vhacdManifoldMesh.h

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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
 
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
following conditions are met:
 
 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
disclaimer.
 
 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided with the distribution.
 
 3. The names of the contributors may not be used to endorse or promote products derived from this software without
specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
 
#include <tesseract_collision/vhacd/inc/vhacdCircularList.h>
#include <tesseract_collision/vhacd/inc/vhacdSArray.h>
#include <tesseract_collision/vhacd/inc/vhacdVector.h>
 
namespace tesseract_collision
{
namespace VHACD
{
class TMMTriangle;
class TMMEdge;
class TMMesh;
class ICHull;
 
class TMMVertex
{
public:
  void Initialize();
  TMMVertex(void);
  ~TMMVertex(void);
 
  TMMVertex(const TMMVertex&) = delete;
  TMMVertex(TMMVertex&&) = default;
  TMMVertex& operator=(const TMMVertex&) = default;
  TMMVertex& operator=(TMMVertex&&) = default;
 
private:
  Vec3<double> m_pos;
  int32_t m_name;
  size_t m_id;
  CircularListElement<TMMEdge>* m_duplicate;  // pointer to incident cone edge (or NULL)
  bool m_onHull;
  bool m_tag;
 
  friend class ICHull;
  friend class TMMesh;
  friend class TMMTriangle;
  friend class TMMEdge;
};
 
class TMMEdge
{
public:
  void Initialize();
  TMMEdge(void);
  ~TMMEdge(void);
 
  TMMEdge(const TMMEdge&) = delete;
  TMMEdge(TMMEdge&&) = default;
  TMMEdge& operator=(const TMMEdge&) = default;
  TMMEdge& operator=(TMMEdge&&) = default;
 
private:
  size_t m_id;
  CircularListElement<TMMTriangle>* m_triangles[2];
  CircularListElement<TMMVertex>* m_vertices[2];
  CircularListElement<TMMTriangle>* m_newFace;
  friend class ICHull;
  friend class TMMTriangle;
  friend class TMMVertex;
  friend class TMMesh;
};
 
class TMMTriangle
{
public:
  void Initialize();
  TMMTriangle(void);
  ~TMMTriangle(void);
 
  TMMTriangle(const TMMTriangle&) = delete;
  TMMTriangle(TMMTriangle&&) = default;
  TMMTriangle& operator=(const TMMTriangle&) = default;
  TMMTriangle& operator=(TMMTriangle&&) = default;
 
private:
  size_t m_id;
  CircularListElement<TMMEdge>* m_edges[3];
  CircularListElement<TMMVertex>* m_vertices[3];
  bool m_visible;
 
  friend class ICHull;
  friend class TMMesh;
  friend class TMMVertex;
  friend class TMMEdge;
};
class TMMesh
{
public:
  inline size_t GetNVertices() const { return m_vertices.GetSize(); }
  inline size_t GetNEdges() const { return m_edges.GetSize(); }
  inline size_t GetNTriangles() const { return m_triangles.GetSize(); }
  inline const CircularList<TMMVertex>& GetVertices() const { return m_vertices; }
  inline const CircularList<TMMEdge>& GetEdges() const { return m_edges; }
  inline const CircularList<TMMTriangle>& GetTriangles() const { return m_triangles; }
  inline CircularList<TMMVertex>& GetVertices() { return m_vertices; }
  inline CircularList<TMMEdge>& GetEdges() { return m_edges; }
  inline CircularList<TMMTriangle>& GetTriangles() { return m_triangles; }
  CircularListElement<TMMVertex>* AddVertex() { return m_vertices.Add(); }
  CircularListElement<TMMEdge>* AddEdge() { return m_edges.Add(); }
  CircularListElement<TMMTriangle>* AddTriangle() { return m_triangles.Add(); }
  void Print();
  void GetIFS(Vec3<double>* const points, Vec3<int32_t>* const triangles);
  void Clear();
  void Copy(TMMesh& mesh);
  bool CheckConsistancy();
  bool Normalize();
  bool Denormalize();
  TMMesh();
  virtual ~TMMesh(void);
 
private:
  CircularList<TMMVertex> m_vertices;
  CircularList<TMMEdge> m_edges;
  CircularList<TMMTriangle> m_triangles;
 
  // not defined
  TMMesh(const TMMesh& rhs);
  friend class ICHull;
};
}  // namespace VHACD
}  // namespace tesseract_collision