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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 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.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef __DG_CONVEXHULL_3D__
#define __DG_CONVEXHULL_3D__
#include "dgTypes.h"
#include "dgList.h"
#include "dgArray.h"
#include "dgPlane.h"
#include "dgVector.h"
#include "dgMatrix.h"
#include "dgQuaternion.h"
class dgAABBPointTree3d;
class dgConvexHull3DFace
{
public:
dgConvexHull3DFace();
int32_t m_index[3];
void SetMark(int32_t mark)
{
m_mark = mark;
}
int32_t GetMark() const
{
return m_mark;
}
dgList<dgConvexHull3DFace>::dgListNode* GetTwin(int32_t index) const { return m_twin[index];}
private:
double Evalue (const dgBigVector* const pointArray, const dgBigVector& point) const;
dgBigPlane GetPlaneEquation (const dgBigVector* const pointArray) const;
int32_t m_mark;
dgList<dgConvexHull3DFace>::dgListNode* m_twin[3];
friend class dgConvexHull3d;
};
class dgHullVertex;
class dgConvexHull3d: public dgList<dgConvexHull3DFace>, public UANS::UserAllocated
{
public:
dgConvexHull3d(const dgConvexHull3d& source);
dgConvexHull3d(const double* const vertexCloud, int32_t strideInBytes, int32_t count, double distTol, int32_t maxVertexCount = 0x7fffffff);
virtual ~dgConvexHull3d();
int32_t GetVertexCount() const;
const dgBigVector* GetVertexPool() const;
const dgBigVector& GetVertex(int32_t i) const;
double GetDiagonal() const;
void GetAABB (dgBigVector& boxP0, dgBigVector& boxP1) const;
double RayCast (const dgBigVector& localP0, const dgBigVector& localP1) const;
void CalculateVolumeAndSurfaceArea (double& volume, double& surcafeArea) const;
protected:
dgConvexHull3d(void);
void BuildHull (const double* const vertexCloud, int32_t strideInBytes, int32_t count, double distTol, int32_t maxVertexCount);
virtual dgListNode* AddFace (int32_t i0, int32_t i1, int32_t i2);
virtual void DeleteFace (dgListNode* const node) ;
virtual int32_t InitVertexArray(dgHullVertex* const points, const double* const vertexCloud, int32_t strideInBytes, int32_t count, void* const memoryPool, int32_t maxMemSize);
void CalculateConvexHull (dgAABBPointTree3d* vertexTree, dgHullVertex* const points, int32_t count, double distTol, int32_t maxVertexCount);
int32_t BuildNormalList (dgBigVector* const normalArray) const;
int32_t SupportVertex (dgAABBPointTree3d** const tree, const dgHullVertex* const points, const dgBigVector& dir) const;
double TetrahedrumVolume (const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& p2, const dgBigVector& p3) const;
void TessellateTriangle (int32_t level, const dgVector& p0, const dgVector& p1, const dgVector& p2, int32_t& count, dgBigVector* const ouput, int32_t& start) const;
dgAABBPointTree3d* BuildTree (dgAABBPointTree3d* const parent, dgHullVertex* const points, int32_t count, int32_t baseIndex, int8_t** const memoryPool, int32_t& maxMemSize) const;
static int32_t ConvexCompareVertex(const dgHullVertex* const A, const dgHullVertex* const B, void* const context);
bool Sanity() const;
int32_t m_count;
double m_diag;
dgBigVector m_aabbP0;
dgBigVector m_aabbP1;
dgArray<dgBigVector> m_points;
};
inline int32_t dgConvexHull3d::GetVertexCount() const
{
return m_count;
}
inline const dgBigVector* dgConvexHull3d::GetVertexPool() const
{
return &m_points[0];
}
inline const dgBigVector& dgConvexHull3d::GetVertex(int32_t index) const
{
return m_points[index];
}
inline double dgConvexHull3d::GetDiagonal() const
{
return m_diag;
}
inline void dgConvexHull3d::GetAABB (dgBigVector& boxP0, dgBigVector& boxP1) const
{
boxP0 = m_aabbP0;
boxP1 = m_aabbP1;
}
#endif
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