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- /* The MIT License
- *
- * Copyright (c) 2010 Intel Corporation.
- * All rights reserved.
- *
- * Based on the convexdecomposition library from
- * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- using System;
- using System.Collections.Generic;
- using System.Diagnostics;
- namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
- {
- public class float3x3
- {
- public float3 x = new float3();
- public float3 y = new float3();
- public float3 z = new float3();
- public float3x3()
- {
- }
- public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)
- {
- x = new float3(xx, xy, xz);
- y = new float3(yx, yy, yz);
- z = new float3(zx, zy, zz);
- }
- public float3x3(float3 _x, float3 _y, float3 _z)
- {
- x = new float3(_x);
- y = new float3(_y);
- z = new float3(_z);
- }
- public float3 this[int i]
- {
- get
- {
- switch (i)
- {
- case 0: return x;
- case 1: return y;
- case 2: return z;
- }
- throw new ArgumentOutOfRangeException();
- }
- }
- public float this[int i, int j]
- {
- get
- {
- switch (i)
- {
- case 0:
- switch (j)
- {
- case 0: return x.x;
- case 1: return x.y;
- case 2: return x.z;
- }
- break;
- case 1:
- switch (j)
- {
- case 0: return y.x;
- case 1: return y.y;
- case 2: return y.z;
- }
- break;
- case 2:
- switch (j)
- {
- case 0: return z.x;
- case 1: return z.y;
- case 2: return z.z;
- }
- break;
- }
- throw new ArgumentOutOfRangeException();
- }
- set
- {
- switch (i)
- {
- case 0:
- switch (j)
- {
- case 0: x.x = value; return;
- case 1: x.y = value; return;
- case 2: x.z = value; return;
- }
- break;
- case 1:
- switch (j)
- {
- case 0: y.x = value; return;
- case 1: y.y = value; return;
- case 2: y.z = value; return;
- }
- break;
- case 2:
- switch (j)
- {
- case 0: z.x = value; return;
- case 1: z.y = value; return;
- case 2: z.z = value; return;
- }
- break;
- }
- throw new ArgumentOutOfRangeException();
- }
- }
- public static float3x3 Transpose(float3x3 m)
- {
- 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));
- }
- public static float3x3 operator *(float3x3 a, float3x3 b)
- {
- return new float3x3(a.x * b, a.y * b, a.z * b);
- }
- public static float3x3 operator *(float3x3 a, float s)
- {
- return new float3x3(a.x * s, a.y * s, a.z * s);
- }
- public static float3x3 operator /(float3x3 a, float s)
- {
- float t = 1f / s;
- return new float3x3(a.x * t, a.y * t, a.z * t);
- }
- public static float3x3 operator +(float3x3 a, float3x3 b)
- {
- return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z);
- }
- public static float3x3 operator -(float3x3 a, float3x3 b)
- {
- return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z);
- }
- public static float Determinant(float3x3 m)
- {
- 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;
- }
- public static float3x3 Inverse(float3x3 a)
- {
- float3x3 b = new float3x3();
- float d = Determinant(a);
- Debug.Assert(d != 0);
- for (int i = 0; i < 3; i++)
- {
- for (int j = 0; j < 3; j++)
- {
- int i1 = (i + 1) % 3;
- int i2 = (i + 2) % 3;
- int j1 = (j + 1) % 3;
- int j2 = (j + 2) % 3;
- // reverse indexs i&j to take transpose
- b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d;
- }
- }
- return b;
- }
- }
- }
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