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VehicleVoxel.cs
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VehicleVoxel.cs
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/*
Ferram Aerospace Research v0.16.0.5 "Mader"
=========================
Aerodynamics model for Kerbal Space Program
Copyright 2022, Michael Ferrara, aka Ferram4
This file is part of Ferram Aerospace Research.
Ferram Aerospace Research is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Ferram Aerospace Research is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Ferram Aerospace Research. If not, see <http://www.gnu.org/licenses/>.
Serious thanks: a.g., for tons of bugfixes and code-refactorings
stupid_chris, for the RealChuteLite implementation
Taverius, for correcting a ton of incorrect values
Tetryds, for finding lots of bugs and issues and not letting me get away with them, and work on example crafts
sarbian, for refactoring code for working with MechJeb, and the Module Manager updates
ialdabaoth (who is awesome), who originally created Module Manager
Regex, for adding RPM support
DaMichel, for some ferramGraph updates and some control surface-related features
Duxwing, for copy editing the readme
CompatibilityChecker by Majiir, BSD 2-clause http://opensource.org/licenses/BSD-2-Clause
Part.cfg changes powered by sarbian & ialdabaoth's ModuleManager plugin; used with permission
http://forum.kerbalspaceprogram.com/threads/55219
ModularFLightIntegrator by Sarbian, Starwaster and Ferram4, MIT: http://opensource.org/licenses/MIT
http://forum.kerbalspaceprogram.com/threads/118088
Toolbar integration powered by blizzy78's Toolbar plugin; used with permission
http://forum.kerbalspaceprogram.com/threads/60863
*/
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using ferram4;
using FerramAerospaceResearch.FARThreading;
using FerramAerospaceResearch.Geometry;
using UnityEngine;
namespace FerramAerospaceResearch.FARPartGeometry
{
public class VehicleVoxel
{
private const int MAX_SWEEP_PLANES_IN_QUEUE = 8;
private const double RC = 0.5;
private static int MAX_CHUNKS_IN_QUEUE = 4500;
private static readonly Stack<VoxelChunk> clearedChunks = new Stack<VoxelChunk>();
private static Stack<SweepPlanePoint[,]> clearedPlanes;
private static int MAX_CHUNKS_ALLOWED;
private static int chunksInUse;
private static double maxLocation = 255;
private static byte maxLocationByte = 255;
private static bool useHigherResVoxels;
private readonly object _locker = new object();
private DebugVoxelMesh voxelMesh;
private double invElementSize;
private VoxelChunk[,,] voxelChunks;
private Dictionary<Part, int> partPriorities;
private int xLength, yLength, zLength;
private int xCellLength, yCellLength, zCellLength;
private int threadsQueued;
private VehicleVoxel(Vessel vessel)
{
VoxelizationThreadpool.Instance.RunOnMainThread(() =>
{
voxelMesh = DebugVoxelMesh.Create(vessel == null ? null : vessel.vesselTransform);
voxelMesh.gameObject.SetActive(false);
});
}
public double ElementSize { get; private set; }
public Vector3d LocalLowerRightCorner { get; private set; }
public VoxelCrossSection[] EmptyCrossSectionArray
{
get
{
var array = new VoxelCrossSection[MaxArrayLength];
for (int i = 0; i < array.Length; i++)
array[i].partSideAreaValues =
new Dictionary<Part, VoxelCrossSection.SideAreaValues>(ObjectReferenceEqualityComparer<Part>
.Default);
return array;
}
}
public int MaxArrayLength
{
get { return yCellLength + xCellLength + zCellLength; }
}
public double Volume { get; private set; }
public static void VoxelSetup()
{
lock (clearedChunks)
{
useHigherResVoxels = FARSettingsScenarioModule.VoxelSettings.useHigherResVoxelPoints;
maxLocation = useHigherResVoxels ? 255 : 15;
maxLocationByte = (byte)maxLocation;
if (clearedPlanes == null)
{
clearedPlanes = new Stack<SweepPlanePoint[,]>();
for (int i = 0; i < MAX_SWEEP_PLANES_IN_QUEUE; i++)
clearedPlanes.Push(new SweepPlanePoint[1, 1]);
clearedPlanes.TrimExcess();
}
//2.2 / 64
int chunksForQueue =
(int)Math.Ceiling(FARSettingsScenarioModule.VoxelSettings.numVoxelsControllableVessel * 0.034375);
if (MAX_CHUNKS_IN_QUEUE == chunksForQueue)
return;
clearedChunks.Clear();
MAX_CHUNKS_IN_QUEUE = chunksForQueue;
MAX_CHUNKS_ALLOWED = (int)Math.Ceiling(1.5 * MAX_CHUNKS_IN_QUEUE);
ThreadSafeDebugLogger.Info("" + MAX_CHUNKS_IN_QUEUE + " " + MAX_CHUNKS_ALLOWED);
for (int i = 0; i < MAX_CHUNKS_IN_QUEUE; i++)
clearedChunks.Push(new VoxelChunk(0, Vector3.zero, 0, 0, 0, null, useHigherResVoxels));
clearedChunks.TrimExcess();
}
}
public static VehicleVoxel CreateNewVoxel(
List<GeometryPartModule> geoModules,
int elementCount,
bool multiThreaded = true,
bool solidify = true,
Vessel vessel = null
)
{
var newVoxel = new VehicleVoxel(vessel);
newVoxel.CreateVoxel(geoModules, elementCount, multiThreaded, solidify);
return newVoxel;
}
private void CreateVoxel(
List<GeometryPartModule> geoModules,
int elementCount,
bool multiThreaded,
bool solidify
)
{
var min = new Vector3d(double.PositiveInfinity, double.PositiveInfinity, double.PositiveInfinity);
var max = new Vector3d(double.NegativeInfinity, double.NegativeInfinity, double.NegativeInfinity);
partPriorities = new Dictionary<Part, int>(ObjectReferenceEqualityComparer<Part>.Default);
//Determine bounds and "overriding parts" from geoModules
foreach (GeometryPartModule m in geoModules)
{
if (m is null)
continue;
bool cont = true;
while (!m.Ready)
{
Thread.SpinWait(5);
bool test;
if (VoxelizationThreadpool.RunInMainThread)
test = m.destroyed;
else
test = m == null;
if (!test)
continue;
cont = false;
break;
}
if (!cont || !m.Valid)
continue;
Vector3d minBounds = m.overallMeshBounds.min;
Vector3d maxBounds = m.overallMeshBounds.max;
min = Vector3d.Min(min, minBounds);
max = Vector3d.Max(max, maxBounds);
if (!(m.part is null))
partPriorities.Add(m.part, PartPriorityLevel(m));
}
Vector3d size = max - min;
Volume = size.x * size.y * size.z; //from bounds, get voxel volume
if (double.IsInfinity(Volume)) //...if something broke, get out of here
{
ThreadSafeDebugLogger.Error("Voxel Volume was infinity; ending voxelization");
return;
}
double elementVol = Volume / elementCount;
ElementSize = Math.Pow(elementVol, 1d / 3d);
invElementSize = 1 / ElementSize;
double tmp = 0.125 * invElementSize;
xLength = (int)Math.Ceiling(size.x * tmp) + 2;
yLength = (int)Math.Ceiling(size.y * tmp) + 2;
zLength = (int)Math.Ceiling(size.z * tmp) + 2;
lock (clearedChunks) //make sure that we can actually voxelize without breaking the memory limits
{
while (chunksInUse >= MAX_CHUNKS_ALLOWED)
{
ThreadSafeDebugLogger.Info("Voxel waiting for chunks to be released");
Monitor.Wait(clearedChunks);
}
chunksInUse += xLength * yLength * zLength;
}
xCellLength = xLength * 8;
yCellLength = yLength * 8;
zCellLength = zLength * 8;
//this will be the distance from the center to the edges of the voxel object
var extents = new Vector3d
{
x = xLength * 4 * ElementSize,
y = yLength * 4 * ElementSize,
z = zLength * 4 * ElementSize
};
Vector3d center = (max + min) * 0.5f; //Center of the vessel
//This places the center of the voxel at the center of the vehicle to achieve maximum symmetry
LocalLowerRightCorner = center - extents;
voxelChunks = new VoxelChunk[xLength, yLength, zLength];
try
{
BuildVoxel(geoModules, multiThreaded, solidify);
}
catch (Exception e)
{
ThreadSafeDebugLogger.Exception(e);
}
}
private static int PartPriorityLevel(GeometryPartModule g)
{
if (g.part is null)
return int.MinValue;
PartModuleList modules = g.part.Modules;
if (g.HasCrossSectionAdjusters && g.MaxCrossSectionAdjusterArea > 0)
return int.MaxValue;
if (modules.Contains("ProceduralFairingSide") || modules.Contains<ModuleProceduralFairing>())
return 3;
if (modules.Contains("ProceduralFairingBase"))
return 2;
if (modules.Contains<FARControllableSurface>() ||
modules.Contains<ModuleRCS>() ||
modules.Contains<ModuleEngines>())
return 1;
return -1;
}
private void BuildVoxel(List<GeometryPartModule> geoModules, bool multiThreaded, bool solidify)
{
threadsQueued = Environment.ProcessorCount - 1;
if (!multiThreaded)
//Go through it backwards; this ensures that children (and so interior to cargo bay parts) are handled first
{
foreach (GeometryPartModule m in geoModules)
{
if (!m.Valid)
continue;
foreach (GeometryMesh mesh in m.meshDataList)
if (mesh.valid && mesh.gameObjectActiveInHierarchy)
UpdateFromMesh(mesh, m.part);
}
}
else
{
int count = threadsQueued;
for (int i = 0; i < count; i++)
{
var meshParams = new VoxelShellMeshParams(geoModules.Count * i / count,
(i + 1) * geoModules.Count / count,
geoModules);
ThreadPool.QueueUserWorkItem(UpdateFromMesh, meshParams);
}
lock (_locker)
{
while (threadsQueued > 0)
Monitor.Wait(_locker);
}
}
if (!solidify)
return;
threadsQueued = 2;
if (multiThreaded)
{
var data = new VoxelSolidParams(0, yLength / 2 * 8, true);
ThreadPool.QueueUserWorkItem(SolidifyVoxel, data);
data = new VoxelSolidParams(yLength / 2 * 8, yCellLength, false);
ThreadPool.QueueUserWorkItem(SolidifyVoxel, data);
}
else
{
SolidifyVoxel(0, yCellLength, false);
}
if (!multiThreaded)
return;
lock (_locker)
{
while (threadsQueued > 0)
Monitor.Wait(_locker);
}
}
public void CleanupVoxel()
{
RecycleVoxelChunks();
ClearVisualVoxels();
}
public void RecycleVoxelChunks()
{
lock (clearedChunks)
{
RecycleChunksFromArray();
chunksInUse -= xLength * yLength * zLength;
Monitor.Pulse(clearedChunks);
}
}
private void RecycleChunksFromArray()
{
for (int i = 0; i < xLength; i++)
for (int j = 0; j < yLength; j++)
for (int k = 0; k < zLength; k++)
{
VoxelChunk chunk = voxelChunks[i, j, k];
if (chunk == null)
continue;
chunk.ClearChunk();
if (clearedChunks.Count < MAX_CHUNKS_IN_QUEUE)
clearedChunks.Push(chunk);
else
return;
}
}
public void CrossSectionData(
VoxelCrossSection[] crossSections,
Vector3 orientationVector,
out int frontIndex,
out int backIndex,
out double sectionThickness,
out double maxCrossSectionArea
)
{
//TODO: Look into setting better limits for iterating over sweep plane to improve off-axis performance
Vector4d plane = CalculateEquationOfSweepPlane(orientationVector, out double wInc);
double x = Math.Abs(plane.x);
double y = Math.Abs(plane.y);
double z = Math.Abs(plane.z);
double elementArea = ElementSize * ElementSize;
bool frontIndexFound = false;
frontIndex = 0;
backIndex = crossSections.Length - 1;
sectionThickness = ElementSize;
var sectionNormalToVesselCoords = Matrix4x4.TRS(Vector3.zero,
Quaternion.FromToRotation(new Vector3(0, 0, 1),
orientationVector),
Vector3.one);
Matrix4x4 vesselToSectionNormal = sectionNormalToVesselCoords.inverse;
//Code has multiple optimizations to take advantage of the limited range of values that are included. They are listed below
//(int)Math.Ceiling(x) -> (int)(x + 1) for x > 0
//(int)Math.Round(x) -> (int)(x + 0.5f) for x > 0
//(int)Math.Floor(x) -> (int)(x) for x > 0
//Check y first, since it is most likely to be the flow direction
if (y >= z && y >= x)
{
int sectionCount = yCellLength + (int)(xCellLength * x / y + 1) + (int)(zCellLength * z / y + 1);
sectionCount = Math.Min(sectionCount, crossSections.Length);
double angleSizeIncreaseFactor = Math.Sqrt((x + y + z) / y);
//account for different angles effects on voxel cube's projected area
elementArea *= angleSizeIncreaseFactor;
ThreadSafeDebugLogger.Info("Voxel Element CrossSection Area: " + elementArea);
double invMag = 1 / Math.Sqrt(x * x + y * y + z * z);
sectionThickness *= y * invMag;
double invYPlane = 1 / plane.y;
plane.x *= invYPlane;
plane.z *= invYPlane;
plane.w *= invYPlane;
wInc *= invYPlane;
//shift the plane to auto-account for midpoint rounding, allowing it to be simple casts to int
plane.w -= 0.5;
for (int m = 0; m < sectionCount; m++)
{
double areaCount = 0;
double centx = 0;
double centy = 0;
double centz = 0;
double i_xx = 0, i_xy = 0, i_yy = 0;
Dictionary<Part, VoxelCrossSection.SideAreaValues> partSideAreas =
crossSections[m].partSideAreaValues;
partSideAreas.Clear();
//Overall ones iterate over the actual voxel indices (to make use of the equation of the plane) but are used to get chunk indices
for (int iOverall = 0; iOverall < xCellLength; iOverall += 8)
for (int kOverall = 0; kOverall < zCellLength; kOverall += 8)
{
int jSect1, jSect3;
//Determine high and low points on this quad of the plane
if (plane.x * plane.z > 0.0)
{
//End points of the plane
jSect1 = (int)-(plane.x * iOverall + plane.z * kOverall + plane.w);
jSect3 = (int)-(plane.x * (iOverall + 7) + plane.z * (kOverall + 7) + plane.w);
}
else
{
jSect1 = (int)-(plane.x * (iOverall + 7) + plane.z * kOverall + plane.w);
jSect3 = (int)-(plane.x * iOverall + plane.z * (kOverall + 7) + plane.w);
}
int jSect2 = (int)((jSect1 + jSect3) * 0.5); //Central point
int jMin = Math.Min(jSect1, jSect3);
int jMax = Math.Max(jSect1, jSect3) + 1;
jSect1 = jMin >> 3;
jSect2 >>= 3;
jSect3 = jMax - 1 >> 3;
if (jSect1 >= yLength) //if the smallest sect is above the limit, they all are
continue;
if (jSect3 < 0) //if the largest sect is below the limit, they all are
continue;
//If chunk indices are identical, only get that one and it's very simple; only need to check 1 and 3, because if any are different, it must be those
if (jSect1 == jSect3)
{
if (jSect1 < 0)
continue;
VoxelChunk sect = voxelChunks[iOverall >> 3, jSect1, kOverall >> 3];
if (sect == null)
continue;
//Finally, iterate over the chunk
for (int i = iOverall; i < iOverall + 8; i++)
{
double tmp = plane.x * i + plane.w;
for (int k = kOverall; k < kOverall + 8; k++)
{
int j = (int)-(plane.z * k + tmp);
if (j < jMin || j > jMax)
continue;
int index = i + 8 * j + 64 * k;
PartSizePair pair = sect.GetVoxelPartSizePairGlobalIndex(index);
if (pair.part is null)
continue;
DetermineIfPartGetsForcesAndAreas(partSideAreas, pair, i, j, k);
double size = pair.GetSize();
if (size > 1.0)
size = 1.0;
areaCount += size;
centx += i * size;
centy += j * size;
centz += k * size;
Vector3 location = vesselToSectionNormal.MultiplyVector(new Vector3(i, j, k));
i_xx += location.x * location.x * size;
i_xy += location.x * location.y * size;
i_yy += location.y * location.y * size;
}
}
}
else //Two or three different indices requires separate handling
{
VoxelChunk sect1 = null, sect2 = null, sect3 = null;
int iSect = iOverall >> 3;
int kSect = kOverall >> 3;
bool validSects = false;
if (!(jSect1 < 0)) //this block ensures that there are sections here to check
{
sect1 = voxelChunks[iSect, jSect1, kSect];
if (sect1 != null)
validSects = true;
}
if (!(jSect2 < 0 || jSect2 >= yLength))
{
sect2 = voxelChunks[iSect, jSect2, kSect];
if (sect2 != null && sect2 != sect1)
validSects = true;
}
if (!(jSect3 >= yLength))
{
sect3 = voxelChunks[iSect, jSect3, kSect];
if (sect3 != null && sect3 != sect2 && sect3 != sect1)
validSects = true;
}
if (!validSects)
continue;
for (int i = iOverall; i < iOverall + 8; i++)
{
double tmp = plane.x * i + plane.w;
for (int k = kOverall; k < kOverall + 8; k++)
{
int j = (int)-(plane.z * k + tmp);
if (j < jMin || j > jMax)
continue;
int index = i + 8 * j + 64 * k;
PartSizePair pair;
int jSect = j >> 3;
if (jSect == jSect1 && sect1 != null)
pair = sect1.GetVoxelPartSizePairGlobalIndex(index);
else if (jSect == jSect2 && sect2 != null)
pair = sect2.GetVoxelPartSizePairGlobalIndex(index);
else if (jSect == jSect3 && sect3 != null)
pair = sect3.GetVoxelPartSizePairGlobalIndex(index);
else
continue;
if (pair.part is null)
continue;
DetermineIfPartGetsForcesAndAreas(partSideAreas, pair, i, j, k);
double size = pair.GetSize();
if (size > 1.0)
size = 1.0;
areaCount += size;
centx += i * size;
centy += j * size;
centz += k * size;
Vector3 location = vesselToSectionNormal.MultiplyVector(new Vector3(i, j, k));
i_xx += location.x * location.x * size;
i_xy += location.x * location.y * size;
i_yy += location.y * location.y * size;
}
}
}
}
var centroid = new Vector3d(centx, centy, centz);
if (areaCount > 0)
{
if (frontIndexFound)
{
backIndex = m;
}
else
{
frontIndexFound = true;
frontIndex = m;
}
centroid /= areaCount;
}
Vector3 localCentroid = vesselToSectionNormal.MultiplyVector(centroid);
i_xx -= areaCount * localCentroid.x * localCentroid.x;
i_xy -= areaCount * localCentroid.x * localCentroid.y;
i_yy -= areaCount * localCentroid.y * localCentroid.y;
double tanPrinAngle = TanPrincipalAxisAngle(i_xx, i_yy, i_xy);
Vector3 axis1 = new Vector3(1, 0, 0), axis2 = new Vector3(0, 0, 1);
double flatnessRatio = 1;
if (!tanPrinAngle.NearlyEqual(0))
{
axis1 = new Vector3(1, 0, (float)tanPrinAngle);
axis1.Normalize();
axis2 = new Vector3(axis1.z, 0, -axis1.x);
flatnessRatio = i_xy * axis2.z / axis2.x + i_xx;
flatnessRatio = (i_xy * tanPrinAngle + i_xx) / flatnessRatio;
flatnessRatio = Math.Sqrt(Math.Sqrt(flatnessRatio));
}
if (double.IsNaN(flatnessRatio))
flatnessRatio = 1;
Vector3 principalAxis;
if (flatnessRatio > 1)
{
principalAxis = axis1;
}
else
{
flatnessRatio = 1 / flatnessRatio;
principalAxis = axis2;
}
if (flatnessRatio > 10)
flatnessRatio = 10;
principalAxis = sectionNormalToVesselCoords.MultiplyVector(principalAxis);
crossSections[m].centroid = centroid * ElementSize + LocalLowerRightCorner;
if (double.IsNaN(areaCount))
ThreadSafeDebugLogger.Error("FAR VOXEL ERROR: areacount is NaN at section " + m);
crossSections[m].area = areaCount * elementArea;
crossSections[m].flatnessRatio = flatnessRatio;
crossSections[m].flatNormalVector = principalAxis;
plane.w += wInc;
}
}
else if (x > y && x > z)
{
int sectionCount = xCellLength + (int)(yCellLength * y / x + 1) + (int)(zCellLength * z / x + 1);
sectionCount = Math.Min(sectionCount, crossSections.Length);
double angleSizeIncreaseFactor = Math.Sqrt((x + y + z) / x);
//account for different angles effects on voxel cube's projected area
elementArea *= angleSizeIncreaseFactor;
ThreadSafeDebugLogger.Info("Voxel Element CrossSection Area: " + elementArea);
double invMag = 1 / Math.Sqrt(x * x + y * y + z * z);
sectionThickness *= x * invMag;
double i_xx = 0, i_xy = 0, i_yy = 0;
double invXPlane = 1 / plane.x;
plane.y *= invXPlane;
plane.z *= invXPlane;
plane.w *= invXPlane;
wInc *= invXPlane;
for (int m = 0; m < sectionCount; m++)
{
double areaCount = 0;
double centx = 0;
double centy = 0;
double centz = 0;
Dictionary<Part, VoxelCrossSection.SideAreaValues> partSideAreas =
crossSections[m].partSideAreaValues;
partSideAreas.Clear();
for (int jOverall = 0; jOverall < yCellLength; jOverall += 8)
for (int kOverall = 0; kOverall < zCellLength; kOverall += 8)
{
int iSect1, iSect3;
if (plane.y * plane.z > 0)
{
iSect1 = (int)(-(plane.y * jOverall + plane.z * kOverall + plane.w) + 0.5);
iSect3 = (int)(-(plane.y * (jOverall + 7) + plane.z * (kOverall + 7) + plane.w) + 0.5);
}
else
{
iSect1 = (int)(-(plane.y * (jOverall + 7) + plane.z * kOverall + plane.w) + 0.5);
iSect3 = (int)(-(plane.y * jOverall + plane.z * (kOverall + 7) + plane.w) + 0.5);
}
int iSect2 = (int)((iSect1 + iSect3) * 0.5);
int iMin = Math.Min(iSect1, iSect3);
int iMax = Math.Max(iSect1, iSect3) + 1;
iSect1 = iMin >> 3;
iSect2 >>= 3;
iSect3 = iMax - 1 >> 3;
if (iSect1 >= xLength) //if the smallest sect is above the limit, they all are
continue;
if (iSect3 < 0) //if the largest sect is below the limit, they all are
continue;
if (iSect1 == iSect3)
{
if (iSect1 < 0)
continue;
VoxelChunk sect = voxelChunks[iSect1, jOverall >> 3, kOverall >> 3];
if (sect == null)
continue;
for (int j = jOverall; j < jOverall + 8; j++)
{
double tmp = plane.y * j + plane.w;
for (int k = kOverall; k < kOverall + 8; k++)
{
int i = (int)(-(plane.z * k + tmp) + 0.5);
if (i < iMin || i > iMax)
continue;
int index = i + 8 * j + 64 * k;
PartSizePair pair = sect.GetVoxelPartSizePairGlobalIndex(index);
if (pair.part is null)
continue;
DetermineIfPartGetsForcesAndAreas(partSideAreas, pair, i, j, k);
double size = pair.GetSize();
if (size > 1.0)
size = 1.0;
areaCount += size;
centx += i * size;
centy += j * size;
centz += k * size;
Vector3 location = vesselToSectionNormal.MultiplyVector(new Vector3(i, j, k));
i_xx += location.x * location.x * size;
i_xy += location.x * location.y * size;
i_yy += location.y * location.y * size;
}
}
}
else
{
VoxelChunk sect1 = null, sect2 = null, sect3 = null;
int jSect = jOverall >> 3;
int kSect = kOverall >> 3;
bool validSects = false;
if (!(iSect1 < 0))
{
sect1 = voxelChunks[iSect1, jSect, kSect];
if (sect1 != null)
validSects = true;
}
if (!(iSect2 < 0 || iSect2 >= xLength))
{
sect2 = voxelChunks[iSect2, jSect, kSect];
if (sect2 != null && sect2 != sect1)
validSects = true;
}
if (!(iSect3 >= xLength))
{
sect3 = voxelChunks[iSect3, jSect, kSect];
if (sect3 != null && sect3 != sect2 && sect3 != sect1)
validSects = true;
}
if (!validSects)
continue;
for (int j = jOverall; j < jOverall + 8; j++)
{
double tmp = plane.y * j + plane.w;
for (int k = kOverall; k < kOverall + 8; k++)
{
int i = (int)(-(plane.z * k + tmp) + 0.5);
if (i < iMin || i > iMax)
continue;
int index = i + 8 * j + 64 * k;
PartSizePair pair;
int iSect = i >> 3;
if (iSect == iSect1 && sect1 != null)
pair = sect1.GetVoxelPartSizePairGlobalIndex(index);
else if (iSect == iSect2 && sect2 != null)
pair = sect2.GetVoxelPartSizePairGlobalIndex(index);
else if (iSect == iSect3 && sect3 != null)
pair = sect3.GetVoxelPartSizePairGlobalIndex(index);
else
continue;
if (pair.part is null)
continue;
DetermineIfPartGetsForcesAndAreas(partSideAreas, pair, i, j, k);
double size = pair.GetSize();
if (size > 1.0)
size = 1.0;
areaCount += size;
centx += i * size;
centy += j * size;
centz += k * size;
Vector3 location = vesselToSectionNormal.MultiplyVector(new Vector3(i, j, k));
i_xx += location.x * location.x * size;
i_xy += location.x * location.y * size;
i_yy += location.y * location.y * size;
}
}
}
}
var centroid = new Vector3d(centx, centy, centz);
if (areaCount > 0)
{
if (frontIndexFound)
{
backIndex = m;
}
else
{
frontIndexFound = true;
frontIndex = m;
}
centroid /= areaCount;
}
Vector3 localCentroid = vesselToSectionNormal.MultiplyVector(centroid);
i_xx -= areaCount * localCentroid.x * localCentroid.x;
i_xy -= areaCount * localCentroid.x * localCentroid.y;
i_yy -= areaCount * localCentroid.y * localCentroid.y;
double tanPrinAngle = TanPrincipalAxisAngle(i_xx, i_yy, i_xy);
Vector3 axis1 = new Vector3(1, 0, 0), axis2 = new Vector3(0, 0, 1);
double flatnessRatio = 1;
if (!tanPrinAngle.NearlyEqual(0))
{
axis1 = new Vector3(1, 0, (float)tanPrinAngle);
axis1.Normalize();
axis2 = new Vector3(axis1.z, 0, -axis1.x);
flatnessRatio = i_xy * axis2.z / axis2.x + i_xx;
flatnessRatio = (i_xy * tanPrinAngle + i_xx) / flatnessRatio;
flatnessRatio = Math.Sqrt(Math.Sqrt(flatnessRatio));
}
if (double.IsNaN(flatnessRatio))
flatnessRatio = 1;
Vector3 principalAxis;
if (flatnessRatio > 1)
{
principalAxis = axis1;
}
else
{
flatnessRatio = 1 / flatnessRatio;
principalAxis = axis2;
}
if (flatnessRatio > 10)
flatnessRatio = 10;
principalAxis = sectionNormalToVesselCoords.MultiplyVector(principalAxis);
crossSections[m].centroid = centroid * ElementSize + LocalLowerRightCorner;
if (double.IsNaN(areaCount))
ThreadSafeDebugLogger.Error("FAR VOXEL ERROR: areacount is NaN at section " + m);
crossSections[m].area = areaCount * elementArea;
crossSections[m].flatnessRatio = flatnessRatio;
crossSections[m].flatNormalVector = principalAxis;
plane.w += wInc;
}
}
else
{
int sectionCount = zCellLength + (int)(xCellLength * x / z + 1) + (int)(yCellLength * y / z + 1);
sectionCount = Math.Min(sectionCount, crossSections.Length);
//account for different angles effects on voxel cube's projected area
double angleSizeIncreaseFactor = Math.Sqrt((x + y + z) / z);
//account for different angles effects on voxel cube's projected area
elementArea *= angleSizeIncreaseFactor;
ThreadSafeDebugLogger.Info("Voxel Element CrossSection Area: " + elementArea);
double invMag = 1 / Math.Sqrt(x * x + y * y + z * z);
sectionThickness *= z * invMag;
double i_xx = 0, i_xy = 0, i_yy = 0;
double invZPlane = 1 / plane.z;
plane.y *= invZPlane;
plane.x *= invZPlane;
plane.w *= invZPlane;
wInc *= invZPlane;
for (int m = 0; m < sectionCount; m++)
{
double areaCount = 0;
double centx = 0;
double centy = 0;
double centz = 0;
Dictionary<Part, VoxelCrossSection.SideAreaValues> partSideAreas =
crossSections[m].partSideAreaValues;
partSideAreas.Clear();
//Overall ones iterate over the actual voxel indices (to make use of the equation of the plane) but are used to get chunk indices
for (int iOverall = 0; iOverall < xCellLength; iOverall += 8)
for (int jOverall = 0; jOverall < yCellLength; jOverall += 8)
{
int kSect1, kSect3;
//Determine high and low points on this quad of the plane
if (plane.x * plane.y > 0)
{
kSect1 = (int)(-(plane.x * iOverall + plane.y * jOverall + plane.w) + 0.5);
kSect3 = (int)(-(plane.x * (iOverall + 7) + plane.y * (jOverall + 7) + plane.w) + 0.5);
}
else
{
kSect1 = (int)(-(plane.x * (iOverall + 7) + plane.y * jOverall + plane.w) + 0.5);
kSect3 = (int)(-(plane.x * iOverall + plane.y * (jOverall + 7) + plane.w) + 0.5);
}
int kSect2 = (int)((kSect1 + kSect3) * 0.5);
int kMin = Math.Min(kSect1, kSect3);
int kMax = Math.Max(kSect1, kSect3) + 1;