aboutsummaryrefslogtreecommitdiff
path: root/tests/bullet/Extras/ConvexDecomposition/cd_hull.h
diff options
context:
space:
mode:
Diffstat (limited to 'tests/bullet/Extras/ConvexDecomposition/cd_hull.h')
-rw-r--r--tests/bullet/Extras/ConvexDecomposition/cd_hull.h153
1 files changed, 153 insertions, 0 deletions
diff --git a/tests/bullet/Extras/ConvexDecomposition/cd_hull.h b/tests/bullet/Extras/ConvexDecomposition/cd_hull.h
new file mode 100644
index 00000000..420e241b
--- /dev/null
+++ b/tests/bullet/Extras/ConvexDecomposition/cd_hull.h
@@ -0,0 +1,153 @@
+#ifndef CD_HULL_H
+
+#define CD_HULL_H
+
+/*----------------------------------------------------------------------
+ Copyright (c) 2004 Open Dynamics Framework Group
+ www.physicstools.org
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided
+ that the following conditions are met:
+
+ Redistributions of source code must retain the above copyright notice, this list of conditions
+ and the following disclaimer.
+
+ Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+ Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+ 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
+ DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+ IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-----------------------------------------------------------------------*/
+
+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
+