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path: root/thirdparty/bullet/LinearMath/btConvexHull.h
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-rw-r--r--thirdparty/bullet/LinearMath/btConvexHull.h180
1 files changed, 86 insertions, 94 deletions
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.h b/thirdparty/bullet/LinearMath/btConvexHull.h
index 69c52bc6f8..f890d75ea1 100644
--- a/thirdparty/bullet/LinearMath/btConvexHull.h
+++ b/thirdparty/bullet/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
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-03 08:12:46 +0000