201 lines
7.0 KiB
C#
201 lines
7.0 KiB
C#
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/* The MIT License
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*
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* Copyright (c) 2010 Intel Corporation.
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* All rights reserved.
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*
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* Based on the convexdecomposition library from
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* <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
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{
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public delegate void ConvexDecompositionCallback(ConvexResult result);
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public class FaceTri
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{
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public float3 P1;
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public float3 P2;
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public float3 P3;
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public FaceTri() { }
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public FaceTri(List<float3> vertices, int i1, int i2, int i3)
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{
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P1 = new float3(vertices[i1]);
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P2 = new float3(vertices[i2]);
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P3 = new float3(vertices[i3]);
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}
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}
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public static class ConvexDecomposition
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{
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private static void addTri(VertexPool vl, List<int> list, float3 p1, float3 p2, float3 p3)
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{
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int i1 = vl.getIndex(p1);
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int i2 = vl.getIndex(p2);
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int i3 = vl.getIndex(p3);
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// do *not* process degenerate triangles!
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if ( i1 != i2 && i1 != i3 && i2 != i3 )
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{
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list.Add(i1);
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list.Add(i2);
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list.Add(i3);
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}
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}
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public static void calcConvexDecomposition(List<float3> vertices, List<int> indices, ConvexDecompositionCallback callback, float masterVolume, int depth,
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int maxDepth, float concavePercent, float mergePercent)
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{
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float4 plane = new float4();
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bool split = false;
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if (depth < maxDepth)
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{
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float volume = 0f;
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float c = Concavity.computeConcavity(vertices, indices, ref plane, ref volume);
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if (depth == 0)
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{
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masterVolume = volume;
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}
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float percent = (c * 100.0f) / masterVolume;
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if (percent > concavePercent) // if great than 5% of the total volume is concave, go ahead and keep splitting.
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{
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split = true;
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}
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}
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if (depth >= maxDepth || !split)
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{
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HullResult result = new HullResult();
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HullDesc desc = new HullDesc();
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desc.SetHullFlag(HullFlag.QF_TRIANGLES);
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desc.Vertices = vertices;
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HullError ret = HullUtils.CreateConvexHull(desc, ref result);
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if (ret == HullError.QE_OK)
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{
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ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
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callback(r);
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}
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return;
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}
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List<int> ifront = new List<int>();
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List<int> iback = new List<int>();
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VertexPool vfront = new VertexPool();
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VertexPool vback = new VertexPool();
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// ok..now we are going to 'split' all of the input triangles against this plane!
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for (int i = 0; i < indices.Count / 3; i++)
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{
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int i1 = indices[i * 3 + 0];
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int i2 = indices[i * 3 + 1];
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int i3 = indices[i * 3 + 2];
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FaceTri t = new FaceTri(vertices, i1, i2, i3);
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float3[] front = new float3[4];
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float3[] back = new float3[4];
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int fcount = 0;
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int bcount = 0;
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PlaneTriResult result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
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if (fcount > 4 || bcount > 4)
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{
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result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
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}
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switch (result)
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{
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case PlaneTriResult.PTR_FRONT:
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Debug.Assert(fcount == 3);
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addTri(vfront, ifront, front[0], front[1], front[2]);
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break;
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case PlaneTriResult.PTR_BACK:
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Debug.Assert(bcount == 3);
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addTri(vback, iback, back[0], back[1], back[2]);
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break;
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case PlaneTriResult.PTR_SPLIT:
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Debug.Assert(fcount >= 3 && fcount <= 4);
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Debug.Assert(bcount >= 3 && bcount <= 4);
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addTri(vfront, ifront, front[0], front[1], front[2]);
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addTri(vback, iback, back[0], back[1], back[2]);
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if (fcount == 4)
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{
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addTri(vfront, ifront, front[0], front[2], front[3]);
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}
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if (bcount == 4)
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{
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addTri(vback, iback, back[0], back[2], back[3]);
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}
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break;
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}
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}
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// ok... here we recursively call
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if (ifront.Count > 0)
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{
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int vcount = vfront.GetSize();
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List<float3> vertices2 = vfront.GetVertices();
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for (int i = 0; i < vertices2.Count; i++)
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vertices2[i] = new float3(vertices2[i]);
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int tcount = ifront.Count / 3;
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calcConvexDecomposition(vertices2, ifront, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
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}
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ifront.Clear();
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vfront.Clear();
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if (iback.Count > 0)
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{
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int vcount = vback.GetSize();
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List<float3> vertices2 = vback.GetVertices();
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int tcount = iback.Count / 3;
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calcConvexDecomposition(vertices2, iback, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
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}
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iback.Clear();
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vback.Clear();
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}
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}
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}
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