vhacdICHull.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,
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 */
#pragma once
 
#include <tesseract_collision/vhacd/inc/vhacdManifoldMesh.h>
#include <tesseract_collision/vhacd/inc/vhacdVector.h>
 
namespace tesseract_collision
{
namespace VHACD
{
enum ICHullError
{
  ICHullErrorOK = 0,
  ICHullErrorCoplanarPoints,
  ICHullErrorNoVolume,
  ICHullErrorInconsistent,
  ICHullErrorNotEnoughPoints
};
class ICHull
{
public:
  static const double sc_eps;
  bool IsFlat() { return m_isFlat; }
  TMMesh& GetMesh() { return m_mesh; }
  bool AddPoint(const Vec3<double>& point) { return AddPoints(&point, 1); }
  bool AddPoint(const Vec3<double>& point, int32_t id);
  bool AddPoints(const Vec3<double>* points, size_t nPoints);
  ICHullError Process();
  ICHullError Process(const uint32_t nPointsCH, const double minVolume = 0.0);
  bool IsInside(const Vec3<double>& pt0, const double eps = 0.0);
  const ICHull& operator=(ICHull& rhs);
 
  ICHull();
  ~ICHull(void){};
 
private:
  ICHullError DoubleTriangle();
  CircularListElement<TMMTriangle>* MakeFace(CircularListElement<TMMVertex>* v0,
                                             CircularListElement<TMMVertex>* v1,
                                             CircularListElement<TMMVertex>* v2,
                                             CircularListElement<TMMTriangle>* fold);
  CircularListElement<TMMTriangle>* MakeConeFace(CircularListElement<TMMEdge>* e, CircularListElement<TMMVertex>* v);
  bool ProcessPoint();
  bool ComputePointVolume(double& totalVolume, bool markVisibleFaces);
  bool FindMaxVolumePoint(const double minVolume = 0.0);
  bool CleanEdges();
  bool CleanVertices(uint32_t& addedPoints);
  bool CleanTriangles();
  bool CleanUp(uint32_t& addedPoints);
  bool MakeCCW(CircularListElement<TMMTriangle>* f, CircularListElement<TMMEdge>* e, CircularListElement<TMMVertex>* v);
  void Clear();
 
private:
  static const int32_t sc_dummyIndex;
  TMMesh m_mesh;
  SArray<CircularListElement<TMMEdge>*> m_edgesToDelete;
  SArray<CircularListElement<TMMEdge>*> m_edgesToUpdate;
  SArray<CircularListElement<TMMTriangle>*> m_trianglesToDelete;
  Vec3<double> m_normal;
  bool m_isFlat;
  ICHull(const ICHull& rhs);
};
}  // namespace VHACD
}  // namespace tesseract_collision