//*********************************************************************
//*********************************************************************
//******** HullLib header
//*********************************************************************
//*********************************************************************
//*********************************************************************
//*********************************************************************
//******** HullLib implementation
//*********************************************************************
//*********************************************************************
public HullError CreateConvexHull(HullDesc desc, // describes the input request
HullResult result) // contains the resulst
{
HullError ret = HullError.QE_FAIL;
PHullResult hr = new PHullResult();
int vcount = desc.mVcount;
if (vcount < 8)
{
vcount = 8;
}
IList<IndexedVector3> vertexSource = new List<IndexedVector3>((int)vcount);
for (int i = 0; i < vcount; ++i)
{
vertexSource.Add(IndexedVector3.Zero);
}
IndexedVector3 scale = new IndexedVector3(1);
int ovcount = 0;
bool ok = CleanupVertices(desc.mVcount, desc.mVertices, desc.mVertexStride, ref ovcount, vertexSource, desc.mNormalEpsilon, ref scale); // normalize point cloud, remove duplicates!
if (ok)
{
// if ( 1 ) // scale vertices back to their original size.
{
for (int i = 0; i < ovcount; i++)
{
IndexedVector3 v = vertexSource[i];
v.X *= scale.X;
v.Y *= scale.Y;
v.Z *= scale.Z;
vertexSource[i] = v;
}
}
ok = ComputeHull(ovcount, vertexSource, hr, desc.mMaxVertices);
if (ok)
{
// re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table.
IList<IndexedVector3> vertexScratch = new ObjectArray<IndexedVector3>((int)hr.mVcount);
BringOutYourDead(hr.mVertices, hr.mVcount, vertexScratch, ref ovcount, hr.m_Indices, hr.mIndexCount);
ret = HullError.QE_OK;
if (desc.HasHullFlag(HullFlag.QF_TRIANGLES)) // if he wants the results as triangle!
{
result.mPolygons = false;
result.mNumOutputVertices = ovcount;
//result.m_OutputVertices.resize(ovcount);
result.m_OutputVertices.Clear();
result.mNumFaces = hr.mFaceCount;
result.mNumIndices = hr.mIndexCount;
//result.m_Indices.resize(hr.mIndexCount);
result.m_Indices.Clear();
for (int i = 0; i < ovcount; ++i)
{
result.m_OutputVertices.Add(vertexScratch[i]);
}
//memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(IndexedVector3) * ovcount);
if (desc.HasHullFlag(HullFlag.QF_REVERSE_ORDER))
{
IList<int> source = hr.m_Indices;
IList<int> dest = result.m_Indices;
for (int i = 0; i < hr.mFaceCount; i++)
{
int index = (i * 3);
//dest[index + 0] = source[index + 2];
//dest[index + 1] = source[index + 1];
//dest[index + 2] = source[index + 0];
dest.Add(source[index + 2]);
dest.Add(source[index + 1]);
dest.Add(source[index + 0]);
}
}
else
{
for (int i = 0; i < hr.mIndexCount; ++i)
{
//result.m_Indices[i] = hr.m_Indices[i];
result.m_Indices.Add(hr.m_Indices[i]);
}
//memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(int) * hr.mIndexCount);
}
}
else
{
result.mPolygons = true;
result.mNumOutputVertices = ovcount;
//result.m_OutputVertices.resize(ovcount);
result.m_OutputVertices.Clear();
result.mNumFaces = hr.mFaceCount;
result.mNumIndices = hr.mIndexCount + hr.mFaceCount;
//result.m_Indices.resize(result.mNumIndices);
result.m_Indices.Clear();
for (int i = 0; i < ovcount; ++i)
{
result.m_OutputVertices.Add(vertexScratch[i]);
}
//memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(IndexedVector3) * ovcount);
// if ( 1 )
{
IList<int> source = hr.m_Indices;
IList<int> dest = result.m_Indices;
for (int i = 0; i < hr.mFaceCount; i++)
{
int destIndex = (i * 4);
int srcIndex = (i * 3);
dest[0] = 3;
if (desc.HasHullFlag(HullFlag.QF_REVERSE_ORDER))
{
dest.Add(source[srcIndex + 2]);
dest.Add(source[srcIndex + 1]);
dest.Add(source[srcIndex + 0]);
}
else
{
dest.Add(source[srcIndex + 0]);
dest.Add(source[srcIndex + 1]);
dest.Add(source[srcIndex + 2]);
}
}
}
}
ReleaseHull(hr);
}
}
return ret;
}
public bool BuildHull(float margin)
{
int numSampleDirections = NUM_UNITSPHERE_POINTS;
{
int numPDA = m_shape.GetNumPreferredPenetrationDirections();
if (numPDA != 0)
{
for (int i=0;i<numPDA;i++)
{
IndexedVector3 norm;
m_shape.GetPreferredPenetrationDirection(i, out norm);
UnitSpherePoints[numSampleDirections] = norm;
numSampleDirections++;
}
}
}
IndexedVector3[] supportPoints = new IndexedVector3[NUM_UNITSPHERE_POINTS+ConvexShape.MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
for (int i = 0; i < numSampleDirections; i++)
{
supportPoints[i] = m_shape.LocalGetSupportingVertex(ref UnitSpherePoints[i]);
}
HullDesc hd = new HullDesc();
hd.mFlags = HullFlag.QF_TRIANGLES;
hd.mVcount = numSampleDirections;
for (int i = 0; i < numSampleDirections; ++i)
{
hd.mVertices.Add(supportPoints[i]);
}
HullLibrary hl = new HullLibrary();
HullResult hr = new HullResult();
if (hl.CreateConvexHull (hd, hr) == HullError.QE_FAIL)
{
return false;
}
for (int i = 0; i < hr.mNumOutputVertices; i++)
{
m_vertices[i] = hr.m_OutputVertices[i];
}
int numIndices = hr.mNumIndices;
for (int i = 0; i < numIndices; i++)
{
m_indices[i] = hr.m_Indices[i];
}
// free temporary hull result that we just copied
hl.ReleaseResult (hr);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugShapeHull)
{
BulletGlobals.g_streamWriter.WriteLine("buildHull");
BulletGlobals.g_streamWriter.WriteLine("Vertices");
for (int i = 0; i < m_vertices.Count; ++i)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter,m_vertices[i]);
}
BulletGlobals.g_streamWriter.WriteLine("Indices");
for (int i = 0; i < m_indices.Count/3; ++i)
{
int indexer = i*3;
BulletGlobals.g_streamWriter.WriteLine(String.Format("{0},{1},{2}", m_indices[indexer], m_indices[indexer + 1], m_indices[indexer + 2]));
}
}
#endif
return true;
}