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/*
 * Java port of Bullet (c) 2008 Martin Dvorak 
 * 
 * ShapeHull implemented by John McCutchan.
 *
 * Bullet Continuous Collision Detection and Physics Library
 * Copyright (c) 2003-2008 Erwin Coumans  http://www.bulletphysics.com/
 *
 * This software is provided 'as-is', without any express or implied warranty.
 * In no event will the authors be held liable for any damages arising from
 * the use of this software.
 * 
 * Permission is granted to anyone to use this software for any purpose, 
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 * 
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */

package com.bulletphysics.collision.shapes;

import com.bulletphysics.linearmath.MiscUtil;
import com.bulletphysics.linearmath.convexhull.*;
import com.bulletphysics.util.IntArrayList;
import com.bulletphysics.util.ObjectArrayList;
import cz.advel.stack.Stack;
import javax.vecmath.Vector3f;

/**
 * ShapeHull takes a {@link ConvexShape}, builds the convex hull using {@link HullLibrary}
 * and provides triangle indices and vertices.
 * 
 * @author jezek2
 */
public class ShapeHull {

	protected ObjectArrayList vertices = new ObjectArrayList();
	protected IntArrayList indices = new IntArrayList();
	protected int numIndices;
	protected ConvexShape shape;

	protected ObjectArrayList unitSpherePoints = new ObjectArrayList();

	public ShapeHull(ConvexShape shape) {
		this.shape = shape;
		this.vertices.clear();
		this.indices.clear();
		this.numIndices = 0;

		MiscUtil.resize(unitSpherePoints, NUM_UNITSPHERE_POINTS+ConvexShape.MAX_PREFERRED_PENETRATION_DIRECTIONS*2, Vector3f.class);
		for (int i=0; i supportPoints = new ObjectArrayList();
		MiscUtil.resize(supportPoints, NUM_UNITSPHERE_POINTS + ConvexShape.MAX_PREFERRED_PENETRATION_DIRECTIONS * 2, Vector3f.class);

		for (int i=0; i getVertexPointer() {
		return vertices;
	}

	public IntArrayList getIndexPointer() {
		return indices;
	}

	////////////////////////////////////////////////////////////////////////////
	
	private static int NUM_UNITSPHERE_POINTS = 42;
	
	private static ObjectArrayList constUnitSpherePoints = new ObjectArrayList();
	
	static {
		constUnitSpherePoints.add(new Vector3f(0.000000f, -0.000000f, -1.000000f));
		constUnitSpherePoints.add(new Vector3f(0.723608f, -0.525725f, -0.447219f));
		constUnitSpherePoints.add(new Vector3f(-0.276388f, -0.850649f, -0.447219f));
		constUnitSpherePoints.add(new Vector3f(-0.894426f, -0.000000f, -0.447216f));
		constUnitSpherePoints.add(new Vector3f(-0.276388f, 0.850649f, -0.447220f));
		constUnitSpherePoints.add(new Vector3f(0.723608f, 0.525725f, -0.447219f));
		constUnitSpherePoints.add(new Vector3f(0.276388f, -0.850649f, 0.447220f));
		constUnitSpherePoints.add(new Vector3f(-0.723608f, -0.525725f, 0.447219f));
		constUnitSpherePoints.add(new Vector3f(-0.723608f, 0.525725f, 0.447219f));
		constUnitSpherePoints.add(new Vector3f(0.276388f, 0.850649f, 0.447219f));
		constUnitSpherePoints.add(new Vector3f(0.894426f, 0.000000f, 0.447216f));
		constUnitSpherePoints.add(new Vector3f(-0.000000f, 0.000000f, 1.000000f));
		constUnitSpherePoints.add(new Vector3f(0.425323f, -0.309011f, -0.850654f));
		constUnitSpherePoints.add(new Vector3f(-0.162456f, -0.499995f, -0.850654f));
		constUnitSpherePoints.add(new Vector3f(0.262869f, -0.809012f, -0.525738f));
		constUnitSpherePoints.add(new Vector3f(0.425323f, 0.309011f, -0.850654f));
		constUnitSpherePoints.add(new Vector3f(0.850648f, -0.000000f, -0.525736f));
		constUnitSpherePoints.add(new Vector3f(-0.525730f, -0.000000f, -0.850652f));
		constUnitSpherePoints.add(new Vector3f(-0.688190f, -0.499997f, -0.525736f));
		constUnitSpherePoints.add(new Vector3f(-0.162456f, 0.499995f, -0.850654f));
		constUnitSpherePoints.add(new Vector3f(-0.688190f, 0.499997f, -0.525736f));
		constUnitSpherePoints.add(new Vector3f(0.262869f, 0.809012f, -0.525738f));
		constUnitSpherePoints.add(new Vector3f(0.951058f, 0.309013f, 0.000000f));
		constUnitSpherePoints.add(new Vector3f(0.951058f, -0.309013f, 0.000000f));
		constUnitSpherePoints.add(new Vector3f(0.587786f, -0.809017f, 0.000000f));
		constUnitSpherePoints.add(new Vector3f(0.000000f, -1.000000f, 0.000000f));
		constUnitSpherePoints.add(new Vector3f(-0.587786f, -0.809017f, 0.000000f));
		constUnitSpherePoints.add(new Vector3f(-0.951058f, -0.309013f, -0.000000f));
		constUnitSpherePoints.add(new Vector3f(-0.951058f, 0.309013f, -0.000000f));
		constUnitSpherePoints.add(new Vector3f(-0.587786f, 0.809017f, -0.000000f));
		constUnitSpherePoints.add(new Vector3f(-0.000000f, 1.000000f, -0.000000f));
		constUnitSpherePoints.add(new Vector3f(0.587786f, 0.809017f, -0.000000f));
		constUnitSpherePoints.add(new Vector3f(0.688190f, -0.499997f, 0.525736f));
		constUnitSpherePoints.add(new Vector3f(-0.262869f, -0.809012f, 0.525738f));
		constUnitSpherePoints.add(new Vector3f(-0.850648f, 0.000000f, 0.525736f));
		constUnitSpherePoints.add(new Vector3f(-0.262869f, 0.809012f, 0.525738f));
		constUnitSpherePoints.add(new Vector3f(0.688190f, 0.499997f, 0.525736f));
		constUnitSpherePoints.add(new Vector3f(0.525730f, 0.000000f, 0.850652f));
		constUnitSpherePoints.add(new Vector3f(0.162456f, -0.499995f, 0.850654f));
		constUnitSpherePoints.add(new Vector3f(-0.425323f, -0.309011f, 0.850654f));
		constUnitSpherePoints.add(new Vector3f(-0.425323f, 0.309011f, 0.850654f));
		constUnitSpherePoints.add(new Vector3f(0.162456f, 0.499995f, 0.850654f));
	}
	
}