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<a href="bt_convex_hull_computer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"></span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">This software is provided 'as-is', without any express or implied warranty.</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">In no event will the authors be held liable for any damages arising from the use of this software.</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">Permission is granted to anyone to use this software for any purpose, </span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">including commercial applications, and to alter it and redistribute it freely, </span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">subject to the following restrictions:</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">3. This notice may not be removed or altered from any source distribution.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">*/</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#ifndef BT_CONVEX_HULL_COMPUTER_H</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#define BT_CONVEX_HULL_COMPUTER_H</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="bt_aligned_object_array_8h.html">btAlignedObjectArray.h</a>"</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="bt_vector3_8h.html">btVector3.h</a>"</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer.html"> 24</a></span> <span class="keyword">class </span><a class="code" href="classbt_convex_hull_computer.html">btConvexHullComputer</a> {</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="keyword">private</span>:</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> compute(<span class="keyword">const</span> <span class="keywordtype">void</span>* coords, <span class="keywordtype">bool</span> doubleCoords, int32_t stride, int32_t count, <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> shrink, <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> shrinkClamp);</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html"> 29</a></span>  <span class="keyword">class </span><a class="code" href="classbt_convex_hull_computer_1_1_edge.html">Edge</a> {</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  int32_t next;</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  int32_t reverse;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  int32_t targetVertex;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> </div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html#acce0ec14217db877328c5854838aca49"> 35</a></span>  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classbt_convex_hull_computer.html">btConvexHullComputer</a>;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html#a48c0eca07216d27121584defd1b7a6ff"> 38</a></span>  int32_t <a class="code" href="classbt_convex_hull_computer_1_1_edge.html#a48c0eca07216d27121584defd1b7a6ff">getSourceVertex</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">return</span> (<span class="keyword">this</span> + reverse)->targetVertex;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  }</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html#aefb558caff1972e3ad0749c77bb678ab"> 43</a></span>  int32_t <a class="code" href="classbt_convex_hull_computer_1_1_edge.html#aefb558caff1972e3ad0749c77bb678ab">getTargetVertex</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordflow">return</span> targetVertex;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  }</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html#aa35c898e94e4dc5e4adf4cf91c3898ea"> 48</a></span>  <span class="keyword">const</span> <a class="code" href="classbt_convex_hull_computer_1_1_edge.html">Edge</a>* <a class="code" href="classbt_convex_hull_computer_1_1_edge.html#aa35c898e94e4dc5e4adf4cf91c3898ea">getNextEdgeOfVertex</a>() const <span class="comment">// clockwise list of all edges of a vertex</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">return</span> <span class="keyword">this</span> + next;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html#a5c140dbc46067408b152d9b9dc603b28"> 53</a></span>  <span class="keyword">const</span> <a class="code" href="classbt_convex_hull_computer_1_1_edge.html">Edge</a>* <a class="code" href="classbt_convex_hull_computer_1_1_edge.html#a5c140dbc46067408b152d9b9dc603b28">getNextEdgeOfFace</a>() const <span class="comment">// counter-clockwise list of all edges of a face</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">return</span> (<span class="keyword">this</span> + reverse)-><a class="code" href="classbt_convex_hull_computer_1_1_edge.html#aa35c898e94e4dc5e4adf4cf91c3898ea">getNextEdgeOfVertex</a>();</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  }</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer_1_1_edge.html#a8eacf89c7ffd78a17878241ecc59062e"> 58</a></span>  <span class="keyword">const</span> <a class="code" href="classbt_convex_hull_computer_1_1_edge.html">Edge</a>* <a class="code" href="classbt_convex_hull_computer_1_1_edge.html#a8eacf89c7ffd78a17878241ecc59062e">getReverseEdge</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">return</span> <span class="keyword">this</span> + reverse;</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  };</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">// Vertices of the output hull</span></div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer.html#a44b13cded1cd7726d3f18c2f6f98c7cc"> 65</a></span>  <a class="code" href="classbt_aligned_object_array.html">btAlignedObjectArray<btVector3></a> <a class="code" href="classbt_convex_hull_computer.html#a44b13cded1cd7726d3f18c2f6f98c7cc">vertices</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// Edges of the output hull</span></div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer.html#afd8c62200e928bf2db95ee77ed9dc887"> 68</a></span>  <a class="code" href="classbt_aligned_object_array.html">btAlignedObjectArray<Edge></a> <a class="code" href="classbt_convex_hull_computer.html#afd8c62200e928bf2db95ee77ed9dc887">edges</a>;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons</span></div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer.html#a428dc0b27831ad91f018f999490bc019"> 71</a></span>  <a class="code" href="classbt_aligned_object_array.html">btAlignedObjectArray<int32_t></a> <a class="code" href="classbt_convex_hull_computer.html#a428dc0b27831ad91f018f999490bc019">faces</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="comment">/*</span></div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes</span></div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken</span></div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> by that amount (each face is moved by "shrink" length units towards the center along its normal).</span></div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"</span></div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> is the minimum distance of a face to the center of the convex hull.</span></div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"></span></div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large</span></div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> that the resulting convex hull is empty.</span></div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"></span></div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> The output convex hull can be found in the member variables "vertices", "edges", "faces".</span></div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> */</span></div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer.html#a1a41f091552e8c13655dc6709dfd10be"> 85</a></span>  <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> <a class="code" href="classbt_convex_hull_computer.html#a1a41f091552e8c13655dc6709dfd10be">compute</a>(<span class="keyword">const</span> <span class="keywordtype">float</span>* coords, int32_t stride, int32_t count, <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> shrink, <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> shrinkClamp)</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  {</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">return</span> compute(coords, <span class="keyword">false</span>, stride, count, shrink, shrinkClamp);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  }</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">// same as above, but double precision</span></div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classbt_convex_hull_computer.html#aeacd833d00ce40ce90afdd95149d7b15"> 91</a></span>  <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> <a class="code" href="classbt_convex_hull_computer.html#aeacd833d00ce40ce90afdd95149d7b15">compute</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* coords, int32_t stride, int32_t count, <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> shrink, <a class="code" href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a> shrinkClamp)</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  {</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">return</span> compute(coords, <span class="keyword">true</span>, stride, count, shrink, shrinkClamp);</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  }</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> };</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="preprocessor">#endif //BT_CONVEX_HULL_COMPUTER_H</span></div><div class="ttc" id="classbt_convex_hull_computer_html_afd8c62200e928bf2db95ee77ed9dc887"><div class="ttname"><a href="classbt_convex_hull_computer.html#afd8c62200e928bf2db95ee77ed9dc887">btConvexHullComputer::edges</a></div><div class="ttdeci">btAlignedObjectArray< Edge > edges</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:68</div></div>
<div class="ttc" id="classbt_convex_hull_computer_1_1_edge_html"><div class="ttname"><a href="classbt_convex_hull_computer_1_1_edge.html">btConvexHullComputer::Edge</a></div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:29</div></div>
<div class="ttc" id="classbt_aligned_object_array_html"><div class="ttname"><a href="classbt_aligned_object_array.html">btAlignedObjectArray< btVector3 ></a></div></div>
<div class="ttc" id="classbt_convex_hull_computer_html"><div class="ttname"><a href="classbt_convex_hull_computer.html">btConvexHullComputer</a></div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:24</div></div>
<div class="ttc" id="bt_vector3_8h_html"><div class="ttname"><a href="bt_vector3_8h.html">btVector3.h</a></div></div>
<div class="ttc" id="classbt_convex_hull_computer_html_a44b13cded1cd7726d3f18c2f6f98c7cc"><div class="ttname"><a href="classbt_convex_hull_computer.html#a44b13cded1cd7726d3f18c2f6f98c7cc">btConvexHullComputer::vertices</a></div><div class="ttdeci">btAlignedObjectArray< btVector3 > vertices</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:65</div></div>
<div class="ttc" id="classbt_convex_hull_computer_1_1_edge_html_a5c140dbc46067408b152d9b9dc603b28"><div class="ttname"><a href="classbt_convex_hull_computer_1_1_edge.html#a5c140dbc46067408b152d9b9dc603b28">btConvexHullComputer::Edge::getNextEdgeOfFace</a></div><div class="ttdeci">const Edge * getNextEdgeOfFace() const</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:53</div></div>
<div class="ttc" id="classbt_convex_hull_computer_1_1_edge_html_a8eacf89c7ffd78a17878241ecc59062e"><div class="ttname"><a href="classbt_convex_hull_computer_1_1_edge.html#a8eacf89c7ffd78a17878241ecc59062e">btConvexHullComputer::Edge::getReverseEdge</a></div><div class="ttdeci">const Edge * getReverseEdge() const</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:58</div></div>
<div class="ttc" id="bt_scalar_8h_html_a1e5824cfc8adbf5a77f2622132d16018"><div class="ttname"><a href="bt_scalar_8h.html#a1e5824cfc8adbf5a77f2622132d16018">btScalar</a></div><div class="ttdeci">float btScalar</div><div class="ttdoc">The btScalar type abstracts floating point numbers, to easily switch between double and single floati...</div><div class="ttdef"><b>Definition:</b> btScalar.h:208</div></div>
<div class="ttc" id="classbt_convex_hull_computer_html_a428dc0b27831ad91f018f999490bc019"><div class="ttname"><a href="classbt_convex_hull_computer.html#a428dc0b27831ad91f018f999490bc019">btConvexHullComputer::faces</a></div><div class="ttdeci">btAlignedObjectArray< int32_t > faces</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:71</div></div>
<div class="ttc" id="classbt_convex_hull_computer_1_1_edge_html_aefb558caff1972e3ad0749c77bb678ab"><div class="ttname"><a href="classbt_convex_hull_computer_1_1_edge.html#aefb558caff1972e3ad0749c77bb678ab">btConvexHullComputer::Edge::getTargetVertex</a></div><div class="ttdeci">int32_t getTargetVertex() const</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:43</div></div>
<div class="ttc" id="classbt_convex_hull_computer_1_1_edge_html_aa35c898e94e4dc5e4adf4cf91c3898ea"><div class="ttname"><a href="classbt_convex_hull_computer_1_1_edge.html#aa35c898e94e4dc5e4adf4cf91c3898ea">btConvexHullComputer::Edge::getNextEdgeOfVertex</a></div><div class="ttdeci">const Edge * getNextEdgeOfVertex() const</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:48</div></div>
<div class="ttc" id="classbt_convex_hull_computer_html_a1a41f091552e8c13655dc6709dfd10be"><div class="ttname"><a href="classbt_convex_hull_computer.html#a1a41f091552e8c13655dc6709dfd10be">btConvexHullComputer::compute</a></div><div class="ttdeci">btScalar compute(const float *coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp)</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:85</div></div>
<div class="ttc" id="bt_aligned_object_array_8h_html"><div class="ttname"><a href="bt_aligned_object_array_8h.html">btAlignedObjectArray.h</a></div></div>
<div class="ttc" id="classbt_convex_hull_computer_html_aeacd833d00ce40ce90afdd95149d7b15"><div class="ttname"><a href="classbt_convex_hull_computer.html#aeacd833d00ce40ce90afdd95149d7b15">btConvexHullComputer::compute</a></div><div class="ttdeci">btScalar compute(const double *coords, int32_t stride, int32_t count, btScalar shrink, btScalar shrinkClamp)</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:91</div></div>
<div class="ttc" id="classbt_convex_hull_computer_1_1_edge_html_a48c0eca07216d27121584defd1b7a6ff"><div class="ttname"><a href="classbt_convex_hull_computer_1_1_edge.html#a48c0eca07216d27121584defd1b7a6ff">btConvexHullComputer::Edge::getSourceVertex</a></div><div class="ttdeci">int32_t getSourceVertex() const</div><div class="ttdef"><b>Definition:</b> btConvexHullComputer.h:38</div></div>
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