From 372c4ef9c1cc9b8ae1a6a6e5c69d2fbb5f56a3e2 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Wed, 4 May 2016 13:01:06 -0700
Subject: [PATCH] Add btConvexHullShape::optimizeConvexHull method, it
 automatically removes vertices that are not on the convex hull. It uses the
 btConvexHullComputer for this.

---
 .../CollisionShapes/btConvexHullShape.cpp       | 17 +++++++++++++----
 .../CollisionShapes/btConvexHullShape.h         |  5 ++---
 2 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 0623e351a..c1aa6ca46 100644
--- a/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -22,6 +22,8 @@ subject to the following restrictions:
 
 #include "LinearMath/btQuaternion.h"
 #include "LinearMath/btSerializer.h"
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
 
 btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
 {
@@ -121,10 +123,17 @@ btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
 }
 
 
-
-
-
-
+void btConvexHullShape::optimizeConvexHull()
+{
+	btConvexHullComputer conv;
+	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
+	int numVerts = conv.vertices.size();
+	m_unscaledPoints.resize(0);
+	for (int i=0;i<numVerts;i++)
+    {
+        m_unscaledPoints.push_back(conv.vertices[i]);
+    }
+}
 
 
 
diff --git a/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index 3bd598ec4..0c12aeef1 100644
--- a/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -55,9 +55,8 @@ public:
 		return getUnscaledPoints();
 	}
 
-	
-
-
+    void optimizeConvexHull();
+    
 	SIMD_FORCE_INLINE	btVector3 getScaledPoint(int i) const
 	{
 		return m_unscaledPoints[i] * m_localScaling;