static void Statistics (dgSphere &sphere, dgVector &eigenValues, dgVector &scaleVector, const hacd::HaF32 vertex[], hacd::HaI32 vertexCount, hacd::HaI32 stride)
{
dgBigVector var (hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f));
dgBigVector cov (hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f));
dgBigVector massCenter (hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f));
const hacd::HaF32* ptr = vertex;
for (hacd::HaI32 i = 0; i < vertexCount; i ++) {
hacd::HaF32 x = ptr[0] * scaleVector.m_x;
hacd::HaF32 y = ptr[1] * scaleVector.m_y;
hacd::HaF32 z = ptr[2] * scaleVector.m_z;
ptr += stride;
massCenter += dgBigVector (x, y, z, hacd::HaF32 (0.0f));
var += dgBigVector (x * x, y * y, z * z, hacd::HaF32 (0.0f));
cov += dgBigVector (x * y, x * z, y * z, hacd::HaF32 (0.0f));
}
hacd::HaF64 k = hacd::HaF64 (1.0) / vertexCount;
var = var.Scale (k);
cov = cov.Scale (k);
massCenter = massCenter.Scale (k);
hacd::HaF64 Ixx = var.m_x - massCenter.m_x * massCenter.m_x;
hacd::HaF64 Iyy = var.m_y - massCenter.m_y * massCenter.m_y;
hacd::HaF64 Izz = var.m_z - massCenter.m_z * massCenter.m_z;
hacd::HaF64 Ixy = cov.m_x - massCenter.m_x * massCenter.m_y;
hacd::HaF64 Ixz = cov.m_y - massCenter.m_x * massCenter.m_z;
hacd::HaF64 Iyz = cov.m_z - massCenter.m_y * massCenter.m_z;
sphere.m_front = dgVector (hacd::HaF32(Ixx), hacd::HaF32(Ixy), hacd::HaF32(Ixz), hacd::HaF32 (0.0f));
sphere.m_up = dgVector (hacd::HaF32(Ixy), hacd::HaF32(Iyy), hacd::HaF32(Iyz), hacd::HaF32 (0.0f));
sphere.m_right = dgVector (hacd::HaF32(Ixz), hacd::HaF32(Iyz), hacd::HaF32(Izz), hacd::HaF32 (0.0f));
sphere.EigenVectors (eigenValues);
}
dgConvexHull3d::dgConvexHull3d(const double* const vertexCloud, int32_t strideInBytes, int32_t count, double distTol, int32_t maxVertexCount)
:m_count (0)
,m_diag()
,m_aabbP0 (dgBigVector (double (0.0), double (0.0), double (0.0), double (0.0)))
,m_aabbP1 (dgBigVector (double (0.0), double (0.0), double (0.0), double (0.0)))
,m_points(count)
{
BuildHull (vertexCloud, strideInBytes, count, distTol, maxVertexCount);
}
dgConvexHull3d::dgConvexHull3d ()
:dgList<dgConvexHull3DFace>()
,m_count (0)
,m_diag()
,m_aabbP0(dgBigVector (double (0.0), double (0.0), double (0.0), double (0.0)))
,m_aabbP1(dgBigVector (double (0.0), double (0.0), double (0.0), double (0.0)))
,m_points(1024)
{
}
static void Statistics (
dgSphere &sphere,
dgVector &eigenValues,
dgVector &scaleVector,
const dgFloat32 vertex[],
dgInt32 vertexCount,
dgInt32 stride)
{
dgInt32 i;
const dgFloat32 *ptr;
dgFloat32 x;
dgFloat32 z;
dgFloat32 y;
dgFloat64 k;
dgFloat64 Ixx;
dgFloat64 Iyy;
dgFloat64 Izz;
dgFloat64 Ixy;
dgFloat64 Ixz;
dgFloat64 Iyz;
dgBigVector var (0.0f, 0.0f, 0.0f, 0.0f);
dgBigVector cov (0.0f, 0.0f, 0.0f, 0.0f);
dgBigVector massCenter (0.0f, 0.0f, 0.0f, 0.0f);
ptr = vertex;
for (i = 0; i < vertexCount; i ++) {
x = ptr[0] * scaleVector.m_x;
y = ptr[1] * scaleVector.m_y;
z = ptr[2] * scaleVector.m_z;
ptr += stride;
massCenter += dgBigVector (x, y, z, 0.0f);
var += dgBigVector (x * x, y * y, z * z, 0.0f);
cov += dgBigVector (x * y, x * z, y * z, 0.0f);
}
k = 1.0 / vertexCount;
var = var.Scale (k);
cov = cov.Scale (k);
massCenter = massCenter.Scale (k);
Ixx = var.m_x - massCenter.m_x * massCenter.m_x;
Iyy = var.m_y - massCenter.m_y * massCenter.m_y;
Izz = var.m_z - massCenter.m_z * massCenter.m_z;
Ixy = cov.m_x - massCenter.m_x * massCenter.m_y;
Ixz = cov.m_y - massCenter.m_x * massCenter.m_z;
Iyz = cov.m_z - massCenter.m_y * massCenter.m_z;
sphere.m_front = dgVector (dgFloat32(Ixx), dgFloat32(Ixy), dgFloat32(Ixz), dgFloat32 (0.0f));
sphere.m_up = dgVector (dgFloat32(Ixy), dgFloat32(Iyy), dgFloat32(Iyz), dgFloat32 (0.0f));
sphere.m_right = dgVector (dgFloat32(Ixz), dgFloat32(Iyz), dgFloat32(Izz), dgFloat32 (0.0f));
sphere.EigenVectors (eigenValues);
}
dgBigVector LineTriangleIntersection (const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& A, const dgBigVector& B, const dgBigVector& C)
{
dgHugeVector ph0 (p0);
dgHugeVector ph1 (p1);
dgHugeVector Ah (A);
dgHugeVector Bh (B);
dgHugeVector Ch (C);
dgHugeVector p1p0 (ph1 - ph0);
dgHugeVector Ap0 (Ah - ph0);
dgHugeVector Bp0 (Bh - ph0);
dgHugeVector Cp0 (Ch - ph0);
dgGoogol t0 ((Bp0 * Cp0) % p1p0);
//hacd::HaF64 val0 = t0.GetAproximateValue();
//if (val0 < hacd::HaF64 (0.0f)) {
if (hacd::HaF64(t0) < hacd::HaF64(0.0f)) {
return dgBigVector (hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (-1.0f));
}
dgGoogol t1 ((Cp0 * Ap0) % p1p0);
// hacd::HaF64 val1 = t1.GetAproximateValue();
// if (val1 < hacd::HaF64 (0.0f)) {
if (hacd::HaF64 (t1) < hacd::HaF64 (0.0f)) {
return dgBigVector (hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (-1.0f));
}
dgGoogol t2 ((Ap0 * Bp0) % p1p0);
//hacd::HaF64 val2 = t2.GetAproximateValue();
//if (val2 < hacd::HaF64 (0.0f)) {
if (hacd::HaF64 (t2) < hacd::HaF64 (0.0f)) {
return dgBigVector (hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (0.0f), hacd::HaF32 (-1.0f));
}
dgGoogol sum = t0 + t1 + t2;
//hacd::HaF64 den = sum.GetAproximateValue();
#ifdef _DEBUG
//dgBigVector testpoint (A.Scale (val0 / den) + B.Scale (val1 / den) + C.Scale(val2 / den));
dgBigVector testpoint (A.Scale (t0 / sum) + B.Scale (t1 / sum) + C.Scale(t2 / sum));
hacd::HaF64 volume = ((B - A) * (C - A)) % (testpoint - A);
HACD_ASSERT (fabs (volume) < hacd::HaF64 (1.0e-12f));
#endif
// return dgBigVector (val0 / den, val1 / den, val2 / den, hacd::HaF32 (0.0f));
return dgBigVector (t0 / sum, t1 / sum, t2 / sum, hacd::HaF32 (0.0f));
}
dgBigVector LineTriangleIntersection (const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& A, const dgBigVector& B, const dgBigVector& C)
{
dgHugeVector ph0 (p0);
dgHugeVector ph1 (p1);
dgHugeVector Ah (A);
dgHugeVector Bh (B);
dgHugeVector Ch (C);
dgHugeVector p1p0 (ph1 - ph0);
dgHugeVector Ap0 (Ah - ph0);
dgHugeVector Bp0 (Bh - ph0);
dgHugeVector Cp0 (Ch - ph0);
dgGoogol t0 ((Bp0 * Cp0) % p1p0);
dgFloat64 val0 = t0.GetAproximateValue();
if (val0 < dgFloat64 (0.0f)) {
return dgBigVector (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (-1.0f));
}
dgGoogol t1 ((Cp0 * Ap0) % p1p0);
dgFloat64 val1 = t1.GetAproximateValue();
if (val1 < dgFloat64 (0.0f)) {
return dgBigVector (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (-1.0f));
}
dgGoogol t2 ((Ap0 * Bp0) % p1p0);
dgFloat64 val2 = t2.GetAproximateValue();
if (val2 < dgFloat64 (0.0f)) {
return dgBigVector (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (-1.0f));
}
dgGoogol sum = t0 + t1 + t2;
dgFloat64 den = sum.GetAproximateValue();
#ifdef _DEBUG
dgBigVector testpoint (A.Scale (val0 / den) + B.Scale (val1 / den) + C.Scale(val2 / den));
dgFloat64 volume = ((B - A) * (C - A)) % (testpoint - A);
_ASSERTE (fabs (volume) < dgFloat64 (1.0e-12f));
#endif
return dgBigVector (val0 / den, val1 / den, val2 / den, dgFloat32 (0.0f));
}
dgBigVector LineTriangleIntersection (const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& A, const dgBigVector& B, const dgBigVector& C)
{
dgHugeVector ph0 (p0);
dgHugeVector ph1 (p1);
dgHugeVector Ah (A);
dgHugeVector Bh (B);
dgHugeVector Ch (C);
dgHugeVector p1p0 (ph1 - ph0);
dgHugeVector Ap0 (Ah - ph0);
dgHugeVector Bp0 (Bh - ph0);
dgHugeVector Cp0 (Ch - ph0);
dgGoogol t0 ((Bp0 * Cp0) % p1p0);
double val0 = t0.GetAproximateValue();
if (val0 < double (0.0f)) {
return dgBigVector (float (0.0f), float (0.0f), float (0.0f), float (-1.0f));
}
dgGoogol t1 ((Cp0 * Ap0) % p1p0);
double val1 = t1.GetAproximateValue();
if (val1 < double (0.0f)) {
return dgBigVector (float (0.0f), float (0.0f), float (0.0f), float (-1.0f));
}
dgGoogol t2 ((Ap0 * Bp0) % p1p0);
double val2 = t2.GetAproximateValue();
if (val2 < double (0.0f)) {
return dgBigVector (float (0.0f), float (0.0f), float (0.0f), float (-1.0f));
}
dgGoogol sum = t0 + t1 + t2;
double den = sum.GetAproximateValue();
return dgBigVector (val0 / den, val1 / den, val2 / den, float (0.0f));
}
dgAABBPointTree4d* dgConvexHull4d::BuildTree (dgAABBPointTree4d* const parent, dgHullVector* const points, dgInt32 count, dgInt32 baseIndex, dgInt8** memoryPool, dgInt32& maxMemSize) const
{
dgAABBPointTree4d* tree = NULL;
dgAssert (count);
dgBigVector minP ( dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f));
dgBigVector maxP (-dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f));
if (count <= DG_VERTEX_CLUMP_SIZE_4D) {
dgAABBPointTree4dClump* const clump = new (*memoryPool) dgAABBPointTree4dClump;
*memoryPool += sizeof (dgAABBPointTree4dClump);
maxMemSize -= sizeof (dgAABBPointTree4dClump);
dgAssert (maxMemSize >= 0);
dgAssert (clump);
clump->m_count = count;
for (dgInt32 i = 0; i < count; i ++) {
clump->m_indices[i] = i + baseIndex;
const dgBigVector& p = points[i];
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
minP.m_w = dgMin (p.m_w, minP.m_w);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
maxP.m_w = dgMax (p.m_w, maxP.m_w);
}
clump->m_left = NULL;
clump->m_right = NULL;
tree = clump;
} else {
dgBigVector median (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
dgBigVector varian (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
for (dgInt32 i = 0; i < count; i ++) {
const dgBigVector& p = points[i];
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
minP.m_w = dgMin (p.m_w, minP.m_w);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
maxP.m_w = dgMax (p.m_w, maxP.m_w);
median = median + p;
varian = varian + p.CompProduct4(p);
}
varian = varian.Scale4 (dgFloat32 (count)) - median.CompProduct4(median);
dgInt32 index = 0;
dgFloat64 maxVarian = dgFloat64 (-1.0e10f);
for (dgInt32 i = 0; i < 4; i ++) {
if (varian[i] > maxVarian) {
index = i;
maxVarian = varian[i];
}
}
dgBigVector center = median.Scale4 (dgFloat64 (1.0f) / dgFloat64 (count));
dgFloat64 test = center[index];
dgInt32 i0 = 0;
dgInt32 i1 = count - 1;
do {
for (; i0 <= i1; i0 ++) {
dgFloat64 val = points[i0][index];
if (val > test) {
break;
}
}
for (; i1 >= i0; i1 --) {
dgFloat64 val = points[i1][index];
if (val < test) {
break;
}
}
if (i0 < i1) {
dgSwap(points[i0], points[i1]);
i0++;
i1--;
}
} while (i0 <= i1);
if (i0 == 0){
i0 = count / 2;
}
if (i0 >= (count - 1)){
i0 = count / 2;
}
tree = new (*memoryPool) dgAABBPointTree4d;
*memoryPool += sizeof (dgAABBPointTree4d);
maxMemSize -= sizeof (dgAABBPointTree4d);
dgAssert (maxMemSize >= 0);
dgAssert (i0);
dgAssert (count - i0);
tree->m_left = BuildTree (tree, points, i0, baseIndex, memoryPool, maxMemSize);
tree->m_right = BuildTree (tree, &points[i0], count - i0, i0 + baseIndex, memoryPool, maxMemSize);
}
dgAssert (tree);
tree->m_parent = parent;
tree->m_box[0] = minP - dgBigVector (dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f));
tree->m_box[1] = maxP + dgBigVector (dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f));
return tree;
}
dgDelaunayTetrahedralization::dgDelaunayTetrahedralization(
dgMemoryAllocator* const allocator, const dgFloat64* const vertexCloud,
dgInt32 count, dgInt32 strideInByte, dgFloat64 distTol) :
dgConvexHull4d(allocator)
{
#ifdef _WIN32
dgUnsigned32 controlWorld = dgControlFP (0xffffffff, 0);
dgControlFP(_PC_53, _MCW_PC);
#endif
dgStack<dgBigVector> pool(count);
dgBigVector* const points = &pool[0];
dgInt32 stride = dgInt32(strideInByte / sizeof(dgFloat64));
for (dgInt32 i = 0; i < count; i++)
{
volatile float x = float(vertexCloud[i * stride + 0]);
volatile float y = float(vertexCloud[i * stride + 1]);
volatile float z = float(vertexCloud[i * stride + 2]);
points[i] = dgBigVector(x, y, z, x * x + y * y + z * z);
}
dgInt32 oldCount = count;
BuildHull(allocator, &pool[0], count, distTol);
#if 1
// if ((oldCount > m_count) && (m_count >= 4)) {
if (oldCount > m_count)
{
// this is probably a regular convex solid, which will have a zero volume hull
// add the rest of the points by incremental insertion with small perturbation
dgInt32 hullCount = m_count;
for (dgInt32 i = 0; i < count; i++)
{
bool inHull = false;
const dgHullVector* const hullPoints = &m_points[0];
for (dgInt32 j = 0; j < hullCount; j++)
{
if (hullPoints[j].m_index == i)
{
inHull = true;
break;
}
}
if (!inHull)
{
dgBigVector q(points[i]);
dgInt32 index = AddVertex(q);
if (index == -1)
{
q.m_x += dgFloat64(1.0e-3f);
q.m_y += dgFloat64(1.0e-3f);
q.m_z += dgFloat64(1.0e-3f);
index = AddVertex(q);
_ASSERTE(index != -1);
}_ASSERTE(index != -1);
// m_points[index] = points[i];
m_points[index].m_index = i;
}
}
}
#else
if (oldCount > m_count)
{
// this is probably a regular convex solid, which will have a zero volume hull
// perturbate a point and try again
dgBigVector p (points[0]);
points[0].m_x += dgFloat64 (1.0e-0f);
points[0].m_y += dgFloat64 (1.0e-0f);
points[0].m_z += dgFloat64 (1.0e-0f);
points[0].m_w = points[0].m_x * points[0].m_x + points[0].m_y * points[0].m_y + points[0].m_z * points[0].m_z;
BuildHull (allocator, &pool[0], oldCount, distTol);
_ASSERTE (oldCount == m_count);
// restore the old point
//points[0].m_w = points[0].m_x * points[0].m_x + points[0].m_y * points[0].m_y + points[0].m_z * points[0].m_z;
}
#endif
#ifdef _DEBUG
SortVertexArray();
#endif
#ifdef _WIN32
dgControlFP(controlWorld, _MCW_PC);
#endif
}
dgMeshEffect * dgMeshEffect::CreateVoronoiConvexDecomposition (dgMemoryAllocator * const allocator, dgInt32 pointCount, dgInt32 pointStrideInBytes, const dgFloat32 * const pointCloud, dgInt32 materialId, const dgMatrix & textureProjectionMatrix)
{
dgFloat32 normalAngleInRadians = 30.0f * 3.1416f / 180.0f;
dgStack<dgBigVector> buffer (pointCount + 16);
dgBigVector * const pool = &buffer[0];
dgInt32 count = 0;
dgFloat64 quantizeFactor = dgFloat64 (16.0f);
dgFloat64 invQuantizeFactor = dgFloat64 (1.0f) / quantizeFactor;
dgInt32 stride = pointStrideInBytes / sizeof (dgFloat32);
dgBigVector pMin (dgFloat32 (1.0e10f), dgFloat32 (1.0e10f), dgFloat32 (1.0e10f), dgFloat32 (0.0f));
dgBigVector pMax (dgFloat32 (-1.0e10f), dgFloat32 (-1.0e10f), dgFloat32 (-1.0e10f), dgFloat32 (0.0f));
for (dgInt32 i = 0; i < pointCount; i ++)
{
dgFloat64 x = pointCloud[i * stride + 0];
dgFloat64 y = pointCloud[i * stride + 1];
dgFloat64 z = pointCloud[i * stride + 2];
x = floor (x * quantizeFactor) * invQuantizeFactor;
y = floor (y * quantizeFactor) * invQuantizeFactor;
z = floor (z * quantizeFactor) * invQuantizeFactor;
dgBigVector p (x, y, z, dgFloat64 (0.0f));
pMin = dgBigVector (dgMin (x, pMin.m_x), dgMin (y, pMin.m_y), dgMin (z, pMin.m_z), dgFloat64 (0.0f));
pMax = dgBigVector (dgMax (x, pMax.m_x), dgMax (y, pMax.m_y), dgMax (z, pMax.m_z), dgFloat64 (0.0f));
pool[count] = p;
count ++;
}
// add the bbox as a barrier
pool[count + 0] = dgBigVector ( pMin.m_x, pMin.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 1] = dgBigVector ( pMax.m_x, pMin.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 2] = dgBigVector ( pMin.m_x, pMax.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 3] = dgBigVector ( pMax.m_x, pMax.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 4] = dgBigVector ( pMin.m_x, pMin.m_y, pMax.m_z, dgFloat64 (0.0f));
pool[count + 5] = dgBigVector ( pMax.m_x, pMin.m_y, pMax.m_z, dgFloat64 (0.0f));
pool[count + 6] = dgBigVector ( pMin.m_x, pMax.m_y, pMax.m_z, dgFloat64 (0.0f));
pool[count + 7] = dgBigVector ( pMax.m_x, pMax.m_y, pMax.m_z, dgFloat64 (0.0f));
count += 8;
dgStack<dgInt32> indexList (count);
count = dgVertexListToIndexList (&pool[0].m_x, sizeof (dgBigVector), 3, count, &indexList[0], dgFloat64 (5.0e-2f));
dgAssert (count >= 8);
dgFloat64 maxSize = dgMax (pMax.m_x - pMin.m_x, pMax.m_y - pMin.m_y, pMax.m_z - pMin.m_z);
pMin -= dgBigVector (maxSize, maxSize, maxSize, dgFloat64 (0.0f));
pMax += dgBigVector (maxSize, maxSize, maxSize, dgFloat64 (0.0f));
// add the a guard zone, so that we do no have to clip
dgInt32 guadVertexKey = count;
pool[count + 0] = dgBigVector ( pMin.m_x, pMin.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 1] = dgBigVector ( pMax.m_x, pMin.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 2] = dgBigVector ( pMin.m_x, pMax.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 3] = dgBigVector ( pMax.m_x, pMax.m_y, pMin.m_z, dgFloat64 (0.0f));
pool[count + 4] = dgBigVector ( pMin.m_x, pMin.m_y, pMax.m_z, dgFloat64 (0.0f));
pool[count + 5] = dgBigVector ( pMax.m_x, pMin.m_y, pMax.m_z, dgFloat64 (0.0f));
pool[count + 6] = dgBigVector ( pMin.m_x, pMax.m_y, pMax.m_z, dgFloat64 (0.0f));
pool[count + 7] = dgBigVector ( pMax.m_x, pMax.m_y, pMax.m_z, dgFloat64 (0.0f));
count += 8;
dgDelaunayTetrahedralization delaunayTetrahedras (allocator, &pool[0].m_x, count, sizeof (dgBigVector), dgFloat32 (0.0f));
delaunayTetrahedras.RemoveUpperHull ();
// delaunayTetrahedras.Save("xxx0.txt");
dgInt32 tetraCount = delaunayTetrahedras.GetCount();
dgStack<dgBigVector> voronoiPoints (tetraCount + 32);
dgStack<dgDelaunayTetrahedralization::dgListNode *> tetradrumNode (tetraCount);
dgTree<dgList<dgInt32>, dgInt32> delanayNodes (allocator);
dgInt32 index = 0;
const dgHullVector * const delanayPoints = delaunayTetrahedras.GetHullVertexArray();
for (dgDelaunayTetrahedralization::dgListNode * node = delaunayTetrahedras.GetFirst(); node; node = node->GetNext())
{
dgConvexHull4dTetraherum & tetra = node->GetInfo();
voronoiPoints[index] = tetra.CircumSphereCenter (delanayPoints);
tetradrumNode[index] = node;
for (dgInt32 i = 0; i < 4; i ++)
{
dgTree<dgList<dgInt32>, dgInt32>::dgTreeNode * header = delanayNodes.Find (tetra.m_faces[0].m_index[i]);
if (!header)
{
dgList<dgInt32> list (allocator);
header = delanayNodes.Insert (list, tetra.m_faces[0].m_index[i]);
}
header->GetInfo().Append (index);
}
index ++;
}
dgMeshEffect * const voronoiPartition = new (allocator) dgMeshEffect (allocator);
voronoiPartition->BeginPolygon();
dgFloat64 layer = dgFloat64 (0.0f);
dgTree<dgList<dgInt32>, dgInt32>::Iterator iter (delanayNodes);
for (iter.Begin(); iter; iter ++)
{
dgTree<dgList<dgInt32>, dgInt32>::dgTreeNode * const nodeNode = iter.GetNode();
const dgList<dgInt32> & list = nodeNode->GetInfo();
dgInt32 key = nodeNode->GetKey();
if (key < guadVertexKey)
{
dgBigVector pointArray[512];
dgInt32 indexArray[512];
dgInt32 count = 0;
for (dgList<dgInt32>::dgListNode * ptr = list.GetFirst(); ptr; ptr = ptr->GetNext())
{
dgInt32 i = ptr->GetInfo();
pointArray[count] = voronoiPoints[i];
count ++;
dgAssert (count < dgInt32 (sizeof (pointArray) / sizeof (pointArray[0])));
}
count = dgVertexListToIndexList (&pointArray[0].m_x, sizeof (dgBigVector), 3, count, &indexArray[0], dgFloat64 (1.0e-3f));
if (count >= 4)
{
dgMeshEffect convexMesh (allocator, &pointArray[0].m_x, count, sizeof (dgBigVector), dgFloat64 (0.0f));
if (convexMesh.GetCount())
{
convexMesh.CalculateNormals (normalAngleInRadians);
convexMesh.UniformBoxMapping (materialId, textureProjectionMatrix);
for (dgInt32 i = 0; i < convexMesh.m_pointCount; i ++)
convexMesh.m_points[i].m_w = layer;
for (dgInt32 i = 0; i < convexMesh.m_atribCount; i ++)
convexMesh.m_attrib[i].m_vertex.m_w = layer;
voronoiPartition->MergeFaces (&convexMesh);
layer += dgFloat64 (1.0f);
}
}
}
}
voronoiPartition->EndPolygon (dgFloat64 (1.0e-8f), false);
// voronoiPartition->SaveOFF("xxx0.off");
//voronoiPartition->ConvertToPolygons();
return voronoiPartition;
}
