dgCollisionConvexHull.h

/* Copyright (c) <2003-2011> <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.
*/

#if !defined(AFX_DGCOLLISIONCONVEXHULL_H__AS235640FER__INCLUDED_)
#define AFX_DGCOLLISIONCONVEXHULL_H__AS235640FER__INCLUDED_

#include "dgCollisionConvex.h"


class dgCollisionConvexHull: public dgCollisionConvex {
public:
    dgCollisionConvexHull(dgMemoryAllocator *const allocator, dgUnsigned32 signature, dgInt32 count, dgInt32 strideInBytes, dgFloat32 tolerance, const dgFloat32 *vertexArray, const dgMatrix &matrix);
    dgCollisionConvexHull(dgWorld *const world, dgDeserialize deserialization, void *const userData);
    virtual ~dgCollisionConvexHull();

    dgInt32 GetFaceIndices(dgInt32 index, dgInt32 *indices) const;
private:

    bool Create(dgInt32 count, dgInt32 strideInBytes, const dgFloat32 *const vertexArray, dgFloat32 tolerance);

    bool RemoveCoplanarEdge(dgPolyhedra &convex, const dgBigVector *const hullVertexArray) const;
    dgBigVector FaceNormal(const dgEdge *face, const dgBigVector *const pool) const;
    bool CheckConvex(dgPolyhedra &polyhedra, const dgBigVector *hullVertexArray) const;

    virtual dgInt32 CalculateSignature() const;
    virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
    virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
    virtual void GetCollisionInfo(dgCollisionInfo *info) const;
    virtual void Serialize(dgSerialize callback, void *const userData) const;
    virtual bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) const;

    virtual void SetBreakImpulse(dgFloat32 force);
    virtual dgFloat32 GetBreakImpulse() const;

    dgFloat32 m_destructionImpulse;
    dgInt32 m_faceCount;
    dgInt32 m_boundPlanesCount;
    dgConvexSimplexEdge **m_faceArray;

    friend class dgWorld;
    friend class dgCollisionConvex;
};

#endif