[14162] | 1 | #region License Information
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| 2 | /* HeuristicLab
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| 3 | * Copyright (C) 2002-2016 Joseph Helm and Heuristic and Evolutionary Algorithms Laboratory (HEAL)
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| 4 | *
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| 5 | * This file is part of HeuristicLab.
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| 6 | *
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| 7 | * HeuristicLab is free software: you can redistribute it and/or modify
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| 8 | * it under the terms of the GNU General Public License as published by
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| 9 | * the Free Software Foundation, either version 3 of the License, or
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| 10 | * (at your option) any later version.
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| 11 | *
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| 12 | * HeuristicLab is distributed in the hope that it will be useful,
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| 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 15 | * GNU General Public License for more details.
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| 16 | *
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| 17 | * You should have received a copy of the GNU General Public License
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| 18 | * along with HeuristicLab. If not, see <http://www.gnu.org/licenses/>.
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| 19 | */
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| 20 | #endregion
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| 21 |
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[15230] | 22 | using System;
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[14162] | 23 | using System.Collections.Generic;
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| 24 | using System.Linq;
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| 25 | using HeuristicLab.Persistence.Default.CompositeSerializers.Storable;
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| 26 | using HeuristicLab.Core;
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| 27 | using HeuristicLab.Common;
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| 28 | using HeuristicLab.Problems.BinPacking;
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| 29 |
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| 30 | namespace HeuristicLab.Problems.BinPacking3D {
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| 31 | [Item("BinPacking3D", "Represents a single-bin packing for a 3D bin-packing problem.")]
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| 32 | [StorableClass]
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| 33 | public class BinPacking3D : BinPacking<PackingPosition, PackingShape, PackingItem> {
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| 34 |
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[15241] | 35 | [Storable]
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| 36 | public Dictionary<PackingPosition, Tuple<int, int, int>> ResidualSpace { get; protected set; }
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| 37 |
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[14162] | 38 | public BinPacking3D(PackingShape binShape)
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| 39 | : base(binShape) {
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[15230] | 40 | ResidualSpace = new Dictionary<PackingPosition, Tuple<int,int,int>>();
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| 41 | AddExtremePoint(binShape.Origin);
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[14162] | 42 | InitializeOccupationLayers();
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| 43 | }
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| 44 | [StorableConstructor]
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| 45 | protected BinPacking3D(bool deserializing) : base(deserializing) { }
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| 46 | protected BinPacking3D(BinPacking3D original, Cloner cloner)
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| 47 | : base(original, cloner) {
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[15230] | 48 | this.ResidualSpace = new Dictionary<PackingPosition, Tuple<int, int, int>>();
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| 49 | foreach (var o in original.ResidualSpace)
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| 50 | this.ResidualSpace.Add(cloner.Clone(o.Key), Tuple.Create(o.Value.Item1, o.Value.Item2, o.Value.Item3));
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[14162] | 51 | }
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| 52 | public override IDeepCloneable Clone(Cloner cloner) {
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| 53 | return new BinPacking3D(this, cloner);
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| 54 | }
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| 55 |
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[15241] | 56 |
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| 57 | [StorableHook(HookType.AfterDeserialization)]
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| 58 | private void AfterDeserialization() {
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| 59 | // BackwardsCompatibility3.3
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| 60 | #region Backwards compatible code, remove with 3.4
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| 61 | if (ResidualSpace == null)
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| 62 | ResidualSpace = new Dictionary<PackingPosition, Tuple<int, int, int>>();
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| 63 | #endregion
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| 64 | }
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| 65 |
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| 66 | public override void PackItem(int itemID, PackingItem item, PackingPosition position) {
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| 67 | ResidualSpace.Remove(position);
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| 68 | base.PackItem(itemID, item, position);
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| 69 | }
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| 70 |
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[14162] | 71 | protected override void GenerateNewExtremePointsForNewItem(PackingItem newItem, PackingPosition position) {
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| 72 | int newWidth = position.Rotated ? newItem.Depth : newItem.Width;
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| 73 | int newDepth = position.Rotated ? newItem.Width : newItem.Depth;
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| 74 |
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[15304] | 75 | var itemPlacement = Items.Select(x => new { Item = x.Value, Position = Positions[x.Key] }).ToList();
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[15305] | 76 | // Find ExtremePoints beginning from sourcepointX
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[15304] | 77 | var sourcePoint = new Vector3D() { X = position.X + newWidth, Y = position.Y, Z = position.Z };
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| 78 | if (sourcePoint.X < BinShape.Width && sourcePoint.Y < BinShape.Height && sourcePoint.Z < BinShape.Depth) {
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[15305] | 79 | // Projecting onto the XZ-plane
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| 80 | var line = new Line3D(sourcePoint, new Vector3D(0, -1, 0));
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| 81 | var below = itemPlacement.Select(x => new Plane3D(x.Position, x.Item, Side.Top))
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| 82 | .Concat(new[] { new Plane3D(BinShape, Side.Bottom) })
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| 83 | .Select(x => x.Intersect(line))
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| 84 | .Where(x => x != null && x.Y <= sourcePoint.Y)
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| 85 | .MaxItems(x => x.Y).First();
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| 86 | var residualSpace = CalculateResidualSpace(below);
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| 87 | var eps = ExtremePoints.Where(x => IsInside(below, x, ResidualSpace[x]));
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| 88 | if (!eps.Any(x => ResidualSpace[x].Item1 >= below.X - x.X + residualSpace.Item1
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| 89 | && ResidualSpace[x].Item2 >= below.Y - x.Y + residualSpace.Item2
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| 90 | && ResidualSpace[x].Item3 >= below.Z - x.Z + residualSpace.Item3)) {
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| 91 | // add only if the projected point's residual space is not a sub-space
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| 92 | // of another extreme point's residual space
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| 93 | var belowPoint = new PackingPosition(position.AssignedBin, below.X, below.Y, below.Z);
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| 94 | AddExtremePoint(belowPoint);
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[14162] | 95 | }
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[15305] | 96 | line = new Line3D(sourcePoint, new Vector3D(0, 0, -1));
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| 97 | // Projecting onto the XY-plane
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| 98 | var back = itemPlacement.Select(x => new Plane3D(x.Position, x.Item, Side.Front))
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| 99 | .Concat(new[] { new Plane3D(BinShape, Side.Back) })
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| 100 | .Select(x => x.Intersect(line))
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| 101 | .Where(x => x != null && x.Z <= sourcePoint.Z)
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| 102 | .MaxItems(x => x.Y).First();
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| 103 | residualSpace = CalculateResidualSpace(below);
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| 104 | eps = ExtremePoints.Where(x => IsInside(below, x, ResidualSpace[x]));
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| 105 | if (!eps.Any(x => ResidualSpace[x].Item1 >= below.X - x.X + residualSpace.Item1
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| 106 | && ResidualSpace[x].Item2 >= below.Y - x.Y + residualSpace.Item2
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| 107 | && ResidualSpace[x].Item3 >= below.Z - x.Z + residualSpace.Item3)) {
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| 108 | // add only if the projected point's residual space is not a sub-space
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| 109 | // of another extreme point's residual space
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| 110 | var backPoint = new PackingPosition(position.AssignedBin, back.X, back.Y, back.Z);
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| 111 | AddExtremePoint(backPoint);
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[14162] | 112 | }
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| 113 | }
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| 114 |
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| 115 | //Find ExtremePoints beginning from sourcepointY
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[15304] | 116 | sourcePoint = new Vector3D(position.X, position.Y + newItem.Height, position.Z);
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| 117 | if (sourcePoint.X < BinShape.Width && sourcePoint.Y < BinShape.Height && sourcePoint.Z < BinShape.Depth) {
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[15305] | 118 | // Projecting onto the YZ-plane
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| 119 | var line = new Line3D(sourcePoint, new Vector3D(-1, 0, 0));
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| 120 | var left = itemPlacement.Select(x => new Plane3D(x.Position, x.Item, Side.Right))
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| 121 | .Concat(new[] { new Plane3D(BinShape, Side.Left) })
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| 122 | .Select(x => x.Intersect(line))
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| 123 | .Where(x => x != null && x.X <= sourcePoint.X)
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| 124 | .MaxItems(x => x.Y).First();
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| 125 | var residualSpace = CalculateResidualSpace(left);
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| 126 | var eps = ExtremePoints.Where(x => IsInside(left, x, ResidualSpace[x]));
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| 127 | if (!eps.Any(x => ResidualSpace[x].Item1 >= left.X - x.X + residualSpace.Item1
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| 128 | && ResidualSpace[x].Item2 >= left.Y - x.Y + residualSpace.Item2
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| 129 | && ResidualSpace[x].Item3 >= left.Z - x.Z + residualSpace.Item3)) {
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| 130 | // add only if the projected point's residual space is not a sub-space
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| 131 | // of another extreme point's residual space
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| 132 | var leftPoint = new PackingPosition(position.AssignedBin, left.X, left.Y, left.Z);
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| 133 | AddExtremePoint(leftPoint);
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[14162] | 134 | }
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[15305] | 135 | line = new Line3D(sourcePoint, new Vector3D(0, 0, -1));
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| 136 | // Projecting onto the XY-plane
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| 137 | var back = itemPlacement.Select(x => new Plane3D(x.Position, x.Item, Side.Front))
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| 138 | .Concat(new[] { new Plane3D(BinShape, Side.Back) })
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| 139 | .Select(x => x.Intersect(line))
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| 140 | .Where(x => x != null && x.Z <= sourcePoint.Z)
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| 141 | .MaxItems(x => x.Y).First();
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| 142 | residualSpace = CalculateResidualSpace(left);
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| 143 | eps = ExtremePoints.Where(x => IsInside(left, x, ResidualSpace[x]));
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| 144 | if (!eps.Any(x => ResidualSpace[x].Item1 >= left.X - x.X + residualSpace.Item1
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| 145 | && ResidualSpace[x].Item2 >= left.Y - x.Y + residualSpace.Item2
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| 146 | && ResidualSpace[x].Item3 >= left.Z - x.Z + residualSpace.Item3)) {
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| 147 | // add only if the projected point's residual space is not a sub-space
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| 148 | // of another extreme point's residual space
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| 149 | var backPoint = new PackingPosition(position.AssignedBin, back.X, back.Y, back.Z);
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| 150 | AddExtremePoint(backPoint);
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[14162] | 151 | }
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| 152 | }
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| 153 |
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| 154 | //Find ExtremePoints beginning from sourcepointZ
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[15304] | 155 | sourcePoint = new Vector3D(position.X, position.Y, position.Z + newDepth);
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| 156 | if (sourcePoint.X < BinShape.Width && sourcePoint.Y < BinShape.Height && sourcePoint.Z < BinShape.Depth) {
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[15305] | 157 | // Projecting onto the YZ-plane
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| 158 | var line = new Line3D(sourcePoint, new Vector3D(-1, 0, 0));
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| 159 | var left = itemPlacement.Select(x => new Plane3D(x.Position, x.Item, Side.Right))
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| 160 | .Concat(new[] { new Plane3D(BinShape, Side.Left) })
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| 161 | .Select(x => x.Intersect(line))
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| 162 | .Where(x => x != null && x.X <= sourcePoint.X)
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| 163 | .MaxItems(x => x.Y).First();
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| 164 | var residualSpace = CalculateResidualSpace(left);
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| 165 | var eps = ExtremePoints.Where(x => IsInside(left, x, ResidualSpace[x]));
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| 166 | if (!eps.Any(x => ResidualSpace[x].Item1 >= left.X - x.X + residualSpace.Item1
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| 167 | && ResidualSpace[x].Item2 >= left.Y - x.Y + residualSpace.Item2
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| 168 | && ResidualSpace[x].Item3 >= left.Z - x.Z + residualSpace.Item3)) {
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| 169 | // add only if the projected point's residual space is not a sub-space
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| 170 | // of another extreme point's residual space
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| 171 | var leftPoint = new PackingPosition(position.AssignedBin, left.X, left.Y, left.Z);
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| 172 | AddExtremePoint(leftPoint);
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[14162] | 173 | }
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[15305] | 174 | // Projecting onto the XZ-plane
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| 175 | line = new Line3D(sourcePoint, new Vector3D(0, -1, 0));
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| 176 | var below = itemPlacement.Select(x => new Plane3D(x.Position, x.Item, Side.Top))
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| 177 | .Concat(new[] { new Plane3D(BinShape, Side.Bottom) })
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| 178 | .Select(x => x.Intersect(line))
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| 179 | .Where(x => x != null && x.Y <= sourcePoint.Y)
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| 180 | .MaxItems(x => x.Y).First();
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| 181 | residualSpace = CalculateResidualSpace(below);
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| 182 | eps = ExtremePoints.Where(x => IsInside(below, x, ResidualSpace[x]));
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| 183 | if (!eps.Any(x => ResidualSpace[x].Item1 >= below.X - x.X + residualSpace.Item1
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| 184 | && ResidualSpace[x].Item2 >= below.Y - x.Y + residualSpace.Item2
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| 185 | && ResidualSpace[x].Item3 >= below.Z - x.Z + residualSpace.Item3)) {
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| 186 | // add only if the projected point's residual space is not a sub-space
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| 187 | // of another extreme point's residual space
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| 188 | var belowPoint = new PackingPosition(position.AssignedBin, below.X, below.Y, below.Z);
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| 189 | AddExtremePoint(belowPoint);
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[14162] | 190 | }
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| 191 | }
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| 192 | }
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| 193 |
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[15304] | 194 | private bool IsBelow(PackingPosition lowerPos, PackingItem lowerItem, Vector3D upper) {
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| 195 | return lowerPos.X <= upper.X && lowerPos.X + lowerItem.Width > upper.X
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| 196 | && lowerPos.Z <= upper.Z && lowerPos.Z + lowerItem.Depth > upper.Z
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| 197 | && lowerPos.Y + lowerItem.Height < upper.Y;
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| 198 | }
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| 199 |
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| 200 | private bool IsLeft(PackingPosition leftPos, PackingItem leftItem, Vector3D right) {
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| 201 | return leftPos.Y <= right.Y && leftPos.Y + leftItem.Height > right.Y
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| 202 | && leftPos.Z <= right.Z && leftPos.Z + leftItem.Depth > right.Z
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| 203 | && leftPos.X + leftItem.Width < right.X;
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| 204 | }
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| 205 |
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| 206 | private bool IsBack(PackingPosition backPos, PackingItem backItem, Vector3D front) {
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| 207 | return backPos.Y <= front.Y && backPos.Y + backItem.Height > front.Y
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| 208 | && backPos.X <= front.X && backPos.X + backItem.Width > front.X
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| 209 | && backPos.Z + backItem.Depth < front.Z;
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| 210 | }
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| 211 |
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| 212 | private bool AddExtremePoint(PackingPosition current) {
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[15230] | 213 | if (ExtremePoints.Add(current)) {
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[15305] | 214 | ResidualSpace.Add(current, CalculateResidualSpace(current));
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[15304] | 215 | return true;
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[15230] | 216 | }
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[15304] | 217 | return false;
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[15230] | 218 | }
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| 219 |
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[15305] | 220 | private Tuple<int, int, int> CalculateResidualSpace(Vector3D pos) {
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| 221 | return Tuple.Create(BinShape.Width - pos.X, BinShape.Height - pos.Y, BinShape.Depth - pos.Z);
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| 222 | }
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| 223 |
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| 224 | private Tuple<int, int, int> CalculateResidualSpace(PackingPosition pos) {
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| 225 | return Tuple.Create(BinShape.Width - pos.X, BinShape.Height - pos.Y, BinShape.Depth - pos.Z);
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| 226 | }
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| 227 |
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| 228 | private bool IsInside(Vector3D point, PackingPosition pos, PackingItem item) {
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| 229 | return point.X >= pos.X && point.X < pos.X + (pos.Rotated ? item.Depth : item.Width)
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| 230 | && point.Y >= pos.Y && point.Y < pos.Y + item.Height
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| 231 | && point.Z >= pos.Z && point.Z < pos.Z + (pos.Rotated ? item.Width : item.Depth);
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| 232 | }
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| 233 |
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| 234 | private bool IsInside(Vector3D point, Vector3D pos, PackingItem item) {
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| 235 | return point.X >= pos.X && point.X < pos.X + item.Width
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| 236 | && point.Y >= pos.Y && point.Y < pos.Y + item.Height
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| 237 | && point.Z >= pos.Z && point.Z < pos.Z + item.Depth;
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| 238 | }
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| 239 |
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| 240 | private bool IsInside(Vector3D point, PackingPosition pos, Tuple<int, int, int> rs) {
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| 241 | return point.X >= pos.X && point.X < pos.X + rs.Item1
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| 242 | && point.Y >= pos.Y && point.Y < pos.Y + rs.Item2
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| 243 | && point.Z >= pos.Z && point.Z < pos.Z + rs.Item3;
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| 244 | }
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| 245 |
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| 246 | private bool IsInside(Vector3D point, Vector3D pos, Tuple<int, int, int> rs) {
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| 247 | return point.X >= pos.X && point.X < pos.X + rs.Item1
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| 248 | && point.Y >= pos.Y && point.Y < pos.Y + rs.Item2
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| 249 | && point.Z >= pos.Z && point.Z < pos.Z + rs.Item3;
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| 250 | }
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| 251 |
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[14162] | 252 | public override PackingPosition FindExtremePointForItem(PackingItem item, bool rotated, bool stackingConstraints) {
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| 253 | PackingItem newItem = new PackingItem(
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| 254 | rotated ? item.Depth : item.Width,
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| 255 | item.Height,
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| 256 | rotated ? item.Width : item.Depth,
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[14916] | 257 | item.TargetBin, item.Weight, item.Material);
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[14162] | 258 |
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[15304] | 259 | var ep = ExtremePoints.Where(x => IsPositionFeasible(newItem, x, stackingConstraints))
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| 260 | .OrderBy(x => x.X + x.Y + x.Z) // order by manhattan distance to try those closest to origin first
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| 261 | .FirstOrDefault();
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[15230] | 262 | if (ep != null) {
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| 263 | var result = new PackingPosition(ep.AssignedBin, ep.X, ep.Y, ep.Z, rotated);
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[14162] | 264 | return result;
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| 265 | }
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| 266 | return null;
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| 267 | }
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| 268 |
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[15230] | 269 | public override bool IsPositionFeasible(PackingItem item, PackingPosition position, bool stackingConstraints) {
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| 270 | var feasible = base.IsPositionFeasible(item, position, stackingConstraints);
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| 271 | return feasible
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| 272 | && IsSupportedByAtLeastOnePoint(item, position)
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| 273 | && (!stackingConstraints || (IsStaticStable(item, position) && IsWeightSupported(item, position)));
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| 274 | }
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| 275 |
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| 276 | public override PackingPosition FindPositionBySliding(PackingItem item, bool rotated, bool stackingConstraints) {
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[14162] | 277 | //Starting-position at upper right corner (=left bottom point of item-rectangle is at position item.width,item.height)
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| 278 | PackingPosition currentPosition = new PackingPosition(0,
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| 279 | BinShape.Width - (rotated ? item.Depth : item.Width),
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| 280 | BinShape.Height - item.Height,
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| 281 | BinShape.Depth - (rotated ? item.Width : item.Depth), rotated);
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| 282 | //Slide the item as far as possible to the bottom
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[15230] | 283 | while (IsPositionFeasible(item, PackingPosition.MoveDown(currentPosition), stackingConstraints)
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| 284 | || IsPositionFeasible(item, PackingPosition.MoveLeft(currentPosition), stackingConstraints)
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| 285 | || IsPositionFeasible(item, PackingPosition.MoveBack(currentPosition), stackingConstraints)) {
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[14162] | 286 | //Slide the item as far as possible to the left
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[15230] | 287 | while (IsPositionFeasible(item, PackingPosition.MoveLeft(currentPosition), stackingConstraints)
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| 288 | || IsPositionFeasible(item, PackingPosition.MoveBack(currentPosition), stackingConstraints)) {
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[14162] | 289 | //Slide the item as far as possible to the back
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[15230] | 290 | while (IsPositionFeasible(item, PackingPosition.MoveBack(currentPosition), stackingConstraints)) {
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[14162] | 291 | currentPosition = PackingPosition.MoveBack(currentPosition);
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| 292 | }
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[15230] | 293 | if (IsPositionFeasible(item, PackingPosition.MoveLeft(currentPosition), stackingConstraints))
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[14162] | 294 | currentPosition = PackingPosition.MoveLeft(currentPosition);
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| 295 | }
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[15230] | 296 | if (IsPositionFeasible(item, PackingPosition.MoveDown(currentPosition), stackingConstraints))
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[14162] | 297 | currentPosition = PackingPosition.MoveDown(currentPosition);
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| 298 | }
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| 299 |
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[15230] | 300 | return IsPositionFeasible(item, currentPosition, stackingConstraints) ? currentPosition : null;
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[14162] | 301 | }
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| 302 |
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[15230] | 303 | public override void SlidingBasedPacking(ref IList<int> sequence, IList<PackingItem> items, bool stackingConstraints) {
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[14162] | 304 | var temp = new List<int>(sequence);
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| 305 | for (int i = 0; i < temp.Count; i++) {
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| 306 | var item = items[temp[i]];
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[15230] | 307 | var position = FindPositionBySliding(item, false, stackingConstraints);
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[14162] | 308 | if (position != null) {
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| 309 | PackItem(temp[i], item, position);
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| 310 | sequence.Remove(temp[i]);
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| 311 | }
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| 312 | }
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| 313 | }
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[15230] | 314 | public override void SlidingBasedPacking(ref IList<int> sequence, IList<PackingItem> items, Dictionary<int, bool> rotationArray, bool stackingConstraints) {
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[14162] | 315 | var temp = new List<int>(sequence);
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| 316 | for (int i = 0; i < temp.Count; i++) {
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| 317 | var item = items[temp[i]];
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[15230] | 318 | var position = FindPositionBySliding(item, rotationArray[i], stackingConstraints);
|
---|
[14162] | 319 | if (position != null) {
|
---|
| 320 | PackItem(temp[i], item, position);
|
---|
| 321 | sequence.Remove(temp[i]);
|
---|
| 322 | }
|
---|
| 323 | }
|
---|
| 324 | }
|
---|
| 325 | public override void ExtremePointBasedPacking(ref IList<int> sequence, IList<PackingItem> items, bool stackingConstraints) {
|
---|
| 326 | var temp = new List<int>(sequence);
|
---|
| 327 | foreach (int itemID in temp) {
|
---|
| 328 | var item = items[itemID];
|
---|
| 329 | var positionFound = FindExtremePointForItem(item, false, stackingConstraints);
|
---|
| 330 | if (positionFound != null) {
|
---|
| 331 | PackItem(itemID, item, positionFound);
|
---|
[15276] | 332 | if (Items.Count > 1)
|
---|
[15230] | 333 | UpdateResidualSpace(item, positionFound);
|
---|
[14162] | 334 | sequence.Remove(itemID);
|
---|
| 335 | }
|
---|
| 336 | }
|
---|
| 337 | }
|
---|
| 338 | public override void ExtremePointBasedPacking(ref IList<int> sequence, IList<PackingItem> items, bool stackingConstraints, Dictionary<int, bool> rotationArray) {
|
---|
| 339 | var temp = new List<int>(sequence);
|
---|
| 340 | foreach (int itemID in temp) {
|
---|
| 341 | var item = items[itemID];
|
---|
| 342 | var positionFound = FindExtremePointForItem(item, rotationArray[itemID], stackingConstraints);
|
---|
| 343 | if (positionFound != null) {
|
---|
| 344 | PackItem(itemID, item, positionFound);
|
---|
| 345 | sequence.Remove(itemID);
|
---|
| 346 | }
|
---|
| 347 | }
|
---|
| 348 | }
|
---|
| 349 | public override int ShortestPossibleSideFromPoint(PackingPosition position) {
|
---|
| 350 |
|
---|
| 351 | int shortestSide = int.MaxValue;
|
---|
| 352 | int width = BinShape.Width;
|
---|
| 353 | int height = BinShape.Height;
|
---|
| 354 | int depth = BinShape.Depth;
|
---|
| 355 |
|
---|
| 356 | if (position.X >= width || position.Y >= height || position.Z >= depth)
|
---|
| 357 | return shortestSide;
|
---|
| 358 |
|
---|
| 359 | PackingPosition current = new PackingPosition(0, position.X, position.Y, position.Z);
|
---|
| 360 | while (current.X < width && IsPointOccupied(current)) { current = PackingPosition.MoveRight(current); }
|
---|
| 361 | if (current.X - position.X < shortestSide)
|
---|
| 362 | shortestSide = current.X - position.X;
|
---|
| 363 |
|
---|
| 364 |
|
---|
| 365 | current = new PackingPosition(0, position.X, position.Y, position.Z);
|
---|
| 366 | while (current.Y < height && IsPointOccupied(current)) { current = PackingPosition.MoveUp(current); }
|
---|
| 367 | if (current.Y - position.Y < shortestSide)
|
---|
| 368 | shortestSide = current.Y - position.Y;
|
---|
| 369 |
|
---|
| 370 |
|
---|
| 371 | current = new PackingPosition(0, position.X, position.Y, position.Z);
|
---|
| 372 | while (current.Z < depth && IsPointOccupied(current)) { current = PackingPosition.MoveFront(current); }
|
---|
| 373 | if (current.Z - position.Z < shortestSide)
|
---|
| 374 | shortestSide = current.Z - position.Z;
|
---|
| 375 |
|
---|
| 376 | return shortestSide;
|
---|
| 377 | }
|
---|
| 378 | public override bool IsStaticStable(PackingItem item, PackingPosition position) {
|
---|
| 379 | //Static stability is given, if item is placed on the ground
|
---|
| 380 | if (position.Y == 0)
|
---|
| 381 | return true;
|
---|
| 382 |
|
---|
| 383 | if (IsPointOccupied(new PackingPosition(0, position.X, position.Y - 1, position.Z))
|
---|
| 384 | && IsPointOccupied(new PackingPosition(0, position.X + item.Width - 1, position.Y - 1, position.Z))
|
---|
| 385 | && IsPointOccupied(new PackingPosition(0, position.X, position.Y - 1, position.Z + item.Depth - 1))
|
---|
| 386 | && IsPointOccupied(new PackingPosition(0, position.X + item.Width - 1, position.Y - 1, position.Z + item.Depth - 1)))
|
---|
| 387 | return true;
|
---|
| 388 |
|
---|
| 389 | return false;
|
---|
| 390 | }
|
---|
| 391 |
|
---|
| 392 |
|
---|
| 393 | public bool IsSupportedByAtLeastOnePoint(PackingItem item, PackingPosition position) {
|
---|
| 394 | if (position.Y == 0)
|
---|
| 395 | return true;
|
---|
| 396 |
|
---|
| 397 | int y = position.Y - 1;
|
---|
| 398 | for (int x = position.X; x < position.X + item.Width; x++)
|
---|
| 399 | for (int z = position.Z; z < position.Z + item.Depth; z++)
|
---|
| 400 | if (IsPointOccupied(new PackingPosition(0, x, y, z)))
|
---|
| 401 | return true;
|
---|
| 402 |
|
---|
| 403 | return false;
|
---|
| 404 | }
|
---|
| 405 | public bool IsWeightSupported(PackingItem item, PackingPosition ep) {
|
---|
| 406 | if (ep.Y == 0)
|
---|
| 407 | return true;
|
---|
| 408 |
|
---|
| 409 | if (Items[PointOccupation(new PackingPosition(0, ep.X, ep.Y - 1, ep.Z))].SupportsStacking(item)
|
---|
| 410 | && Items[PointOccupation(new PackingPosition(0, ep.X + item.Width - 1, ep.Y - 1, ep.Z))].SupportsStacking(item)
|
---|
| 411 | && Items[PointOccupation(new PackingPosition(0, ep.X, ep.Y - 1, ep.Z + item.Depth - 1))].SupportsStacking(item)
|
---|
| 412 | && Items[PointOccupation(new PackingPosition(0, ep.X + item.Width - 1, ep.Y - 1, ep.Z + item.Depth - 1))].SupportsStacking(item))
|
---|
| 413 | return true;
|
---|
| 414 |
|
---|
| 415 | return false;
|
---|
| 416 | }
|
---|
| 417 |
|
---|
| 418 | protected override void InitializeOccupationLayers() {
|
---|
| 419 | for (int i = 0; i * 10 <= BinShape.Depth; i += 1) {
|
---|
| 420 | OccupationLayers[i] = new List<int>();
|
---|
| 421 | }
|
---|
| 422 | }
|
---|
| 423 | protected override void AddNewItemToOccupationLayers(int itemID, PackingItem item, PackingPosition position) {
|
---|
| 424 | int z1 = position.Z / 10;
|
---|
| 425 | int z2 = (position.Z + (position.Rotated ? item.Width : item.Depth)) / 10;
|
---|
| 426 |
|
---|
| 427 | for (int i = z1; i <= z2; i++)
|
---|
| 428 | OccupationLayers[i].Add(itemID);
|
---|
| 429 | }
|
---|
| 430 | protected override List<int> GetLayerItemIDs(PackingPosition position) {
|
---|
| 431 | return OccupationLayers[position.Z / 10];
|
---|
| 432 | }
|
---|
| 433 | protected override List<int> GetLayerItemIDs(PackingItem item, PackingPosition position) {
|
---|
| 434 | List<int> result = new List<int>();
|
---|
| 435 | int z1 = position.Z / 10;
|
---|
| 436 | int z2 = (position.Z + (position.Rotated ? item.Width : item.Depth)) / 10;
|
---|
| 437 |
|
---|
| 438 | for (int i = z1; i <= z2; i++)
|
---|
| 439 | result.AddRange(OccupationLayers[i]);
|
---|
| 440 | return result;
|
---|
| 441 | }
|
---|
[15230] | 442 |
|
---|
| 443 | public void UpdateResidualSpace(PackingItem item, PackingPosition pos) {
|
---|
| 444 | foreach (var ep in ExtremePoints) {
|
---|
| 445 | if (ep.Z >= pos.Z && ep.Z <= pos.Z + item.Depth) {
|
---|
| 446 | if (ep.X <= pos.X && ep.Y > pos.Y && ep.Y < pos.Y + item.Height) {
|
---|
| 447 | var diff = pos.X - ep.X;
|
---|
| 448 | var newRSX = ResidualSpace[ep].Item1 < diff ? ResidualSpace[ep].Item1 : diff;
|
---|
| 449 | ResidualSpace[ep] = Tuple.Create(newRSX, ResidualSpace[ep].Item2, ResidualSpace[ep].Item3);
|
---|
| 450 | }
|
---|
| 451 | if (ep.Y <= pos.Y && ep.X > pos.X && ep.X < pos.X + item.Width) {
|
---|
| 452 | var diff = pos.Y - ep.Y;
|
---|
| 453 | var newRSY = ResidualSpace[ep].Item2 < diff ? ResidualSpace[ep].Item2 : diff;
|
---|
| 454 | ResidualSpace[ep] = Tuple.Create(ResidualSpace[ep].Item1, newRSY, ResidualSpace[ep].Item3);
|
---|
| 455 | }
|
---|
| 456 | }
|
---|
| 457 | if (ep.Z <= pos.Z &&
|
---|
| 458 | ep.Y > pos.Y && ep.Y < pos.Y + item.Height &&
|
---|
| 459 | ep.X > pos.X && ep.X < pos.X + item.Width) {
|
---|
| 460 | var diff = pos.Z - ep.Z;
|
---|
| 461 | var newRSZ = ResidualSpace[ep].Item3 < diff ? ResidualSpace[ep].Item3 : diff;
|
---|
| 462 | ResidualSpace[ep] = Tuple.Create(ResidualSpace[ep].Item1, ResidualSpace[ep].Item2, newRSZ);
|
---|
| 463 | }
|
---|
| 464 | }
|
---|
| 465 | return;
|
---|
| 466 | }
|
---|
[15304] | 467 |
|
---|
| 468 | private class Vector3D {
|
---|
| 469 | public int X;
|
---|
| 470 | public int Y;
|
---|
| 471 | public int Z;
|
---|
| 472 | public Vector3D() { }
|
---|
| 473 | public Vector3D(int x, int y, int z) {
|
---|
| 474 | X = x;
|
---|
| 475 | Y = y;
|
---|
| 476 | Z = z;
|
---|
| 477 | }
|
---|
| 478 | public Vector3D(PackingPosition pos) {
|
---|
| 479 | X = pos.X;
|
---|
| 480 | Y = pos.Y;
|
---|
| 481 | Z = pos.Z;
|
---|
| 482 | }
|
---|
| 483 | public static Vector3D AlongX(Vector3D pos, PackingItem item) {
|
---|
| 484 | return new Vector3D(
|
---|
| 485 | pos.X + item.Width,
|
---|
| 486 | pos.Y,
|
---|
| 487 | pos.Z
|
---|
| 488 | );
|
---|
| 489 | }
|
---|
| 490 | public static Vector3D AlongY(Vector3D pos, PackingItem item) {
|
---|
| 491 | return new Vector3D(
|
---|
| 492 | pos.X,
|
---|
| 493 | pos.Y + item.Height,
|
---|
| 494 | pos.Z
|
---|
| 495 | );
|
---|
| 496 | }
|
---|
| 497 | public static Vector3D AlongZ(Vector3D pos, PackingItem item) {
|
---|
| 498 | return new Vector3D(
|
---|
| 499 | pos.X,
|
---|
| 500 | pos.Y,
|
---|
| 501 | pos.Z + item.Depth
|
---|
| 502 | );
|
---|
| 503 | }
|
---|
| 504 | public static Vector3D AlongX(PackingPosition pos, PackingItem item) {
|
---|
| 505 | return new Vector3D(
|
---|
| 506 | pos.X + item.Width,
|
---|
| 507 | pos.Y,
|
---|
| 508 | pos.Z
|
---|
| 509 | );
|
---|
| 510 | }
|
---|
| 511 | public static Vector3D AlongY(PackingPosition pos, PackingItem item) {
|
---|
| 512 | return new Vector3D(
|
---|
| 513 | pos.X,
|
---|
| 514 | pos.Y + item.Height,
|
---|
| 515 | pos.Z
|
---|
| 516 | );
|
---|
| 517 | }
|
---|
| 518 | public static Vector3D AlongZ(PackingPosition pos, PackingItem item) {
|
---|
| 519 | return new Vector3D(
|
---|
| 520 | pos.X,
|
---|
| 521 | pos.Y,
|
---|
| 522 | pos.Z + item.Depth
|
---|
| 523 | );
|
---|
| 524 | }
|
---|
| 525 |
|
---|
| 526 | public Vector3D Cross(Vector3D b) {
|
---|
| 527 | return new Vector3D(
|
---|
| 528 | Y * b.Z - Z * b.Y,
|
---|
| 529 | -X * b.Z + Z * b.X,
|
---|
| 530 | X * b.Y - Y * b.X
|
---|
| 531 | );
|
---|
| 532 | }
|
---|
| 533 | public static int operator *(Vector3D a, Vector3D b) {
|
---|
| 534 | return a.X * b.X + a.Y * b.Y + a.Z * b.Z;
|
---|
| 535 | }
|
---|
| 536 | public static Vector3D operator *(int a, Vector3D b) {
|
---|
| 537 | return new Vector3D(a * b.X, a * b.Y, a * b.Z);
|
---|
| 538 | }
|
---|
| 539 | public static Vector3D operator *(Vector3D a, int b) {
|
---|
| 540 | return new Vector3D(a.X * b, a.Y * b, a.Z * b);
|
---|
| 541 | }
|
---|
| 542 | public static Vector3D operator +(Vector3D a, Vector3D b) {
|
---|
| 543 | return new Vector3D(a.X + b.X, a.Y + b.Y, a.Z + b.Z);
|
---|
| 544 | }
|
---|
| 545 | public static Vector3D operator -(Vector3D a, Vector3D b) {
|
---|
| 546 | return new Vector3D(a.X - b.X, a.Y - b.Y, a.Z - b.Z);
|
---|
| 547 | }
|
---|
| 548 | }
|
---|
[15305] | 549 |
|
---|
| 550 | // A line is given as a point and a directing vector
|
---|
| 551 | private class Line3D {
|
---|
| 552 | public Vector3D Point;
|
---|
| 553 | public Vector3D Direction;
|
---|
| 554 |
|
---|
| 555 | public Line3D(Vector3D point, Vector3D direction) {
|
---|
| 556 | Point = point;
|
---|
| 557 | Direction = direction;
|
---|
| 558 | }
|
---|
| 559 |
|
---|
| 560 | public bool Intersects(Plane3D plane) {
|
---|
| 561 | return plane.Intersects(this);
|
---|
| 562 | }
|
---|
| 563 |
|
---|
| 564 | public Vector3D Intersect(Plane3D plane) {
|
---|
| 565 | return plane.Intersect(this);
|
---|
| 566 | }
|
---|
| 567 | }
|
---|
| 568 |
|
---|
| 569 | private enum Side { Top, Left, Bottom, Right, Front, Back }
|
---|
| 570 | // A plane is given as a point and two directing vectors
|
---|
| 571 | private class Plane3D {
|
---|
| 572 | public Vector3D Point { get; private set; }
|
---|
| 573 | public Vector3D Direction1 { get; private set; }
|
---|
| 574 | public Vector3D Direction2 { get; private set; }
|
---|
| 575 | public Vector3D Normal { get; private set; }
|
---|
| 576 | private int rhs;
|
---|
| 577 |
|
---|
| 578 | public Plane3D(PackingShape bin, Side side) {
|
---|
| 579 | switch (side) {
|
---|
| 580 | case Side.Top: // ZX plane
|
---|
| 581 | Point = new Vector3D(0, bin.Height, 0);
|
---|
| 582 | Direction1 = new Vector3D(0, 0, bin.Depth);
|
---|
| 583 | Direction2 = new Vector3D(bin.Width, 0, 0);
|
---|
| 584 | break;
|
---|
| 585 | case Side.Left: // ZY plane
|
---|
| 586 | Point = new Vector3D(0, 0, 0);
|
---|
| 587 | Direction1 = new Vector3D(0, 0, bin.Depth);
|
---|
| 588 | Direction2 = new Vector3D(0, bin.Height, 0);
|
---|
| 589 | break;
|
---|
| 590 | case Side.Bottom: // XZ plane
|
---|
| 591 | Point = new Vector3D(0, 0, 0);
|
---|
| 592 | Direction1 = new Vector3D(bin.Width, 0, 0);
|
---|
| 593 | Direction2 = new Vector3D(0, 0, bin.Depth);
|
---|
| 594 | break;
|
---|
| 595 | case Side.Right: // YZ plane
|
---|
| 596 | Point = new Vector3D(bin.Width, 0, 0);
|
---|
| 597 | Direction1 = new Vector3D(0, bin.Height, 0);
|
---|
| 598 | Direction2 = new Vector3D(0, 0, bin.Depth);
|
---|
| 599 | break;
|
---|
| 600 | case Side.Front: // XY plane
|
---|
| 601 | Point = new Vector3D(0, 0, bin.Depth);
|
---|
| 602 | Direction1 = new Vector3D(bin.Width, 0, 0);
|
---|
| 603 | Direction2 = new Vector3D(0, bin.Height, 0);
|
---|
| 604 | break;
|
---|
| 605 | case Side.Back: // YX plane
|
---|
| 606 | Point = new Vector3D(0, 0, 0);
|
---|
| 607 | Direction1 = new Vector3D(0, bin.Height, 0);
|
---|
| 608 | Direction2 = new Vector3D(bin.Width, 0, 0);
|
---|
| 609 | break;
|
---|
| 610 | }
|
---|
| 611 | Normal = Direction1.Cross(Direction2);
|
---|
| 612 | rhs = 0;
|
---|
| 613 | }
|
---|
| 614 |
|
---|
| 615 | public Plane3D(PackingPosition pos, PackingItem item, Side side) {
|
---|
| 616 | // the directing vectors are chosen such that Normal always points outside the packing item
|
---|
| 617 | switch (side) {
|
---|
| 618 | case Side.Top: // ZX plane
|
---|
| 619 | Point = new Vector3D(pos.X, pos.Y + item.Height, pos.Z);
|
---|
| 620 | Direction1 = new Vector3D(0, 0, pos.Rotated ? item.Width : item.Depth);
|
---|
| 621 | Direction2 = new Vector3D(pos.Rotated ? item.Depth : item.Width, 0, 0);
|
---|
| 622 | break;
|
---|
| 623 | case Side.Left: // ZY plane
|
---|
| 624 | Point = new Vector3D(pos.X, pos.Y, pos.Z);
|
---|
| 625 | Direction1 = new Vector3D(0, 0, pos.Rotated ? item.Width : item.Depth);
|
---|
| 626 | Direction2 = new Vector3D(0, item.Height, 0);
|
---|
| 627 | break;
|
---|
| 628 | case Side.Bottom: // XZ plane
|
---|
| 629 | Point = new Vector3D(pos.X, pos.Y, pos.Z);
|
---|
| 630 | Direction1 = new Vector3D(pos.Rotated ? item.Depth : item.Width, 0, 0);
|
---|
| 631 | Direction2 = new Vector3D(0, 0, pos.Rotated ? item.Width : item.Depth);
|
---|
| 632 | break;
|
---|
| 633 | case Side.Right: // YZ plane
|
---|
| 634 | Point = new Vector3D(pos.X + (pos.Rotated ? item.Depth : item.Width), pos.Y, pos.Z);
|
---|
| 635 | Direction1 = new Vector3D(0, item.Height, 0);
|
---|
| 636 | Direction2 = new Vector3D(0, 0, pos.Rotated ? item.Width : item.Depth);
|
---|
| 637 | break;
|
---|
| 638 | case Side.Front: // XY plane
|
---|
| 639 | Point = new Vector3D(pos.X, pos.Y, pos.Z + (pos.Rotated ? item.Width : item.Depth));
|
---|
| 640 | Direction1 = new Vector3D(pos.Rotated ? item.Depth : item.Width, 0, 0);
|
---|
| 641 | Direction2 = new Vector3D(0, item.Height, 0);
|
---|
| 642 | break;
|
---|
| 643 | case Side.Back: // YX plane
|
---|
| 644 | Point = new Vector3D(pos.X, pos.Y, pos.Z);
|
---|
| 645 | Direction1 = new Vector3D(0, item.Height, 0);
|
---|
| 646 | Direction2 = new Vector3D(pos.Rotated ? item.Depth : item.Width, 0, 0);
|
---|
| 647 | break;
|
---|
| 648 | }
|
---|
| 649 | Normal = Direction1.Cross(Direction2);
|
---|
| 650 | rhs = Normal.X * Point.X + Normal.Y * Point.Y + Normal.Z * Point.Z;
|
---|
| 651 | }
|
---|
| 652 |
|
---|
| 653 | public bool IsElementOf(Vector3D vector) {
|
---|
| 654 | return Normal.X * vector.X + Normal.Y * vector.Y + Normal.Z * vector.Z == rhs;
|
---|
| 655 | }
|
---|
| 656 |
|
---|
| 657 | public bool Intersects(Line3D line) {
|
---|
| 658 | return Intersect(line) != null;
|
---|
| 659 | }
|
---|
| 660 |
|
---|
| 661 | public Vector3D Intersect(Line3D line) {
|
---|
| 662 | var denom = Normal * line.Direction;
|
---|
| 663 | if (denom == 0) {
|
---|
| 664 | // dir is perpendicular to the normal vector of the plane
|
---|
| 665 | // this means they intersect if p1 is element of the plane
|
---|
| 666 | // also the plane does not stretch infinitely, but is bound
|
---|
| 667 | // to the parallelogram spanned by the point and the two
|
---|
| 668 | // directing vectors
|
---|
| 669 | if (IsElementOf(line.Point) && IsWithinDirectionalVectors(line.Point))
|
---|
| 670 | return line.Point;
|
---|
| 671 | else return null;
|
---|
| 672 | }
|
---|
| 673 | var intersect = line.Point + ((Normal * (Point - line.Point)) / denom) * line.Direction;
|
---|
| 674 | if (IsWithinDirectionalVectors(intersect)) return intersect;
|
---|
| 675 | return null;
|
---|
| 676 | }
|
---|
| 677 |
|
---|
| 678 | public bool IsWithinDirectionalVectors(Vector3D point) {
|
---|
| 679 | return point.X >= Point.X && (point.X <= Point.X + Direction1.X || point.X <= Point.X + Direction2.X)
|
---|
| 680 | && point.Y >= Point.Y && (point.Y <= Point.Y + Direction1.Y || point.Y <= Point.Y + Direction2.Y)
|
---|
| 681 | && point.Z >= Point.Z && (point.Z <= Point.Z + Direction1.Z || point.Z <= Point.Z + Direction2.Z);
|
---|
| 682 | }
|
---|
| 683 | }
|
---|
[14162] | 684 | }
|
---|
[15230] | 685 | } |
---|