some brute-force method for creating vertices from a convex defined by plane equations, and creating plane equations from a point cloud

src/LinearMath/btGeometryUtil.h

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+/*
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BT_GEOMETRY_UTIL_H
+#define BT_GEOMETRY_UTIL_H
+#include <vector>
+#include "btVector3.h"
+
+class btGeometryUtil
+{
+	public:
+	
+	
+		static void	getPlaneEquationsFromVertices(std::vector<btVector3>& vertices, std::vector<btVector3>& planeEquationsOut );
+
+		static void	getVerticesFromPlaneEquations(const std::vector<btVector3>& planeEquations , std::vector<btVector3>& verticesOut );
+	
+		static bool	isInside(const std::vector<btVector3>& vertices, const btVector3& planeNormal, float	margin);
+		
+		static bool	isPointInsidePlanes(const std::vector<btVector3>& planeEquations, const btVector3& point, float	margin);
+
+		static bool	areVerticesBehindPlane(const btVector3& planeNormal, const std::vector<btVector3>& vertices, float	margin);
+
+};
+
+
+#endif //BT_GEOMETRY_UTIL_H