz < EPSILON) + dz = len * 0.05f; + } + + float x1 = center[0] - dx; + float x2 = center[0] + dx; + + float y1 = center[1] - dy; + float y2 = center[1] + dy; + + float z1 = center[2] - dz; + float z2 = center[2] + dz; + + addPoint(ref vcount, vertices, x1, y1, z1); + addPoint(ref vcount, vertices, x2, y1, z1); + addPoint(ref vcount, vertices, x2, y2, z1); + addPoint(ref vcount, vertices, x1, y2, z1); + addPoint(ref vcount, vertices, x1, y1, z2); + addPoint(ref vcount, vertices, x2, y1, z2); + addPoint(ref vcount, vertices, x2, y2, z2); + addPoint(ref vcount, vertices, x1, y2, z2); + + return true; // return cube + } + else + { + scale.x = dx; + scale.y = dy; + scale.z = dz; + + recip[0] = 1f / dx; + recip[1] = 1f / dy; + recip[2] = 1f / dz; + + center.x *= recip[0]; + center.y *= recip[1]; + center.z *= recip[2]; + } + + for (int i = 0; i < svertices.Count; i++) + { + float3 p = svertices[i]; + + float px = p[0]; + float py = p[1]; + float pz = p[2]; + + px = px * recip[0]; // normalize + py = py * recip[1]; // normalize + pz = pz * recip[2]; // normalize + + if (true) + { + int j; + + for (j = 0; j < vcount; j++) + { + float3 v = vertices[j]; + + float x = v[0]; + float y = v[1]; + float z = v[2]; + + float dx1 = Math.Abs(x - px); + float dy1 = Math.Abs(y - py); + float dz1 = Math.Abs(z - pz); + + if (dx1 < normalepsilon && dy1 < normalepsilon && dz1 < normalepsilon) + { + // ok, it is close enough to the old one + // now let us see if it is further from the center of the point cloud than the one we already recorded. + // in which case we keep this one instead. + float dist1 = GetDist(px, py, pz, center); + float dist2 = GetDist(v[0], v[1], v[2], center); + + if (dist1 > dist2) + { + v.x = px; + v.y = py; + v.z = pz; + } + + break; + } + } + + if (j == vcount) + { + float3 dest = new float3(px, py, pz); + vertices.Add(dest); + vcount++; + } + } + } + + // ok..now make sure we didn't prune so many vertices it is now invalid. + if (true) + { + float[] bmin2 = { Single.MaxValue, Single.MaxValue, Single.MaxValue }; + float[] bmax2 = { Single.MinValue, Single.MinValue, Single.MinValue }; + + for (int i = 0; i < vcount; i++) + { + float3 p = vertices[i]; + for (int j = 0; j < 3; j++) + { + if (p[j] < bmin2[j]) + bmin2[j] = p[j]; + if (p[j] > bmax2[j]) + bmax2[j] = p[j]; + } + } + + float dx2 = bmax2[0] - bmin2[0]; + float dy2 = bmax2[1] - bmin2[1]; + float dz2 = bmax2[2] - bmin2[2]; + + if (dx2 < EPSILON || dy2 < EPSILON || dz2 < EPSILON || vcount < 3) + { + float cx = dx2 * 0.5f + bmin2[0]; + float cy = dy2 * 0.5f + bmin2[1]; + float cz = dz2 * 0.5f + bmin2[2]; + + float len = Single.MaxValue; + + if (dx2 >= EPSILON && dx2 < len) + len = dx2; + if (dy2 >= EPSILON && dy2 < len) + len = dy2; + if (dz2 >= EPSILON && dz2 < len) + len = dz2; + + if (len == Single.MaxValue) + { + dx2 = dy2 = dz2 = 0.01f; // one centimeter + } + else + { + if (dx2 < EPSILON) // 1/5th the shortest non-zero edge. + dx2 = len * 0.05f; + if (dy2 < EPSILON) + dy2 = len * 0.05f; + if (dz2 < EPSILON) + dz2 = len * 0.05f; + } + + float x1 = cx - dx2; + float x2 = cx + dx2; + + float y1 = cy - dy2; + float y2 = cy + dy2; + + float z1 = cz - dz2; + float z2 = cz + dz2; + + vcount = 0; // add box + + addPoint(ref vcount, vertices, x1, y1, z1); + addPoint(ref vcount, vertices, x2, y1, z1); + addPoint(ref vcount, vertices, x2, y2, z1); + addPoint(ref vcount, vertices, x1, y2, z1); + addPoint(ref vcount, vertices, x1, y1, z2); + addPoint(ref vcount, vertices, x2, y1, z2); + addPoint(ref vcount, vertices, x2, y2, z2); + addPoint(ref vcount, vertices, x1, y2, z2); + + return true; + } + } + + return true; + } + + private static void BringOutYourDead(List verts, out List overts, List indices) + { + int[] used = new int[verts.Count]; + int ocount = 0; + + overts = new List(); + + for (int i = 0; i < indices.Count; i++) + { + int v = indices[i]; // original array index + + Debug.Assert(v >= 0 && v < verts.Count); + + if (used[v] != 0) // if already remapped + { + indices[i] = used[v] - 1; // index to new array + } + else + { + indices[i] = ocount; // new index mapping + + overts.Add(verts[v]); // copy old vert to new vert array + + ocount++; // increment output vert count + + Debug.Assert(ocount >= 0 && ocount <= verts.Count); + + used[v] = ocount; // assign new index remapping + } + } + } + + public static HullError CreateConvexHull(HullDesc desc, ref HullResult result) + { + HullError ret = HullError.QE_FAIL; + + PHullResult hr = new PHullResult(); + + uint vcount = (uint)desc.Vertices.Count; + if (vcount < 8) + vcount = 8; + + List vsource; + float3 scale = new float3(); + + bool ok = CleanupVertices(desc.Vertices, out vsource, desc.NormalEpsilon, out scale); // normalize point cloud, remove duplicates! + + if (ok) + { + if (true) // scale vertices back to their original size. + { + for (int i = 0; i < vsource.Count; i++) + { + float3 v = vsource[i]; + v.x *= scale[0]; + v.y *= scale[1]; + v.z *= scale[2]; + } + } + + float skinwidth = 0; + if (desc.HasHullFlag(HullFlag.QF_SKIN_WIDTH)) + skinwidth = desc.SkinWidth; + + ok = ComputeHull(vsource, ref hr, (int)desc.MaxVertices, skinwidth); + + if (ok) + { + List vscratch; + BringOutYourDead(hr.Vertices, out vscratch, hr.Indices); + + ret = HullError.QE_OK; + + if (desc.HasHullFlag(HullFlag.QF_TRIANGLES)) // if he wants the results as triangle! + { + result.Polygons = false; + result.Indices = hr.Indices; + result.OutputVertices = vscratch; + } + else + { + result.Polygons = true; + result.OutputVertices = vscratch; + + if (true) + { + List source = hr.Indices; + List dest = new List(); + for (int i = 0; i < hr.Indices.Count / 3; i++) + { + dest.Add(3); + dest.Add(source[i * 3 + 0]); + dest.Add(source[i * 3 + 1]); + dest.Add(source[i * 3 + 2]); + } + + result.Indices = dest; + } + } + } + } + + return ret; + } + } +} -- cgit v1.1