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#ifndef NV_STAN_HULL_H
#define NV_STAN_HULL_H
/*
NvStanHull.h : A convex hull generator written by Stan Melax
*/
/*!
**
** Copyright (c) 2009 by John W. Ratcliff mailto:jratcliffscarab@gmail.com
**
** Portions of this source has been released with the PhysXViewer application, as well as
** Rocket, CreateDynamics, ODF, and as a number of sample code snippets.
**
** If you find this code useful or you are feeling particularily generous I would
** ask that you please go to http://www.amillionpixels.us and make a donation
** to Troy DeMolay.
**
** DeMolay is a youth group for young men between the ages of 12 and 21.
** It teaches strong moral principles, as well as leadership skills and
** public speaking. The donations page uses the 'pay for pixels' paradigm
** where, in this case, a pixel is only a single penny. Donations can be
** made for as small as $4 or as high as a $100 block. Each person who donates
** will get a link to their own site as well as acknowledgement on the
** donations blog located here http://www.amillionpixels.blogspot.com/
**
** If you wish to contact me you can use the following methods:
**
** Skype ID: jratcliff63367
** Yahoo: jratcliff63367
** AOL: jratcliff1961
** email: jratcliffscarab@gmail.com
**
**
** The MIT license:
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is furnished
** to do so, subject to the following conditions:
**
** The above copyright notice and this permission notice shall be included in all
** copies or substantial portions of the Software.
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "NvUserMemAlloc.h"
namespace CONVEX_DECOMPOSITION
{
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
NxU32 mNumOutputVertices; // number of vertices in the output hull
NxF32 *mOutputVertices; // array of vertices, 3 floats each x,y,z
NxU32 mNumFaces; // the number of faces produced
NxU32 mNumIndices; // the total number of indices
NxU32 *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 = (QF_TRIANGLES | QF_SKIN_WIDTH)
};
class HullDesc
{
public:
HullDesc(void)
{
mFlags = QF_DEFAULT;
mVcount = 0;
mVertices = 0;
mVertexStride = 0;
mNormalEpsilon = 0.001f;
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mSkinWidth = 0.01f; // default is one centimeter
};
HullDesc(HullFlag flag,
NxU32 vcount,
const NxF32 *vertices,
NxU32 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;
}
NxU32 mFlags; // flags to use when generating the convex hull.
NxU32 mVcount; // number of vertices in the input point cloud
const NxF32 *mVertices; // the array of vertices.
NxU32 mVertexStride; // the stride of each vertex, in bytes.
NxF32 mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
NxF32 mSkinWidth;
NxU32 mMaxVertices; // maximum number of vertices to be considered for the hull!
};
enum HullError
{
QE_OK, // success!
QE_FAIL, // failed.
QE_NOT_READY,
};
// This class is used when converting a convex hull into a triangle mesh.
class ConvexHullVertex
{
public:
NxF32 mPos[3];
NxF32 mNormal[3];
NxF32 mTexel[2];
};
// A virtual interface to receive the triangles from the convex hull.
class ConvexHullTriangleInterface
{
public:
virtual void ConvexHullTriangle(const ConvexHullVertex &v1,const ConvexHullVertex &v2,const ConvexHullVertex &v3) = 0;
};
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.
HullError CreateTriangleMesh(HullResult &answer,ConvexHullTriangleInterface *iface);
private:
NxF32 ComputeNormal(NxF32 *n,const NxF32 *A,const NxF32 *B,const NxF32 *C);
void AddConvexTriangle(ConvexHullTriangleInterface *callback,const NxF32 *p1,const NxF32 *p2,const NxF32 *p3);
void BringOutYourDead(const NxF32 *verts,NxU32 vcount, NxF32 *overts,NxU32 &ocount,NxU32 *indices,NxU32 indexcount);
bool CleanupVertices(NxU32 svcount,
const NxF32 *svertices,
NxU32 stride,
NxU32 &vcount, // output number of vertices
NxF32 *vertices, // location to store the results.
NxF32 normalepsilon,
NxF32 *scale);
};
}; // end of namespace
#endif