libbullet-extras-dev 2.82-r2704+dfsg-2 / usr / include / bullet / ConvexDecomposition / ConvexDecomposition.h

#ifndef CONVEX_DECOMPOSITION_H

#define CONVEX_DECOMPOSITION_H

/*----------------------------------------------------------------------
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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,
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// http://codesuppository.blogspot.com
//
// mailto: jratcliff@infiniplex.net
//
// http://www.amillionpixels.us
//


#ifdef _WIN32
#include <memory.h> //memcpy
#endif
#include <string.h>
#include <stdio.h>
#include "LinearMath/btAlignedObjectArray.h"



extern unsigned int MAXDEPTH ;
extern float CONCAVE_PERCENT ;
extern float MERGE_PERCENT   ;


typedef btAlignedObjectArray< unsigned int > UintVector;



namespace ConvexDecomposition
{

	class ConvexResult
	{
	public:
		ConvexResult(void)
		{
			mHullVcount = 0;
			mHullVertices = 0;
			mHullTcount = 0;
			mHullIndices = 0;
		}

		ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices)
		{
			mHullVcount = hvcount;
			if ( mHullVcount )
			{
				mHullVertices = new float[mHullVcount*sizeof(float)*3];
				memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount );
			}
			else
			{
				mHullVertices = 0;
			}

			mHullTcount = htcount;

			if ( mHullTcount )
			{
				mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
				memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 );
			}
			else
			{
				mHullIndices = 0;
			}

		}

		ConvexResult(const ConvexResult &r)
		{
			mHullVcount = r.mHullVcount;
			if ( mHullVcount )
			{
				mHullVertices = new float[mHullVcount*sizeof(float)*3];
				memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount );
			}
			else
			{
				mHullVertices = 0;
			}
			mHullTcount = r.mHullTcount;
			if ( mHullTcount )
			{
				mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
				memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 );
			}
			else
			{
				mHullIndices = 0;
			}
		}

		~ConvexResult(void)
		{
			delete [] mHullVertices;
			delete [] mHullIndices;
		}

		// the convex hull.
		unsigned int		    mHullVcount;
		float *						  mHullVertices;
		unsigned  int       mHullTcount;
		unsigned int			 *mHullIndices;

		float               mHullVolume;		    // the volume of the convex hull.

		float               mOBBSides[3];			  // the width, height and breadth of the best fit OBB
		float               mOBBCenter[3];      // the center of the OBB
		float               mOBBOrientation[4]; // the quaternion rotation of the OBB.
		float               mOBBTransform[16];  // the 4x4 transform of the OBB.
		float               mOBBVolume;         // the volume of the OBB

		float               mSphereRadius;      // radius and center of best fit sphere
		float               mSphereCenter[3];
		float               mSphereVolume;      // volume of the best fit sphere



	};

	class ConvexDecompInterface
	{
	public:
		virtual ~ConvexDecompInterface() {};
		virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { };
		virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { };
		virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { };
		virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { };

		virtual void ConvexDecompResult(ConvexResult &result) = 0;



	};

	// just to avoid passing a zillion parameters to the method the
	// options are packed into this descriptor.
	class DecompDesc
	{
	public:
		DecompDesc(void)
		{
			mVcount = 0;
			mVertices = 0;
			mTcount   = 0;
			mIndices  = 0;
			mDepth    = 5;
			mCpercent = 5;
			mPpercent = 5;
			mMaxVertices = 32;
			mSkinWidth   = 0;
			mCallback    = 0;
		}

		// describes the input triangle.
		unsigned	int	mVcount;   // the number of vertices in the source mesh.
		const float  *mVertices; // start of the vertex position array.  Assumes a stride of 3 floats.
		unsigned int  mTcount;   // the number of triangles in the source mesh.
		unsigned int *mIndices;  // the indexed triangle list array (zero index based)

		// options
		unsigned int  mDepth;    // depth to split, a maximum of 10, generally not over 7.
		float         mCpercent; // the concavity threshold percentage.  0=20 is reasonable.
		float         mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.

		// hull output limits.
		unsigned int  mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
		float         mSkinWidth;   // a skin width to apply to the output hulls.

		ConvexDecompInterface *mCallback; // the interface to receive back the results.

	};

	// perform approximate convex decomposition on a mesh.
	unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.


	void calcConvexDecomposition(unsigned int           vcount,
		const float           *vertices,
		unsigned int           tcount,
		const unsigned int    *indices,
		ConvexDecompInterface *callback,
		float                  masterVolume,
		unsigned int           depth);


}


#endif