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ConvexHullShape.h

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
 */

#ifndef CONVEX_HULL_SHAPE_H
#define CONVEX_HULL_SHAPE_H

#include "PolyhedralConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types

#include <vector>

///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
///(memory is much slower then the cpu)
00024 class ConvexHullShape : public PolyhedralConvexShape
{
      std::vector<SimdPoint3> m_points;

public:
      ConvexHullShape(SimdPoint3* points,int numPoints);

      void AddPoint(const SimdPoint3& point)
      {
            m_points.push_back(point);
      }
      virtual SimdVector3     LocalGetSupportingVertex(const SimdVector3& vec)const;
      virtual SimdVector3     LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;


      virtual int GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }

      //debugging
      virtual char*     GetName()const {return "Convex";}

      
      virtual int GetNumVertices() const;
      virtual int GetNumEdges() const;
      virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
      virtual void GetVertex(int i,SimdPoint3& vtx) const;
      virtual int GetNumPlanes() const;
      virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
      virtual     bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;



};


#endif //CONVEX_HULL_SHAPE_H


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