266 lines
7.5 KiB
C#
266 lines
7.5 KiB
C#
/* 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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namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
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{
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public class Rect3d
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{
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public float[] mMin = new float[3];
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public float[] mMax = new float[3];
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public Rect3d()
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{
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}
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public Rect3d(float[] bmin, float[] bmax)
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{
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mMin[0] = bmin[0];
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mMin[1] = bmin[1];
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mMin[2] = bmin[2];
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mMax[0] = bmax[0];
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mMax[1] = bmax[1];
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mMax[2] = bmax[2];
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}
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public void SetMin(float[] bmin)
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{
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mMin[0] = bmin[0];
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mMin[1] = bmin[1];
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mMin[2] = bmin[2];
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}
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public void SetMax(float[] bmax)
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{
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mMax[0] = bmax[0];
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mMax[1] = bmax[1];
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mMax[2] = bmax[2];
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}
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public void SetMin(float x, float y, float z)
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{
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mMin[0] = x;
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mMin[1] = y;
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mMin[2] = z;
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}
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public void SetMax(float x, float y, float z)
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{
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mMax[0] = x;
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mMax[1] = y;
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mMax[2] = z;
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}
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}
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public static class SplitPlane
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{
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public static bool computeSplitPlane(List<float3> vertices, List<int> indices, ref float4 plane)
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{
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float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
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float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
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for (int i = 0; i < vertices.Count; i++)
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{
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float3 p = vertices[i];
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if (p[0] < bmin[0])
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bmin[0] = p[0];
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if (p[1] < bmin[1])
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bmin[1] = p[1];
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if (p[2] < bmin[2])
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bmin[2] = p[2];
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if (p[0] > bmax[0])
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bmax[0] = p[0];
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if (p[1] > bmax[1])
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bmax[1] = p[1];
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if (p[2] > bmax[2])
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bmax[2] = p[2];
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}
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float dx = bmax[0] - bmin[0];
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float dy = bmax[1] - bmin[1];
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float dz = bmax[2] - bmin[2];
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float laxis = dx;
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int axis = 0;
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if (dy > dx)
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{
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axis = 1;
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laxis = dy;
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}
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if (dz > dx && dz > dy)
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{
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axis = 2;
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laxis = dz;
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}
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float[] p1 = new float[3];
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float[] p2 = new float[3];
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float[] p3 = new float[3];
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p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f;
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p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f;
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p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f;
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Rect3d b = new Rect3d(bmin, bmax);
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Rect3d b1 = new Rect3d();
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Rect3d b2 = new Rect3d();
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splitRect(axis, b, b1, b2, p1);
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switch (axis)
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{
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case 0:
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p2[1] = bmin[1];
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p2[2] = bmin[2];
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if (dz > dy)
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{
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p3[1] = bmax[1];
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p3[2] = bmin[2];
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}
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else
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{
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p3[1] = bmin[1];
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p3[2] = bmax[2];
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}
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break;
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case 1:
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p2[0] = bmin[0];
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p2[2] = bmin[2];
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if (dx > dz)
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{
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p3[0] = bmax[0];
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p3[2] = bmin[2];
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}
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else
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{
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p3[0] = bmin[0];
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p3[2] = bmax[2];
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}
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break;
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case 2:
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p2[0] = bmin[0];
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p2[1] = bmin[1];
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if (dx > dy)
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{
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p3[0] = bmax[0];
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p3[1] = bmin[1];
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}
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else
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{
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p3[0] = bmin[0];
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p3[1] = bmax[1];
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}
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break;
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}
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computePlane(p1, p2, p3, plane);
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return true;
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}
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internal static void computePlane(float[] A, float[] B, float[] C, float4 plane)
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{
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float vx = (B[0] - C[0]);
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float vy = (B[1] - C[1]);
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float vz = (B[2] - C[2]);
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float wx = (A[0] - B[0]);
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float wy = (A[1] - B[1]);
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float wz = (A[2] - B[2]);
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float vw_x = vy * wz - vz * wy;
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float vw_y = vz * wx - vx * wz;
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float vw_z = vx * wy - vy * wx;
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float mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
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if (mag < 0.000001f)
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{
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mag = 0;
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}
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else
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{
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mag = 1.0f / mag;
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}
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float x = vw_x * mag;
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float y = vw_y * mag;
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float z = vw_z * mag;
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float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
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plane.x = x;
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plane.y = y;
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plane.z = z;
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plane.w = D;
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}
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public static void splitRect(int axis, Rect3d source, Rect3d b1, Rect3d b2, float[] midpoint)
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{
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switch (axis)
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{
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case 0:
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b1.SetMin(source.mMin);
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b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]);
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b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]);
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b2.SetMax(source.mMax);
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break;
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case 1:
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b1.SetMin(source.mMin);
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b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]);
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b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]);
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b2.SetMax(source.mMax);
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break;
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case 2:
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b1.SetMin(source.mMin);
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b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]);
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b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]);
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b2.SetMax(source.mMax);
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break;
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}
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}
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}
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}
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