clockwerk-opensim – Blame information for rev 1

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