Extras/ConvexDecomposition/ConvexDecomposition.h

   1 #ifndef CONVEX_DECOMPOSITION_H
   2
   3 #define CONVEX_DECOMPOSITION_H
   4
   5 /*----------------------------------------------------------------------
   6 Copyright (c) 2004 Open Dynamics Framework Group
   7 www.physicstools.org
   8 All rights reserved.
   9
  10 Redistribution and use in source and binary forms, with or without modification, are permitted provided
  11 that the following conditions are met:
  12
  13 Redistributions of source code must retain the above copyright notice, this list of conditions
  14 and the following disclaimer.
  15
  16 Redistributions in binary form must reproduce the above copyright notice,
  17 this list of conditions and the following disclaimer in the documentation
  18 and/or other materials provided with the distribution.
  19
  20 Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
  21 be used to endorse or promote products derived from this software without specific prior written permission.
  22
  23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
  24 INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  25 DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
  26 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  27 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
  28 IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
  29 THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  30 -----------------------------------------------------------------------*/
  31
  32 // http://codesuppository.blogspot.com
  33 //
  34 // mailto: jratcliff@infiniplex.net
  35 //
  36 // http://www.amillionpixels.us
  37 //
  38
  39
  40 #ifdef _WIN32
  41 #include <memory.h> //memcpy
  42 #endif
  43 #include <string.h>
  44 #include <stdio.h>
  45 #include "LinearMath/btAlignedObjectArray.h"
  46
  47
  48
  49 extern unsigned int MAXDEPTH ;
  50 extern float CONCAVE_PERCENT ;
  51 extern float MERGE_PERCENT   ;
  52
  53
  54 typedef btAlignedObjectArray< unsigned int > UintVector;
  55
  56
  57
  58 namespace ConvexDecomposition
  59 {
  60
  61         class ConvexResult
  62         {
  63         public:
  64                 ConvexResult(void)
  65                 {
  66                         mHullVcount = 0;
  67                         mHullVertices = 0;
  68                         mHullTcount = 0;
  69                         mHullIndices = 0;
  70                 }
  71
  72                 ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices)
  73                 {
  74                         mHullVcount = hvcount;
  75                         if ( mHullVcount )
  76                         {
  77                                 mHullVertices = new float[mHullVcount*sizeof(float)*3];
  78                                 memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount );
  79                         }
  80                         else
  81                         {
  82                                 mHullVertices = 0;
  83                         }
  84
  85                         mHullTcount = htcount;
  86
  87                         if ( mHullTcount )
  88                         {
  89                                 mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
  90                                 memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 );
  91                         }
  92                         else
  93                         {
  94                                 mHullIndices = 0;
  95                         }
  96
  97                 }
  98
  99                 ConvexResult(const ConvexResult &r)
 100                 {
 101                         mHullVcount = r.mHullVcount;
 102                         if ( mHullVcount )
 103                         {
 104                                 mHullVertices = new float[mHullVcount*sizeof(float)*3];
 105                                 memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount );
 106                         }
 107                         else
 108                         {
 109                                 mHullVertices = 0;
 110                         }
 111                         mHullTcount = r.mHullTcount;
 112                         if ( mHullTcount )
 113                         {
 114                                 mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
 115                                 memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 );
 116                         }
 117                         else
 118                         {
 119                                 mHullIndices = 0;
 120                         }
 121                 }
 122
 123                 ~ConvexResult(void)
 124                 {
 125                         delete [] mHullVertices;
 126                         delete [] mHullIndices;
 127                 }
 128
 129                 // the convex hull.
 130                 unsigned int                mHullVcount;
 131                 float *                                           mHullVertices;
 132                 unsigned  int       mHullTcount;
 133                 unsigned int                     *mHullIndices;
 134
 135                 float               mHullVolume;                    // the volume of the convex hull.
 136
 137                 float               mOBBSides[3];                         // the width, height and breadth of the best fit OBB
 138                 float               mOBBCenter[3];      // the center of the OBB
 139                 float               mOBBOrientation[4]; // the quaternion rotation of the OBB.
 140                 float               mOBBTransform[16];  // the 4x4 transform of the OBB.
 141                 float               mOBBVolume;         // the volume of the OBB
 142
 143                 float               mSphereRadius;      // radius and center of best fit sphere
 144                 float               mSphereCenter[3];
 145                 float               mSphereVolume;      // volume of the best fit sphere
 146
 147
 148
 149         };
 150
 151         class ConvexDecompInterface
 152         {
 153         public:
 154                 virtual ~ConvexDecompInterface() {};
 155                 virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { };
 156                 virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { };
 157                 virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { };
 158                 virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { };
 159
 160                 virtual void ConvexDecompResult(ConvexResult &result) = 0;
 161
 162
 163
 164         };
 165
 166         // just to avoid passing a zillion parameters to the method the
 167         // options are packed into this descriptor.
 168         class DecompDesc
 169         {
 170         public:
 171                 DecompDesc(void)
 172                 {
 173                         mVcount = 0;
 174                         mVertices = 0;
 175                         mTcount   = 0;
 176                         mIndices  = 0;
 177                         mDepth    = 5;
 178                         mCpercent = 5;
 179                         mPpercent = 5;
 180                         mMaxVertices = 32;
 181                         mSkinWidth   = 0;
 182                         mCallback    = 0;
 183                 }
 184
 185                 // describes the input triangle.
 186                 unsigned        int     mVcount;   // the number of vertices in the source mesh.
 187                 const float  *mVertices; // start of the vertex position array.  Assumes a stride of 3 floats.
 188                 unsigned int  mTcount;   // the number of triangles in the source mesh.
 189                 unsigned int *mIndices;  // the indexed triangle list array (zero index based)
 190
 191                 // options
 192                 unsigned int  mDepth;    // depth to split, a maximum of 10, generally not over 7.
 193                 float         mCpercent; // the concavity threshold percentage.  0=20 is reasonable.
 194                 float         mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
 195
 196                 // hull output limits.
 197                 unsigned int  mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
 198                 float         mSkinWidth;   // a skin width to apply to the output hulls.
 199
 200                 ConvexDecompInterface *mCallback; // the interface to receive back the results.
 201
 202         };
 203
 204         // perform approximate convex decomposition on a mesh.
 205         unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
 206
 207
 208         void calcConvexDecomposition(unsigned int           vcount,
 209                 const float           *vertices,
 210                 unsigned int           tcount,
 211                 const unsigned int    *indices,
 212                 ConvexDecompInterface *callback,
 213                 float                  masterVolume,
 214                 unsigned int           depth);
 215
 216
 217 }
 218
 219
 220 #endif