text: /* Copyright (c) <2003-2016> <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_3D__
  #define __DG_CONVEXHULL_3D__
  
  #include "dgStdafx.h"
  #include "dgList.h"
  #include "dgArray.h"
  #include "dgPlane.h"
  #include "dgVector.h"
  #include "dgMatrix.h"
  #include "dgQuaternion.h"
  
  class dgMemoryAllocator;
  class dgConvexHull3DVertex;
  class dgConvexHull3dAABBTreeNode;
  
  class dgConvexHull3DFace
  {
  	public:
  	dgConvexHull3DFace();
  	
  	void SetMark(dgInt32 mark) {m_mark = mark;}
  	dgInt32 GetMark() const {return m_mark;}
  	dgList<dgConvexHull3DFace>::dgListNode* GetTwin(dgInt32 index) const { return m_twin[index];}
  
  	private:
  	dgFloat64 Evalue (const dgBigVector* const pointArray, const dgBigVector& point) const;
  	dgBigPlane GetPlaneEquation (const dgBigVector* const pointArray) const;
  
  	public:
  	dgInt32 m_index[3]; 
  	private:
  	dgInt32 m_mark;
  	dgList<dgConvexHull3DFace>::dgListNode* m_twin[3];
  	friend class dgConvexHull3d;
  };
  
  class dgConvexHull3d: public dgList<dgConvexHull3DFace>
  {
  	public:
  	dgConvexHull3d(const dgConvexHull3d& source);
  	dgConvexHull3d(dgMemoryAllocator* const allocator, const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount = 0x7fffffff);
  	virtual ~dgConvexHull3d();
  
  	dgInt32 GetVertexCount() const;
  	const dgBigVector* GetVertexPool() const;
  	const dgBigVector& GetVertex(dgInt32 i) const;
  
  	dgFloat64 GetDiagonal() const;
  	void GetAABB (dgBigVector& boxP0, dgBigVector& boxP1) const;
  	dgFloat64 RayCast (const dgBigVector& localP0, const dgBigVector& localP1) const;
  	void CalculateVolumeAndSurfaceArea (dgFloat64& volume, dgFloat64& surcafeArea) const;
  
  	protected:
  	dgConvexHull3d(dgMemoryAllocator* const allocator);
  	void BuildHull (const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount);
  
  	virtual dgListNode* AddFace (dgInt32 i0, dgInt32 i1, dgInt32 i2);
  	virtual void DeleteFace (dgListNode* const node) ;
  	virtual dgInt32 InitVertexArray(dgConvexHull3DVertex* const points, const dgFloat64* const vertexCloud, dgInt32 strideInBytes, dgInt32 count, void* const memoryPool, dgInt32 maxMemSize);
  
  	void CalculateConvexHull (dgConvexHull3dAABBTreeNode* vertexTree, dgConvexHull3DVertex* const points, dgInt32 count, dgFloat64 distTol, dgInt32 maxVertexCount);
  	
  	dgInt32 SupportVertex (dgConvexHull3dAABBTreeNode** const tree, const dgConvexHull3DVertex* const points, const dgBigVector& dir, const bool removeEntry = true) const;
  	dgFloat64 TetrahedrumVolume (const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& p2, const dgBigVector& p3) const;
  
  	dgConvexHull3dAABBTreeNode* BuildTree (dgConvexHull3dAABBTreeNode* const parent, dgConvexHull3DVertex* const points, dgInt32 count, dgInt32 baseIndex, dgInt8** const memoryPool, dgInt32& maxMemSize) const;
  	static dgInt32 ConvexCompareVertex(const dgConvexHull3DVertex* const A, const dgConvexHull3DVertex* const B, void* const context);
  	bool Sanity() const;
  	void Save (const char* const filename) const;
  
  	class dgNormalMap
  	{
  		public:
  		dgNormalMap();
  		private:
  		void TessellateTriangle(dgInt32 level, const dgVector& p0, const dgVector& p1, const dgVector& p2, dgInt32& start);
  
  		public:
  		dgBigVector m_normal[128];
  		dgInt32 m_count;
  	};
  
  	static const dgNormalMap& GetNormaMap();
  
  	dgInt32 m_count;
  	dgFloat64 m_diag;
  	dgBigVector m_aabbP0;
  	dgBigVector m_aabbP1;
  	dgArray<dgBigVector> m_points;
  };
  
  
  inline dgInt32 dgConvexHull3d::GetVertexCount() const
  {
  	return m_count;
  }
  
  inline const dgBigVector* dgConvexHull3d::GetVertexPool() const
  {
  	return &m_points[0];
  }
  
  inline const dgBigVector& dgConvexHull3d::GetVertex(dgInt32 index) const
  {
  	return m_points[index];
  }
  
  inline dgFloat64 dgConvexHull3d::GetDiagonal() const
  {
  	return m_diag;
  }
  
  
  inline void dgConvexHull3d::GetAABB (dgBigVector& boxP0, dgBigVector& boxP1) const
  {
  	boxP0 = m_aabbP0;
  	boxP1 = m_aabbP1;
  }
  
  #endif
  