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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef CONVEX_HULL_SHAPE_H
#define CONVEX_HULL_SHAPE_H
#include "PolyhedralConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
#include <vector>
///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
///(memory is much slower then the cpu)
class ConvexHullShape : public PolyhedralConvexShape
{
std::vector<SimdPoint3> m_points;
public:
ConvexHullShape(SimdPoint3* points,int numPoints);
void AddPoint(const SimdPoint3& point)
{
m_points.push_back(point);
}
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual int GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
//debugging
virtual char* GetName()const {return "Convex";}
virtual int GetNumVertices() const;
virtual int GetNumEdges() const;
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
virtual void GetVertex(int i,SimdPoint3& vtx) const;
virtual int GetNumPlanes() const;
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
};
#endif //CONVEX_HULL_SHAPE_H
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