Torque3D-clone/Engine/lib/bullet/Extras/HACD/hacdManifoldMesh.h

/* 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, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

/* 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, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#pragma once
#ifndef HACD_MANIFOLD_MESH_H
#define HACD_MANIFOLD_MESH_H
#include <iostream>
#include <fstream>
#include "hacdVersion.h"
#include "hacdCircularList.h"
#include "hacdVector.h"
#include <set>
namespace HACD
{
	class TMMTriangle;
	class TMMEdge;
    class TMMesh;
    class ICHull;
	class HACD;

    class DPoint  
    {
    public:       
																DPoint(Real dist=0, bool computed=false, bool distOnly=false)
																	:m_dist(dist),
																	 m_computed(computed),
                                                                     m_distOnly(distOnly){};
                                                				~DPoint(){};      
    private:
		Real                                                    m_dist;
		bool													m_computed;
        bool                                                    m_distOnly;
		friend class TMMTriangle;
	    friend class TMMesh;
		friend class GraphVertex;
        friend class GraphEdge;
        friend class Graph;
		friend class ICHull;
		friend class HACD;
    };

	//!	Vertex data structure used in a triangular manifold mesh (TMM).
	class TMMVertex
	{
		public:
																TMMVertex(void);
                                                                ~TMMVertex(void);
        
        private:
			Vec3<Real>										m_pos;
			long												m_name;
            size_t												m_id;
			CircularListElement<TMMEdge> *						m_duplicate;		// pointer to incident cone edge (or NULL)
			bool												m_onHull;
			bool												m_tag;
																TMMVertex(const TMMVertex & rhs);
            
			friend class HACD;            
			friend class ICHull;
            friend class TMMesh;
            friend class TMMTriangle;
            friend class TMMEdge;
	};

	//!	Edge data structure used in a triangular manifold mesh (TMM).
	class TMMEdge
	{		
		public:
																TMMEdge(void);
																~TMMEdge(void);
        private:
            size_t												m_id;
			CircularListElement<TMMTriangle> *					m_triangles[2];
			CircularListElement<TMMVertex> *					m_vertices[2];
			CircularListElement<TMMTriangle> *					m_newFace;


																TMMEdge(const TMMEdge & rhs);
                
		friend class HACD;
		friend class ICHull;
        friend class TMMTriangle;
        friend class TMMVertex;
        friend class TMMesh;
	};

	//!	Triangle data structure used in a triangular manifold mesh (TMM).
	class TMMTriangle
	{
		public:
																TMMTriangle(void);
																~TMMTriangle(void);
        private:
            size_t												m_id;
			CircularListElement<TMMEdge> *						m_edges[3];
			CircularListElement<TMMVertex> *					m_vertices[3];
			std::set<long>										m_incidentPoints;
			bool												m_visible;
																
																TMMTriangle(const TMMTriangle & rhs);
        
		friend class HACD;
        friend class ICHull;
        friend class TMMesh;
        friend class TMMVertex;
        friend class TMMEdge;
	};
    
    class Material
    {
    public:    
                                                                Material(void);
                                                                ~Material(void){}        
//    private:
        Vec3<double>                                            m_diffuseColor;
        double                                                  m_ambientIntensity;
        Vec3<double>                                            m_specularColor;
        Vec3<double>                                            m_emissiveColor;
        double                                                  m_shininess;
        double                                                  m_transparency;
        
        friend class TMMesh;
		friend class HACD;
    };

	//!	triangular manifold mesh data structure.
	class TMMesh
	{
		public:

			//! Returns the number of vertices>
			inline size_t										GetNVertices() const { return m_vertices.GetSize();}
			//! Returns the number of edges
			inline size_t										GetNEdges() const { return m_edges.GetSize();}
			//! Returns the number of triangles
			inline size_t										GetNTriangles() const { return m_triangles.GetSize();}
            //! Returns the vertices circular list
            inline const CircularList<TMMVertex> &              GetVertices() const { return m_vertices;}
            //! Returns the edges circular list
            inline const CircularList<TMMEdge> &				GetEdges() const { return m_edges;}
            //! Returns the triangles circular list
            inline const CircularList<TMMTriangle> &			GetTriangles() const { return m_triangles;}
            //! Returns the vertices circular list
            inline CircularList<TMMVertex> &                    GetVertices() { return m_vertices;}
            //! Returns the edges circular list
            inline CircularList<TMMEdge> &                      GetEdges() { return m_edges;}
            //! Returns the triangles circular list
            inline CircularList<TMMTriangle> &                  GetTriangles() { return m_triangles;}               
			//! Add vertex to the mesh
			CircularListElement<TMMVertex> *					AddVertex() {return m_vertices.Add();}
			//! Add vertex to the mesh
			CircularListElement<TMMEdge> *						AddEdge() {return m_edges.Add();}
			//! Add vertex to the mesh
			CircularListElement<TMMTriangle> *					AddTriangle() {return m_triangles.Add();}
			//! Print mesh information 
			void												Print();
            //!
            void                                                GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
            //! Save mesh 
            bool												Save(const char *fileName);        
            //! Save mesh to VRML 2.0 format 
            bool												SaveVRML2(std::ofstream &fout);             
            //! Save mesh to VRML 2.0 format 
            bool												SaveVRML2(std::ofstream &fout, const Material & material);  			
            //!  
            void												Clear();
            //!
            void                                                Copy(TMMesh & mesh);
			//!
			bool												CheckConsistancy();
			//!
			bool												Normalize();
			//!
			bool												Denormalize();
            //!	Constructor
																TMMesh(void);
			//! Destructor
			virtual												~TMMesh(void);

		private:
			CircularList<TMMVertex>								m_vertices;
			CircularList<TMMEdge>								m_edges;
			CircularList<TMMTriangle>							m_triangles;
			Real                                                m_diag;						//>! length of the BB diagonal
			Vec3<Real>                                          m_barycenter;				//>! barycenter of the mesh

			// not defined
																TMMesh(const TMMesh & rhs);
			friend class ICHull;
			friend class HACD;
	};
	//! IntersectRayTriangle(): intersect a ray with a 3D triangle
	//!    Input:  a ray R, and a triangle T
	//!    Output: *I = intersection point (when it exists)
	//!             0 = disjoint (no intersect)
	//!             1 = intersect in unique point I1
	long														IntersectRayTriangle( const Vec3<double> & P0, const Vec3<double> & dir, 
																					  const Vec3<double> & V0, const Vec3<double> & V1, 
																					  const Vec3<double> & V2, double &t);

	// intersect_RayTriangle(): intersect a ray with a 3D triangle
	//    Input:  a ray R, and a triangle T
	//    Output: *I = intersection point (when it exists)
	//    Return: -1 = triangle is degenerate (a segment or point)
	//             0 = disjoint (no intersect)
	//             1 = intersect in unique point I1
	//             2 = are in the same plane
	long														IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir, 
																					   const Vec3<double> & V0, const Vec3<double> & V1, 
																					   const Vec3<double> & V2, double &r);

    /*
     Calculate the line segment PaPb that is the shortest route between
     two lines P1P2 and P3P4. Calculate also the values of mua and mub where
     Pa = P1 + mua (P2 - P1)
     Pb = P3 + mub (P4 - P3)
     Return FALSE if no solution exists.
     */
    bool                                                        IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2, 
                                                                                  const Vec3<double> & p3, const Vec3<double> & p4,
                                                                                  Vec3<double> & pa, Vec3<double> & pb, 
                                                                                  double & mua, double &mub);
}
#endif