bullet3/Extras/ConvexDecomposition/cd_hull.h

#ifndef CD_HULL_H

#define CD_HULL_H

/*----------------------------------------------------------------------
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		be used to endorse or promote products derived from this software without specific prior written permission.

		THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
		INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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-----------------------------------------------------------------------*/

namespace ConvexDecomposition
{
class HullResult
{
public:
	HullResult(void)
	{
		mPolygons = true;
		mNumOutputVertices = 0;
		mOutputVertices = 0;
		mNumFaces = 0;
		mNumIndices = 0;
		mIndices = 0;
	}
	bool mPolygons;                   // true if indices represents polygons, false indices are triangles
	unsigned int mNumOutputVertices;  // number of vertices in the output hull
	float *mOutputVertices;           // array of vertices, 3 floats each x,y,z
	unsigned int mNumFaces;           // the number of faces produced
	unsigned int mNumIndices;         // the total number of indices
	unsigned int *mIndices;           // pointer to indices.

	// If triangles, then indices are array indexes into the vertex list.
	// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
};

enum HullFlag
{
	QF_TRIANGLES = (1 << 0),      // report results as triangles, not polygons.
	QF_REVERSE_ORDER = (1 << 1),  // reverse order of the triangle indices.
	QF_SKIN_WIDTH = (1 << 2),     // extrude hull based on this skin width
	QF_DEFAULT = 0
};

class HullDesc
{
public:
	HullDesc(void)
	{
		mFlags = QF_DEFAULT;
		mVcount = 0;
		mVertices = 0;
		mVertexStride = sizeof(float) * 3;
		mNormalEpsilon = 0.001f;
		mMaxVertices = 4096;  // maximum number of points to be considered for a convex hull.
		mMaxFaces = 4096;
		mSkinWidth = 0.01f;  // default is one centimeter
	};

	HullDesc(HullFlag flag,
			 unsigned int vcount,
			 const float *vertices,
			 unsigned int stride)
	{
		mFlags = flag;
		mVcount = vcount;
		mVertices = vertices;
		mVertexStride = stride;
		mNormalEpsilon = 0.001f;
		mMaxVertices = 4096;
		mSkinWidth = 0.01f;  // default is one centimeter
	}

	bool HasHullFlag(HullFlag flag) const
	{
		if (mFlags & flag) return true;
		return false;
	}

	void SetHullFlag(HullFlag flag)
	{
		mFlags |= flag;
	}

	void ClearHullFlag(HullFlag flag)
	{
		mFlags &= ~flag;
	}

	unsigned int mFlags;         // flags to use when generating the convex hull.
	unsigned int mVcount;        // number of vertices in the input point cloud
	const float *mVertices;      // the array of vertices.
	unsigned int mVertexStride;  // the stride of each vertex, in bytes.
	float mNormalEpsilon;        // the epsilon for removing duplicates.  This is a normalized value, if normalized bit is on.
	float mSkinWidth;
	unsigned int mMaxVertices;  // maximum number of vertices to be considered for the hull!
	unsigned int mMaxFaces;
};

enum HullError
{
	QE_OK,   // success!
	QE_FAIL  // failed.
};

class HullLibrary
{
public:
	HullError CreateConvexHull(const HullDesc &desc,  // describes the input request
							   HullResult &result);   // contains the resulst

	HullError ReleaseResult(HullResult &result);  // release memory allocated for this result, we are done with it.

private:
	void BringOutYourDead(const float *verts, unsigned int vcount, float *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount);

	bool CleanupVertices(unsigned int svcount,
						 const float *svertices,
						 unsigned int stride,
						 unsigned int &vcount,  // output number of vertices
						 float *vertices,       // location to store the results.
						 float normalepsilon,
						 float *scale);
};

}  // namespace ConvexDecomposition

#endif