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Diffstat (limited to 'tests/bullet/Extras/ConvexDecomposition/cd_hull.h')
-rw-r--r-- | tests/bullet/Extras/ConvexDecomposition/cd_hull.h | 153 |
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 + |