bool
GrahamScan::PruneInterior()
{
SearchPointVector res;
/* the result is usually one more than the input vector - is that a
bug? */
res.reserve(size + 1);
if (size < 3) {
std::copy(raw_points.begin(), raw_points.end(), std::back_inserter(res));
return false;
// nothing to do
}
PartitionPoints();
BuildHull();
for (unsigned i = 0; i + 1 < lower_hull.size(); i++)
res.push_back(*lower_hull[i]);
for (int i = upper_hull.size() - 1; i >= 0; i--)
res.push_back(*upper_hull[i]);
if (res.size() == size)
return false;
raw_vector.swap(res);
return true;
}
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);
}
ConvexData::ConvexData(CustomGeometry* custom)
{
const Vector<PODVector<CustomGeometryVertex> >& srcVertices = custom->GetVertices();
PODVector<Vector3> vertices;
for (unsigned i = 0; i < srcVertices.Size(); ++i)
{
for (unsigned j = 0; j < srcVertices[i].Size(); ++j)
vertices.Push(srcVertices[i][j].position_);
}
BuildHull(vertices);
}
dgCollisionConvexHull::dgCollisionConvexHull(dgMemoryAllocator* const allocator, dgUnsigned32 signature, dgInt32 count, dgInt32 strideInBytes, dgFloat32 tolerance, const dgFloat32* const vertexArray)
:dgCollisionConvex(allocator, signature, m_convexHullCollision)
,m_faceCount (0)
,m_supportTreeCount (0)
,m_faceArray (NULL)
,m_vertexToEdgeMapping(NULL)
,m_supportTree (NULL)
{
m_edgeCount = 0;
m_vertexCount = 0;
m_vertex = NULL;
m_simplex = NULL;
m_rtti |= dgCollisionConvexHull_RTTI;
BuildHull (count, strideInBytes, tolerance, vertexArray);
}
ConvexData::ConvexData(CustomGeometry* custom)
{
PODVector<Vector3> vertices;
unsigned numGeometries = custom->GetNumGeometries();
for (unsigned i = 0; i < numGeometries; ++i)
{
Geometry* geom = custom->GetLodGeometry(i, 0);
if (!geom)
{
LOGWARNING("Skipping null geometry for convex hull collision");
continue;
}
const unsigned char* vertexData;
const unsigned char* indexData;
unsigned vertexSize;
unsigned indexSize;
unsigned elementMask;
geom->GetRawData(vertexData, vertexSize, indexData, indexSize, elementMask);
if (!vertexData)
{
LOGWARNING("Skipping geometry with no CPU-side geometry data for convex hull collision - no vertex data");
continue;
}
unsigned vertexStart = geom->GetVertexStart();
unsigned vertexCount = geom->GetVertexCount();
// Copy vertex data
for (unsigned j = 0; j < vertexCount; ++j)
{
const Vector3& v = *((const Vector3*)(&vertexData[(vertexStart + j) * vertexSize]));
vertices.Push(v);
}
}
BuildHull(vertices);
}
dgConvexHull4d::dgConvexHull4d (dgMemoryAllocator* const allocator, const dgBigVector* const vertexCloud, dgInt32 count, dgFloat32 distTol)
:dgList<dgConvexHull4dTetraherum>(allocator), m_mark(0), m_count (0), m_diag(), m_points(count, allocator)
{
BuildHull (allocator, vertexCloud, count, distTol);
}
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
}