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23
Source/ConformalDecals/Util/Logging.cs
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23
Source/ConformalDecals/Util/Logging.cs
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using System;
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using UnityEngine;
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namespace ConformalDecals.Util {
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public static class Logging {
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public static void Log(this PartModule module, string message) => Debug.Log(FormatMessage(module, message));
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public static void LogWarning(this PartModule module, string message) =>
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Debug.LogWarning(FormatMessage(module, message));
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public static void LogError(this PartModule module, string message) =>
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Debug.LogError(FormatMessage(module, message));
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public static void LogException(this PartModule module, string message, Exception exception) =>
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Debug.LogException(new Exception(FormatMessage(module, message), exception));
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private static string FormatMessage(PartModule module, string message) =>
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$"[{GetPartName(module.part)} {module.GetType()}] {message}";
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private static string GetPartName(Part part) => part.partInfo?.name ?? part.name;
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}
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}
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180
Source/ConformalDecals/Util/OrientedBounds.cs
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Source/ConformalDecals/Util/OrientedBounds.cs
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using UnityEngine;
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namespace ConformalDecals.Util {
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public struct OrientedBounds {
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private Bounds _localBounds;
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public Bounds LocalBounds {
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get => _localBounds;
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set => _localBounds = value;
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}
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public Vector3 Center {
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get => _localBounds.center;
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set => _localBounds.center = value;
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}
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public Vector3 Extents {
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get => _localBounds.extents;
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set => _localBounds.extents = value;
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}
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public Vector3 Min {
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get => _localBounds.min;
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set => _localBounds.min = value;
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}
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public Vector3 Max {
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get => _localBounds.max;
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set => _localBounds.max = value;
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}
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public Vector3 Size {
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get => _localBounds.size;
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set => _localBounds.size = value;
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}
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public Vector3 UnitX {
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get => OrientationMatrix.GetColumn(0);
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private set => OrientationMatrix.SetColumn(0, value);
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}
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public Vector3 UnitY {
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get => OrientationMatrix.GetColumn(1);
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private set => OrientationMatrix.SetColumn(1, value);
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}
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public Vector3 UnitZ {
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get => OrientationMatrix.GetColumn(2);
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private set => OrientationMatrix.SetColumn(2, value);
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}
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public Matrix4x4 OrientationMatrix { get; private set; }
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public OrientedBounds(Matrix4x4 matrix, Bounds aabb) {
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Vector3 unitX = matrix.GetColumn(0);
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Vector3 unitY = matrix.GetColumn(1);
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Vector3 unitZ = matrix.GetColumn(2);
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var scale = new Vector3(unitX.magnitude, unitY.magnitude, unitZ.magnitude);
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_localBounds = new Bounds {
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center = matrix.MultiplyPoint3x4(aabb.center),
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extents = new Vector3(aabb.extents.x / scale.x, aabb.extents.y / scale.y, aabb.extents.z / scale.z)
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};
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OrientationMatrix = Matrix4x4.zero;
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UnitX = unitX / scale.x;
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UnitY = unitY / scale.y;
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UnitZ = unitZ / scale.z;
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}
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public bool Contains(Vector3 point) {
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var delta = point - Center;
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var localPoint = Center + OrientationMatrix.transpose.MultiplyVector(delta);
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return _localBounds.Contains(localPoint);
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}
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public bool Intersects(OrientedBounds other) {
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// OrientationMatrix should always be orthogonal,
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// so we can cheat and use the transpose for the inverse
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var inverseOrientationMatrix = OrientationMatrix.transpose;
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// matrix expressing other in our coordinate frame
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var R = inverseOrientationMatrix * other.OrientationMatrix;
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// compute translation vector t in our coordinate frame
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var t = inverseOrientationMatrix.MultiplyVector(other.Center - Center);
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return IntersectOBBSeperatingAxis(R, t, Extents, other.Extents);
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}
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public bool Intersects(Bounds other) {
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// matrix expressing other in our coordinate frame
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var R = OrientationMatrix.transpose;
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// compute translation vector t in our coordinate frame
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var t = R.MultiplyVector(other.center - Center);
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return IntersectOBBSeperatingAxis(R, t, Extents, other.extents);
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}
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private static bool IntersectOBBSeperatingAxis(Matrix4x4 R, Vector3 t, Vector3 a, Vector3 b) {
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// Compute common subexpressions. Add in an epsilon term to
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// counteract arithmetic errors when two edges are parallel and
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// their cross product is (near) null
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var absR = R;
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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absR[i, j] = Mathf.Abs(R[i, j]) + Mathf.Epsilon;
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}
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}
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float ra, rb;
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// Test axes L = A0, L = A1, L = A2
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for (int i = 0; i < 3; i++) {
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ra = a[i];
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rb = b[0] * absR[i, 0] + b[1] * absR[i, 1] + b[2] * absR[i, 2];
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if (Mathf.Abs(t[i]) > ra + rb) return false;
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}
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// Test axes L = B0, L = B1, L = B2
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for (int i = 0; i < 3; i++) {
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ra = a[0] * absR[0, i] + a[1] * absR[1, i] + a[2] * absR[2, i];
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rb = b[i];
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if (Mathf.Abs(t[0] * R[0, i] + t[1] * R[1, i] + t[2] * R[2, i]) > ra + rb) return false;
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}
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// Test axis L = A0 x B0
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ra = a[1] * absR[2, 0] + a[2] * absR[1, 0];
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rb = b[1] * absR[0, 2] + b[2] * absR[0, 1];
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if (Mathf.Abs(t[2] * R[1, 0] - t[1] * R[2, 0]) > ra + rb) return false;
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// Test axis L = A0 x B1
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ra = a[1] * absR[2, 1] + a[2] * absR[1, 1];
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rb = b[0] * absR[0, 2] + b[2] * absR[0, 0];
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if (Mathf.Abs(t[2] * R[1, 1] - t[1] * R[2, 1]) > ra + rb) return false;
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// Test axis L = A0 x B2
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ra = a[1] * absR[2, 2] + a[2] * absR[1, 2];
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rb = b[0] * absR[0, 1] + b[1] * absR[0, 0];
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if (Mathf.Abs(t[2] * R[1, 2] - t[1] * R[2, 2]) > ra + rb) return false;
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// Test axis L = A1 x B0
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ra = a[0] * absR[2, 0] + a[2] * absR[0, 0];
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rb = b[1] * absR[1, 2] + b[2] * absR[1, 1];
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if (Mathf.Abs(t[0] * R[2, 0] - t[2] * R[0, 0]) > ra + rb) return false;
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// Test axis L = A1 x B1
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ra = a[0] * absR[2, 1] + a[2] * absR[0, 1];
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rb = b[0] * absR[1, 2] + b[2] * absR[1, 0];
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if (Mathf.Abs(t[0] * R[2, 1] - t[2] * R[0, 1]) > ra + rb) return false;
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// Test axis L = A1 x B2
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ra = a[0] * absR[2, 2] + a[2] * absR[0, 2];
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rb = b[0] * absR[1, 1] + b[1] * absR[1, 0];
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if (Mathf.Abs(t[2] * R[1, 2] - t[1] * R[2, 2]) > ra + rb) return false;
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// Test axis L = A2 x B0
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ra = a[0] * absR[1, 0] + a[1] * absR[0, 1];
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rb = b[1] * absR[2, 2] + b[2] * absR[2, 1];
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if (Mathf.Abs(t[1] * R[0, 0] - t[0] * R[1, 0]) > ra + rb) return false;
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// Test axis L = A2 x B1
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ra = a[0] * absR[1, 1] + a[1] * absR[0, 1];
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rb = b[0] * absR[2, 2] + b[2] * absR[2, 0];
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if (Mathf.Abs(t[1] * R[0, 1] - t[0] * R[1, 1]) > ra + rb) return false;
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// Test axis L = A2 x B2
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ra = a[0] * absR[1, 2] + a[1] * absR[0, 2];
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rb = b[0] * absR[2, 1] + b[1] * absR[2, 0];
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if (Mathf.Abs(t[1] * R[0, 2] - t[0] * R[1, 2]) > ra + rb) return false;
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// Since no separating axis is found, the OBBs must be intersecting
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return true;
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}
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}
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}
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