137 lines
4.9 KiB
C++
137 lines
4.9 KiB
C++
/* Copyright (c) <2003-2019> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef __DG_CONVEXHULL_3D__
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#define __DG_CONVEXHULL_3D__
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#include "dgStdafx.h"
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#include "dgList.h"
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#include "dgArray.h"
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#include "dgPlane.h"
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#include "dgVector.h"
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#include "dgMatrix.h"
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#include "dgQuaternion.h"
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#define DG_OLD_CONVEXHULL_3D
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class dgMemoryAllocator;
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class dgConvexHull3DVertex;
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class dgConvexHull3dAABBTreeNode;
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class dgConvexHull3DFace
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{
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public:
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dgConvexHull3DFace();
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void SetMark(dgInt32 mark) {m_mark = mark;}
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dgInt32 GetMark() const {return m_mark;}
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dgList<dgConvexHull3DFace>::dgListNode* GetTwin(dgInt32 index) const { return m_twin[index];}
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private:
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dgFloat64 Evalue (const dgBigVector* const pointArray, const dgBigVector& point) const;
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dgBigPlane GetPlaneEquation (const dgBigVector* const pointArray) const;
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public:
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dgInt32 m_index[3];
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private:
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dgInt32 m_mark;
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dgList<dgConvexHull3DFace>::dgListNode* m_twin[3];
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friend class dgConvexHull3d;
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};
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class dgConvexHull3d: public dgList<dgConvexHull3DFace>
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{
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#ifdef DG_OLD_CONVEXHULL_3D
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class dgNormalMap;
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#endif
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public:
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dgConvexHull3d(const dgConvexHull3d& source);
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dgConvexHull3d(dgMemoryAllocator* const allocator, const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount = 0x7fffffff);
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virtual ~dgConvexHull3d();
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dgInt32 GetVertexCount() const;
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const dgBigVector* GetVertexPool() const;
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const dgBigVector& GetVertex(dgInt32 i) const;
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dgFloat64 GetDiagonal() const;
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void GetAABB (dgBigVector& boxP0, dgBigVector& boxP1) const;
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dgFloat64 RayCast (const dgBigVector& localP0, const dgBigVector& localP1) const;
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void CalculateVolumeAndSurfaceArea (dgFloat64& volume, dgFloat64& surcafeArea) const;
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protected:
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dgConvexHull3d(dgMemoryAllocator* const allocator);
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void BuildHull (const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount);
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virtual dgListNode* AddFace (dgInt32 i0, dgInt32 i1, dgInt32 i2);
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virtual void DeleteFace (dgListNode* const node) ;
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virtual dgInt32 InitVertexArray(dgConvexHull3DVertex* const points, const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, void* const memoryPool, dgInt32 maxMemSize);
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bool CheckFlatSurface(dgConvexHull3dAABBTreeNode* vertexTree, dgConvexHull3DVertex* const points, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount);
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void CalculateConvexHull2d (dgConvexHull3dAABBTreeNode* vertexTree, dgConvexHull3DVertex* const points, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount);
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void CalculateConvexHull3d (dgConvexHull3dAABBTreeNode* vertexTree, dgConvexHull3DVertex* const points, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount);
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dgInt32 SupportVertex (dgConvexHull3dAABBTreeNode** const tree, const dgConvexHull3DVertex* const points, const dgBigVector& dir, const bool removeEntry = true) const;
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dgFloat64 TetrahedrumVolume (const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& p2, const dgBigVector& p3) const;
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dgInt32 GetUniquePoints(dgConvexHull3DVertex* const points, const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, void* const memoryPool, dgInt32 maxMemSize);
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dgConvexHull3dAABBTreeNode* BuildTree (dgConvexHull3dAABBTreeNode* const parent, dgConvexHull3DVertex* const points, dgInt32 count, dgInt32 baseIndex, dgInt8** const memoryPool, dgInt32& maxMemSize) const;
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static dgInt32 ConvexCompareVertex(const dgConvexHull3DVertex* const A, const dgConvexHull3DVertex* const B, void* const context);
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bool Sanity() const;
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void Save (const char* const filename) const;
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dgInt32 m_count;
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dgFloat64 m_diag;
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dgBigVector m_aabbP0;
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dgBigVector m_aabbP1;
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dgArray<dgBigVector> m_points;
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};
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inline dgInt32 dgConvexHull3d::GetVertexCount() const
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{
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return m_count;
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}
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inline const dgBigVector* dgConvexHull3d::GetVertexPool() const
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{
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return &m_points[0];
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}
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inline const dgBigVector& dgConvexHull3d::GetVertex(dgInt32 index) const
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{
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return m_points[index];
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}
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inline dgFloat64 dgConvexHull3d::GetDiagonal() const
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{
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return m_diag;
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}
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inline void dgConvexHull3d::GetAABB (dgBigVector& boxP0, dgBigVector& boxP1) const
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{
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boxP0 = m_aabbP0;
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boxP1 = m_aabbP1;
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}
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#endif
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