//////////////////////////////////////////////////////////////
// find the edge with the highest weight in the path between
// u and v
//////////////////////////////////////////////////////////////
bin_data pathQuery(node* v, node* u)
{
cluster *clv,*clvp;//cluster for v, and parent cluster for v
cluster *clu,*clup;//cluster for u, and parent cluster for u
result rU(&emptyDat);
result rV(&emptyDat);
clv = v->data;
clu = u->data;
clvp = clv->parent;
clup = clu->parent;
while(clup != clvp) {
// Base case.
deprintf(".");
deprintf("clvp = %d\n", clvp->id);
deprintf("clup = %d\n", clup->id);
// "Recursive" (loopersive) case
if(clvp->height <= clup->height) {
processCluster(clvp,clv,&rV);
clv = clvp;
clvp = clvp->parent;
if(!clvp) return emptyDat;
}
else {
processCluster(clup,clu,&rU);
clu = clup;
clup = clup->parent;
if(!clup) return emptyDat;
}
}//while
int van = clu -> getVanishing();
return *(compare (rU.find (van), rV.find (van)));
}
boost::shared_ptr<btCompoundShape> ConvexDecomp::run(std::vector<boost::shared_ptr<btCollisionShape> > &shapeStorage) {
HACD::HACD hacd;
hacd.SetPoints(&points[0]);
hacd.SetNPoints(points.size());
hacd.SetTriangles(&triangles[0]);
hacd.SetNTriangles(triangles.size());
hacd.SetCompacityWeight(0.1);
hacd.SetVolumeWeight(0.0);
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
//size_t nClusters = 2;
size_t nClusters = 1;
double concavity = 100;
bool invert = false;
bool addExtraDistPoints = false;
bool addNeighboursDistPoints = false;
bool addFacesPoints = false;
hacd.SetNClusters(nClusters); // minimum number of clusters
hacd.SetNVerticesPerCH(100); // max of 100 vertices per convex-hull
hacd.SetConcavity(concavity); // maximum concavity
hacd.SetAddExtraDistPoints(addExtraDistPoints);
hacd.SetAddNeighboursDistPoints(addNeighboursDistPoints);
hacd.SetAddFacesPoints(addFacesPoints);
hacd.Compute();
nClusters = hacd.GetNClusters();
boost::shared_ptr<btCompoundShape> compound(new btCompoundShape());
for (int c = 0; c < nClusters; ++c) {
btVector3 centroid;
boost::shared_ptr<btConvexHullShape> shape(processCluster(hacd, c, centroid));
shapeStorage.push_back(shape);
compound->addChildShape(btTransform(btQuaternion(0, 0, 0, 1), centroid), shape.get());
}
return compound;
}
