removed OdePlugin/Meshing directory
Jeff Ames
parent
cb07ba0d68
commit
9a4b4dae5e
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@ -1,83 +0,0 @@
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using System;
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using System.Collections.Generic;
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using System.Text;
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namespace OpenSim.Region.Physics.OdePlugin.Meshing
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{
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class Extruder
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{
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public float startParameter;
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public float stopParameter;
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public Manager.PhysicsVector size;
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public Mesh Extrude(Mesh m)
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{
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// Currently only works for iSteps=1;
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Mesh result = new Mesh();
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Mesh workingPlus = m.Clone();
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Mesh workingMinus = m.Clone();
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foreach (Vertex v in workingPlus.vertices)
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{
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if (v == null)
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continue;
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v.Z = +.5f;
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v.X *= size.X;
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v.Y *= size.Y;
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v.Z *= size.Z;
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}
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foreach (Vertex v in workingMinus.vertices)
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{
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if (v == null)
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continue;
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v.Z = -.5f;
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v.X *= size.X;
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v.Y *= size.Y;
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v.Z *= size.Z;
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}
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foreach (Triangle t in workingMinus.triangles)
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{
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t.invertNormal();
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}
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result.Append(workingMinus);
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result.Append(workingPlus);
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int iLastNull = 0;
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for (int i = 0; i < workingPlus.vertices.Count; i++)
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{
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int iNext = (i + 1);
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if (workingPlus.vertices[i] == null) // Can't make a simplex here
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{
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iLastNull = i+1;
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continue;
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}
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if (i == workingPlus.vertices.Count-1) // End of list
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{
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iNext = iLastNull;
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}
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if (workingPlus.vertices[iNext] == null) // Null means wrap to begin of last segment
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{
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iNext = iLastNull;
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}
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Triangle tSide;
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tSide = new Triangle(workingPlus.vertices[i], workingMinus.vertices[i], workingPlus.vertices[iNext]);
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result.Add(tSide);
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tSide = new Triangle(workingPlus.vertices[iNext], workingMinus.vertices[i], workingMinus.vertices[iNext]);
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result.Add(tSide);
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}
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return result;
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}
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}
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}
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@ -1,306 +0,0 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSim Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS AS IS AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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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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using System.Globalization;
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using OpenSim.Framework.Console;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Region.Physics.OdePlugin.Meshing;
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public class Vertex : PhysicsVector, IComparable<Vertex>
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{
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public Vertex(float x, float y, float z)
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: base(x, y, z)
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{
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}
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public Vertex(PhysicsVector v)
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: base(v.X, v.Y, v.Z)
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{
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}
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public Vertex Clone()
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{
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return new Vertex(X, Y, Z);
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}
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public static Vertex FromAngle(double angle)
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{
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return new Vertex((float)Math.Cos(angle), (float)Math.Sin(angle), 0.0f);
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}
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public virtual bool Equals(Vertex v, float tolerance)
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{
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PhysicsVector diff = this - v;
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float d = diff.length();
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if (d < tolerance)
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return true;
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return false;
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}
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public int CompareTo(Vertex other)
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{
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if (X < other.X)
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return -1;
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if (X > other.X)
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return 1;
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if (Y < other.Y)
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return -1;
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if (Y > other.Y)
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return 1;
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if (Z < other.Z)
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return -1;
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if (Z > other.Z)
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return 1;
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return 0;
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}
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public static bool operator >(Vertex me, Vertex other)
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{
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return me.CompareTo(other) > 0;
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}
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public static bool operator <(Vertex me, Vertex other)
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{
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return me.CompareTo(other) < 0;
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}
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public String ToRaw()
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{
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// Why this stuff with the number formatter?
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// Well, the raw format uses the english/US notation of numbers
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// where the "," separates groups of 1000 while the "." marks the border between 1 and 10E-1.
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// The german notation uses these characters exactly vice versa!
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// The Float.ToString() routine is a localized one, giving different results depending on the country
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// settings your machine works with. Unusable for a machine readable file format :-(
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NumberFormatInfo nfi = new NumberFormatInfo();
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nfi.NumberDecimalSeparator = ".";
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nfi.NumberDecimalDigits = 3;
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String s1 = X.ToString("N2", nfi) + " " + Y.ToString("N2", nfi) + " " + Z.ToString("N2", nfi);
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return s1;
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}
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}
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public class Triangle
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{
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public Vertex v1;
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public Vertex v2;
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public Vertex v3;
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private float radius_square;
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private float cx;
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private float cy;
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public Triangle(Vertex _v1, Vertex _v2, Vertex _v3)
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{
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v1 = _v1;
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v2 = _v2;
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v3 = _v3;
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CalcCircle();
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}
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public bool isInCircle(float x, float y)
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{
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float dx, dy;
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float dd;
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dx = x - cx;
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dy = y - cy;
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dd = dx*dx + dy*dy;
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if (dd < radius_square)
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return true;
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else
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return false;
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}
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public bool isDegraded()
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{
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// This means, the vertices of this triangle are somewhat strange.
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// They either line up or at least two of them are identical
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return (radius_square == 0.0);
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}
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private void CalcCircle()
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{
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// Calculate the center and the radius of a circle given by three points p1, p2, p3
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// It is assumed, that the triangles vertices are already set correctly
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double p1x, p2x, p1y, p2y, p3x, p3y;
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// Deviation of this routine:
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// A circle has the general equation (M-p)^2=r^2, where M and p are vectors
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// this gives us three equations f(p)=r^2, each for one point p1, p2, p3
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// putting respectively two equations together gives two equations
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// f(p1)=f(p2) and f(p1)=f(p3)
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// bringing all constant terms to one side brings them to the form
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// M*v1=c1 resp.M*v2=c2 where v1=(p1-p2) and v2=(p1-p3) (still vectors)
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// and c1, c2 are scalars (Naming conventions like the variables below)
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// Now using the equations that are formed by the components of the vectors
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// and isolate Mx lets you make one equation that only holds My
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// The rest is straight forward and eaasy :-)
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//
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/* helping variables for temporary results */
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double c1, c2;
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double v1x, v1y, v2x, v2y;
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double z, n;
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double rx, ry;
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// Readout the three points, the triangle consists of
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p1x = v1.X;
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p1y = v1.Y;
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p2x = v2.X;
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p2y = v2.Y;
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p3x = v3.X;
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p3y = v3.Y;
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/* calc helping values first */
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c1 = (p1x*p1x + p1y*p1y - p2x*p2x - p2y*p2y)/2;
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c2 = (p1x*p1x + p1y*p1y - p3x*p3x - p3y*p3y)/2;
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v1x = p1x - p2x;
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v1y = p1y - p2y;
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v2x = p1x - p3x;
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v2y = p1y - p3y;
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z = (c1*v2x - c2*v1x);
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n = (v1y*v2x - v2y*v1x);
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if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location
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{
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radius_square = 0.0f;
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return;
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}
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cy = (float) (z/n);
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if (v2x != 0.0)
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{
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cx = (float) ((c2 - v2y*cy)/v2x);
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}
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else if (v1x != 0.0)
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{
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cx = (float) ((c1 - v1y*cy)/v1x);
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}
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else
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{
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Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */
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}
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rx = (p1x - cx);
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ry = (p1y - cy);
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radius_square = (float) (rx*rx + ry*ry);
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}
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public List<Simplex> GetSimplices()
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{
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List<Simplex> result = new List<Simplex>();
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Simplex s1 = new Simplex(v1, v2);
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Simplex s2 = new Simplex(v2, v3);
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Simplex s3 = new Simplex(v3, v1);
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result.Add(s1);
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result.Add(s2);
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result.Add(s3);
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return result;
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}
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public override String ToString()
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{
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NumberFormatInfo nfi = new NumberFormatInfo();
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nfi.CurrencyDecimalDigits = 2;
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nfi.CurrencyDecimalSeparator = ".";
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String s1 = "<" + v1.X.ToString(nfi) + "," + v1.Y.ToString(nfi) + "," + v1.Z.ToString(nfi) + ">";
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String s2 = "<" + v2.X.ToString(nfi) + "," + v2.Y.ToString(nfi) + "," + v2.Z.ToString(nfi) + ">";
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String s3 = "<" + v3.X.ToString(nfi) + "," + v3.Y.ToString(nfi) + "," + v3.Z.ToString(nfi) + ">";
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return s1 + ";" + s2 + ";" + s3;
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}
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public PhysicsVector getNormal()
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{
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// Vertices
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// Vectors for edges
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PhysicsVector e1;
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PhysicsVector e2;
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e1 = new PhysicsVector(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
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e2 = new PhysicsVector(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z);
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// Cross product for normal
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PhysicsVector n = PhysicsVector.cross(e1, e2);
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// Length
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float l = n.length();
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// Normalized "normal"
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n = n / l;
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return n;
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}
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public void invertNormal()
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{
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Vertex vt;
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vt = v1;
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v1 = v2;
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v2 = vt;
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}
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// Dumps a triangle in the "raw faces" format, blender can import. This is for visualisation and
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// debugging purposes
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public String ToStringRaw()
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{
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String output = v1.ToRaw() + " " + v2.ToRaw() + " " +v3.ToRaw();
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return output;
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}
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}
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@ -1,197 +0,0 @@
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using System;
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using System.IO;
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using System.Collections.Generic;
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using System.Text;
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using System.Runtime.InteropServices;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.OdePlugin.Meshing
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{
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public class Mesh
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{
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public List<Vertex> vertices;
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public List<Triangle> triangles;
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public float[] normals;
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public Mesh()
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{
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vertices = new List<Vertex>();
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triangles = new List<Triangle>();
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}
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|
|
||||||
public Mesh Clone()
|
|
||||||
{
|
|
||||||
Mesh result = new Mesh();
|
|
||||||
|
|
||||||
foreach (Vertex v in vertices)
|
|
||||||
{
|
|
||||||
if (v == null)
|
|
||||||
result.vertices.Add(null);
|
|
||||||
else
|
|
||||||
result.vertices.Add(v.Clone());
|
|
||||||
}
|
|
||||||
|
|
||||||
foreach (Triangle t in triangles)
|
|
||||||
{
|
|
||||||
int iV1, iV2, iV3;
|
|
||||||
iV1 = this.vertices.IndexOf(t.v1);
|
|
||||||
iV2 = this.vertices.IndexOf(t.v2);
|
|
||||||
iV3 = this.vertices.IndexOf(t.v3);
|
|
||||||
|
|
||||||
Triangle newT = new Triangle(result.vertices[iV1], result.vertices[iV2], result.vertices[iV3]);
|
|
||||||
result.Add(newT);
|
|
||||||
}
|
|
||||||
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
public void Add(Triangle triangle)
|
|
||||||
{
|
|
||||||
int i;
|
|
||||||
i = vertices.IndexOf(triangle.v1);
|
|
||||||
if (i < 0)
|
|
||||||
throw new ArgumentException("Vertex v1 not known to mesh");
|
|
||||||
i = vertices.IndexOf(triangle.v2);
|
|
||||||
if (i < 0)
|
|
||||||
throw new ArgumentException("Vertex v2 not known to mesh");
|
|
||||||
i = vertices.IndexOf(triangle.v3);
|
|
||||||
if (i < 0)
|
|
||||||
throw new ArgumentException("Vertex v3 not known to mesh");
|
|
||||||
|
|
||||||
triangles.Add(triangle);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void Add(Vertex v)
|
|
||||||
{
|
|
||||||
vertices.Add(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void Remove(Vertex v)
|
|
||||||
{
|
|
||||||
int i;
|
|
||||||
|
|
||||||
// First, remove all triangles that are build on v
|
|
||||||
for (i = 0; i < triangles.Count; i++)
|
|
||||||
{
|
|
||||||
Triangle t = triangles[i];
|
|
||||||
if (t.v1 == v || t.v2 == v || t.v3 == v)
|
|
||||||
{
|
|
||||||
triangles.RemoveAt(i);
|
|
||||||
i--;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Second remove v itself
|
|
||||||
vertices.Remove(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void RemoveTrianglesOutside(SimpleHull hull)
|
|
||||||
{
|
|
||||||
int i;
|
|
||||||
|
|
||||||
for (i = 0; i < triangles.Count; i++)
|
|
||||||
{
|
|
||||||
Triangle t = triangles[i];
|
|
||||||
Vertex v1 = t.v1;
|
|
||||||
Vertex v2 = t.v2;
|
|
||||||
Vertex v3 = t.v3;
|
|
||||||
PhysicsVector m = v1 + v2 + v3;
|
|
||||||
m /= 3.0f;
|
|
||||||
if (!hull.IsPointIn(new Vertex(m)))
|
|
||||||
{
|
|
||||||
triangles.RemoveAt(i);
|
|
||||||
i--;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public void Add(List<Vertex> lv)
|
|
||||||
{
|
|
||||||
foreach (Vertex v in lv)
|
|
||||||
{
|
|
||||||
vertices.Add(v);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public float[] getVertexListAsFloat()
|
|
||||||
{
|
|
||||||
float[] result = new float[vertices.Count * 3];
|
|
||||||
for (int i = 0; i < vertices.Count; i++)
|
|
||||||
{
|
|
||||||
Vertex v = vertices[i];
|
|
||||||
if (v == null)
|
|
||||||
continue;
|
|
||||||
result[3 * i + 0] = v.X;
|
|
||||||
result[3 * i + 1] = v.Y;
|
|
||||||
result[3 * i + 2] = v.Z;
|
|
||||||
}
|
|
||||||
GCHandle.Alloc(result, GCHandleType.Pinned);
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
public int[] getIndexListAsInt()
|
|
||||||
{
|
|
||||||
int[] result = new int[triangles.Count * 3];
|
|
||||||
for (int i = 0; i < triangles.Count; i++)
|
|
||||||
{
|
|
||||||
Triangle t = triangles[i];
|
|
||||||
result[3 * i + 0] = vertices.IndexOf(t.v1);
|
|
||||||
result[3 * i + 1] = vertices.IndexOf(t.v2);
|
|
||||||
result[3 * i + 2] = vertices.IndexOf(t.v3);
|
|
||||||
}
|
|
||||||
GCHandle.Alloc(result, GCHandleType.Pinned);
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public void Append(Mesh newMesh)
|
|
||||||
{
|
|
||||||
foreach (Vertex v in newMesh.vertices)
|
|
||||||
vertices.Add(v);
|
|
||||||
|
|
||||||
foreach (Triangle t in newMesh.triangles)
|
|
||||||
Add(t);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Do a linear transformation of mesh.
|
|
||||||
public void TransformLinear(float[,] matrix, float[] offset)
|
|
||||||
{
|
|
||||||
foreach (Vertex v in vertices)
|
|
||||||
{
|
|
||||||
if (v == null)
|
|
||||||
continue;
|
|
||||||
float x, y, z;
|
|
||||||
x = v.X * matrix[0, 0] + v.Y * matrix[1, 0] + v.Z * matrix[2, 0];
|
|
||||||
y = v.X * matrix[0, 1] + v.Y * matrix[1, 1] + v.Z * matrix[2, 1];
|
|
||||||
z = v.X * matrix[0, 2] + v.Y * matrix[1, 2] + v.Z * matrix[2, 2];
|
|
||||||
v.X = x + offset[0];
|
|
||||||
v.Y = y + offset[1];
|
|
||||||
v.Z = z + offset[2];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void DumpRaw(String path, String name, String title)
|
|
||||||
{
|
|
||||||
if (path == null)
|
|
||||||
return;
|
|
||||||
String fileName = name + "_" + title + ".raw";
|
|
||||||
String completePath = Path.Combine(path, fileName);
|
|
||||||
StreamWriter sw = new StreamWriter(completePath);
|
|
||||||
foreach (Triangle t in triangles)
|
|
||||||
{
|
|
||||||
String s = t.ToStringRaw();
|
|
||||||
sw.WriteLine(s);
|
|
||||||
}
|
|
||||||
sw.Close();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
@ -1,375 +0,0 @@
|
||||||
/*
|
|
||||||
* Copyright (c) Contributors, http://opensimulator.org/
|
|
||||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions are met:
|
|
||||||
* * Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* * Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in the
|
|
||||||
* documentation and/or other materials provided with the distribution.
|
|
||||||
* * Neither the name of the OpenSim Project nor the
|
|
||||||
* names of its contributors may be used to endorse or promote products
|
|
||||||
* derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS AS IS AND ANY
|
|
||||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
||||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
using System;
|
|
||||||
using System.IO;
|
|
||||||
using System.Globalization;
|
|
||||||
using System.Diagnostics;
|
|
||||||
using System.Collections.Generic;
|
|
||||||
using System.Runtime.InteropServices;
|
|
||||||
using OpenSim.Framework;
|
|
||||||
using OpenSim.Framework.Console;
|
|
||||||
using OpenSim.Region.Physics.Manager;
|
|
||||||
|
|
||||||
namespace OpenSim.Region.Physics.OdePlugin.Meshing
|
|
||||||
{
|
|
||||||
|
|
||||||
public class Meshmerizer
|
|
||||||
{
|
|
||||||
// Setting baseDir to a path will enable the dumping of raw files
|
|
||||||
// raw files can be imported by blender so a visual inspection of the results can be done
|
|
||||||
// const string baseDir = "rawFiles";
|
|
||||||
const string baseDir = null;
|
|
||||||
|
|
||||||
static void IntersectionParameterPD(PhysicsVector p1, PhysicsVector r1, PhysicsVector p2, PhysicsVector r2, ref float lambda, ref float mu)
|
|
||||||
{
|
|
||||||
// p1, p2, points on the straight
|
|
||||||
// r1, r2, directional vectors of the straight. Not necessarily of length 1!
|
|
||||||
// note, that l, m can be scaled such, that the range 0..1 is mapped to the area between two points,
|
|
||||||
// thus allowing to decide whether an intersection is between two points
|
|
||||||
|
|
||||||
float r1x = r1.X;
|
|
||||||
float r1y = r1.Y;
|
|
||||||
float r2x = r2.X;
|
|
||||||
float r2y = r2.Y;
|
|
||||||
|
|
||||||
float denom = r1y*r2x - r1x*r2y;
|
|
||||||
|
|
||||||
if (denom == 0.0)
|
|
||||||
{
|
|
||||||
lambda = Single.NaN;
|
|
||||||
mu = Single.NaN;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
float p1x = p1.X;
|
|
||||||
float p1y = p1.Y;
|
|
||||||
float p2x = p2.X;
|
|
||||||
float p2y = p2.Y;
|
|
||||||
lambda = (-p2x * r2y + p1x * r2y + (p2y - p1y) * r2x) / denom;
|
|
||||||
mu = (-p2x * r1y + p1x * r1y + (p2y - p1y) * r1x) / denom;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
private static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v)
|
|
||||||
{
|
|
||||||
List<Triangle> influenced = new List<Triangle>();
|
|
||||||
foreach (Triangle t in triangles)
|
|
||||||
{
|
|
||||||
if (t.isInCircle(v.X, v.Y))
|
|
||||||
{
|
|
||||||
influenced.Add(t);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return influenced;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
private static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles)
|
|
||||||
{
|
|
||||||
// This is a variant of the delaunay algorithm
|
|
||||||
// each time a new vertex is inserted, all triangles that are influenced by it are deleted
|
|
||||||
// and replaced by new ones including the new vertex
|
|
||||||
// It is not very time efficient but easy to implement.
|
|
||||||
|
|
||||||
int iCurrentVertex;
|
|
||||||
int iMaxVertex = vertices.Count;
|
|
||||||
for (iCurrentVertex = usedForSeed; iCurrentVertex < iMaxVertex; iCurrentVertex++)
|
|
||||||
{
|
|
||||||
// Background: A triangle mesh fulfills the delaunay condition if (iff!)
|
|
||||||
// each circumlocutory circle (i.e. the circle that touches all three corners)
|
|
||||||
// of each triangle is empty of other vertices.
|
|
||||||
// Obviously a single (seeding) triangle fulfills this condition.
|
|
||||||
// If we now add one vertex, we need to reconstruct all triangles, that
|
|
||||||
// do not fulfill this condition with respect to the new triangle
|
|
||||||
|
|
||||||
// Find the triangles that are influenced by the new vertex
|
|
||||||
Vertex v=vertices[iCurrentVertex];
|
|
||||||
if (v == null)
|
|
||||||
continue; // Null is polygon stop marker. Ignore it
|
|
||||||
List<Triangle> influencedTriangles=FindInfluencedTriangles(triangles, v);
|
|
||||||
|
|
||||||
List<Simplex> simplices = new List<Simplex>();
|
|
||||||
|
|
||||||
// Reconstruction phase. First step, dissolve each triangle into it's simplices,
|
|
||||||
// i.e. it's "border lines"
|
|
||||||
// Goal is to find "inner" borders and delete them, while the hull gets conserved.
|
|
||||||
// Inner borders are special in the way that they always come twice, which is how we detect them
|
|
||||||
foreach (Triangle t in influencedTriangles)
|
|
||||||
{
|
|
||||||
List<Simplex> newSimplices = t.GetSimplices();
|
|
||||||
simplices.AddRange(newSimplices);
|
|
||||||
triangles.Remove(t);
|
|
||||||
}
|
|
||||||
// Now sort the simplices. That will make identical ones reside side by side in the list
|
|
||||||
simplices.Sort();
|
|
||||||
|
|
||||||
// Look for duplicate simplices here.
|
|
||||||
// Remember, they are directly side by side in the list right now,
|
|
||||||
// So we only check directly neighbours
|
|
||||||
int iSimplex;
|
|
||||||
List<Simplex> innerSimplices = new List<Simplex>();
|
|
||||||
for (iSimplex = 1; iSimplex < simplices.Count; iSimplex++) // Startindex=1, so we can refer backwards
|
|
||||||
{
|
|
||||||
if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex]) == 0)
|
|
||||||
{
|
|
||||||
innerSimplices.Add(simplices[iSimplex - 1]);
|
|
||||||
innerSimplices.Add(simplices[iSimplex]);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
foreach (Simplex s in innerSimplices)
|
|
||||||
{
|
|
||||||
simplices.Remove(s);
|
|
||||||
}
|
|
||||||
|
|
||||||
// each simplex still in the list belongs to the hull of the region in question
|
|
||||||
// The new vertex (yes, we still deal with verices here :-) ) forms a triangle
|
|
||||||
// with each of these simplices. Build the new triangles and add them to the list
|
|
||||||
foreach (Simplex s in simplices)
|
|
||||||
{
|
|
||||||
Triangle t = new Triangle(s.v1, s.v2, vertices[iCurrentVertex]);
|
|
||||||
if (!t.isDegraded())
|
|
||||||
{
|
|
||||||
triangles.Add(t);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static Mesh CreateBoxMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size)
|
|
||||||
// Builds the z (+ and -) surfaces of a box shaped prim
|
|
||||||
{
|
|
||||||
UInt16 hollowFactor = primShape.ProfileHollow;
|
|
||||||
UInt16 profileBegin = primShape.ProfileBegin;
|
|
||||||
UInt16 profileEnd = primShape.ProfileEnd;
|
|
||||||
|
|
||||||
// Procedure: This is based on the fact that the upper (plus) and lower (minus) Z-surface
|
|
||||||
// of a block are basically the same
|
|
||||||
// They may be warped differently but the shape is identical
|
|
||||||
// So we only create one surface as a model and derive both plus and minus surface of the block from it
|
|
||||||
// This is done in a model space where the block spans from -.5 to +.5 in X and Y
|
|
||||||
// The mapping to Scene space is done later during the "extrusion" phase
|
|
||||||
|
|
||||||
// Base
|
|
||||||
Vertex MM = new Vertex(-0.5f, -0.5f, 0.0f);
|
|
||||||
Vertex PM = new Vertex(+0.5f, -0.5f, 0.0f);
|
|
||||||
Vertex MP = new Vertex(-0.5f, +0.5f, 0.0f);
|
|
||||||
Vertex PP = new Vertex(+0.5f, +0.5f, 0.0f);
|
|
||||||
|
|
||||||
Meshing.SimpleHull outerHull = new SimpleHull();
|
|
||||||
outerHull.AddVertex(MM);
|
|
||||||
outerHull.AddVertex(PM);
|
|
||||||
outerHull.AddVertex(PP);
|
|
||||||
outerHull.AddVertex(MP);
|
|
||||||
|
|
||||||
// Deal with cuts now
|
|
||||||
if ((profileBegin != 0) || (profileEnd != 0))
|
|
||||||
{
|
|
||||||
double fProfileBeginAngle = profileBegin / 50000.0 * 360.0; // In degree, for easier debugging and understanding
|
|
||||||
fProfileBeginAngle -= (90.0 + 45.0); // for some reasons, the SL client counts from the corner -X/-Y
|
|
||||||
double fProfileEndAngle = 360.0 - profileEnd / 50000.0 * 360.0; // Pathend comes as complement to 1.0
|
|
||||||
fProfileEndAngle -= (90.0 + 45.0);
|
|
||||||
if (fProfileBeginAngle < fProfileEndAngle)
|
|
||||||
fProfileEndAngle -= 360.0;
|
|
||||||
|
|
||||||
// Note, that we don't want to cut out a triangle, even if this is a
|
|
||||||
// good approximation for small cuts. Indeed we want to cut out an arc
|
|
||||||
// and we approximate this arc by a polygon chain
|
|
||||||
// Also note, that these vectors are of length 1.0 and thus their endpoints lay outside the model space
|
|
||||||
// So it can easily be subtracted from the outer hull
|
|
||||||
int iSteps = (int)(((fProfileBeginAngle - fProfileEndAngle) / 45.0) + .5); // how many steps do we need with approximately 45 degree
|
|
||||||
double dStepWidth=(fProfileBeginAngle-fProfileEndAngle)/iSteps;
|
|
||||||
|
|
||||||
Vertex origin = new Vertex(0.0f, 0.0f, 0.0f);
|
|
||||||
|
|
||||||
// Note the sequence of vertices here. It's important to have the other rotational sense than in outerHull
|
|
||||||
SimpleHull cutHull = new SimpleHull();
|
|
||||||
cutHull.AddVertex(origin);
|
|
||||||
for (int i=0; i<iSteps; i++) {
|
|
||||||
double angle=fProfileBeginAngle-i*dStepWidth; // we count against the angle orientation!!!!
|
|
||||||
Vertex v = Vertex.FromAngle(angle * Math.PI / 180.0);
|
|
||||||
cutHull.AddVertex(v);
|
|
||||||
}
|
|
||||||
Vertex legEnd = Vertex.FromAngle(fProfileEndAngle * Math.PI / 180.0); // Calculated separately to avoid errors
|
|
||||||
cutHull.AddVertex(legEnd);
|
|
||||||
|
|
||||||
MainLog.Instance.Debug("Starting cutting of the hollow shape from the prim {1}", 0, primName);
|
|
||||||
SimpleHull cuttedHull = SimpleHull.SubtractHull(outerHull, cutHull);
|
|
||||||
|
|
||||||
outerHull = cuttedHull;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Deal with the hole here
|
|
||||||
if (hollowFactor > 0)
|
|
||||||
{
|
|
||||||
float hollowFactorF = (float) hollowFactor/(float) 50000;
|
|
||||||
Vertex IMM = new Vertex(-0.5f * hollowFactorF, -0.5f * hollowFactorF, 0.0f);
|
|
||||||
Vertex IPM = new Vertex(+0.5f * hollowFactorF, -0.5f * hollowFactorF, 0.0f);
|
|
||||||
Vertex IMP = new Vertex(-0.5f * hollowFactorF, +0.5f * hollowFactorF, 0.0f);
|
|
||||||
Vertex IPP = new Vertex(+0.5f * hollowFactorF, +0.5f * hollowFactorF, 0.0f);
|
|
||||||
|
|
||||||
SimpleHull holeHull = new SimpleHull();
|
|
||||||
|
|
||||||
holeHull.AddVertex(IMM);
|
|
||||||
holeHull.AddVertex(IMP);
|
|
||||||
holeHull.AddVertex(IPP);
|
|
||||||
holeHull.AddVertex(IPM);
|
|
||||||
|
|
||||||
SimpleHull hollowedHull = SimpleHull.SubtractHull(outerHull, holeHull);
|
|
||||||
|
|
||||||
outerHull = hollowedHull;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
Mesh m = new Mesh();
|
|
||||||
|
|
||||||
Vertex Seed1 = new Vertex(0.0f, -10.0f, 0.0f);
|
|
||||||
Vertex Seed2 = new Vertex(-10.0f, 10.0f, 0.0f);
|
|
||||||
Vertex Seed3 = new Vertex(10.0f, 10.0f, 0.0f);
|
|
||||||
|
|
||||||
m.Add(Seed1);
|
|
||||||
m.Add(Seed2);
|
|
||||||
m.Add(Seed3);
|
|
||||||
|
|
||||||
m.Add(new Triangle(Seed1, Seed2, Seed3));
|
|
||||||
m.Add(outerHull.getVertices());
|
|
||||||
|
|
||||||
InsertVertices(m.vertices, 3, m.triangles);
|
|
||||||
m.DumpRaw(baseDir, primName, "Proto first Mesh");
|
|
||||||
|
|
||||||
m.Remove(Seed1);
|
|
||||||
m.Remove(Seed2);
|
|
||||||
m.Remove(Seed3);
|
|
||||||
m.DumpRaw(baseDir, primName, "Proto seeds removed");
|
|
||||||
|
|
||||||
m.RemoveTrianglesOutside(outerHull);
|
|
||||||
m.DumpRaw(baseDir, primName, "Proto outsides removed");
|
|
||||||
|
|
||||||
foreach (Triangle t in m.triangles)
|
|
||||||
{
|
|
||||||
PhysicsVector n = t.getNormal();
|
|
||||||
if (n.Z < 0.0)
|
|
||||||
t.invertNormal();
|
|
||||||
}
|
|
||||||
|
|
||||||
Extruder extr = new Extruder();
|
|
||||||
|
|
||||||
extr.size = size;
|
|
||||||
|
|
||||||
Mesh result = extr.Extrude(m);
|
|
||||||
result.DumpRaw(baseDir, primName, "Z extruded");
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void CalcNormals(Mesh mesh)
|
|
||||||
{
|
|
||||||
int iTriangles = mesh.triangles.Count;
|
|
||||||
|
|
||||||
mesh.normals = new float[iTriangles*3];
|
|
||||||
|
|
||||||
int i = 0;
|
|
||||||
foreach (Triangle t in mesh.triangles)
|
|
||||||
{
|
|
||||||
float ux, uy, uz;
|
|
||||||
float vx, vy, vz;
|
|
||||||
float wx, wy, wz;
|
|
||||||
|
|
||||||
ux = t.v1.X;
|
|
||||||
uy = t.v1.Y;
|
|
||||||
uz = t.v1.Z;
|
|
||||||
|
|
||||||
vx = t.v2.X;
|
|
||||||
vy = t.v2.Y;
|
|
||||||
vz = t.v2.Z;
|
|
||||||
|
|
||||||
wx = t.v3.X;
|
|
||||||
wy = t.v3.Y;
|
|
||||||
wz = t.v3.Z;
|
|
||||||
|
|
||||||
|
|
||||||
// Vectors for edges
|
|
||||||
float e1x, e1y, e1z;
|
|
||||||
float e2x, e2y, e2z;
|
|
||||||
|
|
||||||
e1x = ux - vx;
|
|
||||||
e1y = uy - vy;
|
|
||||||
e1z = uz - vz;
|
|
||||||
|
|
||||||
e2x = ux - wx;
|
|
||||||
e2y = uy - wy;
|
|
||||||
e2z = uz - wz;
|
|
||||||
|
|
||||||
|
|
||||||
// Cross product for normal
|
|
||||||
float nx, ny, nz;
|
|
||||||
nx = e1y*e2z - e1z*e2y;
|
|
||||||
ny = e1z*e2x - e1x*e2z;
|
|
||||||
nz = e1x*e2y - e1y*e2x;
|
|
||||||
|
|
||||||
// Length
|
|
||||||
float l = (float) Math.Sqrt(nx*nx + ny*ny + nz*nz);
|
|
||||||
|
|
||||||
// Normalized "normal"
|
|
||||||
nx /= l;
|
|
||||||
ny /= l;
|
|
||||||
nz /= l;
|
|
||||||
|
|
||||||
mesh.normals[i] = nx;
|
|
||||||
mesh.normals[i + 1] = ny;
|
|
||||||
mesh.normals[i + 2] = nz;
|
|
||||||
|
|
||||||
i += 3;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public static Mesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size)
|
|
||||||
{
|
|
||||||
Mesh mesh = null;
|
|
||||||
|
|
||||||
switch (primShape.ProfileShape)
|
|
||||||
{
|
|
||||||
case ProfileShape.Square:
|
|
||||||
mesh=CreateBoxMesh(primName, primShape, size);
|
|
||||||
CalcNormals(mesh);
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
mesh = CreateBoxMesh(primName, primShape, size);
|
|
||||||
CalcNormals(mesh);
|
|
||||||
//Set default mesh to cube otherwise it'll return
|
|
||||||
// null and crash on the 'setMesh' method in the physics plugins.
|
|
||||||
//mesh = null;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
return mesh;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,363 +0,0 @@
|
||||||
using System;
|
|
||||||
using System.Collections.Generic;
|
|
||||||
using System.Text;
|
|
||||||
|
|
||||||
using OpenSim.Framework.Console;
|
|
||||||
|
|
||||||
namespace OpenSim.Region.Physics.OdePlugin.Meshing
|
|
||||||
{
|
|
||||||
// A simple hull is a set of vertices building up to simplices that border a region
|
|
||||||
// The word simple referes to the fact, that this class assumes, that all simplices
|
|
||||||
// do not intersect
|
|
||||||
// Simple hulls can be added and subtracted.
|
|
||||||
// Vertices can be checked to lie inside a hull
|
|
||||||
// Also note, that the sequence of the vertices is important and defines if the region that
|
|
||||||
// is defined by the hull lies inside or outside the simplex chain
|
|
||||||
public class SimpleHull
|
|
||||||
{
|
|
||||||
List<Vertex> vertices = new List<Vertex>();
|
|
||||||
List<Vertex> holeVertices = new List<Vertex>(); // Only used, when the hull is hollow
|
|
||||||
|
|
||||||
// Adds a vertex to the end of the list
|
|
||||||
public void AddVertex(Vertex v) {
|
|
||||||
vertices.Add(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
override public String ToString()
|
|
||||||
{
|
|
||||||
String result="";
|
|
||||||
foreach (Vertex v in vertices)
|
|
||||||
{
|
|
||||||
result += "b:" + v.ToString() + "\n";
|
|
||||||
}
|
|
||||||
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public List<Vertex> getVertices() {
|
|
||||||
List<Vertex> newVertices = new List<Vertex>();
|
|
||||||
|
|
||||||
newVertices.AddRange(vertices);
|
|
||||||
newVertices.Add(null);
|
|
||||||
newVertices.AddRange(holeVertices);
|
|
||||||
|
|
||||||
return newVertices;
|
|
||||||
}
|
|
||||||
|
|
||||||
public SimpleHull Clone()
|
|
||||||
{
|
|
||||||
SimpleHull result = new SimpleHull();
|
|
||||||
foreach (Vertex v in vertices)
|
|
||||||
{
|
|
||||||
result.AddVertex(v.Clone());
|
|
||||||
}
|
|
||||||
|
|
||||||
foreach (Vertex v in this.holeVertices)
|
|
||||||
{
|
|
||||||
result.holeVertices.Add(v.Clone());
|
|
||||||
}
|
|
||||||
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
public bool IsPointIn(Vertex v1)
|
|
||||||
{
|
|
||||||
int iCounter=0;
|
|
||||||
List<Simplex> simplices=buildSimplexList();
|
|
||||||
foreach (Simplex s in simplices)
|
|
||||||
{
|
|
||||||
// Send a ray along the positive X-Direction
|
|
||||||
// Note, that this direction must correlate with the "below" interpretation
|
|
||||||
// of handling for the special cases below
|
|
||||||
Manager.PhysicsVector intersection = s.RayIntersect(v1, new Manager.PhysicsVector(1.0f, 0.0f, 0.0f), true);
|
|
||||||
|
|
||||||
if (intersection == null)
|
|
||||||
continue; // No intersection. Done. More tests to follow otherwise
|
|
||||||
|
|
||||||
// Did we hit the end of a simplex?
|
|
||||||
// Then this can be one of two special cases:
|
|
||||||
// 1. we go through a border exactly at a joint
|
|
||||||
// 2. we have just marginally touched a corner
|
|
||||||
// 3. we can slide along a border
|
|
||||||
// Solution: If the other vertex is "below" the ray, we don't count it
|
|
||||||
// Thus corners pointing down are counted twice, corners pointing up are not counted
|
|
||||||
// borders are counted once
|
|
||||||
if (intersection.IsIdentical(s.v1, 0.001f)) {
|
|
||||||
if (s.v2.Y < v1.Y)
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
// Do this for the other vertex two
|
|
||||||
if (intersection.IsIdentical(s.v2, 0.001f)) {
|
|
||||||
if (s.v1.Y<v1.Y)
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
iCounter++;
|
|
||||||
}
|
|
||||||
|
|
||||||
return iCounter % 2 == 1; // Point is inside if the number of intersections is odd
|
|
||||||
}
|
|
||||||
|
|
||||||
public bool containsPointsFrom(SimpleHull otherHull)
|
|
||||||
{
|
|
||||||
foreach (Vertex v in otherHull.vertices)
|
|
||||||
{
|
|
||||||
if (IsPointIn(v))
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
List<Simplex> buildSimplexList() {
|
|
||||||
|
|
||||||
List<Simplex> result = new List<Simplex>();
|
|
||||||
|
|
||||||
// Not asserted but assumed: at least three vertices
|
|
||||||
for (int i=0; i<vertices.Count-1; i++) {
|
|
||||||
Simplex s=new Simplex(vertices[i], vertices[i+1]);
|
|
||||||
result.Add(s);
|
|
||||||
}
|
|
||||||
Simplex s1=new Simplex(vertices[vertices.Count-1], vertices[0]);
|
|
||||||
result.Add(s1);
|
|
||||||
|
|
||||||
if (holeVertices.Count==0)
|
|
||||||
return result;
|
|
||||||
|
|
||||||
// Same here. At least three vertices in hole assumed
|
|
||||||
for (int i = 0; i < holeVertices.Count - 1; i++)
|
|
||||||
{
|
|
||||||
Simplex s = new Simplex(holeVertices[i], holeVertices[i + 1]);
|
|
||||||
result.Add(s);
|
|
||||||
}
|
|
||||||
|
|
||||||
s1 = new Simplex(holeVertices[holeVertices.Count - 1], holeVertices[0]);
|
|
||||||
result.Add(s1);
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool InsertVertex(Vertex v, int iAfter)
|
|
||||||
{
|
|
||||||
vertices.Insert(iAfter + 1, v);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
Vertex getNextVertex(Vertex currentVertex)
|
|
||||||
{
|
|
||||||
int iCurrentIndex;
|
|
||||||
iCurrentIndex = vertices.IndexOf(currentVertex);
|
|
||||||
|
|
||||||
// Error handling for iCurrentIndex==-1 should go here (and probably never will)
|
|
||||||
|
|
||||||
iCurrentIndex++;
|
|
||||||
if (iCurrentIndex == vertices.Count)
|
|
||||||
iCurrentIndex = 0;
|
|
||||||
|
|
||||||
return vertices[iCurrentIndex];
|
|
||||||
}
|
|
||||||
|
|
||||||
public Vertex FindVertex(Vertex vBase, float tolerance) {
|
|
||||||
foreach (Vertex v in vertices) {
|
|
||||||
if (v.IsIdentical(vBase, tolerance))
|
|
||||||
return v;
|
|
||||||
}
|
|
||||||
|
|
||||||
return null;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void FindIntersection(Simplex s, ref Vertex Intersection, ref Vertex nextVertex)
|
|
||||||
{
|
|
||||||
Vertex bestIntersection=null;
|
|
||||||
float distToV1=Single.PositiveInfinity;
|
|
||||||
Simplex bestIntersectingSimplex=null;
|
|
||||||
|
|
||||||
List<Simplex> simple = buildSimplexList();
|
|
||||||
foreach (Simplex sTest in simple)
|
|
||||||
{
|
|
||||||
Manager.PhysicsVector vvTemp = Simplex.Intersect(sTest, s, -.001f, -.001f, 0.999f, .999f);
|
|
||||||
|
|
||||||
Vertex vTemp=null;
|
|
||||||
if (vvTemp != null)
|
|
||||||
vTemp = new Vertex(vvTemp);
|
|
||||||
|
|
||||||
if (vTemp!=null) {
|
|
||||||
|
|
||||||
Manager.PhysicsVector diff=(s.v1-vTemp);
|
|
||||||
float distTemp=diff.length();
|
|
||||||
|
|
||||||
if (bestIntersection==null || distTemp<distToV1) {
|
|
||||||
bestIntersection=vTemp;
|
|
||||||
distToV1=distTemp;
|
|
||||||
bestIntersectingSimplex = sTest;
|
|
||||||
}
|
|
||||||
|
|
||||||
} // end if vTemp
|
|
||||||
|
|
||||||
} // end foreach
|
|
||||||
|
|
||||||
Intersection = bestIntersection;
|
|
||||||
if (bestIntersectingSimplex != null)
|
|
||||||
nextVertex = bestIntersectingSimplex.v2;
|
|
||||||
else
|
|
||||||
nextVertex = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public static SimpleHull SubtractHull(SimpleHull baseHull, SimpleHull otherHull)
|
|
||||||
{
|
|
||||||
|
|
||||||
SimpleHull baseHullClone = baseHull.Clone();
|
|
||||||
SimpleHull otherHullClone = otherHull.Clone();
|
|
||||||
bool intersects = false;
|
|
||||||
|
|
||||||
MainLog.Instance.Debug("State before intersection detection");
|
|
||||||
MainLog.Instance.Debug("The baseHull is:\n{1}", 0, baseHullClone.ToString());
|
|
||||||
MainLog.Instance.Debug("The otherHull is:\n{1}", 0, otherHullClone.ToString());
|
|
||||||
|
|
||||||
{
|
|
||||||
int iBase, iOther;
|
|
||||||
|
|
||||||
// Insert into baseHull
|
|
||||||
for (iBase = 0; iBase < baseHullClone.vertices.Count; iBase++)
|
|
||||||
{
|
|
||||||
int iBaseNext = (iBase + 1) % baseHullClone.vertices.Count;
|
|
||||||
Simplex sBase = new Simplex(baseHullClone.vertices[iBase], baseHullClone.vertices[iBaseNext]);
|
|
||||||
|
|
||||||
for (iOther = 0; iOther < otherHullClone.vertices.Count; iOther++)
|
|
||||||
{
|
|
||||||
int iOtherNext = (iOther + 1) % otherHullClone.vertices.Count;
|
|
||||||
Simplex sOther = new Simplex(otherHullClone.vertices[iOther], otherHullClone.vertices[iOtherNext]);
|
|
||||||
|
|
||||||
Manager.PhysicsVector intersect = Simplex.Intersect(sBase, sOther, 0.001f, -.001f, 0.999f, 1.001f);
|
|
||||||
if (intersect != null)
|
|
||||||
{
|
|
||||||
Vertex vIntersect = new Vertex(intersect);
|
|
||||||
baseHullClone.vertices.Insert(iBase + 1, vIntersect);
|
|
||||||
sBase.v2 = vIntersect;
|
|
||||||
intersects = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
MainLog.Instance.Debug("State after intersection detection for the base hull");
|
|
||||||
MainLog.Instance.Debug("The baseHull is:\n{1}", 0, baseHullClone.ToString());
|
|
||||||
|
|
||||||
{
|
|
||||||
int iOther, iBase;
|
|
||||||
|
|
||||||
// Insert into otherHull
|
|
||||||
for (iOther = 0; iOther < otherHullClone.vertices.Count; iOther++)
|
|
||||||
{
|
|
||||||
int iOtherNext = (iOther + 1) % otherHullClone.vertices.Count;
|
|
||||||
Simplex sOther = new Simplex(otherHullClone.vertices[iOther], otherHullClone.vertices[iOtherNext]);
|
|
||||||
|
|
||||||
for (iBase = 0; iBase < baseHullClone.vertices.Count; iBase++)
|
|
||||||
{
|
|
||||||
int iBaseNext = (iBase + 1) % baseHullClone.vertices.Count;
|
|
||||||
Simplex sBase = new Simplex(baseHullClone.vertices[iBase], baseHullClone.vertices[iBaseNext]);
|
|
||||||
|
|
||||||
Manager.PhysicsVector intersect = Simplex.Intersect(sBase, sOther, -.001f, 0.001f, 1.001f, 0.999f);
|
|
||||||
if (intersect != null)
|
|
||||||
{
|
|
||||||
Vertex vIntersect = new Vertex(intersect);
|
|
||||||
otherHullClone.vertices.Insert(iOther + 1, vIntersect);
|
|
||||||
sOther.v2 = vIntersect;
|
|
||||||
intersects = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
MainLog.Instance.Debug("State after intersection detection for the base hull");
|
|
||||||
MainLog.Instance.Debug("The otherHull is:\n{1}", 0, otherHullClone.ToString());
|
|
||||||
|
|
||||||
|
|
||||||
bool otherIsInBase = baseHullClone.containsPointsFrom(otherHullClone);
|
|
||||||
if (!intersects && otherIsInBase)
|
|
||||||
{
|
|
||||||
// We have a hole here
|
|
||||||
baseHullClone.holeVertices = otherHullClone.vertices;
|
|
||||||
return baseHullClone;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
SimpleHull result = new SimpleHull();
|
|
||||||
|
|
||||||
// Find a good starting Simplex from baseHull
|
|
||||||
// A good starting simplex is one that is outside otherHull
|
|
||||||
// Such a simplex must exist, otherwise the result will be empty
|
|
||||||
Vertex baseStartVertex = null;
|
|
||||||
{
|
|
||||||
int iBase;
|
|
||||||
for (iBase = 0; iBase < baseHullClone.vertices.Count; iBase++)
|
|
||||||
{
|
|
||||||
int iBaseNext = (iBase + 1) % baseHullClone.vertices.Count;
|
|
||||||
Vertex center = new Vertex((baseHullClone.vertices[iBase] + baseHullClone.vertices[iBaseNext]) / 2.0f);
|
|
||||||
bool isOutside = !otherHullClone.IsPointIn(center);
|
|
||||||
if (isOutside)
|
|
||||||
{
|
|
||||||
baseStartVertex = baseHullClone.vertices[iBaseNext];
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if (baseStartVertex == null) // i.e. no simplex fulfilled the "outside" condition.
|
|
||||||
// In otherwords, subtractHull completely embraces baseHull
|
|
||||||
{
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
// The simplex that *starts* with baseStartVertex is outside the cutting hull,
|
|
||||||
// so we can start our walk with the next vertex without loosing a branch
|
|
||||||
Vertex V1 = baseStartVertex;
|
|
||||||
bool onBase = true;
|
|
||||||
|
|
||||||
// And here is how we do the magic :-)
|
|
||||||
// Start on the base hull.
|
|
||||||
// Walk the vertices in the positive direction
|
|
||||||
// For each vertex check, whether it is a vertex shared with the other hull
|
|
||||||
// if this is the case, switch over to walking the other vertex list.
|
|
||||||
// Note: The other hull *must* go backwards to our starting point (via several orther vertices)
|
|
||||||
// Thus it is important that the cutting hull has the inverse directional sense than the
|
|
||||||
// base hull!!!!!!!!! (means if base goes CW around it's center cutting hull must go CCW)
|
|
||||||
|
|
||||||
bool done = false;
|
|
||||||
while (!done)
|
|
||||||
{
|
|
||||||
result.AddVertex(V1);
|
|
||||||
Vertex nextVertex = null;
|
|
||||||
if (onBase)
|
|
||||||
{
|
|
||||||
nextVertex = otherHullClone.FindVertex(V1, 0.001f);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
nextVertex = baseHullClone.FindVertex(V1, 0.001f);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (nextVertex != null) // A node that represents an intersection
|
|
||||||
{
|
|
||||||
V1 = nextVertex; // Needed to find the next vertex on the other hull
|
|
||||||
onBase = !onBase;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (onBase)
|
|
||||||
V1 = baseHullClone.getNextVertex(V1);
|
|
||||||
else
|
|
||||||
V1 = otherHullClone.getNextVertex(V1);
|
|
||||||
|
|
||||||
if (V1 == baseStartVertex)
|
|
||||||
done = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
MainLog.Instance.Debug("The resulting Hull is:\n{1}", 0, result.ToString());
|
|
||||||
|
|
||||||
return result;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,198 +0,0 @@
|
||||||
using System;
|
|
||||||
using System.Collections.Generic;
|
|
||||||
using System.Text;
|
|
||||||
using OpenSim.Region.Physics.Manager;
|
|
||||||
|
|
||||||
namespace OpenSim.Region.Physics.OdePlugin.Meshing
|
|
||||||
{
|
|
||||||
// A simplex is a section of a straight line.
|
|
||||||
// It is defined by its endpoints, i.e. by two vertices
|
|
||||||
// Operation on vertices are
|
|
||||||
public class Simplex : IComparable<Simplex>
|
|
||||||
{
|
|
||||||
public Vertex v1;
|
|
||||||
public Vertex v2;
|
|
||||||
|
|
||||||
public Simplex(Vertex _v1, Vertex _v2)
|
|
||||||
{
|
|
||||||
v1 = _v1;
|
|
||||||
v2 = _v2;
|
|
||||||
}
|
|
||||||
|
|
||||||
public int CompareTo(Simplex other)
|
|
||||||
{
|
|
||||||
|
|
||||||
Vertex lv1, lv2, ov1, ov2, temp;
|
|
||||||
|
|
||||||
lv1 = v1;
|
|
||||||
lv2 = v2;
|
|
||||||
ov1 = other.v1;
|
|
||||||
ov2 = other.v2;
|
|
||||||
|
|
||||||
if (lv1 > lv2)
|
|
||||||
{
|
|
||||||
temp = lv1;
|
|
||||||
lv1 = lv2;
|
|
||||||
lv2 = temp;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (ov1 > ov2)
|
|
||||||
{
|
|
||||||
temp = ov1;
|
|
||||||
ov1 = ov2;
|
|
||||||
ov2 = temp;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (lv1 > ov1)
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
if (lv1 < ov1)
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (lv2 > ov2)
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
if (lv2 < ov2)
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
private static void intersectParameter(PhysicsVector p1, PhysicsVector r1, PhysicsVector p2, PhysicsVector r2, ref float lambda, ref float mu)
|
|
||||||
{
|
|
||||||
// Intersects two straights
|
|
||||||
// p1, p2, points on the straight
|
|
||||||
// r1, r2, directional vectors of the straight. Not necessarily of length 1!
|
|
||||||
// note, that l, m can be scaled such, that the range 0..1 is mapped to the area between two points,
|
|
||||||
// thus allowing to decide whether an intersection is between two points
|
|
||||||
|
|
||||||
float r1x = r1.X;
|
|
||||||
float r1y = r1.Y;
|
|
||||||
float r2x = r2.X;
|
|
||||||
float r2y = r2.Y;
|
|
||||||
|
|
||||||
float denom = r1y*r2x - r1x*r2y;
|
|
||||||
|
|
||||||
float p1x = p1.X;
|
|
||||||
float p1y = p1.Y;
|
|
||||||
float p2x = p2.X;
|
|
||||||
float p2y = p2.Y;
|
|
||||||
|
|
||||||
float z1=-p2x * r2y + p1x * r2y + (p2y - p1y) * r2x;
|
|
||||||
float z2=-p2x * r1y + p1x * r1y + (p2y - p1y) * r1x;
|
|
||||||
|
|
||||||
if (denom == 0.0f) // Means the straights are parallel. Either no intersection or an infinite number of them
|
|
||||||
{
|
|
||||||
if (z1==0.0f) {// Means they are identical -> many, many intersections
|
|
||||||
lambda = Single.NaN;
|
|
||||||
mu = Single.NaN;
|
|
||||||
} else {
|
|
||||||
lambda = Single.PositiveInfinity;
|
|
||||||
mu = Single.PositiveInfinity;
|
|
||||||
}
|
|
||||||
return;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
lambda = z1 / denom;
|
|
||||||
mu = z2 / denom;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// Intersects the simplex with another one.
|
|
||||||
// the borders are used to deal with float inaccuracies
|
|
||||||
// As a rule of thumb, the borders are
|
|
||||||
// lowerBorder1 : 0.0
|
|
||||||
// lowerBorder2 : 0.0
|
|
||||||
// upperBorder1 : 1.0
|
|
||||||
// upperBorder2 : 1.0
|
|
||||||
// Set these to values near the given parameters (e.g. 0.001 instead of 1 to exclude simplex starts safely, or to -0.001 to include them safely)
|
|
||||||
public static PhysicsVector Intersect(
|
|
||||||
Simplex s1,
|
|
||||||
Simplex s2,
|
|
||||||
float lowerBorder1,
|
|
||||||
float lowerBorder2,
|
|
||||||
float upperBorder1,
|
|
||||||
float upperBorder2)
|
|
||||||
{
|
|
||||||
PhysicsVector firstSimplexDirection = s1.v2 - s1.v1;
|
|
||||||
PhysicsVector secondSimplexDirection = s2.v2 - s2.v1;
|
|
||||||
|
|
||||||
float lambda = 0.0f;
|
|
||||||
float mu = 0.0f;
|
|
||||||
|
|
||||||
// Give us the parameters of an intersection. This subroutine does *not* take the constraints
|
|
||||||
// (intersection must be between v1 and v2 and it must be in the positive direction of the ray)
|
|
||||||
// into account. We do that afterwards.
|
|
||||||
intersectParameter(s1.v1, firstSimplexDirection, s2.v1, secondSimplexDirection, ref lambda, ref mu);
|
|
||||||
|
|
||||||
if (Single.IsInfinity(lambda)) // Special case. No intersection at all. directions parallel.
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (Single.IsNaN(lambda)) // Special case. many, many intersections.
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (lambda > upperBorder1) // We're behind v2
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (lambda < lowerBorder1)
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (mu < lowerBorder2) // outside simplex 2
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (mu > upperBorder2) // outside simplex 2
|
|
||||||
return null;
|
|
||||||
|
|
||||||
return s1.v1 + lambda * firstSimplexDirection;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Intersects the simplex with a ray. The ray is defined as all p=origin + lambda*direction
|
|
||||||
// where lambda >= 0
|
|
||||||
public PhysicsVector RayIntersect(Vertex origin, PhysicsVector direction, bool bEndsIncluded)
|
|
||||||
{
|
|
||||||
PhysicsVector simplexDirection = v2 - v1;
|
|
||||||
|
|
||||||
float lambda = 0.0f;
|
|
||||||
float mu = 0.0f;
|
|
||||||
|
|
||||||
// Give us the parameters of an intersection. This subroutine does *not* take the constraints
|
|
||||||
// (intersection must be between v1 and v2 and it must be in the positive direction of the ray)
|
|
||||||
// into account. We do that afterwards.
|
|
||||||
intersectParameter(v1, simplexDirection, origin, direction, ref lambda, ref mu);
|
|
||||||
|
|
||||||
if (Single.IsInfinity(lambda)) // Special case. No intersection at all. directions parallel.
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (Single.IsNaN(lambda)) // Special case. many, many intersections.
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (mu < 0.0) // We're on the wrong side of the ray
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (lambda > 1.0) // We're behind v2
|
|
||||||
return null;
|
|
||||||
|
|
||||||
if (lambda == 1.0 && !bEndsIncluded)
|
|
||||||
return null; // The end of the simplices are not included
|
|
||||||
|
|
||||||
if (lambda < 0.0f) // we're before v1;
|
|
||||||
return null;
|
|
||||||
|
|
||||||
return this.v1 + lambda * simplexDirection;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue