rollback function def

include/bounce/quickhull/qh_hull.h

@@ -118,11 +118,11 @@ public:
 private:
 	bool BuildInitialHull(const b3Vec3* vertices, u32 count);
 
-	qhVertex* NextVertex();
+	qhVertex* FindEyeVertex() const;
 	void AddVertex(qhVertex* v);
 
 	void FindHorizon(qhVertex* eye);
-	void FindHorizon(qhVertex* eye, qhHalfEdge* edge);
+	void FindHorizon(qhVertex* eye, qhFace* face, qhHalfEdge* begin);
 
 	void AddNewFaces(qhVertex* eye);
 	void MergeFaces();
@@ -137,7 +137,7 @@ private:
 	float32 m_tolerance;
 
 	// Number of Quickhull iterations
-	u32 m_iteration;
+	u32 m_iterations;
 
 	// List of faces
 	qhList<qhFace> m_faceList; 

include/bounce/quickhull/qh_hull.inl

@@ -158,7 +158,7 @@ constexpr u32 qhGetBufferSize(u32 pointCount)
 
 inline u32 qhHull::GetIterations() const
 {
-	return m_iteration;
+	return m_iterations;
 }
 
 inline const qhList<qhFace>& qhHull::GetFaceList() const

src/bounce/quickhull/qh_hull.cpp

@@ -19,6 +19,7 @@
 #include <bounce/quickhull/qh_hull.h>
 #include <bounce/common/template/array.h>
 #include <bounce/common/template/stack.h>
+#include <bounce/common/template/queue.h>
 #include <bounce/common/draw.h>
 
 static float32 qhFindAABB(u32 iMin[3], u32 iMax[3], const b3Vec3* vertices, u32 count)
@@ -108,19 +109,19 @@ void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
 
 	m_faceList.head = NULL;
 	m_faceList.count = 0;
-	m_iteration = 0;
+	m_iterations = 0;
 
 	if (!BuildInitialHull(vs, count))
 	{
 		return;
 	}
 
-	qhVertex* eye = NextVertex();
+	qhVertex* eye = FindEyeVertex();
 	while (eye)
 	{
 		AddVertex(eye);
-		eye = NextVertex();
-		++m_iteration;
+		eye = FindEyeVertex();
+		++m_iterations;
 	}
 
 	Validate();
@@ -323,17 +324,15 @@ bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
 	return true;
 }
 
-qhVertex* qhHull::NextVertex()
+qhVertex* qhHull::FindEyeVertex() const
 {
 	// Find the point furthest from the current hull.
 	float32 d0 = m_tolerance;
 	qhVertex* v0 = NULL;
 
-	qhFace* f = m_faceList.head;
-	while (f)
+	for (qhFace* f = m_faceList.head; f != NULL; f = f->next)
 	{
-		qhVertex* v = f->conflictList.head;
-		while (v)
+		for (qhVertex* v = f->conflictList.head; v != NULL; v = v->next)
 		{
 			float32 d = b3Distance(v->position, f->plane);
 			if (d > d0)
@@ -341,11 +340,7 @@ qhVertex* qhHull::NextVertex()
 				d0 = d;
 				v0 = v;
 			}
-
-			v = v->next;
 		}
-
-		f = f->next;
 	}
 
 	return v0;
@@ -368,27 +363,29 @@ void qhHull::FindHorizon(qhVertex* eye)
 
 	// Find the horizon 
 	m_horizonCount = 0;
-	FindHorizon(eye, eye->conflictFace->edge);
+	FindHorizon(eye, eye->conflictFace, eye->conflictFace->edge);
 }
 
-void qhHull::FindHorizon(qhVertex* eye, qhHalfEdge* begin)
+void qhHull::FindHorizon(qhVertex* eye, qhFace* face, qhHalfEdge* begin)
 {
-	// Mark face as visible/visited.
-	qhFace* face = begin->face;
+	// Mark the face 
 	face->state = qhFace::e_visible;
 
+	//
 	qhHalfEdge* edge = begin;
-
 	do
 	{
-		qhHalfEdge* adjEdge = edge->twin;
-		qhFace* adjFace = adjEdge->face;
+		qhHalfEdge* twin = edge->twin;
+		qhFace* other = twin->face;
 
-		if (adjFace->state == qhFace::e_invisible)
+		if (other->state == qhFace::e_invisible)
 		{
-			if (b3Distance(eye->position, adjFace->plane) > m_tolerance)
+			// Is the other face invisible?
+			if (b3Distance(eye->position, other->plane) > m_tolerance)
 			{
-				FindHorizon(eye, adjEdge);
+				// Recurse starting from the twin edge for 
+				// ensuring CCW horizon order
+				FindHorizon(eye, other, twin);
 			}
 			else
 			{
@@ -397,7 +394,6 @@ void qhHull::FindHorizon(qhVertex* eye, qhHalfEdge* begin)
 		}
 
 		edge = edge->next;
-
 	} while (edge != begin);
 }