17 #ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H 18 #define GRAHAM_SCAN_2D_CONVEX_HULL_H 65 if (originalPoints.
size()<=1)
67 for (
int i=0;i<originalPoints.
size();i++)
72 for (
int i=0;i<originalPoints.
size();i++)
76 btScalar projL = originalPoints[i].dot(axis0);
77 btScalar projR = originalPoints[0].dot(axis0);
80 originalPoints.
swap(0,i);
85 originalPoints[0].m_angle = -1e30f;
86 for (
int i=1;i<originalPoints.
size();i++)
88 btVector3 ar = originalPoints[i]-originalPoints[0];
91 if( ar1*ar1+ar0*ar0 < FLT_EPSILON )
93 originalPoints[i].m_angle = 0.0f;
106 for (i = 0; i<2; i++)
110 for (; i != originalPoints.
size(); i++)
112 bool isConvex =
false;
113 while (!isConvex&& hull.
size()>1) {
116 isConvex =
btCross(a-b,a-originalPoints[i]).
dot(normalAxis)> 0;
123 if( hull.
size() == 1 )
130 #endif //GRAHAM_SCAN_2D_CONVEX_HULL_H void push_back(const T &_Val)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
void btPlaneSpace1(const T &n, T &p, T &q)
void swap(int index0, int index1)
btScalar dot(const btVector3 &v) const
Return the dot product.
btVector3 btCross(const btVector3 &v1, const btVector3 &v2)
Return the cross product of two vectors.
int size() const
return the number of elements in the array
btScalar btAtan2Fast(btScalar y, btScalar x)
btVector3 can be used to represent 3D points and vectors.
btScalar length2() const
Return the length of the vector squared.
btAngleCompareFunc(const btVector3 &anchor)
void GrahamScanConvexHull2D(btAlignedObjectArray< GrahamVector3 > &originalPoints, btAlignedObjectArray< GrahamVector3 > &hull, const btVector3 &normalAxis)
bool operator()(const GrahamVector3 &a, const GrahamVector3 &b) const
GrahamVector3(const btVector3 &org, int orgIndex)
void quickSortInternal(const L &CompareFunc, int lo, int hi)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...