quickhull/Quickhull.h

#pragma once

#include <list>
#include <bits/stdc++.h>  // For INT_MIN & INT_MAX

#include "Point.h"
#include "Line.h"
#include "Triangle.h"

class Quickhull
{
public:
    static void get_hull(std::list<Point> &input, std::list<Point> &output) 
    {
        // Get leftmost and rightmost point
        Point leftmost(INFINITY, 0.0), rightmost(-INFINITY, 0.0);

        for (const Point &point : input)
        {
            if (point.x() < leftmost.x()) {
                leftmost = point;
            } else if (point.y() > rightmost.y()) {
                rightmost = point;
            }
        }
        // Add them to the output
        output.emplace_back(leftmost);
        output.emplace_back(rightmost);

        // Remove them from the input (as well as duplicates)
        input.remove(leftmost);
        input.remove(rightmost);

        // Create a line from leftmost to rightmost
        Line line = Line(leftmost, rightmost);

        // Sort points between left and right of that line
        std::list<Point> points_left, points_right;

        for (const Point &point : input)
        {
            if (line.is_point_right(point))
            {
                points_right.emplace_back(point);
            }
            else
            {
                points_left.emplace_back(point);
            }
            
        }

        // Call get_hull_with_line with the left points, as well as with the right points, and the line
        get_hull_with_line(points_left, output, line);
        get_hull_with_line(points_right, output, line);
    }

private:
    static void get_hull_with_line(std::list<Point> &input, std::list<Point> &output, const Line &line)
    {
        // If the input vector is empty, we're done
        if (input.empty()) return;

        // Find the point which is furthest away from the line, add it to the output
        Point furthest_point;
        float furthest_distance = -1.0;

        for (const Point &point : input)
        {
            float this_distance = line.distance_to(point);
            if (this_distance > furthest_distance)
            {
                furthest_distance = this_distance;
                furthest_point = point;
            }
        }

        output.emplace_back(furthest_point);
        input.remove(furthest_point);

        // Build a triangle with these 3 points

        // We need to differentiate based on which side the furthest point is on
        //  in order to keep the meaning of left/right consistent.
        
        Line new_line1, new_line2;

        if (line.is_point_right(furthest_point))
        {
            // TOOD: It's probably more efficient to set the fields?
            new_line1 = Line(line.to(), furthest_point);
            new_line2 = Line(furthest_point, line.from());
        }
        else
        {
            new_line1 = Line(line.from(), furthest_point);
            new_line2 = Line(furthest_point, line.to());
        }

        // TODO: Test if this improves performance
        //Triangle triangle(a, b, c);
        //input.remove_if([triangle](Point point)
        //{
        //    return triangle.is_point_inside(point);
        //});

        // Get points right of new_line1 and 2
        std::list<Point> left_of_line1, left_of_line2;

        for (const Point& point : input)
        {
            if (!new_line1.is_point_right(point))
            {
                left_of_line1.emplace_back(point);
            }
            // TODO: Can we do else if here, or could we then miss out on points?
            if (!new_line2.is_point_right(point))
            {
                left_of_line2.emplace_back(point);
            }
        }

        // Recursively call get_hull_with_line for each side of the triangle
        // TODO: We can skip the original one
        get_hull_with_line(left_of_line1, output, new_line1);
        get_hull_with_line(left_of_line2, output, new_line2);
    }
};