D3DXVECTOR3 CollisionSolver::GetMinkowskiSumEdgePoint(const D3DXVECTOR3& direction,
const CollisionMesh& particle,
const CollisionMesh& hull)
{
return FindFurthestPoint(particle.GetVertices(), direction) -
FindFurthestPoint(hull.GetVertices(), -direction);
}
BOOL CConvexHullGenerator::Generate(void)
{
int iMaxXIndex;
int iMinXIndex;
CHalfSpaceHelper cHalfSpace;
int iFarIndex;
SFloat3* psPosition;
CArrayExtremeTrianglePtr apcTriangles;
CExtremeTriangle* pcTriangle;
CExtremeTriangle* pcDeleted;
SFreeListIterator sIter;
CArrayExtremeTrianglePtr cDeleted;
CArrayExtremeTrianglePtr cFixedDeleted;
int j;
SConvexHullHoleEdge sEdges;
int k;
int aiIndex[3];
int iIndex;
CExtremeTriangle* pcSelected;
CTextFile cTextFile;
int iTriangle;
float fMinX;
float fMaxX;
iMaxXIndex = FindMaxX(&fMinX);
iMinXIndex = FindMinX(&fMaxX);
iFarIndex = FindFurthestPoint(iMaxXIndex, iMinXIndex);
if (iFarIndex == -1)
{
gcUserError.Set("Could not find a third point generating Convex Hull.");
return FALSE;
}
apcTriangles.Init(2048);
if (!FindFirstPairTriangles(&apcTriangles, iMaxXIndex, iMinXIndex, iFarIndex))
{
gcUserError.Set("Could not find the first triangle pair generating Convex Hull.");
return FALSE;
}
cDeleted.Init(512);
cFixedDeleted.Init(512);
for (iTriangle = 0; iTriangle < apcTriangles.NumElements(); iTriangle++)
{
pcSelected = *apcTriangles.Get(iTriangle);
if ((pcSelected == NULL) || (pcSelected->maiVisible.NumElements() == 0))
{
continue;
}
aiIndex[0] = GetIndex(mpsPoints, iStride, pcSelected->mpsPosition);
aiIndex[1] = GetIndex(mpsPoints, iStride, pcSelected->mpsPosition1);
aiIndex[2] = GetIndex(mpsPoints, iStride, pcSelected->mpsPosition2);
iFarIndex = pcSelected->FindFurthestPoint(mpsPoints, iStride);
if (iFarIndex == -1)
{
gcUserError.Set("Could not find furthest point!");
return FALSE;
}
cDeleted.FakeSetUsedElements(0); //It's sort of safe to do this.
psPosition = GetPosition(mpsPoints, iStride, iFarIndex);
pcTriangle = (CExtremeTriangle*)mcTriangles.StartIteration(&sIter);
while (pcTriangle)
{
if (pcTriangle->maiVisible.NumElements() > 0)
{
if (pcTriangle->NotContains(psPosition))
{
cDeleted.Add(&pcTriangle);
}
}
pcTriangle = (CExtremeTriangle*)mcTriangles.Iterate(&sIter);
}
RemoveDiscontiguousTriangles(pcSelected, &cDeleted, &cFixedDeleted);
for (j = 0; j < cDeleted.NumElements(); j++)
{
pcDeleted = *cDeleted.Get(j);
FindEdges(&sEdges, pcDeleted, &cDeleted);
for (k = 0; k < sEdges.iNumEdges; k++)
{
pcTriangle = AddTriangle(GetPosition(mpsPoints, iStride, sEdges.aaiEdgeIndices[k][0]),
GetPosition(mpsPoints, iStride, sEdges.aaiEdgeIndices[k][1]),
GetPosition(mpsPoints, iStride, iFarIndex));
apcTriangles.Add(&pcTriangle);
AddPointsFromTriangles(pcTriangle, &cDeleted, iFarIndex);
}
}
for (j = 0; j < cDeleted.NumElements(); j++)
{
pcDeleted = *cDeleted.Get(j);
pcDeleted->Kill();
mcTriangles.Remove(pcDeleted);
iIndex = apcTriangles.FindWithIntKey((int)(size_t)pcDeleted, 0);
*(apcTriangles.Get(iIndex)) = NULL;
}
}
cDeleted.Kill();
cFixedDeleted.Kill();
apcTriangles.Kill();
RemoveSlivers();
if (mszHullName)
{
CChars szTemp;
szTemp.Init("Writing Hull file [");
szTemp.Append(mszHullName);
szTemp.Append("]\n");
szTemp.Kill();
cTextFile.Init();
DumpTriangleObj(&cTextFile.mcText, iTriangle);
cTextFile.Write(mszHullName);
cTextFile.Kill();
}
return TRUE;
}
