diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btConvexHull.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btConvexHull.h | 180 |
1 files changed, 86 insertions, 94 deletions
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.h b/extern/bullet2/src/LinearMath/btConvexHull.h index 69c52bc6f83..f890d75ea1d 100644 --- a/extern/bullet2/src/LinearMath/btConvexHull.h +++ b/extern/bullet2/src/LinearMath/btConvexHull.h @@ -34,106 +34,102 @@ public: mNumFaces = 0; mNumIndices = 0; } - bool mPolygons; // true if indices represents polygons, false indices are triangles - unsigned int mNumOutputVertices; // number of vertices in the output hull - btAlignedObjectArray<btVector3> m_OutputVertices; // array of vertices - unsigned int mNumFaces; // the number of faces produced - unsigned int mNumIndices; // the total number of indices - btAlignedObjectArray<unsigned int> m_Indices; // 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.. + bool mPolygons; // true if indices represents polygons, false indices are triangles + unsigned int mNumOutputVertices; // number of vertices in the output hull + btAlignedObjectArray<btVector3> m_OutputVertices; // array of vertices + unsigned int mNumFaces; // the number of faces produced + unsigned int mNumIndices; // the total number of indices + btAlignedObjectArray<unsigned int> m_Indices; // 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_DEFAULT = QF_TRIANGLES + QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons. + QF_REVERSE_ORDER = (1 << 1), // reverse order of the triangle indices. + QF_DEFAULT = QF_TRIANGLES }; - class HullDesc { public: HullDesc(void) { - mFlags = QF_DEFAULT; - mVcount = 0; - mVertices = 0; - mVertexStride = sizeof(btVector3); - mNormalEpsilon = 0.001f; - mMaxVertices = 4096; // maximum number of points to be considered for a convex hull. - mMaxFaces = 4096; + mFlags = QF_DEFAULT; + mVcount = 0; + mVertices = 0; + mVertexStride = sizeof(btVector3); + mNormalEpsilon = 0.001f; + mMaxVertices = 4096; // maximum number of points to be considered for a convex hull. + mMaxFaces = 4096; }; HullDesc(HullFlag flag, - unsigned int vcount, - const btVector3 *vertices, - unsigned int stride = sizeof(btVector3)) + unsigned int vcount, + const btVector3* vertices, + unsigned int stride = sizeof(btVector3)) { - mFlags = flag; - mVcount = vcount; - mVertices = vertices; - mVertexStride = stride; - mNormalEpsilon = btScalar(0.001); - mMaxVertices = 4096; + mFlags = flag; + mVcount = vcount; + mVertices = vertices; + mVertexStride = stride; + mNormalEpsilon = btScalar(0.001); + mMaxVertices = 4096; } bool HasHullFlag(HullFlag flag) const { - if ( mFlags & flag ) return true; + if (mFlags & flag) return true; return false; } void SetHullFlag(HullFlag flag) { - mFlags|=flag; + mFlags |= flag; } void ClearHullFlag(HullFlag flag) { - mFlags&=~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 btVector3 *mVertices; // the array of vertices. - unsigned int mVertexStride; // the stride of each vertex, in bytes. - btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on. - unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull! - unsigned int mMaxFaces; + unsigned int mFlags; // flags to use when generating the convex hull. + unsigned int mVcount; // number of vertices in the input point cloud + const btVector3* mVertices; // the array of vertices. + unsigned int mVertexStride; // the stride of each vertex, in bytes. + btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on. + unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull! + unsigned int mMaxFaces; }; enum HullError { - QE_OK, // success! - QE_FAIL // failed. + QE_OK, // success! + QE_FAIL // failed. }; class btPlane { - public: - btVector3 normal; - btScalar dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 - btPlane(const btVector3 &n,btScalar d):normal(n),dist(d){} - btPlane():normal(),dist(0){} - +public: + btVector3 normal; + btScalar dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 + btPlane(const btVector3& n, btScalar d) : normal(n), dist(d) {} + btPlane() : normal(), dist(0) {} }; - - -class ConvexH +class ConvexH { - public: +public: class HalfEdge { - public: + public: short ea; // the other half of the edge (index into edges list) unsigned char v; // the vertex at the start of this edge (index into vertices list) unsigned char p; // the facet on which this edge lies (index into facets list) - HalfEdge(){} - HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){} + HalfEdge() {} + HalfEdge(short _ea, unsigned char _v, unsigned char _p) : ea(_ea), v(_v), p(_p) {} }; ConvexH() { @@ -143,25 +139,29 @@ class ConvexH } btAlignedObjectArray<btVector3> vertices; btAlignedObjectArray<HalfEdge> edges; - btAlignedObjectArray<btPlane> facets; - ConvexH(int vertices_size,int edges_size,int facets_size); + btAlignedObjectArray<btPlane> facets; + ConvexH(int vertices_size, int edges_size, int facets_size); }; - class int4 { public: - int x,y,z,w; + int x, y, z, w; int4(){}; - int4(int _x,int _y, int _z,int _w){x=_x;y=_y;z=_z;w=_w;} - const int& operator[](int i) const {return (&x)[i];} - int& operator[](int i) {return (&x)[i];} + int4(int _x, int _y, int _z, int _w) + { + x = _x; + y = _y; + z = _z; + w = _w; + } + const int& operator[](int i) const { return (&x)[i]; } + int& operator[](int i) { return (&x)[i]; } }; class PHullResult { public: - PHullResult(void) { mVcount = 0; @@ -173,69 +173,61 @@ public: unsigned int mVcount; unsigned int mIndexCount; unsigned int mFaceCount; - btVector3* mVertices; + btVector3* mVertices; TUIntArray m_Indices; }; - - ///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method. ///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape. class HullLibrary { - btAlignedObjectArray<class btHullTriangle*> m_tris; public: - btAlignedObjectArray<int> m_vertexIndexMapping; - - 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. + 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: + bool ComputeHull(unsigned int vcount, const btVector3* vertices, PHullResult& result, unsigned int vlimit); - bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit); - - class btHullTriangle* allocateTriangle(int a,int b,int c); - void deAllocateTriangle(btHullTriangle*); - void b2bfix(btHullTriangle* s,btHullTriangle*t); + class btHullTriangle* allocateTriangle(int a, int b, int c); + void deAllocateTriangle(btHullTriangle*); + void b2bfix(btHullTriangle* s, btHullTriangle* t); - void removeb2b(btHullTriangle* s,btHullTriangle*t); + void removeb2b(btHullTriangle* s, btHullTriangle* t); - void checkit(btHullTriangle *t); + void checkit(btHullTriangle* t); btHullTriangle* extrudable(btScalar epsilon); - int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit); + int calchull(btVector3* verts, int verts_count, TUIntArray& tris_out, int& tris_count, int vlimit); - int calchullgen(btVector3 *verts,int verts_count, int vlimit); + int calchullgen(btVector3* verts, int verts_count, int vlimit); - int4 FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray<int> &allow); + int4 FindSimplex(btVector3* verts, int verts_count, btAlignedObjectArray<int>& allow); - class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice); + class ConvexH* ConvexHCrop(ConvexH& convex, const btPlane& slice); - void extrude(class btHullTriangle* t0,int v); + void extrude(class btHullTriangle* t0, int v); ConvexH* test_cube(); - //BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'. + //BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'. //After the hull is generated it give you back a set of polygon faces which index the *original* point cloud. //The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull. //The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation. - void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount); + void BringOutYourDead(const btVector3* verts, unsigned int vcount, btVector3* overts, unsigned int& ocount, unsigned int* indices, unsigned indexcount); bool CleanupVertices(unsigned int svcount, - const btVector3* svertices, - unsigned int stride, - unsigned int &vcount, // output number of vertices - btVector3* vertices, // location to store the results. - btScalar normalepsilon, - btVector3& scale); + const btVector3* svertices, + unsigned int stride, + unsigned int& vcount, // output number of vertices + btVector3* vertices, // location to store the results. + btScalar normalepsilon, + btVector3& scale); }; - -#endif //BT_CD_HULL_H - +#endif //BT_CD_HULL_H |