convex_hull.h

Go to the documentation of this file.

 
#ifndef CONVEX_HULL_H
#define CONVEX_HULL_H
 
namespace argos {
   class CConvexHull;
}
 
#include <argos3/core/utility/math/vector3.h>
#include <array>
#include <algorithm> // REMOVE
 
namespace argos {
 
   class CConvexHull {
 
   public:
      typedef std::vector<UInt32> TEdge;
 
      /* each face has three points, specified in counter-clockwise 
         order looking from the outside */
      struct SFace {
         SFace(const std::vector<CVector3>& vec_points,
               UInt32 un_A, 
               UInt32 un_B, 
               UInt32 un_C, 
               UInt32 un_inside_point);
 
         void Flip();
 
         CVector3 Normal;
         Real Direction;
         std::array<UInt32, 3> VertexIndices;
      };
 
   public:
      CConvexHull(const std::vector<CVector3>& vec_points);
 
      const std::vector<SFace>& GetFaces() const {
         return m_vecFaces;
      }
 
   private:
      std::vector<SFace> m_vecFaces;
      std::vector<CVector3> m_vecPoints;
   };
}
 
#endif