1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
|
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef __DG_CONVEXHULL_4D__
#define __DG_CONVEXHULL_4D__
#include "dgStdafx.h"
#include "dgList.h"
#include "dgArray.h"
#include "dgPlane.h"
#include "dgVector.h"
#include "dgMatrix.h"
#include "dgQuaternion.h"
class dgMemoryAllocator;
class dgAABBPointTree4d;
class dgHullVector: public dgBigVector {
public:
void operator = (const dgBigVector &a) {
m_x = a.m_x;
m_y = a.m_y;
m_z = a.m_z;
m_w = a.m_w;
m_index = 0;
m_mark = 0;
}
dgInt32 m_index;
dgInt32 m_mark;
};
class dgConvexHull4dTetraherum {
public:
class dgTetrahedrumFace {
public:
dgInt32 m_index[3];
dgInt32 m_otherVertex;
dgList<dgConvexHull4dTetraherum>::dgListNode *m_twin;
};
class dgTetrahedrumPlane: public dgBigVector {
public:
dgTetrahedrumPlane(const dgBigVector &p0, const dgBigVector &p1, const dgBigVector &p2, const dgBigVector &p3);
dgFloat64 Evalue(const dgBigVector &point) const;
dgFloat64 m_dist;
};
dgConvexHull4dTetraherum();
dgTetrahedrumPlane GetPlaneEquation(const dgHullVector *const points) const;
dgFloat64 Evalue(const dgHullVector *const pointArray, const dgBigVector &point) const;
dgBigVector CircumSphereCenter(const dgHullVector *const pointArray) const;
dgInt32 GetMark() const {
return m_mark;
}
void SetMark(dgInt32 mark) {
m_mark = mark;
}
dgTetrahedrumFace m_faces[4];
#ifdef _DEBUG
dgInt32 m_debugID;
#endif
private:
void Init(const dgHullVector *const points, dgInt32 v0, dgInt32 v1, dgInt32 v2, dgInt32 v3);
dgInt32 m_mark;
friend class dgConvexHull4d;
friend class dgDelaunayTetrahedralization;
};
class dgConvexHull4d: public dgList<dgConvexHull4dTetraherum> {
public:
dgConvexHull4d(dgMemoryAllocator *const allocator, const dgBigVector *const vertexCloud, dgInt32 count, dgFloat32 distTol);
virtual ~dgConvexHull4d();
dgInt32 GetVertexCount() const;
dgInt32 GetVertexIndex(dgInt32 i) const;
const dgBigVector &GetVertex(dgInt32 i) const;
const dgHullVector *GetHullVertexArray() const;
dgInt32 IncMark();
protected:
dgConvexHull4d(dgMemoryAllocator *const allocator);
void BuildHull(dgMemoryAllocator *const allocator, const dgBigVector *const vertexCloud, dgInt32 count, dgFloat64 distTol);
virtual dgInt32 AddVertex(const dgBigVector &vertex);
virtual dgInt32 InitVertexArray(dgHullVector *const points, const dgBigVector *const vertexCloud, dgInt32 count, void *memoryPool, dgInt32 maxMemSize);
virtual dgListNode *AddFace(dgInt32 i0, dgInt32 i1, dgInt32 i2, dgInt32 i3);
virtual void DeleteFace(dgListNode *const node) ;
dgListNode *FindFacingNode(const dgBigVector &vertex);
dgInt32 BuildNormalList(dgBigVector *const normalArray) const;
void InsertNewVertex(dgInt32 vertexIndex, dgListNode *const frontFace, dgList<dgListNode *> &deletedFaces, dgList<dgListNode *> &newFaces);
dgInt32 SupportVertex(dgAABBPointTree4d **const tree, const dgHullVector *const points, const dgBigVector &dir) const;
void TessellateTriangle(dgInt32 level, const dgVector &p0, const dgVector &p1, const dgVector &p2, dgInt32 &count, dgBigVector *const ouput, dgInt32 &start) const;
void CalculateConvexHull(dgAABBPointTree4d *vertexTree, dgHullVector *const points, dgInt32 count, dgFloat64 distTol);
void LinkSibling(dgListNode *node0, dgListNode *node1) const;
bool Sanity() const;
static dgInt32 ConvexCompareVertex(const dgHullVector *const A, const dgHullVector *const B, void *const context);
dgAABBPointTree4d *BuildTree(dgAABBPointTree4d *const parent, dgHullVector *const points, dgInt32 count, dgInt32 baseIndex, dgInt8 **const memoryPool, dgInt32 &maxMemSize) const;
dgInt32 m_mark;
dgInt32 m_count;
dgFloat64 m_diag;
dgArray<dgHullVector> m_points;
};
inline dgInt32 dgConvexHull4d::IncMark() {
m_mark ++;
return m_mark;
}
inline dgInt32 dgConvexHull4d::GetVertexCount() const {
return m_count;
}
inline dgInt32 dgConvexHull4d::GetVertexIndex(dgInt32 index) const {
NEWTON_ASSERT(index >= 0);
NEWTON_ASSERT(index < m_count);
return m_points[index].m_index;
}
inline const dgBigVector &dgConvexHull4d::GetVertex(dgInt32 index) const {
NEWTON_ASSERT(index >= 0);
NEWTON_ASSERT(index < m_count);
// return dgVector (dgFloat32 (m_points[index].m_x), dgFloat32 (m_points[index].m_y), dgFloat32 (m_points[index].m_z), dgFloat32 (m_points[index].m_w));
return m_points[index];
}
inline const dgHullVector *dgConvexHull4d::GetHullVertexArray() const {
return &m_points[0];
}
#endif
|
