Bullet Collision Detection & Physics Library: btConvexHullComputer.h Source File

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btConvexHullComputer.h
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1/*
2Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
3
4This software is provided 'as-is', without any express or implied warranty.
5In no event will the authors be held liable for any damages arising from the use of this software.
6Permission is granted to anyone to use this software for any purpose,
7including commercial applications, and to alter it and redistribute it freely,
8subject to the following restrictions:
9
101. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
112. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
123. This notice may not be removed or altered from any source distribution.
13*/
14
15#ifndef BT_CONVEX_HULL_COMPUTER_H
16#define BT_CONVEX_HULL_COMPUTER_H
17
18#include "btVector3.h"
19#include "btAlignedObjectArray.h"
20
24 class btConvexHullComputer
25{
26private:
27 btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
28
29public:
30 class Edge
31 {
32 private:
33 int next;
34 int reverse;
35 int targetVertex;
36
37 friend class btConvexHullComputer;
38
39 public:
40 int getSourceVertex() const
41 {
42 return (this + reverse)->targetVertex;
43 }
44
45 int getTargetVertex() const
46 {
47 return targetVertex;
48 }
49
50 const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex
51 {
52 return this + next;
53 }
54
55 const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face
56 {
57 return (this + reverse)->getNextEdgeOfVertex();
58 }
59
60 const Edge* getReverseEdge() const
61 {
62 return this + reverse;
63 }
64 };
65
66 // Vertices of the output hull
67 btAlignedObjectArray<btVector3> vertices;
68
69 // The original vertex index in the input coords array
70 btAlignedObjectArray<int> original_vertex_index;
71
72 // Edges of the output hull
73 btAlignedObjectArray<Edge> edges;
74
75 // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
76 btAlignedObjectArray<int> faces;
77
78 /*
79 Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
80 between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
81 by that amount (each face is moved by "shrink" length units towards the center along its normal).
82 If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
83 is the minimum distance of a face to the center of the convex hull.
84
85 The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
86 that the resulting convex hull is empty.
87
88 The output convex hull can be found in the member variables "vertices", "edges", "faces".
89 */
90 btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
91 {
92 return compute(coords, false, stride, count, shrink, shrinkClamp);
93 }
94
95 // same as above, but double precision
96 btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
97 {
98 return compute(coords, true, stride, count, shrink, shrinkClamp);
99 }
100};
101
102#endif //BT_CONVEX_HULL_COMPUTER_H
btAlignedObjectArray.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btVector3.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btConvexHullComputer::Edge
Definition btConvexHullComputer.h:31
btConvexHullComputer::Edge::getReverseEdge
const Edge * getReverseEdge() const
Definition btConvexHullComputer.h:60
btConvexHullComputer::Edge::targetVertex
int targetVertex
Definition btConvexHullComputer.h:35
btConvexHullComputer::Edge::getNextEdgeOfFace
const Edge * getNextEdgeOfFace() const
Definition btConvexHullComputer.h:55
btConvexHullComputer::Edge::getSourceVertex
int getSourceVertex() const
Definition btConvexHullComputer.h:40
btConvexHullComputer::Edge::reverse
int reverse
Definition btConvexHullComputer.h:34
btConvexHullComputer::Edge::next
int next
Definition btConvexHullComputer.h:33
btConvexHullComputer::Edge::getNextEdgeOfVertex
const Edge * getNextEdgeOfVertex() const
Definition btConvexHullComputer.h:50
btConvexHullComputer::Edge::getTargetVertex
int getTargetVertex() const
Definition btConvexHullComputer.h:45
btConvexHullComputer
Convex hull implementation based on Preparata and Hong See http://code.google.com/p/bullet/issues/det...
Definition btConvexHullComputer.h:25
btConvexHullComputer::compute
btScalar compute(const void *coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
Definition btConvexHullComputer.cpp:2653
btConvexHullComputer::vertices
btAlignedObjectArray< btVector3 > vertices
Definition btConvexHullComputer.h:67
btConvexHullComputer::original_vertex_index
btAlignedObjectArray< int > original_vertex_index
Definition btConvexHullComputer.h:70
btConvexHullComputer::compute
btScalar compute(const double *coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
Definition btConvexHullComputer.h:96
btConvexHullComputer::faces
btAlignedObjectArray< int > faces
Definition btConvexHullComputer.h:76
btConvexHullComputer::compute
btScalar compute(const float *coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
Definition btConvexHullComputer.h:90
btConvexHullComputer::edges
btAlignedObjectArray< Edge > edges
Definition btConvexHullComputer.h:73