public static void silhouette(
ExpandingPolytopeEntry entry, int i, Vector3d w, ExpandingPolytopeEdgeList edgeList) {
if ((entry != null) && !entry.isObsolete()) {
// Facet entry is visited for the first time.
Vector3d closestPointToOrigin = entry.getClosestPointToOrigin();
if (isNotVisibleFromW(closestPointToOrigin, w)) {
// Facet entry is not visible from w.
edgeList.addEdge(entry, i);
} else {
// Mark entry visible, and search its neighbors.
entry.setObsolete();
int iPlusOne = (i + 1) % 3;
int iPlusTwo = (i + 2) % 3;
silhouette(
entry.getAdjacentTriangle(iPlusOne),
entry.getAdjacentTriangleEdgeIndex(iPlusOne),
w,
edgeList);
silhouette(
entry.getAdjacentTriangle(iPlusTwo),
entry.getAdjacentTriangleEdgeIndex(iPlusTwo),
w,
edgeList);
}
}
}
public static void computeSilhouetteFromW(
ExpandingPolytopeEntry triangleEntrySeenByW,
Vector3d w,
ExpandingPolytopeEdgeList edgeListToPack) {
triangleEntrySeenByW.setObsolete(); // This triangle is visible from w.
edgeListToPack.clear();
for (int triangleIndex = 0; triangleIndex < 3; triangleIndex++) {
ExpandingPolytopeEntry adjacentTriangle =
triangleEntrySeenByW.getAdjacentTriangle(triangleIndex);
int adjacentTriangleEdgeIndex =
triangleEntrySeenByW.getAdjacentTriangleEdgeIndex(triangleIndex);
if (adjacentTriangle != null) {
silhouette(adjacentTriangle, adjacentTriangleEdgeIndex, w, edgeListToPack);
}
}
}