opensim – Blame information for rev 1
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1 | eva | 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 | using System.Diagnostics; |
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31 | |||
32 | namespace OpenSim.Region.Physics.ConvexDecompositionDotNet |
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33 | { |
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34 | public class float3x3 |
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35 | { |
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36 | public float3 x = new float3(); |
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37 | public float3 y = new float3(); |
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38 | public float3 z = new float3(); |
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39 | |||
40 | public float3x3() |
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41 | { |
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42 | } |
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43 | |||
44 | public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) |
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45 | { |
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46 | x = new float3(xx, xy, xz); |
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47 | y = new float3(yx, yy, yz); |
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48 | z = new float3(zx, zy, zz); |
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49 | } |
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50 | |||
51 | public float3x3(float3 _x, float3 _y, float3 _z) |
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52 | { |
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53 | x = new float3(_x); |
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54 | y = new float3(_y); |
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55 | z = new float3(_z); |
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56 | } |
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57 | |||
58 | public float3 this[int i] |
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59 | { |
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60 | get |
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61 | { |
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62 | switch (i) |
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63 | { |
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64 | case 0: return x; |
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65 | case 1: return y; |
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66 | case 2: return z; |
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67 | } |
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68 | throw new ArgumentOutOfRangeException(); |
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69 | } |
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70 | } |
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71 | |||
72 | public float this[int i, int j] |
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73 | { |
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74 | get |
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75 | { |
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76 | switch (i) |
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77 | { |
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78 | case 0: |
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79 | switch (j) |
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80 | { |
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81 | case 0: return x.x; |
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82 | case 1: return x.y; |
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83 | case 2: return x.z; |
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84 | } |
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85 | break; |
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86 | case 1: |
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87 | switch (j) |
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88 | { |
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89 | case 0: return y.x; |
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90 | case 1: return y.y; |
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91 | case 2: return y.z; |
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92 | } |
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93 | break; |
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94 | case 2: |
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95 | switch (j) |
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96 | { |
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97 | case 0: return z.x; |
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98 | case 1: return z.y; |
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99 | case 2: return z.z; |
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100 | } |
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101 | break; |
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102 | } |
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103 | throw new ArgumentOutOfRangeException(); |
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104 | } |
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105 | set |
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106 | { |
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107 | switch (i) |
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108 | { |
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109 | case 0: |
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110 | switch (j) |
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111 | { |
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112 | case 0: x.x = value; return; |
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113 | case 1: x.y = value; return; |
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114 | case 2: x.z = value; return; |
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115 | } |
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116 | break; |
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117 | case 1: |
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118 | switch (j) |
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119 | { |
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120 | case 0: y.x = value; return; |
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121 | case 1: y.y = value; return; |
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122 | case 2: y.z = value; return; |
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123 | } |
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124 | break; |
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125 | case 2: |
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126 | switch (j) |
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127 | { |
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128 | case 0: z.x = value; return; |
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129 | case 1: z.y = value; return; |
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130 | case 2: z.z = value; return; |
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131 | } |
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132 | break; |
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133 | } |
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134 | throw new ArgumentOutOfRangeException(); |
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135 | } |
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136 | } |
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137 | |||
138 | public static float3x3 Transpose(float3x3 m) |
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139 | { |
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140 | return new float3x3(new float3(m.x.x, m.y.x, m.z.x), new float3(m.x.y, m.y.y, m.z.y), new float3(m.x.z, m.y.z, m.z.z)); |
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141 | } |
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142 | |||
143 | public static float3x3 operator *(float3x3 a, float3x3 b) |
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144 | { |
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145 | return new float3x3(a.x * b, a.y * b, a.z * b); |
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146 | } |
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147 | |||
148 | public static float3x3 operator *(float3x3 a, float s) |
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149 | { |
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150 | return new float3x3(a.x * s, a.y * s, a.z * s); |
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151 | } |
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152 | |||
153 | public static float3x3 operator /(float3x3 a, float s) |
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154 | { |
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155 | float t = 1f / s; |
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156 | return new float3x3(a.x * t, a.y * t, a.z * t); |
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157 | } |
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158 | |||
159 | public static float3x3 operator +(float3x3 a, float3x3 b) |
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160 | { |
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161 | return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z); |
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162 | } |
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163 | |||
164 | public static float3x3 operator -(float3x3 a, float3x3 b) |
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165 | { |
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166 | return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z); |
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167 | } |
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168 | |||
169 | public static float Determinant(float3x3 m) |
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170 | { |
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171 | return m.x.x * m.y.y * m.z.z + m.y.x * m.z.y * m.x.z + m.z.x * m.x.y * m.y.z - m.x.x * m.z.y * m.y.z - m.y.x * m.x.y * m.z.z - m.z.x * m.y.y * m.x.z; |
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172 | } |
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173 | |||
174 | public static float3x3 Inverse(float3x3 a) |
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175 | { |
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176 | float3x3 b = new float3x3(); |
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177 | float d = Determinant(a); |
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178 | Debug.Assert(d != 0); |
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179 | for (int i = 0; i < 3; i++) |
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180 | { |
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181 | for (int j = 0; j < 3; j++) |
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182 | { |
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183 | int i1 = (i + 1) % 3; |
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184 | int i2 = (i + 2) % 3; |
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185 | int j1 = (j + 1) % 3; |
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186 | int j2 = (j + 2) % 3; |
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187 | |||
188 | // reverse indexs i&j to take transpose |
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189 | b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d; |
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190 | } |
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191 | } |
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192 | return b; |
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193 | } |
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194 | } |
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195 | } |