Simple C# collision examples based on cpp examples (#5564)

* simple collision examples based on cpp examples

* replacing submodules

* doxygen files edited

Author: nsmela

doxygen/examples/Collision.dox

@@ -14,6 +14,9 @@ Following code presents example of finding collision triangles of two meshes
 - <b class="tab-title">C</b>
 \include Collision.dox.c
 
+- <b class="tab-title">C#</b>
+\include Collision.dox.cs
+
 </div>
 
  */

doxygen/examples/CollisionPrecise.dox

@@ -14,6 +14,9 @@ Following code presents example of finding preceise collision triangles and edge
 - <b class="tab-title">C</b>
 \include CollisionPrecise.dox.c
 
+- <b class="tab-title">C#</b>
+\include CollisionPrecise.dox.cs
+
 </div>
 
  */

doxygen/examples/CollisionSelf.dox

@@ -14,6 +14,9 @@ Following code presents example of finding self-intersecting triangles of single
 - <b class="tab-title">C</b>
 \include CollisionSelf.dox.c
 
+- <b class="tab-title">C#</b>
+\include CollisionSelf.dox.cs
+
 </div>
 
  */

examples/c-sharp-examples/Collision.dox.cs

@@ -0,0 +1,32 @@
+using static MR;
+
+public class Collision {
+
+    public static void Run(string[] args) {
+
+        var meshA = MR.MakeUVSphere();
+        var meshB = MR.MakeUVSphere();
+
+        meshB.Transform(MR.AffineXf3f.Translation(new MR.Vector3f(0.1f, 0.1f, 0.1f)));
+
+        var meshPartA = new MeshPart(meshA);
+        var meshPartB = new MeshPart(meshB);
+
+        Console.WriteLine(" --- Beginning Colliding Test! --- ");
+        var collidingFacePairs = MR.FindCollidingTriangles(meshPartA, meshPartB);
+
+        for (ulong i = 0; i < collidingFacePairs.Size(); i++) {
+            var pair = collidingFacePairs.At(i);
+            Console.WriteLine($"FaceA: {pair.AFace.Id} FaceB: {pair.BFace.Id}");
+        }
+
+        var collidingFaceBitSet = MR.FindCollidingTriangleBitsets(meshPartA, meshPartB);
+        var bitSet = collidingFaceBitSet.First();
+        Console.WriteLine($"Colliding faces on MeshA: {bitSet.Count()}");
+        bitSet = collidingFaceBitSet.Second();
+        Console.WriteLine($"Colliding faces on MeshB: {bitSet.Count()}");
+
+        var isColliding = !MR.FindCollidingTriangles(meshPartA, meshPartB, null, true).IsEmpty();
+        Console.WriteLine($"Meshes are colliding: {isColliding}\n");
+    }
+}

examples/c-sharp-examples/CollisionPrecise.dox.cs

@@ -0,0 +1,39 @@
+using static MR;
+
+public class CollisionPrecise {
+
+    public static void Run(string[] args) {
+        var meshA = MR.MakeUVSphere();
+        var meshB = MR.MakeUVSphere();
+
+        meshB.Transform(MR.AffineXf3f.Translation(new MR.Vector3f(0.1f, 0.1f, 0.1f)));
+
+        var meshPartA = new MeshPart(meshA);
+        var meshPartB = new MeshPart(meshB);
+
+        Console.WriteLine(" --- Beginning Colliding Precise Test! --- ");
+        var converters = MR.GetVectorConverters(meshPartA, meshPartB).ToInt;
+        var collidingFaceEdges = MR.FindCollidingEdgeTrisPrecise(meshPartA, meshPartB, converters);
+
+        for (ulong i = 0; i < collidingFaceEdges.Size(); i++) {
+            var vet = collidingFaceEdges.At(i);
+            var text = vet.IsEdgeATriB()
+                ? $"edgeA: {vet.Edge.Id}, triB: {vet.Tri().Id}"
+                : $"triA: {vet.Tri().Id}, edgeB: {vet.Edge.Id}";
+
+            Console.WriteLine(text);
+        }
+
+        var collidingFaceBitSet = MR.FindCollidingTriangleBitsets(meshPartA, meshPartB);
+        var bitSet = collidingFaceBitSet.First();
+        Console.WriteLine($"Colliding faces on MeshA: {bitSet.Count()}");
+        bitSet = collidingFaceBitSet.Second();
+        Console.WriteLine($"Colliding faces on MeshB: {bitSet.Count()}");
+
+        var isColliding = !MR.FindCollidingTriangles(meshPartA, meshPartB, null, true).IsEmpty();
+        Console.WriteLine($"Is Colliding: {isColliding}\n");
+
+    }
+
+}
+

examples/c-sharp-examples/CollisionSelf.dox.cs

@@ -0,0 +1,34 @@
+using static MR;
+
+public class CollisionSelf {
+
+    public static void Run(string[] args) {
+        var mesh = new MeshPart(MR.MakeTorusWithSelfIntersections());
+
+        Console.WriteLine(" --- Beginning Colliding Self Test! --- ");
+        var selfCollidingPairs = MR.FindSelfCollidingTriangles(mesh);
+        if (selfCollidingPairs.IsEmpty()) {
+            Console.WriteLine("Error with MR.FindSelfCollidingTriangles");
+            return;
+        }
+
+        FaceFace pair; // more efficient to declare outside loop
+        for (ulong i = 0; i < selfCollidingPairs.Size(); i++) {
+            pair = selfCollidingPairs.At(i);
+            Console.WriteLine($"FaceA: {pair.AFace.Id} FaceB: {pair.BFace.Id}"); // print each pair
+        }
+
+        var selfCollidingBitSet = MR.FindSelfCollidingTrianglesBS(mesh);
+        if (!selfCollidingBitSet.Any()) {
+            Console.WriteLine("Error with MR.FindSelfCollidingTrianglesBS");
+            return;
+        }
+
+        Console.WriteLine($"{selfCollidingBitSet.Count()} faces self-intersecting");
+
+        var isSelfColliding = !MR.FindSelfCollidingTriangles(mesh).IsEmpty();
+        Console.WriteLine($"Is self colliding: {isSelfColliding}");
+    }
+
+}
+