/home/slemaign/softs-local/BioMove3D-git/graspPlanning/include/gpConvexHull.h

#ifndef GP_CONVEXHULL3D_H
#define GP_CONVEXHULL3D_H



class gpConvexHull;


class gpRidge
{
  friend class gpConvexHull;

  private:
   unsigned int dimension_; 
   std::vector<unsigned int> vertices_; 
   unsigned int id_; 
   bool toporient_; 
   int setDimension(unsigned int dimension);
   int resize(unsigned int size);
  public:
   gpRidge();
   ~gpRidge();
   gpRidge(unsigned int dimension, unsigned int vertex_number);
   unsigned int operator [] (const unsigned int i) const;
   unsigned int& operator [] (const unsigned int i);
   unsigned int nbVertices() { return vertices_.size(); }
   unsigned int id() { return id_; }
   unsigned int toporient() { return toporient_; }
};


class gpFace
{
  friend class gpConvexHull;

  private:
   unsigned int dimension_; 
   std::vector<unsigned int> vertices_; 
   unsigned int id_; 

   double offset_; 
   std::vector<double> normal_; 

   std::vector<double> center_; 
   std::vector<gpRidge> ridges_;

   int setDimension(unsigned int dimension);
   int resize(unsigned int size);
   int resizeRidgeNumber(unsigned int size);
  public:
   gpFace();
   ~gpFace();
   gpFace(unsigned int dimension, unsigned int vertex_number);
   unsigned int operator [] (const unsigned int i) const;
   unsigned int& operator [] (const unsigned int i);
   unsigned int nbVertices() { return vertices_.size(); }
   unsigned int nbRidges() { return ridges_.size(); }
   std::vector<double> normal() { return normal_; }
   std::vector<double> center() { return center_; }
   unsigned int id() { return id_; }
   double offset() { return offset_; }
   std::vector<unsigned int> vertices() { return vertices_; }
   int print();
   int reverseVertexOrder();
   int orderFromRidges();
};


class gpVoronoiRidge
{
  friend class gpConvexHull;
  friend class gpConvexHull2D;
  friend class gpConvexHull3D;

  private:
   unsigned int site1_id_, site2_id_; 

   std::vector<unsigned int> vertices_;

   std::vector<double> center_;  
   std::vector<double> normal_;  
};


class gpVoronoiCell
{
  friend class gpConvexHull;
  friend class gpConvexHull2D;
  friend class gpConvexHull3D;

  private:
   unsigned int site_id_;

   std::vector< unsigned int > ridges_;

   std::vector<bool> ccw_; 
};

class gpConvexHull
{
  protected:
   unsigned int dimension_; 

   bool up_to_date_;

   std::vector< std::vector<double> > points_;  


   double largest_ball_radius_;

   int reset();

  public:
   std::vector<unsigned int> hull_vertices; 

   std::vector<gpFace> hull_faces;

   std::vector< std::vector< double > > voronoi_vertices_;
   std::vector<gpVoronoiRidge> voronoi_ridges_;
   std::vector<gpVoronoiCell> voronoi_cells_;

   gpConvexHull();
   gpConvexHull(const std::vector< std::vector<double> > &points);
   virtual ~gpConvexHull();
   int setPoints(const std::vector< std::vector<double> > &points);
   unsigned int nbVertices() {  return hull_vertices.size(); }
   unsigned int nbFaces()    {  return hull_faces.size(); }
   int pointCoordinates(unsigned int i, std::vector<double> &coord);

   int compute(bool simplicial_facets, double postMergingCentrumRadius, bool verbose= true);
   virtual int voronoi(bool verbose= true);
   int draw();
   int drawFace(unsigned int face_index);
   int print();
   double largest_ball_radius();
   int isPointInside(std::vector<double> point, bool &inside, double &distance);
};


class gpConvexHull3D: public gpConvexHull
{
  public:
   gpConvexHull3D();
   gpConvexHull3D(p3d_vector3 *point_array, unsigned int nbpoints);
   int setPoints(p3d_vector3 *point_array, unsigned int nbpoints);
   int voronoi(bool verbose= true);
   int draw(bool wireframe= false);
   int drawFace(unsigned int face_index);
};


class gpConvexHull6D: public gpConvexHull
{
  public:
   gpConvexHull6D(double (*point_array)[6], unsigned int nbpoints_);
};

int gpSample_polyhedron_convex_hull(struct p3d_polyhedre *polyhedron, double step, std::vector<gpVector3D> &samples);

#endif