clockwerk-opensim – Blame information for rev 1
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1 | vero | 1 | /* The MIT License |
2 | * |
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3 | * Copyright (c) 2010 Intel Corporation. |
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4 | * All rights reserved. |
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5 | * |
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6 | * Based on the convexdecomposition library from |
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7 | * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax. |
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8 | * |
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9 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
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10 | * of this software and associated documentation files (the "Software"), to deal |
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11 | * in the Software without restriction, including without limitation the rights |
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12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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13 | * copies of the Software, and to permit persons to whom the Software is |
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14 | * furnished to do so, subject to the following conditions: |
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15 | * |
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16 | * The above copyright notice and this permission notice shall be included in |
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17 | * all copies or substantial portions of the Software. |
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18 | * |
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19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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25 | * THE SOFTWARE. |
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26 | */ |
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27 | |||
28 | using System; |
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29 | using System.Collections.Generic; |
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30 | |||
31 | namespace OpenSim.Region.Physics.ConvexDecompositionDotNet |
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32 | { |
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33 | public class Rect3d |
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34 | { |
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35 | public float[] mMin = new float[3]; |
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36 | public float[] mMax = new float[3]; |
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37 | |||
38 | public Rect3d() |
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39 | { |
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40 | } |
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41 | |||
42 | public Rect3d(float[] bmin, float[] bmax) |
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43 | { |
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44 | mMin[0] = bmin[0]; |
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45 | mMin[1] = bmin[1]; |
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46 | mMin[2] = bmin[2]; |
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47 | |||
48 | mMax[0] = bmax[0]; |
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49 | mMax[1] = bmax[1]; |
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50 | mMax[2] = bmax[2]; |
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51 | } |
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52 | |||
53 | public void SetMin(float[] bmin) |
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54 | { |
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55 | mMin[0] = bmin[0]; |
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56 | mMin[1] = bmin[1]; |
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57 | mMin[2] = bmin[2]; |
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58 | } |
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59 | |||
60 | public void SetMax(float[] bmax) |
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61 | { |
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62 | mMax[0] = bmax[0]; |
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63 | mMax[1] = bmax[1]; |
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64 | mMax[2] = bmax[2]; |
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65 | } |
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66 | |||
67 | public void SetMin(float x, float y, float z) |
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68 | { |
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69 | mMin[0] = x; |
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70 | mMin[1] = y; |
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71 | mMin[2] = z; |
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72 | } |
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73 | |||
74 | public void SetMax(float x, float y, float z) |
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75 | { |
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76 | mMax[0] = x; |
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77 | mMax[1] = y; |
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78 | mMax[2] = z; |
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79 | } |
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80 | } |
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81 | |||
82 | public static class SplitPlane |
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83 | { |
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84 | public static bool computeSplitPlane(List<float3> vertices, List<int> indices, ref float4 plane) |
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85 | { |
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86 | float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue }; |
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87 | float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue }; |
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88 | |||
89 | for (int i = 0; i < vertices.Count; i++) |
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90 | { |
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91 | float3 p = vertices[i]; |
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92 | |||
93 | if (p[0] < bmin[0]) |
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94 | bmin[0] = p[0]; |
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95 | if (p[1] < bmin[1]) |
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96 | bmin[1] = p[1]; |
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97 | if (p[2] < bmin[2]) |
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98 | bmin[2] = p[2]; |
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99 | |||
100 | if (p[0] > bmax[0]) |
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101 | bmax[0] = p[0]; |
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102 | if (p[1] > bmax[1]) |
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103 | bmax[1] = p[1]; |
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104 | if (p[2] > bmax[2]) |
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105 | bmax[2] = p[2]; |
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106 | } |
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107 | |||
108 | float dx = bmax[0] - bmin[0]; |
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109 | float dy = bmax[1] - bmin[1]; |
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110 | float dz = bmax[2] - bmin[2]; |
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111 | |||
112 | float laxis = dx; |
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113 | |||
114 | int axis = 0; |
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115 | |||
116 | if (dy > dx) |
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117 | { |
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118 | axis = 1; |
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119 | laxis = dy; |
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120 | } |
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121 | |||
122 | if (dz > dx && dz > dy) |
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123 | { |
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124 | axis = 2; |
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125 | laxis = dz; |
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126 | } |
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127 | |||
128 | float[] p1 = new float[3]; |
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129 | float[] p2 = new float[3]; |
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130 | float[] p3 = new float[3]; |
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131 | |||
132 | p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f; |
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133 | p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f; |
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134 | p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f; |
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135 | |||
136 | Rect3d b = new Rect3d(bmin, bmax); |
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137 | |||
138 | Rect3d b1 = new Rect3d(); |
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139 | Rect3d b2 = new Rect3d(); |
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140 | |||
141 | splitRect(axis, b, b1, b2, p1); |
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142 | |||
143 | switch (axis) |
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144 | { |
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145 | case 0: |
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146 | p2[1] = bmin[1]; |
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147 | p2[2] = bmin[2]; |
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148 | |||
149 | if (dz > dy) |
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150 | { |
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151 | p3[1] = bmax[1]; |
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152 | p3[2] = bmin[2]; |
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153 | } |
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154 | else |
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155 | { |
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156 | p3[1] = bmin[1]; |
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157 | p3[2] = bmax[2]; |
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158 | } |
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159 | |||
160 | break; |
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161 | case 1: |
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162 | p2[0] = bmin[0]; |
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163 | p2[2] = bmin[2]; |
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164 | |||
165 | if (dx > dz) |
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166 | { |
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167 | p3[0] = bmax[0]; |
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168 | p3[2] = bmin[2]; |
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169 | } |
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170 | else |
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171 | { |
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172 | p3[0] = bmin[0]; |
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173 | p3[2] = bmax[2]; |
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174 | } |
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175 | |||
176 | break; |
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177 | case 2: |
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178 | p2[0] = bmin[0]; |
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179 | p2[1] = bmin[1]; |
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180 | |||
181 | if (dx > dy) |
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182 | { |
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183 | p3[0] = bmax[0]; |
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184 | p3[1] = bmin[1]; |
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185 | } |
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186 | else |
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187 | { |
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188 | p3[0] = bmin[0]; |
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189 | p3[1] = bmax[1]; |
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190 | } |
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191 | |||
192 | break; |
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193 | } |
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194 | |||
195 | computePlane(p1, p2, p3, plane); |
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196 | |||
197 | return true; |
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198 | } |
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199 | |||
200 | internal static void computePlane(float[] A, float[] B, float[] C, float4 plane) |
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201 | { |
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202 | float vx = (B[0] - C[0]); |
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203 | float vy = (B[1] - C[1]); |
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204 | float vz = (B[2] - C[2]); |
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205 | |||
206 | float wx = (A[0] - B[0]); |
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207 | float wy = (A[1] - B[1]); |
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208 | float wz = (A[2] - B[2]); |
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209 | |||
210 | float vw_x = vy * wz - vz * wy; |
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211 | float vw_y = vz * wx - vx * wz; |
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212 | float vw_z = vx * wy - vy * wx; |
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213 | |||
214 | float mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); |
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215 | |||
216 | if (mag < 0.000001f) |
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217 | { |
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218 | mag = 0; |
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219 | } |
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220 | else |
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221 | { |
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222 | mag = 1.0f / mag; |
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223 | } |
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224 | |||
225 | float x = vw_x * mag; |
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226 | float y = vw_y * mag; |
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227 | float z = vw_z * mag; |
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228 | |||
229 | float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2])); |
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230 | |||
231 | plane.x = x; |
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232 | plane.y = y; |
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233 | plane.z = z; |
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234 | plane.w = D; |
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235 | } |
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236 | |||
237 | public static void splitRect(int axis, Rect3d source, Rect3d b1, Rect3d b2, float[] midpoint) |
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238 | { |
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239 | switch (axis) |
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240 | { |
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241 | case 0: |
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242 | b1.SetMin(source.mMin); |
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243 | b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]); |
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244 | |||
245 | b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]); |
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246 | b2.SetMax(source.mMax); |
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247 | break; |
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248 | case 1: |
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249 | b1.SetMin(source.mMin); |
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250 | b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]); |
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251 | |||
252 | b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]); |
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253 | b2.SetMax(source.mMax); |
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254 | break; |
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255 | case 2: |
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256 | b1.SetMin(source.mMin); |
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257 | b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]); |
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258 | |||
259 | b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]); |
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260 | b2.SetMax(source.mMax); |
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261 | break; |
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262 | } |
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263 | } |
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264 | } |
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265 | } |