////  MultiSphereShape.h//  libraries/physics/src////  Created by Luis Cuenca 5/11/2018//  Copyright 2018 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #ifndef hifi_MultiSphereShape_h#define hifi_MultiSphereShape_h #include <stdint.h>#include <btBulletDynamicsCommon.h>#include <GLMHelpers.h>#include <AABox.h>#include "BulletUtil.h"  class SphereRegion {public:    SphereRegion() {}    SphereRegion(const glm::vec3& direction) : _direction(direction) {}    void extractSphereRegion(std::vector<std::pair<glm::vec3, glm::vec3>>& outLines);    void extractEdges(bool reverseY = false);    void translate(const glm::vec3& translation);    void scale(float scale);    void dump(std::vector<std::pair<glm::vec3, glm::vec3>>& outLines);    const glm::vec3& getDirection() const { return _direction; }    const std::vector<glm::vec3>& getEdgesX() const { return _edgesX; }    const std::vector<glm::vec3>& getEdgesY() const { return _edgesY; }    const std::vector<glm::vec3>& getEdgesZ() const { return _edgesZ; }private:    void insertUnique(const glm::vec3& point, std::vector<glm::vec3>& pointSet);        std::vector<std::pair<glm::vec3, glm::vec3>> _lines;    std::vector<glm::vec3> _edgesX;    std::vector<glm::vec3> _edgesY;    std::vector<glm::vec3> _edgesZ;    glm::vec3 _direction;}; const int DEFAULT_SPHERE_SUBDIVISIONS = 16; const std::vector<glm::vec3> CORNER_SIGNS = {    glm::vec3(1.0f, 1.0f, 1.0f), glm::vec3(-1.0f, 1.0f, 1.0f),    glm::vec3(-1.0f, 1.0f, -1.0f), glm::vec3(1.0f, 1.0f, -1.0f),    glm::vec3(1.0f, -1.0f, 1.0f), glm::vec3(-1.0f, -1.0f, 1.0f),    glm::vec3(-1.0f, -1.0f, -1.0f), glm::vec3(1.0f, -1.0f, -1.0f) }; class MultiSphereShape {public:    enum ExtractionMode {        None = 0,        Automatic,        Box,        Sphere,        SphereCollapse,        SpheresX,        SpheresY,        SpheresZ,        SpheresXY,        SpheresYZ,        SpheresXZ,        SpheresXYZ    };     using CollapsingMode = ExtractionMode;    const std::vector<QString> ExtractionModeNames = {        "None",        "Automatic",        "Box",        "Sphere",        "SphereCollapse",        "SpheresX",        "SpheresY",        "SpheresZ",        "SpheresXY",        "SpheresYZ",        "SpheresXZ",        "SpheresXYZ"    };     struct SphereData {        glm::vec3 _position;        glm::vec3 _axis;        float _radius;    };     struct KdopCoefficient {        float xy = 0.0f;        float yz = 0.0f;        float xz = 0.0f;    };     struct KdopData {        std::vector<glm::vec3> _relativePoints;        bool _isValidShape{ true };        glm::vec3 _origin;        glm::vec3 _dimensions;        KdopCoefficient _epsilon;        KdopCoefficient _diff;    };     MultiSphereShape() {};    bool computeMultiSphereShape(int jointIndex, const QString& name, const std::vector<btVector3>& points, float scale = 1.0f);    void calculateDebugLines();    const std::vector<SphereData>& getSpheresData() const { return _spheres; }    const std::vector<std::pair<glm::vec3, glm::vec3>>& getDebugLines() const { return _debugLines; }    void setScale(float scale);    AABox& updateBoundingBox(const glm::vec3& position, const glm::quat& rotation);    const AABox& getBoundingBox() const { return _boundingBox; }    int getJointIndex() const { return _jointIndex; }    QString getJointName() const { return _jointName; }    bool isValid() const { return _spheres.size() > 0; } private:    KdopData getKdopData(const std::vector<btVector3>& kdop);    CollapsingMode computeSpheres(ExtractionMode mode, const KdopData& kdopData);    ExtractionMode getExtractionModeByJointName(const QString& jointName);    CollapsingMode getNextCollapsingMode(ExtractionMode mode, const std::vector<SphereData>& spheres);    QString modeToString(CollapsingMode type) { return ExtractionModeNames[(int)type]; }    void filterUniquePoints(const std::vector<btVector3>& kdop, std::vector<glm::vec3>& uniquePoints);    CollapsingMode spheresFromAxes(const std::vector<glm::vec3>& points, const std::vector<glm::vec3>& axes,                                   std::vector<SphereData>& spheres);        void calculateSphereLines(std::vector<std::pair<glm::vec3, glm::vec3>>& outLines, const glm::vec3& center, const float& radius,                              const int& subdivisions = DEFAULT_SPHERE_SUBDIVISIONS, const glm::vec3& direction = Vectors::UNIT_Y,                               const float& percentage = 1.0f, std::vector<glm::vec3>* edge = nullptr);    void calculateChamferBox(std::vector<std::pair<glm::vec3, glm::vec3>>& outLines, const std::vector<float>& radiuses, const std::vector<glm::vec3>& axes, const glm::vec3& translation);    void connectEdges(std::vector<std::pair<glm::vec3, glm::vec3>>& outLines, const std::vector<glm::vec3>& edge1,                       const std::vector<glm::vec3>& edge2, bool reverse = false);    void connectSpheres(int index1, int index2, bool onlyEdges = false);     int _jointIndex { -1 };    QString _jointName;    std::vector<SphereData> _spheres;    std::vector<std::pair<glm::vec3, glm::vec3>> _debugLines;    ExtractionMode _mode { ExtractionMode::None };    glm::vec3 _midPoint;    float _scale { 1.0f };    AABox _boundingBox;}; #endif // hifi_MultiSphereShape_h