A simple triangulation engine that wraps around GLU's tessellation system.
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glu-tessellate

This is a triangulation library that wraps around GLU's tessellation routines to make turning vectors of point data into triangles stupid easy.

Yes, it supports concave polygons, and yes it supports holes. It also allows you to specify which winding rule you use to triangulate.

It also returns every triangle it produces in counter-clockwise order. You can change this to clockwise by passing :cw t.

Usage

The library has one public function (don't you love simplicity?) which takes a vector points (a point being an '(x y) list) into a list of triangles:

;; returns two triangles making up this square
(glu-tessellate:tessellate #( (0 0) (0 10) (10 10) (10 0) ))  ->
    (((10.0d0 10.0d0) (0.0d0 10.0d0) (0.0d0 0.0d0))
	 ((10.0d0 0.0d0) (10.0d0 10.0d0) (0.0d0 0.0d0)))

It also supports polygons with holes. Holes are specified as a list of point vectors:

;; a square with a hole returns quite a few more triangles
(glu-tessellate:tessellate #( (0 0) (0 10) (10 10) (10 0) ) :holes '( #((3 3) (3 7) (7 7) (7 3)) )) ->
    (((10.0d0 10.0d0) (0.0d0 10.0d0) (3.0d0 7.0d0))
     ((0.0d0 0.0d0) (3.0d0 7.0d0) (0.0d0 10.0d0))
     ((3.0d0 7.0d0) (0.0d0 0.0d0) (3.0d0 3.0d0))
     ((10.0d0 0.0d0) (3.0d0 3.0d0) (0.0d0 0.0d0))
     ((3.0d0 3.0d0) (10.0d0 0.0d0) (7.0d0 3.0d0))
     ((10.0d0 10.0d0) (7.0d0 3.0d0) (10.0d0 0.0d0))
     ((7.0d0 3.0d0) (10.0d0 10.0d0) (7.0d0 7.0d0))
     ((3.0d0 7.0d0) (7.0d0 7.0d0) (10.0d0 10.0d0)))

Arguments

The one function this library uses takes the following keyword arguments:

:holes           ; a list of point vectors describing the holes in the polygon
:winding-rule    ; a keyword describing the winding rule: (:odd :nonzero :positive :negative :abs-geq-two)
:cw              ; if T, produced triangles will be in CW order instead of CCW

Limitations

GLU tessellation normally allows you to store arbitrary data with each point and also merge this point data when new points are created. This library doesn't currently allow this, and is only used for triangulation of points. If you need to attach colors to your triangles, it must be done so outside of the library...unless, of course, you wish to add arbitrary data support and issue a pull request ;).

The only other limitation I can think of is that it relies on GLU being on the system. Show me a system without GLU and I'll show you a computer from an alternate universe where Microsoft finally did away with all competition and DirectX rules o'er the land with an iron fist.