libbullet-extras-dev 2.83.6+dfsg-3 / usr / include / bullet / ConvexDecomposition / cd_hull.h

#ifndef CD_HULL_H

#define CD_HULL_H

/*----------------------------------------------------------------------
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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);
};

}

#endif