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394
C#/CodeWalker.Core/Utils/Vectors.cs
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394
C#/CodeWalker.Core/Utils/Vectors.cs
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using SharpDX;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using CodeWalker.GameFiles;
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namespace CodeWalker
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{
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public static class Vectors
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{
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public static Vector3 XYZ(this Vector4 v)
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{
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return new Vector3(v.X, v.Y, v.Z);
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}
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public static Vector3 Round(this Vector3 v)
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{
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return new Vector3((float)Math.Round(v.X), (float)Math.Round(v.Y), (float)Math.Round(v.Z));
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}
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public static Vector3 GetPerpVec(this Vector3 n)
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{
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//make a vector perpendicular to the given one
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float nx = Math.Abs(n.X);
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float ny = Math.Abs(n.Y);
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float nz = Math.Abs(n.Z);
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if ((nx < ny) && (nx < nz))
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{
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return Vector3.Cross(n, Vector3.Right);
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}
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else if (ny < nz)
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{
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return Vector3.Cross(n, Vector3.Up);
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}
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else
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{
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return Vector3.Cross(n, Vector3.ForwardLH);
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}
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}
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public static Vector3 Floor(this Vector3 v)
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{
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return new Vector3((float)Math.Floor(v.X), (float)Math.Floor(v.Y), (float)Math.Floor(v.Z));
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}
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public static Vector3 Ceiling(this Vector3 v)
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{
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return new Vector3((float)Math.Ceiling(v.X), (float)Math.Ceiling(v.Y), (float)Math.Ceiling(v.Z));
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}
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public static Vector3 Abs(this Vector3 v)
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{
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return new Vector3(Math.Abs(v.X), Math.Abs(v.Y), Math.Abs(v.Z));
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}
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public static int CompareTo(this Vector3 a, Vector3 b)
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{
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int c;
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c = a.X.CompareTo(b.X); if (c != 0) return c;
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c = a.Y.CompareTo(b.Y); if (c != 0) return c;
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c = a.Z.CompareTo(b.Z); if (c != 0) return c;
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return 0;
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}
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public static Vector4 Floor(this Vector4 v)
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{
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return new Vector4((float)Math.Floor(v.X), (float)Math.Floor(v.Y), (float)Math.Floor(v.Z), (float)Math.Floor(v.W));
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}
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public static Vector4 Ceiling(this Vector4 v)
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{
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return new Vector4((float)Math.Ceiling(v.X), (float)Math.Ceiling(v.Y), (float)Math.Ceiling(v.Z), (float)Math.Ceiling(v.W));
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}
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public static Vector4 Abs(this Vector4 v)
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{
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return new Vector4(Math.Abs(v.X), Math.Abs(v.Y), Math.Abs(v.Z), Math.Abs(v.W));
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}
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public static Quaternion ToQuaternion(this Vector4 v)
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{
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return new Quaternion(v);
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}
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}
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public struct Vector2I
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{
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public int X;
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public int Y;
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public Vector2I(int x, int y)
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{
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X = x;
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Y = y;
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}
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public Vector2I(Vector2 v)
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{
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X = (int)Math.Floor(v.X);
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Y = (int)Math.Floor(v.Y);
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}
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public override string ToString()
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{
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return X.ToString() + ", " + Y.ToString();
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}
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public static Vector2I operator +(Vector2I a, Vector2I b)
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{
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return new Vector2I(a.X + b.X, a.Y + b.Y);
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}
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public static Vector2I operator -(Vector2I a, Vector2I b)
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{
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return new Vector2I(a.X - b.X, a.Y - b.Y);
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}
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}
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public static class BoundingBoxMath
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{
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public static BoundingBox Transform(this BoundingBox b, Vector3 position, Quaternion orientation, Vector3 scale)
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{
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var mat = Matrix.Transformation(Vector3.Zero, Quaternion.Identity, scale, Vector3.Zero, orientation, position);
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var matabs = mat;
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matabs.Column1 = mat.Column1.Abs();
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matabs.Column2 = mat.Column2.Abs();
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matabs.Column3 = mat.Column3.Abs();
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matabs.Column4 = mat.Column4.Abs();
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var bbcenter = (b.Maximum + b.Minimum) * 0.5f;
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var bbextent = (b.Maximum - b.Minimum) * 0.5f;
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var ncenter = Vector3.TransformCoordinate(bbcenter, mat);
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var nextent = Vector3.TransformNormal(bbextent, matabs).Abs();
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return new BoundingBox(ncenter - nextent, ncenter + nextent);
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}
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}
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public struct BoundingCapsule
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{
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public Vector3 PointA;
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public Vector3 PointB;
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public float Radius;
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}
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public static class BoundingCapsuleMath
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{
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public static bool Intersects(this Ray r, ref BoundingCapsule capsule, out float dist)
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{
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// intersect capsule : http://www.iquilezles.org/www/articles/intersectors/intersectors.htm
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Vector3 ba = capsule.PointB - capsule.PointA;
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Vector3 oa = r.Position - capsule.PointA;
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float baba = Vector3.Dot(ba,ba);
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float bard = Vector3.Dot(ba,r.Direction);
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float baoa = Vector3.Dot(ba,oa);
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float rdoa = Vector3.Dot(r.Direction,oa);
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float oaoa = Vector3.Dot(oa,oa);
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float r2 = capsule.Radius * capsule.Radius;
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float a = baba - bard*bard;
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float b = baba*rdoa - baoa*bard;
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float c = baba*oaoa - baoa*baoa - r2*baba;
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float h = b*b - a*c;
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if( h>=0.0f )
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{
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float t = (-b-(float)Math.Sqrt(h))/a;
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float y = baoa + t*bard;
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// body
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if (y > 0.0f && y < baba)
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{
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dist = t;
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return true;
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}
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// caps
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Vector3 oc = (y<=0.0f) ? oa : r.Position - capsule.PointB;
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b = Vector3.Dot(r.Direction,oc);
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c = Vector3.Dot(oc,oc) - r2;
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h = b*b - c;
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if( h>0.0f )
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{
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dist = -b - (float)Math.Sqrt(h);
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return true;
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}
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}
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dist = -1.0f;
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return false;
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}
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public static Vector3 Normal(this BoundingCapsule c, ref Vector3 position)
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{
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Vector3 ba = c.PointB - c.PointA;
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Vector3 pa = position - c.PointA;
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float h = Math.Min(Math.Max(Vector3.Dot(pa, ba) / Vector3.Dot(ba, ba), 0.0f), 1.0f);
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return Vector3.Normalize((pa - h * ba) / c.Radius);
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}
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public static bool Intersects(this BoundingSphere sph, ref BoundingCapsule capsule, out Vector3 norm)
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{
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var dist = LineMath.PointSegmentDistance(ref sph.Center, ref capsule.PointA, ref capsule.PointB);
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var rads = sph.Radius + capsule.Radius;
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if (dist <= rads)
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{
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norm = LineMath.PointSegmentNormal(ref sph.Center, ref capsule.PointA, ref capsule.PointB);
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return true;
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}
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else
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{
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norm = Vector3.Up;
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return false;
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}
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}
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}
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public struct BoundingCylinder
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{
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public Vector3 PointA;
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public Vector3 PointB;
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public float Radius;
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}
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public static class BoundingCylinderMath
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{
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public static bool Intersects(this Ray r, ref BoundingCylinder cylinder, out float dist, out Vector3 norm)
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{
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// intersect cylinder : https://www.shadertoy.com/view/4lcSRn
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Vector3 ba = cylinder.PointB - cylinder.PointA;
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Vector3 oc = r.Position - cylinder.PointA;
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float baba = Vector3.Dot(ba, ba);
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float bard = Vector3.Dot(ba, r.Direction);
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float baoc = Vector3.Dot(ba, oc);
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float r2 = cylinder.Radius * cylinder.Radius;
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float k2 = baba - bard * bard;
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float k1 = baba * Vector3.Dot(oc, r.Direction) - baoc * bard;
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float k0 = baba * Vector3.Dot(oc, oc) - baoc * baoc - r2 * baba;
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float h = k1 * k1 - k2 * k0;
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if (h < 0.0f)
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{
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dist = -1.0f;
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norm = Vector3.Up;
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return false;
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}
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h = (float)Math.Sqrt(h);
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float t = (-k1 - h) / k2;
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// body
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float y = baoc + t * bard;
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if (y > 0.0f && y < baba)
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{
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dist = t;
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norm = Vector3.Normalize((oc + t * r.Direction - ba * y / baba) / cylinder.Radius);
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return true;
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}
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// caps
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t = (((y < 0.0f) ? 0.0f : baba) - baoc) / bard;
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if (Math.Abs(k1 + k2 * t) < h)
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{
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dist = t;
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norm = Vector3.Normalize(ba * Math.Sign(y) / baba);
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return true;
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}
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dist = -1.0f;
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norm = Vector3.Up;
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return false;
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}
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}
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public static class LineMath
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{
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public static float PointSegmentDistance(ref Vector3 v, ref Vector3 a, ref Vector3 b)
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{
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//https://stackoverflow.com/questions/4858264/find-the-distance-from-a-3d-point-to-a-line-segment
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Vector3 ab = b - a;
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Vector3 av = v - a;
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if (Vector3.Dot(av, ab) <= 0.0f)// Point is lagging behind start of the segment, so perpendicular distance is not viable.
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{
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return av.Length(); // Use distance to start of segment instead.
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}
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Vector3 bv = v - b;
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if (Vector3.Dot(bv, ab) >= 0.0f)// Point is advanced past the end of the segment, so perpendicular distance is not viable.
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{
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return bv.Length(); // Use distance to end of the segment instead.
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}
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return Vector3.Cross(ab, av).Length() / ab.Length();// Perpendicular distance of point to segment.
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}
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public static Vector3 PointSegmentNormal(ref Vector3 v, ref Vector3 a, ref Vector3 b)
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{
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Vector3 ab = b - a;
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Vector3 av = v - a;
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if (Vector3.Dot(av, ab) <= 0.0f)
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{
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return Vector3.Normalize(av);
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}
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Vector3 bv = v - b;
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if (Vector3.Dot(bv, ab) >= 0.0f)
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{
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return Vector3.Normalize(bv);
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}
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return Vector3.Normalize(Vector3.Cross(Vector3.Cross(ab, av), ab));
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}
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public static float PointRayDist(ref Vector3 p, ref Vector3 ro, ref Vector3 rd)
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{
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return Vector3.Cross(rd, p - ro).Length();
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}
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}
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public static class TriangleMath
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{
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public static float AreaPart(ref Vector3 v1, ref Vector3 v2, ref Vector3 v3, out float angle)
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{
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var va = v2 - v1;
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var vb = v3 - v1;
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var na = Vector3.Normalize(va);
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var nb = Vector3.Normalize(vb);
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var a = va.Length();
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var b = vb.Length();
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var c = Math.Acos(Vector3.Dot(na, nb));
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var area = (float)(0.5 * a * b * Math.Sin(c));
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angle = (float)Math.Abs(c);
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return area;
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}
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public static float Area(ref Vector3 v1, ref Vector3 v2, ref Vector3 v3)
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{
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var a1 = AreaPart(ref v1, ref v2, ref v3, out float t1);
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var a2 = AreaPart(ref v2, ref v3, ref v1, out float t2);
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var a3 = AreaPart(ref v3, ref v1, ref v2, out float t3);
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var fp = (float)Math.PI;
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var d1 = Math.Min(t1, Math.Abs(t1 - fp));
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var d2 = Math.Min(t2, Math.Abs(t2 - fp));
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var d3 = Math.Min(t3, Math.Abs(t3 - fp));
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if ((d1 >= d2) && (a1 != 0))
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{
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if ((d1 >= d3) || (a3 == 0))
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{
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return a1;
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}
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else
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{
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return a3;
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}
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}
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else
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{
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if ((d2 >= d3) || (a3 == 0))
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{
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return a2;
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}
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else
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{
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return a3;
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}
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}
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}
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}
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}
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