def find_crossing_faces(vector, vector_pos, vertices_faces, planes):
crossing_faces = {}
for face in vertices_faces:
temp = array(
polygon_pluecker_test(
vertices_faces[face], vector_pos, vector / norm(vector)))
# print 'pluecker test', face, temp
crossing_face = False
if all(temp > 0.) or all(temp < 0.):
# print 'Finger will cross face:', face
crossing_face = True
elif all(temp >= 0.) or all(temp <= 0.):
# print 'not positive'
# if the zeros are only two and are next to each other then it
# crosses the face
i = 0
j = 0
while i < len(temp) - j:
num = temp[i]
# print 'num', num
if num == 0. and not crossing_face:
# print 'zero'
crossing_face = True # we suppose beforehand
i += 1
if i == len(temp):
num = temp[0]
else:
num = temp[i]
i += 1
if num == 0.:
# print 'crossing face, two zeros'
pass
else:
# print 'crossing face, one zero'
if i == 2:
# print 'Don't check for last item'
j = 1
elif num == 0. and crossing_face:
crossing_face = False # we rectify wrong previews assumption # noqa
break
else:
i += 1
if crossing_face:
# calculate where is crossing the face
vertices = vertices_faces[face]
# intersection=triangle_ray_intersection(vertices[0],vertices[1],
# vertices[2],vector_pos,vector)
# intersection=plane_ray_intersection(array(planes[face][0]),
# array(planes[face][1]),
# vector_pos,vector)
intersection = plane_ray_intersec2(
array(planes[face][0]), array(planes[face][1]), vector,
vector_pos)
intersection[0] *= norm(vector)
print('intersection', intersection)
crossing_faces[face] = [vertices_faces[face], temp, intersection]
print('crossing_faces', crossing_faces)
return (crossing_faces)
def find_finger_object_face(vfinger,pos_finger,vertices_faces, box_planes):
crossing_faces={}
for face in vertices_faces:
temp=array(polygon_pluecker_test(vertices_faces[face],
pos_finger,vfinger/norm(vfinger)))
# print "pluecker test", face, temp
crossing_face=False
if all(temp>0.) or all(temp<0.):
# print "Finger will cross face:", face
crossing_face=True
elif all(temp>=0.) or all(temp<=0.):
# print "not positive"
#if the zeros are only two and are next to each other then it
#crosses the face
i=0
j=0
while i<len(temp)-j:
num=temp[i]
# print "num", num
if num==0. and not crossing_face:
# print "zero"
crossing_face=True #we suppose beforehand
i+=1
if i==len(temp):
num=temp[0]
else:
num=temp[i]
i+=1
if num==0.:
# print "crossing face, two zeros"
pass
else:
# print "crossing face, one zero"
if i==2:
# print "Don't check for last item"
j=1
elif num==0. and crossing_face:
crossing_face=False #we rectify wrong previews assumption
break
else:
i+=1
if crossing_face:
#calculate where is crossing the face
vertices=vertices_faces[face]
#intersection=triangle_ray_intersection(vertices[0],vertices[1],
# vertices[2],pos_finger,vfinger)
#intersection=plane_ray_intersection(array(box_planes[face][0]),
# array(box_planes[face][1]),
# pos_finger,vfinger)
intersection=plane_ray_intersec2( array(box_planes[face][0]),
array(box_planes[face][1]),
vfinger,pos_finger)
intersection[0]*=norm(vfinger)
print "intersection", intersection
crossing_faces[face]=[vertices_faces[face],temp,intersection]
print "crossing_faces", crossing_faces
first=True
dist_min=None
for face in crossing_faces:
if first:
dist_min=[face,crossing_faces[face][2][0]]
first=False
else:
if abs(crossing_faces[face][2][0]) < abs(dist_min[1]):
dist_min=[face,crossing_faces[face][2][0]]
print "dist min", dist_min
if dist_min and dist_min[1]<=0. :
for face in crossing_faces:
if face!=dist_min[0]:
if crossing_faces[face][2][0]>=0.:
return(True,dist_min[0])
return(False,None)
