Convex.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <agx/agxPhysics_export.h>
#include <agxCollide/Shape.h>
 
#include <agxStream/Serializable.h>
 
#include <agx/agx_vector_types.h>
#include <agxCollide/Trimesh.h>
 
namespace agxCollide
{
 
  AGX_DECLARE_POINTER_TYPES(Convex);
  class AGXPHYSICS_EXPORT Convex : public Trimesh
  {
    public:
      Convex( const agx::Vec3Vector* vertices, const agx::UInt32Vector* indices,
              const char* sourceName,
              uint32_t optionsMask = Trimesh::REMOVE_DUPLICATE_VERTICES );
 
      virtual bool hasSupportFunction() const override;
 
      virtual agx::Vec3 getSupportPoint( const agx::Vec3& supportDirection ) const override;
 
      Convex* shallowCopy() const;
 
      Convex* deepCopy() const;
 
      virtual Shape *clone() const override;
 
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxCollide::Convex);
 
    private:
 
      Convex();
 
      Convex( const Convex& convex );
 
      Convex& operator=(const Convex& convex);
 
    protected:
      virtual ~Convex();
 
  };
 
  AGX_FORCE_INLINE bool Convex::hasSupportFunction() const
  {
    return true;
  }
 
 
  AGX_FORCE_INLINE agx::Vec3 Convex::getSupportPoint( const agx::Vec3& supportDirection ) const
  {
    if ( m_collisionMeshData->m_vertices.empty() )
      return agx::Vec3();
    else {
      agx::Real maxDist = -agx::RealMax;
      size_t maxIndex = 0;
      for (size_t i = 0; i < m_collisionMeshData->m_vertices.size(); ++i) {
        const agx::Real dist = m_collisionMeshData->m_vertices[i] * supportDirection;
        if (dist > maxDist) {
          maxDist = dist;
          maxIndex = i;
        }
      }
      return m_collisionMeshData->m_vertices[maxIndex];
    }
  }
 
 
 
}