add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release

15 files changed, 4066 insertions, 0 deletions

diff --git a/Extras/HACD/CMakeLists.txt b/Extras/HACD/CMakeLists.txt
new file mode 100644
index 000000000..e2f3a5672
--- /dev/null
+++ b/Extras/HACD/CMakeLists.txt
@@ -0,0 +1,51 @@
+INCLUDE_DIRECTORIES(
+ ${BULLET_PHYSICS_SOURCE_DIR}/Extras/HACD
+)
+
+SET(HACD_SRCS
+	hacdGraph.cpp
+	hacdHACD.cpp
+	hacdICHull.cpp
+	hacdManifoldMesh.cpp
+)
+
+SET(HACD_HDRS
+	hacdCircularList.h
+	hacdGraph.h
+	hacdHACD.h
+	hacdICHull.h
+	hacdManifoldMesh.h
+	hacdVector.h
+	hacdVersion.h
+	hacdCircularList.inl
+	hacdVector.inl	
+)
+
+ADD_LIBRARY(HACD ${HACD_SRCS} ${HACD_HDRS})
+SET_TARGET_PROPERTIES(HACD PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(HACD PROPERTIES SOVERSION ${BULLET_VERSION})
+
+#IF (BUILD_SHARED_LIBS)
+#  TARGET_LINK_LIBRARIES(HACD BulletCollision LinearMath)
+#ENDIF (BUILD_SHARED_LIBS)
+
+IF (INSTALL_EXTRA_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS HACD DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS HACD DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+					DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN "*.inl" PATTERN
+					".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(HACD PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(HACD PROPERTIES PUBLIC_HEADER "${HACD_HDRS}")
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_EXTRA_LIBS)
diff --git a/Extras/HACD/hacdCircularList.h b/Extras/HACD/hacdCircularList.h
new file mode 100644
index 000000000..a13394cd6
--- /dev/null
+++ b/Extras/HACD/hacdCircularList.h
@@ -0,0 +1,80 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_CIRCULAR_LIST_H
+#define HACD_CIRCULAR_LIST_H
+#include<stdlib.h>
+#include "hacdVersion.h"
+namespace HACD
+{
+	//!	CircularListElement class.
+	template < typename T > class CircularListElement
+	{
+    public:
+        T &                                     GetData() { return m_data; }
+        const T &                               GetData() const { return m_data; }
+        CircularListElement<T> * &				GetNext() { return m_next; }
+        CircularListElement<T> * &				GetPrev() { return m_prev; }
+        const CircularListElement<T> * &		GetNext() const { return m_next; }
+        const CircularListElement<T> * &		GetPrev() const { return m_prev; }        
+        //!	Constructor
+												CircularListElement(const T & data) {m_data = data;}
+												CircularListElement(void){}
+        //! Destructor
+												~CircularListElement(void){}
+    private:
+        T										m_data;
+        CircularListElement<T> *				m_next; 
+        CircularListElement<T> *				m_prev;
+
+												CircularListElement(const CircularListElement & rhs);
+	};
+    
+    
+	//!	CircularList class.
+	template < typename T > class CircularList
+	{
+	public:
+        CircularListElement<T> *  &             GetHead() { return m_head;}        
+		const CircularListElement<T> *          GetHead() const { return m_head;}
+		bool                                    IsEmpty() const { return (m_size == 0);}
+		size_t                                  GetSize() const { return m_size; }
+		const T &                               GetData() const { return m_head->GetData(); }        
+		T &                                     GetData() { return m_head->GetData();}
+		bool                                    Delete() ;
+        bool                                    Delete(CircularListElement<T> * element);
+		CircularListElement<T> *                Add(const T * data = 0);
+		CircularListElement<T> *                Add(const T & data);
+		bool                                    Next();
+		bool                                    Prev();
+		void									Clear() { while(Delete());};
+        const CircularList&						operator=(const CircularList& rhs);
+		//!	Constructor											
+												CircularList()
+												{ 
+													m_head = 0; 
+													m_size = 0;
+												}
+												CircularList(const CircularList& rhs);
+		//! Destructor
+		virtual								    ~CircularList(void) {Clear();};
+	private:
+		CircularListElement<T> *				m_head;		//!< a pointer to the head of the circular list
+		size_t									m_size;		//!< number of element in the circular list
+        
+	};
+}
+#include "hacdCircularList.inl"
+#endif
diff --git a/Extras/HACD/hacdCircularList.inl b/Extras/HACD/hacdCircularList.inl
new file mode 100644
index 000000000..471f9ed44
--- /dev/null
+++ b/Extras/HACD/hacdCircularList.inl
@@ -0,0 +1,163 @@
+#pragma once
+#ifndef HACD_CIRCULAR_LIST_INL
+#define HACD_CIRCULAR_LIST_INL
+#include<stdlib.h>
+#include "hacdVersion.h"
+namespace HACD
+{
+	template < typename T > 
+	inline bool CircularList<T>::Delete(CircularListElement<T> * element)
+	{
+        if (!element)
+        {
+            return false;
+        }
+		if (m_size > 1)
+		{
+			CircularListElement<T> * next = element->GetNext();
+			CircularListElement<T> * prev = element->GetPrev();
+			delete element;
+			m_size--;
+            if (element == m_head)
+            {
+                m_head = next;
+            }
+			next->GetPrev() = prev;
+			prev->GetNext() = next;
+			return true;
+		}
+		else if (m_size == 1)
+		{
+			delete m_head;
+			m_size--;
+			m_head = 0;
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+    
+	template < typename T > 
+	inline bool CircularList<T>::Delete()
+	{
+		if (m_size > 1)
+		{
+			CircularListElement<T> * next = m_head->GetNext();
+			CircularListElement<T> * prev = m_head->GetPrev();
+			delete m_head;
+			m_size--;
+			m_head = next;
+			next->GetPrev() = prev;
+			prev->GetNext() = next;
+			return true;
+		}
+		else if (m_size == 1)
+		{
+			delete m_head;
+			m_size--;
+			m_head = 0;
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+	template < typename T > 
+	inline CircularListElement<T> * CircularList<T>::Add(const T * data)
+	{
+		if (m_size == 0)
+		{
+			if (data)
+			{
+				m_head = new CircularListElement<T>(*data);
+			}
+			else
+			{
+				m_head = new CircularListElement<T>();
+			}
+			m_head->GetNext() = m_head->GetPrev() = m_head;
+		}
+		else
+		{
+			CircularListElement<T> * next = m_head->GetNext();
+			CircularListElement<T> * element = m_head;
+			if (data)
+			{
+				m_head = new CircularListElement<T>(*data);
+			}
+			else
+			{
+				m_head = new CircularListElement<T>;
+			}
+			m_head->GetNext() = next;
+			m_head->GetPrev() = element;
+			element->GetNext() = m_head;
+			next->GetPrev() = m_head;
+		}
+		m_size++;
+		return m_head;
+	}
+	template < typename T > 
+	inline CircularListElement<T> * CircularList<T>::Add(const T & data)
+	{
+		const T * pData = &data;
+		return Add(pData);
+	}
+	template < typename T > 
+	inline bool CircularList<T>::Next()
+	{
+		if (m_size == 0)
+		{
+			return false;
+		}
+		m_head = m_head->GetNext();
+		return true;
+	}
+	template < typename T > 
+	inline bool CircularList<T>::Prev()
+	{
+		if (m_size == 0)
+		{
+			return false;
+		}
+		m_head = m_head->GetPrev();
+		return true;
+	}
+	template < typename T > 
+	inline CircularList<T>::CircularList(const CircularList& rhs)
+	{
+		if (rhs.m_size > 0)
+		{
+			CircularListElement<T> * current = rhs.m_head;
+			do
+			{
+				current = current->GetNext();
+				Add(current->GetData());
+			}
+			while ( current != rhs.m_head );
+		}
+	}
+    template < typename T > 
+	inline const CircularList<T>& CircularList<T>::operator=(const CircularList& rhs)
+	{
+        if (&rhs != this)
+        {
+            Clear();
+            if (rhs.m_size > 0)
+            {
+                CircularListElement<T> * current = rhs.m_head;
+                do
+                {
+                    current = current->GetNext();
+                    Add(current->GetData());
+                }
+                while ( current != rhs.m_head );
+            }
+        }
+        return (*this);
+	}
+}
+#endif
diff --git a/Extras/HACD/hacdGraph.cpp b/Extras/HACD/hacdGraph.cpp
new file mode 100644
index 000000000..4204f2d67
--- /dev/null
+++ b/Extras/HACD/hacdGraph.cpp
@@ -0,0 +1,292 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "hacdGraph.h"
+namespace HACD
+{    
+    
+    GraphEdge::GraphEdge()
+    {
+        m_convexHull = 0;
+        m_v1 = -1;
+        m_v2 = -1;
+		m_name = -1;
+        m_error = 0;
+        m_surf = 0;
+        m_perimeter = 0;
+        m_concavity = 0;
+		m_volume = 0;
+        m_deleted = false;
+	}
+   
+    GraphVertex::GraphVertex()
+    {
+        m_convexHull = 0;
+		m_name = -1;
+        m_cc = -1;
+        m_error = 0;
+        m_surf = 0;
+        m_perimeter = 0;
+        m_concavity = 0;
+		m_volume = 0;
+        m_deleted = false;
+    }
+    
+    bool GraphVertex::DeleteEdge(long name)
+    {
+        std::set<long>::iterator it = m_edges.find(name);
+        if (it != m_edges.end() )
+		{
+			m_edges.erase(it);
+			return true;
+		}
+        return false;
+    }
+
+    Graph::Graph()
+    {
+        m_nV = 0;
+        m_nE = 0;
+        m_nCCs = 0;
+    }
+    
+    Graph::~Graph()
+    {
+    }
+    
+	void Graph::Allocate(size_t nV, size_t nE)
+	{ 
+		m_nV = nV;
+		m_edges.reserve(nE);
+		m_vertices.resize(nV);
+		for(size_t i = 0; i < nV; i++)
+		{
+			m_vertices[i].m_name = static_cast<long>(i);
+		}
+	}
+
+    long Graph::AddVertex()
+    {
+		size_t name = m_vertices.size();
+		m_vertices.resize(name+1);
+        m_vertices[name].m_name = static_cast<long>(name);
+        m_nV++;
+        return static_cast<long>(name);
+    }
+    
+    long Graph::AddEdge(long v1, long v2)
+    {
+		size_t name = m_edges.size();
+		m_edges.push_back(GraphEdge());
+        m_edges[name].m_name = static_cast<long>(name);
+        m_edges[name].m_v1 = v1;
+        m_edges[name].m_v2 = v2;
+        m_vertices[v1].AddEdge(static_cast<long>(name));
+        m_vertices[v2].AddEdge(static_cast<long>(name));
+        m_nE++;
+		return static_cast<long>(name);
+    }
+
+    bool Graph::DeleteEdge(long name)
+    {
+		if (name < static_cast<long>(m_edges.size()))
+		{
+            long v1 = m_edges[name].m_v1;
+            long v2 = m_edges[name].m_v2;
+			m_edges[name].m_deleted = true;
+            m_vertices[v1].DeleteEdge(name);
+            m_vertices[v2].DeleteEdge(name);
+            delete m_edges[name].m_convexHull;
+			m_edges[name].m_distPoints.clear();
+			m_edges[name].m_boudaryEdges.clear();
+            m_edges[name].m_convexHull = 0;
+			m_nE--;
+			return true;
+		}
+		return false;
+    }
+    bool Graph::DeleteVertex(long name)
+    {
+		if (name < static_cast<long>(m_vertices.size()))
+		{
+			m_vertices[name].m_deleted = true;
+            m_vertices[name].m_edges.clear();
+            m_vertices[name].m_ancestors = std::vector<long>();
+            delete m_vertices[name].m_convexHull;
+			m_vertices[name].m_distPoints.clear();
+			m_vertices[name].m_boudaryEdges.clear();
+            m_vertices[name].m_convexHull = 0;
+			m_nV--;
+			return true;
+		}
+		return false;
+    }    
+    bool Graph::EdgeCollapse(long v1, long v2)
+	{
+		long edgeToDelete = GetEdgeID(v1, v2);
+        if (edgeToDelete >= 0) 
+		{
+			// delete the edge (v1, v2)
+			DeleteEdge(edgeToDelete);
+			// add v2 to v1 ancestors
+            m_vertices[v1].m_ancestors.push_back(v2);
+			// add v2's ancestors to v1's ancestors
+			m_vertices[v1].m_ancestors.insert(m_vertices[v1].m_ancestors.begin(),
+											  m_vertices[v2].m_ancestors.begin(), 
+											  m_vertices[v2].m_ancestors.end());
+			// update adjacency information
+			std::set<long> & v1Edges =  m_vertices[v1].m_edges;
+			std::set<long>::const_iterator ed(m_vertices[v2].m_edges.begin());
+			std::set<long>::const_iterator itEnd(m_vertices[v2].m_edges.end());
+			long b = -1;
+			for(; ed != itEnd; ++ed) 
+			{
+				if (m_edges[*ed].m_v1 == v2)
+				{
+					b = m_edges[*ed].m_v2;
+				}
+				else
+				{
+					b = m_edges[*ed].m_v1;
+				}
+				if (GetEdgeID(v1, b) >= 0)
+				{
+					m_edges[*ed].m_deleted = true;
+					m_vertices[b].DeleteEdge(*ed);
+					m_nE--;
+				}
+				else
+				{
+					m_edges[*ed].m_v1 = v1;
+					m_edges[*ed].m_v2 = b;
+					v1Edges.insert(*ed);
+				}
+			}
+			// delete the vertex v2
+            DeleteVertex(v2);			
+            return true;
+        }
+		return false;
+    }
+    
+    long Graph::GetEdgeID(long v1, long v2) const
+    {
+		if (v1 < static_cast<long>(m_vertices.size()) && !m_vertices[v1].m_deleted)
+		{
+			std::set<long>::const_iterator ed(m_vertices[v1].m_edges.begin());
+			std::set<long>::const_iterator itEnd(m_vertices[v1].m_edges.end());
+			for(; ed != itEnd; ++ed) 
+			{
+				if ( (m_edges[*ed].m_v1 == v2) || 
+					 (m_edges[*ed].m_v2 == v2)   ) 
+				{
+					return m_edges[*ed].m_name;
+				}
+			}
+		}
+        return -1;
+    }
+    
+	void Graph::Print() const
+	{
+		std::cout << "-----------------------------" << std::endl;
+        std::cout << "vertices (" << m_nV << ")" << std::endl;
+        for (size_t v = 0; v < m_vertices.size(); ++v) 
+		{
+			const GraphVertex & currentVertex = m_vertices[v];
+			if (!m_vertices[v].m_deleted)
+			{
+
+				std::cout  << currentVertex.m_name	  << "\t";
+				std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
+				std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
+				for(; ed != itEnd; ++ed) 
+				{
+					std::cout  << "(" << m_edges[*ed].m_v1 << "," << m_edges[*ed].m_v2 << ") "; 	  
+				}
+				std::cout << std::endl;
+			}			
+		}
+
+		std::cout << "vertices (" << m_nE << ")" << std::endl;
+		for (size_t e = 0; e < m_edges.size(); ++e) 
+		{
+			const GraphEdge & currentEdge = m_edges[e];
+			if (!m_edges[e].m_deleted)
+			{
+				std::cout  << currentEdge.m_name	  << "\t(" 
+						   << m_edges[e].m_v1		  << "," 
+						   << m_edges[e].m_v2		  << ") "<< std::endl;
+			}			
+		}
+	}
+	void Graph::Clear()
+	{
+		m_vertices.clear();
+		m_edges.clear();
+		m_nV = 0;
+        m_nE = 0;
+	}
+    
+    long Graph::ExtractCCs()
+	{
+        // all CCs to -1
+        for (size_t v = 0; v < m_vertices.size(); ++v) 
+		{
+			if (!m_vertices[v].m_deleted)
+			{
+				m_vertices[v].m_cc = -1;
+			}
+        }
+        
+        // we get the CCs
+        m_nCCs = 0;
+		long v2 = -1;
+		std::vector<long> temp;
+        for (size_t v = 0; v < m_vertices.size(); ++v) 
+		{
+			if (!m_vertices[v].m_deleted && m_vertices[v].m_cc == -1) 
+			{
+                m_vertices[v].m_cc = static_cast<long>(m_nCCs);
+                temp.clear();
+                temp.push_back(m_vertices[v].m_name);
+                while (temp.size()) 
+				{
+                    long vertex = temp[temp.size()-1];
+                    temp.pop_back();                    
+					std::set<long>::const_iterator ed(m_vertices[vertex].m_edges.begin());
+					std::set<long>::const_iterator itEnd(m_vertices[vertex].m_edges.end());
+					for(; ed != itEnd; ++ed) 
+					{
+                        if (m_edges[*ed].m_v1 == vertex) 
+						{
+                            v2 = m_edges[*ed].m_v2;
+                        }
+                        else 
+						{
+                            v2 = m_edges[*ed].m_v1;
+                        }
+                        if ( !m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1) 
+						{
+                            m_vertices[v2].m_cc = static_cast<long>(m_nCCs);
+                            temp.push_back(v2);
+                        }
+                    }
+                }
+                m_nCCs++;
+            }
+        }        
+        return static_cast<long>(m_nCCs);
+    }
+}
diff --git a/Extras/HACD/hacdGraph.h b/Extras/HACD/hacdGraph.h
new file mode 100644
index 000000000..9b64aac60
--- /dev/null
+++ b/Extras/HACD/hacdGraph.h
@@ -0,0 +1,120 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_GRAPH_H
+#define HACD_GRAPH_H
+#include "hacdVersion.h"
+#include "hacdVector.h"
+#include "hacdICHull.h"
+#include <map>
+#include <vector>
+#include <set>
+
+namespace HACD
+{
+    class GraphVertex;
+    class GraphEdge;
+    class Graph;
+	class HACD;
+       
+    class GraphVertex  
+    {
+    public:
+        bool                                    AddEdge(long name) 
+												{ 
+													m_edges.insert(name); 
+													return true; 
+												}
+        bool                                    DeleteEdge(long name);        
+                                                GraphVertex();
+                                                ~GraphVertex(){ delete m_convexHull;};      
+    private:
+        long                                    m_name;
+        long                                    m_cc;
+        std::set<long>                          m_edges;
+        bool                                    m_deleted;
+        std::vector<long>	                    m_ancestors;
+		std::map<long, DPoint>					m_distPoints;
+
+        Real                                    m_error;
+        double                                  m_surf;
+		double                                  m_volume;
+        double                                  m_perimeter;
+        double                                  m_concavity;
+        ICHull *                                m_convexHull;
+		std::set<unsigned long long>			m_boudaryEdges;
+        
+
+        friend class GraphEdge;
+        friend class Graph;
+		friend class HACD;
+    };
+    
+	class GraphEdge 
+    {
+    public:
+                                                GraphEdge();
+                                                ~GraphEdge(){delete m_convexHull;};
+    private:
+        long                                    m_name;
+        long                                    m_v1;
+        long                                    m_v2;
+		std::map<long, DPoint>					m_distPoints;
+        Real                                    m_error;
+        double                                  m_surf;
+		double                                  m_volume;
+        double                                  m_perimeter;
+        double                                  m_concavity;
+        ICHull *                                m_convexHull;
+		std::set<unsigned long long>			m_boudaryEdges;
+        bool                                    m_deleted;
+		
+
+        
+        friend class GraphVertex;
+        friend class Graph;
+		friend class HACD;
+    };
+    
+    class Graph  
+    {
+    public:
+		size_t									GetNEdges() const { return m_nE;}
+		size_t									GetNVertices() const { return m_nV;}
+        bool                                    EdgeCollapse(long v1, long v2);
+        long                                    AddVertex();
+        long                                    AddEdge(long v1, long v2);
+        bool                                    DeleteEdge(long name);	
+        bool                                    DeleteVertex(long name);
+        long                                    GetEdgeID(long v1, long v2) const;
+		void									Clear();
+        void                                    Print() const;
+        long                                    ExtractCCs();
+        
+                                                Graph();
+        virtual                                 ~Graph();      
+		void									Allocate(size_t nV, size_t nE);
+
+    private:
+        size_t                                  m_nCCs;
+        size_t                                  m_nV;
+        size_t                                  m_nE;
+        std::vector<GraphEdge>                  m_edges;
+        std::vector<GraphVertex>                m_vertices;
+
+		friend class HACD;
+    };
+}
+#endif
diff --git a/Extras/HACD/hacdHACD.cpp b/Extras/HACD/hacdHACD.cpp
new file mode 100644
index 000000000..879f7921e
--- /dev/null
+++ b/Extras/HACD/hacdHACD.cpp
@@ -0,0 +1,847 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef _CRT_SECURE_NO_WARNINGS
+#define _CRT_SECURE_NO_WARNINGS
+#endif //_CRT_SECURE_NO_WARNINGS
+
+#include <sstream>
+#include "hacdGraph.h"
+#include "hacdHACD.h"
+#include "hacdICHull.h"
+#include <string.h>
+#include <algorithm>
+#include <iterator>
+#include <limits>
+
+bool gCancelRequest=false;
+namespace HACD
+{ 
+	double  HACD::Concavity(ICHull & ch, std::map<long, DPoint> & distPoints)
+    {
+		double concavity = 0.0;
+		double distance = 0.0;       
+		std::map<long, DPoint>::iterator itDP(distPoints.begin());
+		std::map<long, DPoint>::iterator itDPEnd(distPoints.end());
+		for(; itDP != itDPEnd; ++itDP) 
+		{
+            if (!(itDP->second).m_computed)
+            {
+                if (itDP->first >= 0)
+                {
+                    distance = ch.ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], (itDP->second).m_computed, true);
+                }
+                else
+                {
+                    distance = ch.ComputeDistance(itDP->first, m_facePoints[-itDP->first-1], m_faceNormals[-itDP->first-1], (itDP->second).m_computed, true);
+                }
+            }
+            else
+            {
+                distance = (itDP->second).m_dist;
+            }
+			if (concavity < distance) 
+			{
+				concavity = distance;
+			}
+		}
+		return concavity;
+    }
+
+	void HACD::CreateGraph()
+    {
+		// vertex to triangle adjacency information
+		std::vector< std::set<long> >  vertexToTriangles;		
+		vertexToTriangles.resize(m_nPoints);
+		for(size_t t = 0; t < m_nTriangles; ++t)
+		{
+			vertexToTriangles[m_triangles[t].X()].insert(static_cast<long>(t));
+			vertexToTriangles[m_triangles[t].Y()].insert(static_cast<long>(t));
+			vertexToTriangles[m_triangles[t].Z()].insert(static_cast<long>(t));
+		}
+
+		m_graph.Clear();
+		m_graph.Allocate(m_nTriangles, 5 * m_nTriangles);
+		unsigned long long tr1[3];
+		unsigned long long tr2[3];
+        long i1, j1, k1, i2, j2, k2;
+        long t1, t2;
+        for (size_t v = 0; v < m_nPoints; v++) 
+		{
+			std::set<long>::const_iterator it1(vertexToTriangles[v].begin()), itEnd(vertexToTriangles[v].end()); 
+			for(; it1 != itEnd; ++it1)
+			{
+                t1 = *it1;
+                i1 = m_triangles[t1].X();
+                j1 = m_triangles[t1].Y();
+                k1 = m_triangles[t1].Z();
+				tr1[0] = GetEdgeIndex(i1, j1);
+				tr1[1] = GetEdgeIndex(j1, k1);
+				tr1[2] = GetEdgeIndex(k1, i1);
+				std::set<long>::const_iterator it2(it1);
+				for(++it2; it2 != itEnd; ++it2)
+				{
+                    t2 = *it2;
+                    i2 = m_triangles[t2].X();
+                    j2 = m_triangles[t2].Y();
+                    k2 = m_triangles[t2].Z();
+					tr2[0] = GetEdgeIndex(i2, j2);
+					tr2[1] = GetEdgeIndex(j2, k2);
+					tr2[2] = GetEdgeIndex(k2, i2);
+					int shared = 0;
+					for(int i = 0; i < 3; ++i)
+					{
+						for(int j = 0; j < 3; ++j)
+						{
+							if (tr1[i] == tr2[j])	
+							{
+								shared++;
+							}
+						}
+					}
+					if (shared == 1) // two triangles are connected if they share exactly one edge
+					{
+						m_graph.AddEdge(t1, t2);
+					}
+				}
+			}
+        }
+        if (m_ccConnectDist >= 0.0)
+        {
+            m_graph.ExtractCCs();
+            if (m_graph.m_nCCs > 1) 
+            {
+                std::vector< std::set<long> > cc2V;
+                cc2V.resize(m_graph.m_nCCs);
+                long cc;
+                for(size_t t = 0; t < m_nTriangles; ++t)
+                {
+                    cc = m_graph.m_vertices[t].m_cc;
+                    cc2V[cc].insert(m_triangles[t].X());
+                    cc2V[cc].insert(m_triangles[t].Y());
+                    cc2V[cc].insert(m_triangles[t].Z());
+                }
+                
+                for(size_t cc1 = 0; cc1 < m_graph.m_nCCs; ++cc1)
+                {
+                    for(size_t cc2 = cc1+1; cc2 < m_graph.m_nCCs; ++cc2)
+                    {
+                        std::set<long>::const_iterator itV1(cc2V[cc1].begin()), itVEnd1(cc2V[cc1].end()); 
+                        for(; itV1 != itVEnd1; ++itV1)
+                        {
+							double distC1C2 = std::numeric_limits<double>::max();
+                            double dist;
+                            t1 = -1;
+                            t2 = -1;
+                            std::set<long>::const_iterator itV2(cc2V[cc2].begin()), itVEnd2(cc2V[cc2].end()); 
+                            for(; itV2 != itVEnd2; ++itV2)
+                            {
+                                dist = (m_points[*itV1] - m_points[*itV2]).GetNorm();
+                                if (dist < distC1C2)
+                                {
+                                    distC1C2 = dist;
+                                    t1 = *vertexToTriangles[*itV1].begin();
+                                    
+									std::set<long>::const_iterator it2(vertexToTriangles[*itV2].begin()), 
+																   it2End(vertexToTriangles[*itV2].end()); 
+									t2 = -1;
+									for(; it2 != it2End; ++it2)
+									{
+										if (*it2 != t1)
+										{
+											t2 = *it2;
+											break;
+										}
+									}
+                                }
+                            }
+                            if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0)
+                            {
+								
+                                m_graph.AddEdge(t1, t2);                    
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+    void HACD::InitializeDualGraph()
+    {
+        long i, j, k;
+        Vec3<Real> u, v, w, normal;
+		delete [] m_normals;
+		m_normals = new Vec3<Real>[m_nPoints];
+        if (m_addFacesPoints)
+        {
+            delete [] m_facePoints;
+            delete [] m_faceNormals;
+            m_facePoints = new Vec3<Real>[m_nTriangles];
+            m_faceNormals = new Vec3<Real>[m_nTriangles];
+        }
+		memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
+        for(unsigned long f = 0; f < m_nTriangles; f++)
+        {
+			if (m_callBack) (*m_callBack)("+ InitializeDualGraph\n", f, m_nTriangles, 0);
+			
+			if (gCancelRequest)
+				return;
+
+            i = m_triangles[f].X();
+            j = m_triangles[f].Y();
+            k = m_triangles[f].Z();
+		
+			m_graph.m_vertices[f].m_distPoints[i].m_distOnly = false;
+			m_graph.m_vertices[f].m_distPoints[j].m_distOnly = false;
+			m_graph.m_vertices[f].m_distPoints[k].m_distOnly = false;
+            
+            ICHull  * ch = new ICHull;
+            m_graph.m_vertices[f].m_convexHull = ch;
+            ch->AddPoint(m_points[i], i);
+            ch->AddPoint(m_points[j], j);
+            ch->AddPoint(m_points[k], k);
+			ch->SetDistPoints(&m_graph.m_vertices[f].m_distPoints);
+
+			u = m_points[j] - m_points[i];
+			v = m_points[k] - m_points[i];
+			w = m_points[k] - m_points[j];
+			normal = u ^ v;
+
+			m_normals[i] += normal;
+			m_normals[j] += normal;
+			m_normals[k] += normal;
+
+			m_graph.m_vertices[f].m_surf = normal.GetNorm();
+			m_graph.m_vertices[f].m_perimeter = u.GetNorm() + v.GetNorm() + w.GetNorm();
+            
+            normal.Normalize();
+
+			m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(i,j));
+			m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(j,k));
+			m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(k,i));
+            if(m_addFacesPoints)
+            {
+                m_faceNormals[f] = normal;
+                m_facePoints[f] = (m_points[i] + m_points[j] + m_points[k]) / 3.0;
+                m_graph.m_vertices[f].m_distPoints[-static_cast<long>(f)-1].m_distOnly = true;
+            }
+            if (m_addExtraDistPoints)	
+            {// we need a kd-tree structure to accelerate this part!
+                long i1, j1, k1;
+                Vec3<Real> u1, v1, normal1;
+				normal = -normal;
+                double distance = 0.0;
+                double distMin = 0.0;
+                size_t faceIndex = m_nTriangles;
+                Vec3<Real> seedPoint((m_points[i] + m_points[j] + m_points[k]) / 3.0);
+                long nhit = 0;
+                for(size_t f1 = 0; f1 < m_nTriangles; f1++)
+                {
+                    i1 = m_triangles[f1].X();
+                    j1 = m_triangles[f1].Y();
+                    k1 = m_triangles[f1].Z();
+                    u1 = m_points[j1] - m_points[i1];
+                    v1 = m_points[k1] - m_points[i1];
+                    normal1 = (u1 ^ v1);
+                    if (normal * normal1 > 0.0)
+                    {
+                        nhit = IntersectRayTriangle(Vec3<double>(seedPoint.X(), seedPoint.Y(), seedPoint.Z()),
+													Vec3<double>(normal.X(), normal.Y(), normal.Z()),
+													Vec3<double>(m_points[i1].X(), m_points[i1].Y(), m_points[i1].Z()),
+													Vec3<double>(m_points[j1].X(), m_points[j1].Y(), m_points[j1].Z()),
+													Vec3<double>(m_points[k1].X(), m_points[k1].Y(), m_points[k1].Z()),
+													distance);
+                        if ((nhit==1) && ((distMin > distance) || (faceIndex == m_nTriangles)))
+                        {
+                            distMin = distance;
+                            faceIndex = f1;
+                        }
+
+                    }
+                }
+                if (faceIndex < m_nTriangles )
+                {
+                    i1 = m_triangles[faceIndex].X();
+                    j1 = m_triangles[faceIndex].Y();
+                    k1 = m_triangles[faceIndex].Z();
+                    m_graph.m_vertices[f].m_distPoints[i1].m_distOnly = true;
+                    m_graph.m_vertices[f].m_distPoints[j1].m_distOnly = true;
+                    m_graph.m_vertices[f].m_distPoints[k1].m_distOnly = true;
+					if (m_addFacesPoints)
+					{
+						m_graph.m_vertices[f].m_distPoints[-static_cast<long>(faceIndex)-1].m_distOnly = true;
+					}
+				}
+            }
+        }
+        for (size_t v = 0; v < m_nPoints; v++) 
+		{
+			m_normals[v].Normalize();
+		}
+    }
+
+	void HACD::NormalizeData()
+	{
+		if (m_nPoints == 0)
+		{
+			return;
+		}
+        m_barycenter = m_points[0];
+		Vec3<Real> min = m_points[0];
+		Vec3<Real> max = m_points[0];
+		Real x, y, z;
+        for (size_t v = 1; v < m_nPoints ; v++) 
+        {
+			m_barycenter += m_points[v];
+            x = m_points[v].X();
+            y = m_points[v].Y();
+            z = m_points[v].Z();
+            if ( x < min.X()) min.X() = x;
+			else if ( x > max.X()) max.X() = x;
+            if ( y < min.Y()) min.Y() = y;
+			else if ( y > max.Y()) max.Y() = y;
+            if ( z < min.Z()) min.Z() = z;
+			else if ( z > max.Z()) max.Z() = z;
+        }
+		m_barycenter /= static_cast<Real>(m_nPoints);
+        m_diag = (max-min).GetNorm();
+        const Real invDiag = static_cast<Real>(2.0 * m_scale / m_diag);
+		if (m_diag != 0.0)
+		{
+			for (size_t v = 0; v < m_nPoints ; v++) 
+			{
+				m_points[v] = (m_points[v] - m_barycenter) * invDiag;
+			}
+		}
+    }
+	void HACD::DenormalizeData()
+	{
+		if (m_nPoints == 0)
+		{
+			return;
+		}
+		if (m_diag != 0.0)
+		{
+			const Real diag = static_cast<Real>(m_diag / (2.0 * m_scale));
+			for (size_t v = 0; v < m_nPoints ; v++) 
+			{
+				m_points[v] = m_points[v] * diag + m_barycenter;
+			}
+		}
+    }
+	HACD::HACD(void)
+	{
+        m_convexHulls = 0;
+		m_triangles = 0;
+        m_points = 0;
+        m_normals = 0;
+        m_nTriangles = 0;
+        m_nPoints = 0;
+        m_nClusters = 0;
+        m_concavity = 0.0;
+        m_diag = 1.0;
+		m_barycenter = Vec3<Real>(0.0, 0.0,0.0);
+        m_alpha = 0.1;
+        m_beta = 0.1;
+        m_nVerticesPerCH = 30;
+		m_callBack = 0;
+        m_addExtraDistPoints = false;
+		m_addNeighboursDistPoints = false;
+		m_scale = 1000.0;
+		m_partition = 0;
+		m_nMinClusters = 3;
+        m_facePoints = 0;
+        m_faceNormals = 0;
+        m_ccConnectDist = 30;
+	}																
+	HACD::~HACD(void)
+	{
+		delete [] m_normals;
+        delete [] m_convexHulls;
+		delete [] m_partition;
+        delete [] m_facePoints;
+        delete [] m_faceNormals;
+	}
+	int iteration = 0;
+    void HACD::ComputeEdgeCost(size_t e)
+    {
+		GraphEdge & gE = m_graph.m_edges[e];
+        long v1 = gE.m_v1;
+        long v2 = gE.m_v2;
+
+        if (m_graph.m_vertices[v2].m_distPoints.size()>m_graph.m_vertices[v1].m_distPoints.size())
+        {
+            gE.m_v1 = v2;
+            gE.m_v2 = v1;
+            //std::swap<long>(v1, v2);
+			std::swap(v1, v2);
+        }
+		GraphVertex & gV1 = m_graph.m_vertices[v1];
+		GraphVertex & gV2 = m_graph.m_vertices[v2];
+	
+        // delete old convex-hull
+        delete gE.m_convexHull;
+        // create the edge's convex-hull
+        ICHull  * ch = new ICHull;
+        gE.m_convexHull = ch;
+        (*ch) = (*gV1.m_convexHull);
+        
+		// update distPoints
+		gE.m_distPoints = gV1.m_distPoints;
+		std::map<long, DPoint>::iterator itDP(gV2.m_distPoints.begin());
+		std::map<long, DPoint>::iterator itDPEnd(gV2.m_distPoints.end());
+		std::map<long, DPoint>::iterator itDP1;
+     
+		for(; itDP != itDPEnd; ++itDP) 
+		{
+			itDP1 = gE.m_distPoints.find(itDP->first);
+			if (itDP1 == gE.m_distPoints.end())
+			{
+                gE.m_distPoints[itDP->first].m_distOnly = (itDP->second).m_distOnly;
+                if ( !(itDP->second).m_distOnly )
+                {
+                    ch->AddPoint(m_points[itDP->first], itDP->first);
+                }
+			}
+            else
+            {
+                if ( (itDP1->second).m_distOnly && !(itDP->second).m_distOnly)
+                {
+                    gE.m_distPoints[itDP->first].m_distOnly = false;
+                    ch->AddPoint(m_points[itDP->first], itDP->first);
+                }
+            }
+		}
+		
+		ch->SetDistPoints(&gE.m_distPoints);
+        // create the convex-hull
+        while (ch->Process() == ICHullErrorInconsistent)		// if we face problems when constructing the visual-hull. really ugly!!!!
+		{
+//			if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
+			ch = new ICHull;
+			CircularList<TMMVertex> & verticesCH = (gE.m_convexHull)->GetMesh().m_vertices;
+			size_t nV = verticesCH.GetSize();
+			long ptIndex = 0;
+			verticesCH.Next();
+			for(size_t v = 1; v < nV; ++v)
+			{
+				ptIndex = verticesCH.GetHead()->GetData().m_name;
+				ch->AddPoint(m_points[ptIndex], ptIndex);
+				verticesCH.Next();
+			}
+			delete gE.m_convexHull;
+			gE.m_convexHull = ch;
+		}
+		double volume = 0.0; 
+        double concavity = 0.0;
+		if (ch->IsFlat())
+		{
+			bool insideHull;
+            std::map<long, DPoint>::iterator itDP(gE.m_distPoints.begin());
+            std::map<long, DPoint>::iterator itDPEnd(gE.m_distPoints.end());
+            for(; itDP != itDPEnd; ++itDP) 
+            {	
+                if (itDP->first >= 0)
+                {
+                    concavity = std::max<double>(concavity, ch->ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], insideHull, false));
+                }
+			}
+		}
+        else
+        {
+            if (m_addNeighboursDistPoints)
+            {  // add distance points from adjacent clusters
+                std::set<long> eEdges;
+                std::set_union(gV1.m_edges.begin(), 
+                               gV1.m_edges.end(), 
+                               gV2.m_edges.begin(), 
+                               gV2.m_edges.end(),
+                               std::inserter( eEdges, eEdges.begin() ) );
+                
+                std::set<long>::const_iterator ed(eEdges.begin());
+                std::set<long>::const_iterator itEnd(eEdges.end());
+                long a, b, c;
+                for(; ed != itEnd; ++ed) 
+                {
+                    a = m_graph.m_edges[*ed].m_v1;
+                    b = m_graph.m_edges[*ed].m_v2;
+                    if ( a != v2 && a != v1)
+                    {
+                        c = a;
+                    }
+                    else if ( b != v2 && b != v1)
+                    {
+                        c = b;
+                    }
+                    else
+                    {
+                        c = -1;
+                    }
+                    if ( c > 0)
+                    {
+                        GraphVertex & gVC = m_graph.m_vertices[c];
+                        std::map<long, DPoint>::iterator itDP(gVC.m_distPoints.begin());
+                        std::map<long, DPoint>::iterator itDPEnd(gVC.m_distPoints.end());
+                        std::map<long, DPoint>::iterator itDP1;
+                        for(; itDP != itDPEnd; ++itDP) 
+                        {
+                            itDP1 = gE.m_distPoints.find(itDP->first);
+							if (itDP1 == gE.m_distPoints.end())
+							{
+								if (itDP->first >= 0 && itDP1 == gE.m_distPoints.end() && ch->IsInside(m_points[itDP->first]))
+								{
+	                                gE.m_distPoints[itDP->first].m_distOnly = true;
+		                        }
+								else if (itDP->first < 0 && ch->IsInside(m_facePoints[-itDP->first-1]))
+								{
+									gE.m_distPoints[itDP->first].m_distOnly = true;
+								}
+							}
+                        }
+                    }
+                }
+            }
+            concavity = Concavity(*ch, gE.m_distPoints);
+        }
+  
+		// compute boudary edges
+		double perimeter = 0.0;
+		double surf    = 1.0;
+		if (m_alpha > 0.0)
+		{
+			gE.m_boudaryEdges.clear();
+			std::set_symmetric_difference (gV1.m_boudaryEdges.begin(), 
+								  gV1.m_boudaryEdges.end(), 
+								  gV2.m_boudaryEdges.begin(), 
+								  gV2.m_boudaryEdges.end(),
+								  std::inserter( gE.m_boudaryEdges, 
+												 gE.m_boudaryEdges.begin() ) );
+
+			std::set<unsigned long long>::const_iterator itBE(gE.m_boudaryEdges.begin());
+			std::set<unsigned long long>::const_iterator itBEEnd(gE.m_boudaryEdges.end());
+			for(; itBE != itBEEnd; ++itBE)
+			{
+					perimeter += (m_points[static_cast<long>((*itBE) >> 32)] - 
+								   m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
+			}
+			surf    = gV1.m_surf + gV2.m_surf;
+		}
+        double ratio   = perimeter * perimeter / (4.0 * sc_pi * surf);
+		gE.m_volume	   = (m_beta == 0.0)?0.0:ch->ComputeVolume()/pow(m_scale, 3.0);						// cluster's volume
+        gE.m_surf      = surf;                          // cluster's area  
+        gE.m_perimeter = perimeter;                     // cluster's perimeter
+        gE.m_concavity = concavity;                     // cluster's concavity
+        gE.m_error     = static_cast<Real>(concavity +  m_alpha * ratio + m_beta * volume);	// cluster's priority
+	}
+    bool HACD::InitializePriorityQueue()
+    {
+		m_pqueue.reserve(m_graph.m_nE + 100);
+        for (size_t e=0; e < m_graph.m_nE; ++e) 
+        {
+            ComputeEdgeCost(static_cast<long>(e));
+			m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
+        }
+		return true;
+    }
+	void HACD::Simplify()
+	{
+		long v1 = -1;
+        long v2 = -1;        
+        double progressOld = -1.0;
+        double progress = 0.0;
+        double globalConcavity  = 0.0;     
+		char msg[1024];
+		double ptgStep = 1.0;
+        while ( (globalConcavity < m_concavity) && 
+				(m_graph.GetNVertices() > m_nMinClusters) && 
+				(m_graph.GetNEdges() > 0)) 
+		{
+            progress = 100.0-m_graph.GetNVertices() * 100.0 / m_nTriangles;
+            if (fabs(progress-progressOld) > ptgStep && m_callBack)
+            {
+				sprintf(msg, "%3.2f %% V = %lu \t C = %f \t \t \r", progress, static_cast<unsigned long>(m_graph.GetNVertices()), globalConcavity);
+				(*m_callBack)(msg, progress, globalConcavity,  m_graph.GetNVertices());
+                progressOld = progress;
+				if (progress > 99.0)
+				{
+					ptgStep = 0.01;
+				}
+				else if (progress > 90.0)
+				{
+					ptgStep = 0.1;
+				}
+            }
+
+			GraphEdgePriorityQueue currentEdge(0,0.0);
+			bool done = false;
+			do
+			{
+				done = false;
+				if (m_pqueue.size() == 0)
+				{
+                    done = true;
+                    break;
+				}
+                currentEdge = m_pqueue.top();
+                m_pqueue.pop();
+			}
+			while (  m_graph.m_edges[currentEdge.m_name].m_deleted || 
+					 m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority);
+
+
+			if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done)
+			{
+                globalConcavity = std::max<double>(globalConcavity ,m_graph.m_edges[currentEdge.m_name].m_concavity);
+				v1 = m_graph.m_edges[currentEdge.m_name].m_v1;
+				v2 = m_graph.m_edges[currentEdge.m_name].m_v2;	
+				// update vertex info
+				m_graph.m_vertices[v1].m_error     = m_graph.m_edges[currentEdge.m_name].m_error;
+				m_graph.m_vertices[v1].m_surf	   = m_graph.m_edges[currentEdge.m_name].m_surf;
+				m_graph.m_vertices[v1].m_volume	   = m_graph.m_edges[currentEdge.m_name].m_volume;
+				m_graph.m_vertices[v1].m_concavity = m_graph.m_edges[currentEdge.m_name].m_concavity;
+				m_graph.m_vertices[v1].m_perimeter = m_graph.m_edges[currentEdge.m_name].m_perimeter;
+                m_graph.m_vertices[v1].m_distPoints   = m_graph.m_edges[currentEdge.m_name].m_distPoints;
+                (*m_graph.m_vertices[v1].m_convexHull) = (*m_graph.m_edges[currentEdge.m_name].m_convexHull);
+				(m_graph.m_vertices[v1].m_convexHull)->SetDistPoints(&(m_graph.m_vertices[v1].m_distPoints));
+				m_graph.m_vertices[v1].m_boudaryEdges   = m_graph.m_edges[currentEdge.m_name].m_boudaryEdges;
+				
+				// We apply the optimal ecol
+//				std::cout << "v1 " << v1 << " v2 " << v2 << std::endl;
+				m_graph.EdgeCollapse(v1, v2);
+				// recompute the adjacent edges costs
+				std::set<long>::const_iterator itE(m_graph.m_vertices[v1].m_edges.begin()), 
+								   			   itEEnd(m_graph.m_vertices[v1].m_edges.end());
+				for(; itE != itEEnd; ++itE)
+				{
+					size_t e = *itE;
+					ComputeEdgeCost(static_cast<long>(e));
+					m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
+				}
+			}
+            else
+            {
+                break;
+            }
+        }
+		while (!m_pqueue.empty())
+		{
+			m_pqueue.pop();
+		}
+        
+        m_cVertices.clear();
+		m_nClusters = m_graph.GetNVertices();
+        m_cVertices.reserve(m_nClusters);
+		for (size_t p=0, v = 0; v != m_graph.m_vertices.size(); ++v) 
+		{
+			if (!m_graph.m_vertices[v].m_deleted)
+			{
+                if (m_callBack) 
+                {
+                    char msg[1024];
+                    sprintf(msg, "\t CH \t %lu \t %lf \t %lf\n", static_cast<unsigned long>(p), m_graph.m_vertices[v].m_concavity, m_graph.m_vertices[v].m_error);
+					(*m_callBack)(msg, 0.0, 0.0, m_nClusters);
+					p++;
+                }
+                m_cVertices.push_back(static_cast<long>(v));			
+			}
+		}
+        if (m_callBack)
+        {
+			sprintf(msg, "# clusters =  %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity);
+			(*m_callBack)(msg, progress, globalConcavity,  m_graph.GetNVertices());
+        }
+
+	}
+        
+    bool HACD::Compute(bool fullCH, bool exportDistPoints)
+    {
+		gCancelRequest = false;
+
+		if ( !m_points || !m_triangles || !m_nPoints || !m_nTriangles)
+		{
+			return false;
+		}
+		size_t nV = m_nTriangles;
+		if (m_callBack)
+		{
+			std::ostringstream msg;
+			msg << "+ Mesh" << std::endl;
+			msg << "\t # vertices                     \t" << m_nPoints << std::endl;
+			msg << "\t # triangles                    \t" << m_nTriangles << std::endl;
+			msg << "+ Parameters" << std::endl;
+			msg << "\t min # of clusters              \t" << m_nMinClusters << std::endl;
+			msg << "\t max concavity                  \t" << m_concavity << std::endl;
+			msg << "\t compacity weigth               \t" << m_alpha << std::endl;
+            msg << "\t volume weigth                  \t" << m_beta << std::endl;
+			msg << "\t # vertices per convex-hull     \t" << m_nVerticesPerCH << std::endl;
+			msg << "\t scale                          \t" << m_scale << std::endl;
+			msg << "\t add extra distance points      \t" << m_addExtraDistPoints << std::endl;
+            msg << "\t add neighbours distance points \t" << m_addNeighboursDistPoints << std::endl;
+            msg << "\t add face distance points       \t" << m_addFacesPoints << std::endl;
+			msg << "\t produce full convex-hulls      \t" << fullCH << std::endl;	
+			msg << "\t max. distance to connect CCs   \t" << m_ccConnectDist << std::endl;
+			(*m_callBack)(msg.str().c_str(), 0.0, 0.0, nV);
+		}
+		if (m_callBack) (*m_callBack)("+ Normalizing Data\n", 0.0, 0.0, nV);
+		NormalizeData();
+		if (m_callBack) (*m_callBack)("+ Creating Graph\n", 0.0, 0.0, nV);
+		CreateGraph();
+        // Compute the surfaces and perimeters of all the faces
+		if (m_callBack) (*m_callBack)("+ Initializing Dual Graph\n", 0.0, 0.0, nV);
+		if (gCancelRequest)
+			return false;
+
+		InitializeDualGraph();
+		if (m_callBack) (*m_callBack)("+ Initializing Priority Queue\n", 0.0, 0.0, nV);
+		if (gCancelRequest)
+			return false;
+
+        InitializePriorityQueue();
+        // we simplify the graph		
+		if (m_callBack) (*m_callBack)("+ Simplification ...\n", 0.0, 0.0, m_nTriangles);
+		Simplify();
+		if (m_callBack) (*m_callBack)("+ Denormalizing Data\n", 0.0, 0.0, m_nClusters);
+		DenormalizeData();
+		if (m_callBack) (*m_callBack)("+ Computing final convex-hulls\n", 0.0, 0.0, m_nClusters);
+        delete [] m_convexHulls;
+        m_convexHulls = new ICHull[m_nClusters];
+		delete [] m_partition;
+	    m_partition = new long [m_nTriangles];
+		for (size_t p = 0; p != m_cVertices.size(); ++p) 
+		{
+			size_t v = m_cVertices[p];
+			m_partition[v] = static_cast<long>(p);
+			for(size_t a = 0; a < m_graph.m_vertices[v].m_ancestors.size(); a++)
+			{
+				m_partition[m_graph.m_vertices[v].m_ancestors[a]] = static_cast<long>(p);
+			}
+            // compute the convex-hull
+            const std::map<long, DPoint> & pointsCH =  m_graph.m_vertices[v].m_distPoints;
+            std::map<long, DPoint>::const_iterator itCH(pointsCH.begin());
+            std::map<long, DPoint>::const_iterator itCHEnd(pointsCH.end());
+            for(; itCH != itCHEnd; ++itCH) 
+            {
+                if (!(itCH->second).m_distOnly)
+                {
+                    m_convexHulls[p].AddPoint(m_points[itCH->first], itCH->first);
+                }
+            }
+			m_convexHulls[p].SetDistPoints(&m_graph.m_vertices[v].m_distPoints);
+            if (fullCH)
+            {
+	            m_convexHulls[p].Process();
+            }
+            else
+            {
+	            m_convexHulls[p].Process(static_cast<unsigned long>(m_nVerticesPerCH));
+            }
+            if (exportDistPoints)
+            {
+                itCH = pointsCH.begin();
+                for(; itCH != itCHEnd; ++itCH) 
+                {
+                    if ((itCH->second).m_distOnly)
+                    {
+                        if (itCH->first >= 0)
+                        {
+                            m_convexHulls[p].AddPoint(m_points[itCH->first], itCH->first);
+                        }
+                        else
+                        {
+                            m_convexHulls[p].AddPoint(m_facePoints[-itCH->first-1], itCH->first);
+                        }
+                    }
+                }
+            }
+		}       
+        return true;
+    }
+    
+    size_t HACD::GetNTrianglesCH(size_t numCH) const
+    {
+        if (numCH >= m_nClusters)
+        {
+            return 0;
+        }
+        return m_convexHulls[numCH].GetMesh().GetNTriangles();
+    }
+    size_t HACD::GetNPointsCH(size_t numCH) const
+    {
+        if (numCH >= m_nClusters)
+        {
+            return 0;
+        }
+        return m_convexHulls[numCH].GetMesh().GetNVertices();
+    }
+
+    bool HACD::GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles)
+    {
+        if (numCH >= m_nClusters)
+        {
+            return false;
+        }
+        m_convexHulls[numCH].GetMesh().GetIFS(points, triangles);
+        return true;
+    }
+
+    bool HACD::Save(const char * fileName, bool uniColor, long numCluster) const
+    {
+        std::ofstream fout(fileName);
+        if (fout.is_open())
+        {
+            if (m_callBack)
+            {
+                char msg[1024];
+                sprintf(msg, "Saving %s\n", fileName);
+                (*m_callBack)(msg, 0.0, 0.0, m_graph.GetNVertices());
+            }
+            Material mat;
+            if (numCluster < 0)
+            {
+                for (size_t p = 0; p != m_nClusters; ++p) 
+                {
+                    if (!uniColor)
+                    {
+                        mat.m_diffuseColor.X() = mat.m_diffuseColor.Y() = mat.m_diffuseColor.Z() = 0.0;
+                        while (mat.m_diffuseColor.X() == mat.m_diffuseColor.Y() ||
+                               mat.m_diffuseColor.Z() == mat.m_diffuseColor.Y() ||
+                               mat.m_diffuseColor.Z() == mat.m_diffuseColor.X()  )
+                        {
+                            mat.m_diffuseColor.X() = (rand()%100) / 100.0;
+                            mat.m_diffuseColor.Y() = (rand()%100) / 100.0;
+                            mat.m_diffuseColor.Z() = (rand()%100) / 100.0;
+                        }
+                    }
+                    m_convexHulls[p].GetMesh().SaveVRML2(fout, mat);
+                }
+            }
+            else if (numCluster < static_cast<long>(m_cVertices.size()))
+            {
+                m_convexHulls[numCluster].GetMesh().SaveVRML2(fout, mat);
+            }
+            fout.close();
+            return true;
+        }
+        else
+        {
+            if (m_callBack)
+            {
+                char msg[1024];
+                sprintf(msg, "Error saving %s\n", fileName);
+                (*m_callBack)(msg, 0.0, 0.0, m_graph.GetNVertices());
+            }
+            return false;
+        }
+    }
+}
diff --git a/Extras/HACD/hacdHACD.h b/Extras/HACD/hacdHACD.h
new file mode 100644
index 000000000..9c496f4e5
--- /dev/null
+++ b/Extras/HACD/hacdHACD.h
@@ -0,0 +1,282 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_HACD_H
+#define HACD_HACD_H
+#include "hacdVersion.h"
+#include "hacdVector.h"
+#include "hacdGraph.h"
+#include "hacdICHull.h"
+#include <set>
+#include <vector>
+#include <queue>
+#include <functional>
+
+namespace HACD
+{
+    const double                                    sc_pi = 3.14159265;
+	class HACD;
+
+	// just to be able to set the capcity of the container
+	
+	template<class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
+	class reservable_priority_queue: public std::priority_queue<_Ty, _Container, _Pr> 
+	{
+        typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
+	public:
+                                                    reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
+		void										reserve(size_type capacity) { this->c.reserve(capacity); } 
+        size_type									capacity() const { return this->c.capacity(); } 
+	};
+	
+	//! priority queque element
+    class GraphEdgePriorityQueue
+    {
+		public:
+			//! Constructor
+			//! @param name edge's id
+			//! @param priority edge's priority
+													GraphEdgePriorityQueue(long name, Real priority)
+													{
+														m_name = name;
+														m_priority = priority;
+													}
+			//! Destructor
+													~GraphEdgePriorityQueue(void){}
+		private:
+			long									m_name;						//!< edge name
+			Real                                    m_priority;					//!< priority
+		//! Operator < for GraphEdgePQ
+        friend bool                                 operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
+		//! Operator > for GraphEdgePQ
+        friend bool                                 operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
+		friend class HACD;
+    };
+    inline bool										operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
+													{
+														return lhs.m_priority<rhs.m_priority;
+													}
+    inline bool										operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
+													{
+														return lhs.m_priority>rhs.m_priority;
+													}
+    typedef bool (*CallBackFunction)(const char *, double, double, size_t);
+
+	//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
+    class HACD
+	{            
+    public:
+
+		//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
+		//! @return triangles partition
+		const long * const							GetPartition() const { return m_partition;}
+        //! Sets the scale factor
+		//! @param scale scale factor
+		void										SetScaleFactor(double  scale) { m_scale = scale;}
+		//! Gives the scale factor
+		//! @return scale factor
+		const double								GetScaleFactor() const { return m_scale;}
+		//! Sets the call-back function
+		//! @param callBack pointer to the call-back function
+		void										SetCallBack(CallBackFunction  callBack) { m_callBack = callBack;}
+		//! Gives the call-back function
+		//! @return pointer to the call-back function
+		const CallBackFunction                      GetCallBack() const { return m_callBack;}
+        
+        //! Specifies whether faces points should be added when computing the concavity
+		//! @param addFacesPoints true = faces points should be added
+		void										SetAddFacesPoints(bool  addFacesPoints) { m_addFacesPoints = addFacesPoints;}
+		//! Specifies wheter faces points should be added when computing the concavity
+		//! @return true = faces points should be added
+		const bool									GetAddFacesPoints() const { return m_addFacesPoints;}
+        //! Specifies whether extra points should be added when computing the concavity
+		//! @param addExteraDistPoints true = extra points should be added
+		void										SetAddExtraDistPoints(bool  addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints;}
+		//! Specifies wheter extra points should be added when computing the concavity
+		//! @return true = extra points should be added
+		const bool									GetAddExtraDistPoints() const { return m_addExtraDistPoints;}
+        //! Specifies whether extra points should be added when computing the concavity
+		//! @param addExteraDistPoints true = extra points should be added
+		void										SetAddNeighboursDistPoints(bool  addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints;}
+		//! Specifies wheter extra points should be added when computing the concavity
+		//! @return true = extra points should be added
+		const bool									GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints;}
+        //! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
+		//! @param points pointer to the input points
+		void										SetPoints(Vec3<Real>  * points) { m_points = points;}
+		//! Gives the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
+		//! @return pointer to the input points 
+		const Vec3<Real> *                          GetPoints() const { return m_points;}
+		//! Sets the triangles of the input mesh.
+		//! @param triangles points pointer to the input points
+		void										SetTriangles(Vec3<long>  * triangles) { m_triangles = triangles;}
+		//! Gives the triangles in the input mesh 
+		//! @return pointer to the input triangles 
+		const Vec3<long>   *			            GetTriangles() const { return m_triangles;}
+		//! Sets the number of points in the input mesh.
+		//! @param nPoints number of points the input mesh
+		void										SetNPoints(size_t nPoints) { m_nPoints = nPoints;}
+		//! Gives the number of points in the input mesh.
+		//! @return number of points the input mesh
+		const size_t								GetNPoints() const { return m_nPoints;}
+		//! Sets the number of triangles in the input mesh.
+		//! @param nTriangles number of triangles in the input mesh
+		void										SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles;}
+		//! Gives the number of triangles in the input mesh.
+		//! @return number of triangles the input mesh
+		const size_t								GetNTriangles() const { return m_nTriangles;}
+		//! Sets the minimum number of clusters to be generated.
+		//! @param nClusters minimum number of clusters
+		void										SetNClusters(size_t nClusters) { m_nMinClusters = nClusters;}
+		//! Gives the number of generated clusters.
+		//! @return number of generated clusters
+		const size_t								GetNClusters() const { return m_nClusters;}
+		//! Sets the maximum allowed concavity.
+		//! @param concavity maximum concavity
+		void										SetConcavity(double concavity) { m_concavity = concavity;}
+		//! Gives the maximum allowed concavity.
+		//! @return maximum concavity
+		double                                      GetConcavity() const { return m_concavity;}
+		//! Sets the maximum allowed distance to get CCs connected.
+		//! @param concavity maximum distance to get CCs connected
+		void										SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist;}
+		//! Gives the maximum allowed distance to get CCs connected.
+		//! @return maximum distance to get CCs connected
+		double                                      GetConnectDist() const { return m_ccConnectDist;}        
+        //! Sets the volume weight.
+		//! @param beta volume weight
+        void										SetVolumeWeight(double beta) { m_beta = beta;}
+		//! Gives the volume weight.
+		//! @return volume weight
+        double                                      GetVolumeWeight() const { return m_beta;}	
+		//! Sets the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
+		//! @param alpha compacity weight
+        void										SetCompacityWeight(double alpha) { m_alpha = alpha;}
+		//! Gives the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
+		//! @return compacity weight
+        double                                      GetCompacityWeight() const { return m_alpha;}	
+		//! Sets the maximum number of vertices for each generated convex-hull.
+		//! @param nVerticesPerCH maximum # vertices per CH
+        void										SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH;}
+		//! Gives the maximum number of vertices for each generated convex-hull.
+		//! @return maximum # vertices per CH
+		const size_t								GetNVerticesPerCH() const { return m_nVerticesPerCH;}
+		//! Gives the number of vertices for the cluster number numCH.
+		//! @return number of vertices
+		size_t                                      GetNPointsCH(size_t numCH) const;
+		//! Gives the number of triangles for the cluster number numCH.
+		//! @param numCH cluster's number
+		//! @return number of triangles
+        size_t                                      GetNTrianglesCH(size_t numCH) const;
+		//! Gives the vertices and the triangles of the cluster number numCH.
+		//! @param numCH cluster's number
+		//! @param points pointer to the vector of points to be filled
+		//! @param triangles pointer to the vector of triangles to be filled
+		//! @return true if sucess
+        bool                                        GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles);     
+		//! Computes the HACD decomposition.
+		//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
+        //! @param exportDistPoints specifies wheter distance points should ne exported or not (used only for debugging).
+		//! @return true if sucess
+        bool										Compute(bool fullCH=false, bool exportDistPoints=false);
+		//! Saves the generated convex-hulls in a VRML 2.0 file.
+		//! @param fileName the output file name
+		//! @param uniColor specifies whether the different convex-hulls should have the same color or not
+        //! @param numCluster specifies the cluster to be saved, if numCluster < 0 export all clusters
+        //! @return true if sucess
+		bool										Save(const char * fileName, bool uniColor, long numCluster=-1) const;
+		//! Shifts and scales to the data to have all the coordinates between 0.0 and 1000.0.
+		void										NormalizeData();
+		//! Inverse the operations applied by NormalizeData().
+		void										DenormalizeData();
+        //! Constructor.
+													HACD(void);
+		//! Destructor.
+													~HACD(void);
+
+	private:
+		//! Gives the edge index.
+		//! @param a first vertex id
+		//! @param b second vertex id
+		//! @return edge's index
+		static unsigned long long					GetEdgeIndex(unsigned long long a, unsigned long long b) 
+													{ 
+														if (a > b) return (a << 32) + b;
+														else	   return (b << 32) + a;
+													}
+		//! Computes the concavity of a cluster.
+		//! @param ch the cluster's convex-hull
+		//! @param distPoints the cluster's points 
+		//! @return cluster's concavity
+		double										Concavity(ICHull & ch, std::map<long, DPoint> & distPoints);
+		//! Computes the perimeter of a cluster.
+		//! @param triIndices the cluster's triangles
+		//! @param distPoints the cluster's points 
+		//! @return cluster's perimeter
+        double										ComputePerimeter(const std::vector<long> & triIndices) const;
+		//! Creates the Graph by associating to each mesh triangle a vertex in the graph and to each couple of adjacent triangles an edge in the graph.
+        void										CreateGraph();	
+		//! Initializes the graph costs and computes the vertices normals
+        void										InitializeDualGraph();
+		//! Computes the cost of an edge
+		//! @param e edge's id
+        void                                        ComputeEdgeCost(size_t e);
+		//! Initializes the priority queue
+		//! @param fast specifies whether fast mode is used
+		//! @return true if success
+        bool                                        InitializePriorityQueue();
+        //! Cleans the intersection between convex-hulls
+        void                                        CleanClusters();
+        //! Computes convex-hulls from partition information
+        //! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
+		void										ComputeConvexHulls(bool fullCH);
+		//! Simplifies the graph
+		//! @param fast specifies whether fast mode is used
+		void										Simplify();
+
+	private:
+		double										m_scale;					//>! scale factor used for NormalizeData() and DenormalizeData()
+        Vec3<long> *								m_triangles;				//>! pointer the triangles array
+        Vec3<Real> *                                m_points;					//>! pointer the points array
+        Vec3<Real> *                                m_facePoints;               //>! pointer to the faces points array
+        Vec3<Real> *                                m_faceNormals;              //>! pointer to the faces normals array
+        Vec3<Real> *                                m_normals;					//>! pointer the normals array
+        size_t										m_nTriangles;				//>! number of triangles in the original mesh
+        size_t										m_nPoints;					//>! number of vertices in the original mesh
+        size_t										m_nClusters;				//>! number of clusters
+        size_t										m_nMinClusters;				//>! minimum number of clusters
+        double										m_ccConnectDist;			//>! maximum allowed distance to connect CCs
+        double										m_concavity;				//>! maximum concavity
+		double										m_alpha;					//>! compacity weigth
+        double                                      m_beta;                     //>! volume weigth
+        double										m_diag;						//>! length of the BB diagonal
+		Vec3<Real>                                  m_barycenter;				//>! barycenter of the mesh
+        std::vector< long >                         m_cVertices;				//>! array of vertices each belonging to a different cluster
+        ICHull *                                    m_convexHulls;				//>! convex-hulls associated with the final HACD clusters
+		Graph										m_graph;					//>! simplification graph
+        size_t                                      m_nVerticesPerCH;			//>! maximum number of vertices per convex-hull
+		reservable_priority_queue<GraphEdgePriorityQueue, 
+            std::vector<GraphEdgePriorityQueue>,
+			std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue;		//!> priority queue
+													HACD(const HACD & rhs);
+		CallBackFunction							m_callBack;					//>! call-back function
+		long *										m_partition;				//>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
+        bool                                        m_addFacesPoints;           //>! specifies whether to add faces points or not
+        bool                                        m_addExtraDistPoints;       //>! specifies whether to add extra points for concave shapes or not
+		bool										m_addNeighboursDistPoints;  //>! specifies whether to add extra points from adjacent clusters or not
+
+	};
+}
+#endif
diff --git a/Extras/HACD/hacdICHull.cpp b/Extras/HACD/hacdICHull.cpp
new file mode 100644
index 000000000..4f99c4d64
--- /dev/null
+++ b/Extras/HACD/hacdICHull.cpp
@@ -0,0 +1,1010 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "hacdICHull.h"
+#include <limits>
+namespace HACD
+{   
+	const long ICHull::sc_dummyIndex = std::numeric_limits<long>::max();
+	ICHull::ICHull(void)
+    {
+		m_distPoints = 0;
+		m_isFlat = false;
+		m_dummyVertex = 0;
+    }
+	bool ICHull::AddPoints(const Vec3<Real> * points, size_t nPoints)
+	{
+		if (!points)
+		{
+			return false;
+		}
+		CircularListElement<TMMVertex> * vertex = NULL;
+		for (size_t i = 0; i < nPoints; i++)
+		{
+			vertex = m_mesh.AddVertex();
+			vertex->GetData().m_pos.X() = points[i].X();
+			vertex->GetData().m_pos.Y() = points[i].Y();
+			vertex->GetData().m_pos.Z() = points[i].Z();
+            vertex->GetData().m_name = static_cast<long>(i);
+		}     
+		return true;
+	}
+	bool ICHull::AddPoints(std::vector< Vec3<Real> > points)
+	{
+		CircularListElement<TMMVertex> * vertex = NULL;
+		for (size_t i = 0; i < points.size(); i++)
+		{
+			vertex = m_mesh.AddVertex();
+			vertex->GetData().m_pos.X() = points[i].X();
+			vertex->GetData().m_pos.Y() = points[i].Y();
+			vertex->GetData().m_pos.Z() = points[i].Z();
+		}     
+		return true;
+	}
+
+    bool ICHull::AddPoint(const Vec3<Real> & point, long id)
+	{
+		if (AddPoints(&point, 1))
+		{
+			m_mesh.m_vertices.GetData().m_name = id;
+			return true;
+		}
+		return false;
+	}
+
+	ICHullError ICHull::Process()
+	{
+        unsigned long addedPoints = 0;	
+		if (m_mesh.GetNVertices() < 3)
+		{
+			return ICHullErrorNotEnoughPoints;
+		}
+		if (m_mesh.GetNVertices() == 3)
+		{
+			m_isFlat = true;
+			CircularListElement<TMMTriangle> * t1 = m_mesh.AddTriangle();
+			CircularListElement<TMMTriangle> * t2 = m_mesh.AddTriangle();
+			CircularListElement<TMMVertex> * v0 = m_mesh.m_vertices.GetHead();
+	        CircularListElement<TMMVertex> * v1 = v0->GetNext();
+	        CircularListElement<TMMVertex> * v2 = v1->GetNext();
+			// Compute the normal to the plane
+            Vec3<Real> p0 = v0->GetData().m_pos;
+            Vec3<Real> p1 = v1->GetData().m_pos;            
+            Vec3<Real> p2 = v2->GetData().m_pos;			
+            m_normal = (p1-p0) ^ (p2-p0);
+            m_normal.Normalize();
+			t1->GetData().m_vertices[0] = v0;
+			t1->GetData().m_vertices[1] = v1;
+			t1->GetData().m_vertices[2] = v2;
+			t2->GetData().m_vertices[0] = v1;
+			t2->GetData().m_vertices[1] = v2;
+			t2->GetData().m_vertices[2] = v2;
+			return ICHullErrorOK;
+		}
+		if (m_isFlat)
+		{
+            m_mesh.m_edges.Clear();
+			m_mesh.m_triangles.Clear();
+			m_isFlat = false;
+		}
+        if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron
+        {
+			ICHullError res = DoubleTriangle();
+            if (res != ICHullErrorOK)
+            {
+                return res;
+            }
+            else
+            {
+                addedPoints += 3;
+            }
+        }
+        CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+        // go to the first added and not processed vertex
+        while (!(vertices.GetHead()->GetPrev()->GetData().m_tag))
+        {
+            vertices.Prev();
+        }
+        while (!vertices.GetData().m_tag) // not processed
+        {
+            vertices.GetData().m_tag = true;
+            if (ProcessPoint())
+            {
+                addedPoints++;
+                CleanUp(addedPoints);
+	            vertices.Next();
+				if (!GetMesh().CheckConsistancy())
+				{
+					return ICHullErrorInconsistent;
+				}
+            }
+        }
+		if (m_isFlat)
+		{
+			std::vector< CircularListElement<TMMTriangle> * > trianglesToDuplicate;
+			size_t nT = m_mesh.GetNTriangles();
+			for(size_t f = 0; f < nT; f++)
+			{
+				TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
+				if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
+                   currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex ||
+                   currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex )
+				{
+					m_trianglesToDelete.push_back(m_mesh.m_triangles.GetHead());
+                    for(int k = 0; k < 3; k++)
+                    {
+                        for(int h = 0; h < 2; h++)
+                        {
+                            if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead())
+                            {
+                                currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0;
+                                break;
+                            }
+                        }
+                    }
+				}
+				else
+				{
+					trianglesToDuplicate.push_back(m_mesh.m_triangles.GetHead());
+				}
+				m_mesh.m_triangles.Next();
+			}
+            size_t nE = m_mesh.GetNEdges();
+            for(size_t e = 0; e < nE; e++)
+			{
+				TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
+				if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) 
+				{
+					m_edgesToDelete.push_back(m_mesh.m_edges.GetHead());
+				}
+				m_mesh.m_edges.Next();
+			}
+			m_mesh.m_vertices.Delete(m_dummyVertex);
+			m_dummyVertex = 0;
+            size_t nV = m_mesh.GetNVertices();
+            CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+			for(size_t v = 0; v < nV; ++v)
+			{
+                vertices.GetData().m_tag = false;
+                vertices.Next();
+            }
+            CleanEdges();
+			CleanTriangles();
+			CircularListElement<TMMTriangle> * newTriangle;
+			for(size_t t = 0; t < trianglesToDuplicate.size(); t++)
+			{
+				newTriangle = m_mesh.AddTriangle();
+				newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
+				newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0];
+				newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2];
+			}
+		}
+		return ICHullErrorOK;
+	}
+    ICHullError ICHull::Process(unsigned long nPointsCH)
+	{
+        unsigned long addedPoints = 0;  
+        if (nPointsCH < 3 || m_mesh.GetNVertices() < 3)
+		{
+			return ICHullErrorNotEnoughPoints;
+		}
+		if (m_mesh.GetNVertices() == 3)
+		{
+			m_isFlat = true;
+			CircularListElement<TMMTriangle> * t1 = m_mesh.AddTriangle();
+			CircularListElement<TMMTriangle> * t2 = m_mesh.AddTriangle();
+			CircularListElement<TMMVertex> * v0 = m_mesh.m_vertices.GetHead();
+	        CircularListElement<TMMVertex> * v1 = v0->GetNext();
+	        CircularListElement<TMMVertex> * v2 = v1->GetNext();
+			// Compute the normal to the plane
+            Vec3<Real> p0 = v0->GetData().m_pos;
+            Vec3<Real> p1 = v1->GetData().m_pos;            
+            Vec3<Real> p2 = v2->GetData().m_pos;			
+            m_normal = (p1-p0) ^ (p2-p0);
+            m_normal.Normalize();
+			t1->GetData().m_vertices[0] = v0;
+			t1->GetData().m_vertices[1] = v1;
+			t1->GetData().m_vertices[2] = v2;
+			t2->GetData().m_vertices[0] = v1;
+			t2->GetData().m_vertices[1] = v0;
+			t2->GetData().m_vertices[2] = v2;
+			return ICHullErrorOK;
+		}
+
+		if (m_isFlat)
+		{
+			m_mesh.m_triangles.Clear();
+            m_mesh.m_edges.Clear();
+            m_isFlat = false;
+		}
+        
+        if (m_mesh.GetNTriangles() == 0) // we have to create the first polyhedron
+        {
+			ICHullError res = DoubleTriangle();
+            if (res != ICHullErrorOK)
+            {
+                return res;
+            }
+            else
+            {
+                addedPoints += 3;
+            }
+        }
+        CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+        while (!vertices.GetData().m_tag && addedPoints < nPointsCH) // not processed
+        {
+            if (!FindMaxVolumePoint())
+            {
+                break;
+            }                  
+            vertices.GetData().m_tag = true;                      
+            if (ProcessPoint())
+            {
+                addedPoints++;
+                CleanUp(addedPoints);
+				if (!GetMesh().CheckConsistancy())
+				{
+					return ICHullErrorInconsistent;
+				}
+                vertices.Next();
+            }
+        }
+        // delete remaining points
+        while (!vertices.GetData().m_tag)
+        {
+            vertices.Delete();
+        }
+		if (m_isFlat)
+		{
+			std::vector< CircularListElement<TMMTriangle> * > trianglesToDuplicate;
+			size_t nT = m_mesh.GetNTriangles();
+			for(size_t f = 0; f < nT; f++)
+			{
+				TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
+				if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
+                   currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex ||
+                   currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex )
+				{
+					m_trianglesToDelete.push_back(m_mesh.m_triangles.GetHead());
+                    for(int k = 0; k < 3; k++)
+                    {
+                        for(int h = 0; h < 2; h++)
+                        {
+                            if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead())
+                            {
+                                currentTriangle.m_edges[k]->GetData().m_triangles[h] = 0;
+                                break;
+                            }
+                        }
+                    }
+				}
+				else
+				{
+					trianglesToDuplicate.push_back(m_mesh.m_triangles.GetHead());
+				}
+				m_mesh.m_triangles.Next();
+			}
+            size_t nE = m_mesh.GetNEdges();
+            for(size_t e = 0; e < nE; e++)
+			{
+				TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
+				if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0) 
+				{
+					m_edgesToDelete.push_back(m_mesh.m_edges.GetHead());
+				}
+				m_mesh.m_edges.Next();
+			}
+			m_mesh.m_vertices.Delete(m_dummyVertex);
+			m_dummyVertex = 0;
+            size_t nV = m_mesh.GetNVertices();
+            CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+			for(size_t v = 0; v < nV; ++v)
+			{
+                vertices.GetData().m_tag = false;
+                vertices.Next();
+            }
+            CleanEdges();
+			CleanTriangles();
+			CircularListElement<TMMTriangle> * newTriangle;
+			for(size_t t = 0; t < trianglesToDuplicate.size(); t++)
+			{
+				newTriangle = m_mesh.AddTriangle();
+				newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
+				newTriangle->GetData().m_vertices[1] = trianglesToDuplicate[t]->GetData().m_vertices[0];
+				newTriangle->GetData().m_vertices[2] = trianglesToDuplicate[t]->GetData().m_vertices[2];
+			}
+		}
+		return ICHullErrorOK;
+	}
+    bool ICHull::FindMaxVolumePoint()
+	{
+        CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+        CircularListElement<TMMVertex> * vMaxVolume = 0;
+        CircularListElement<TMMVertex> * vHeadPrev = vertices.GetHead()->GetPrev();
+        
+        double maxVolume = 0.0;
+        double volume = 0.0;
+        
+        while (!vertices.GetData().m_tag) // not processed
+        {
+            if (ComputePointVolume(volume, false))
+            {
+                if ( maxVolume < volume)
+                {
+                    maxVolume = volume;
+                    vMaxVolume = vertices.GetHead();
+                }
+                vertices.Next();
+            }
+        }
+        CircularListElement<TMMVertex> * vHead = vHeadPrev->GetNext();
+        vertices.GetHead() = vHead;  
+        
+        if (!vMaxVolume)
+        {
+            return false;
+        }
+        
+        if (vMaxVolume != vHead)
+        {
+            Vec3<Real> pos = vHead->GetData().m_pos;
+            long id = vHead->GetData().m_name;
+            vHead->GetData().m_pos = vMaxVolume->GetData().m_pos;
+            vHead->GetData().m_name = vMaxVolume->GetData().m_name;
+            vMaxVolume->GetData().m_pos = pos;
+            vHead->GetData().m_name = id;
+        }
+        
+ 
+        return true;
+    }
+	ICHullError ICHull::DoubleTriangle()
+	{
+        // find three non colinear points
+		m_isFlat = false;
+        CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+        CircularListElement<TMMVertex> * v0 = vertices.GetHead();
+        while( Colinear(v0->GetData().m_pos, 
+                        v0->GetNext()->GetData().m_pos, 
+                        v0->GetNext()->GetNext()->GetData().m_pos))
+        {
+            if ( (v0 = v0->GetNext()) == vertices.GetHead())
+            {
+                return ICHullErrorCoplanarPoints;
+            }
+        }
+        CircularListElement<TMMVertex> * v1 = v0->GetNext();
+        CircularListElement<TMMVertex> * v2 = v1->GetNext();
+        // mark points as processed
+        v0->GetData().m_tag = v1->GetData().m_tag = v2->GetData().m_tag = true;
+        
+        // create two triangles
+        CircularListElement<TMMTriangle> * f0 = MakeFace(v0, v1, v2, 0);
+        MakeFace(v2, v1, v0, f0);
+
+        // find a fourth non-coplanar point to form tetrahedron
+        CircularListElement<TMMVertex> * v3 = v2->GetNext();
+        vertices.GetHead() = v3;
+
+		double vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
+		while (vol == 0.0 && !v3->GetNext()->GetData().m_tag)
+		{
+			v3 = v3->GetNext();
+			vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
+		}			
+		if (vol == 0.0)
+		{
+			// compute the barycenter
+			Vec3<Real> bary(0.0,0.0,0.0);
+			CircularListElement<TMMVertex> * vBary = v0;
+			do
+			{
+				bary += vBary->GetData().m_pos;
+			}
+			while ( (vBary = vBary->GetNext()) != v0);
+			bary /= static_cast<Real>(vertices.GetSize());
+
+			// Compute the normal to the plane
+            Vec3<Real> p0 = v0->GetData().m_pos;
+            Vec3<Real> p1 = v1->GetData().m_pos;            
+            Vec3<Real> p2 = v2->GetData().m_pos;			
+            m_normal = (p1-p0) ^ (p2-p0);
+            m_normal.Normalize();
+			// add dummy vertex placed at (bary + normal)
+			vertices.GetHead() = v2;
+			Vec3<Real> newPt = bary + m_normal;
+			AddPoint(newPt, sc_dummyIndex); 
+			m_dummyVertex = vertices.GetHead();
+			m_isFlat = true;
+            v3 = v2->GetNext();
+            vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
+			return ICHullErrorOK;
+		}
+		else if (v3 != vertices.GetHead())
+		{
+			TMMVertex temp;
+			temp.m_name = v3->GetData().m_name;
+			temp.m_pos = v3->GetData().m_pos;
+			v3->GetData().m_name = vertices.GetHead()->GetData().m_name;
+			v3->GetData().m_pos = vertices.GetHead()->GetData().m_pos;
+			vertices.GetHead()->GetData().m_name = temp.m_name;
+			vertices.GetHead()->GetData().m_pos = temp.m_pos;
+		}
+		return ICHullErrorOK;
+	}
+    CircularListElement<TMMTriangle> *	ICHull::MakeFace(CircularListElement<TMMVertex> * v0,  
+                                                         CircularListElement<TMMVertex> * v1,
+                                                         CircularListElement<TMMVertex> * v2,
+                                                         CircularListElement<TMMTriangle> * fold)
+	{        
+        CircularListElement<TMMEdge> * e0;
+        CircularListElement<TMMEdge> * e1;
+        CircularListElement<TMMEdge> * e2;
+        long index = 0;
+        if (!fold) // if first face to be created
+        {
+            e0 = m_mesh.AddEdge(); // create the three edges
+            e1 = m_mesh.AddEdge();
+            e2 = m_mesh.AddEdge();            
+        }
+        else // otherwise re-use existing edges (in reverse order)
+        {
+            e0 = fold->GetData().m_edges[2];
+            e1 = fold->GetData().m_edges[1];
+            e2 = fold->GetData().m_edges[0];
+            index = 1;
+        }
+        e0->GetData().m_vertices[0] = v0; e0->GetData().m_vertices[1] = v1;
+        e1->GetData().m_vertices[0] = v1; e1->GetData().m_vertices[1] = v2;
+        e2->GetData().m_vertices[0] = v2; e2->GetData().m_vertices[1] = v0;
+        // create the new face
+        CircularListElement<TMMTriangle> * f = m_mesh.AddTriangle();   
+        f->GetData().m_edges[0]    = e0; f->GetData().m_edges[1]    = e1; f->GetData().m_edges[2]    = e2;
+        f->GetData().m_vertices[0] = v0; f->GetData().m_vertices[1] = v1; f->GetData().m_vertices[2] = v2;     
+        // link edges to face f
+        e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f;
+		return f;
+	}
+	CircularListElement<TMMTriangle> * ICHull::MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * p)
+	{
+        // create two new edges if they don't already exist
+        CircularListElement<TMMEdge> * newEdges[2];
+        for(int i = 0; i < 2; ++i)
+        {
+            if ( !( newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate ) )  
+            { // if the edge doesn't exits add it and mark the vertex as duplicated
+                newEdges[i] = m_mesh.AddEdge();
+                newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i];
+                newEdges[i]->GetData().m_vertices[1] = p;
+                e->GetData().m_vertices[i]->GetData().m_duplicate = newEdges[i];
+            }
+        }
+        // make the new face
+        CircularListElement<TMMTriangle> * newFace = m_mesh.AddTriangle();
+        newFace->GetData().m_edges[0] = e;
+        newFace->GetData().m_edges[1] = newEdges[0];
+        newFace->GetData().m_edges[2] = newEdges[1];
+        MakeCCW(newFace, e, p);
+        for(int i=0; i < 2; ++i)
+        {
+            for(int j=0; j < 2; ++j)
+            {
+                if ( ! newEdges[i]->GetData().m_triangles[j] )
+                {
+                    newEdges[i]->GetData().m_triangles[j] = newFace;
+                    break;
+                }
+            }
+        }
+		return newFace;
+	}
+    bool ICHull::ComputePointVolume(double &totalVolume, bool markVisibleFaces)
+    {
+        // mark visible faces
+        CircularListElement<TMMTriangle> * fHead = m_mesh.GetTriangles().GetHead();
+        CircularListElement<TMMTriangle> * f = fHead;
+        CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+        CircularListElement<TMMVertex> * vertex0 = vertices.GetHead();
+        bool visible = false;
+        Vec3<double> pos0 = Vec3<double>(vertex0->GetData().m_pos.X(),
+										 vertex0->GetData().m_pos.Y(),
+										 vertex0->GetData().m_pos.Z());
+        double vol = 0.0;
+        totalVolume = 0.0;
+		Vec3<double> ver0, ver1, ver2;
+        do 
+        {
+			ver0.X() = f->GetData().m_vertices[0]->GetData().m_pos.X();
+			ver0.Y() = f->GetData().m_vertices[0]->GetData().m_pos.Y();
+			ver0.Z() = f->GetData().m_vertices[0]->GetData().m_pos.Z();
+			ver1.X() = f->GetData().m_vertices[1]->GetData().m_pos.X();
+			ver1.Y() = f->GetData().m_vertices[1]->GetData().m_pos.Y();
+			ver1.Z() = f->GetData().m_vertices[1]->GetData().m_pos.Z();
+			ver2.X() = f->GetData().m_vertices[2]->GetData().m_pos.X();
+			ver2.Y() = f->GetData().m_vertices[2]->GetData().m_pos.Y();
+			ver2.Z() = f->GetData().m_vertices[2]->GetData().m_pos.Z();
+			vol = Volume(ver0, ver1, ver2, pos0);
+			if ( vol < 0.0 )
+			{
+				vol = fabs(vol);
+				totalVolume += vol;
+				if (markVisibleFaces)
+				{
+					f->GetData().m_visible = true;
+					m_trianglesToDelete.push_back(f);
+				}
+				visible = true;
+			}
+			f = f->GetNext();
+        } 
+        while (f != fHead);
+
+		if (m_trianglesToDelete.size() == m_mesh.m_triangles.GetSize())
+		{
+			for(size_t i = 0; i < m_trianglesToDelete.size(); i++)
+			{
+				m_trianglesToDelete[i]->GetData().m_visible = false;
+			}
+			visible = false;
+		}
+        // if no faces visible from p then p is inside the hull
+        if (!visible && markVisibleFaces)
+        {
+            vertices.Delete();
+			m_trianglesToDelete.clear();
+            return false;
+        }
+        return true;
+    }
+	bool ICHull::ProcessPoint()
+	{
+        double totalVolume = 0.0;
+        if (!ComputePointVolume(totalVolume, true))
+        {
+            return false;
+        }
+        // Mark edges in interior of visible region for deletion.
+        // Create a new face based on each border edge
+        CircularListElement<TMMVertex> * v0 = m_mesh.GetVertices().GetHead();
+        CircularListElement<TMMEdge> * eHead = m_mesh.GetEdges().GetHead();
+        CircularListElement<TMMEdge> * e = eHead;    
+        CircularListElement<TMMEdge> * tmp = 0;
+        long nvisible = 0;
+        m_edgesToDelete.clear();
+        m_edgesToUpdate.clear();
+        do 
+        {
+            tmp = e->GetNext();
+            nvisible = 0;
+            for(int k = 0; k < 2; k++)
+            {
+                if ( e->GetData().m_triangles[k]->GetData().m_visible )
+                {
+                    nvisible++;
+                }
+            }
+            if ( nvisible == 2)
+            {
+                m_edgesToDelete.push_back(e);
+            }
+            else if ( nvisible == 1)
+            {
+                e->GetData().m_newFace = MakeConeFace(e, v0);
+                m_edgesToUpdate.push_back(e);
+            }
+            e = tmp;
+        }
+        while (e != eHead);        
+		return true;
+	}
+    bool ICHull::MakeCCW(CircularListElement<TMMTriangle> * f,
+                         CircularListElement<TMMEdge> * e, 
+                         CircularListElement<TMMVertex> * v)
+    {
+        // the visible face adjacent to e
+        CircularListElement<TMMTriangle> * fv; 
+        if (e->GetData().m_triangles[0]->GetData().m_visible)
+        {
+            fv = e->GetData().m_triangles[0];
+        }
+        else
+        {
+            fv = e->GetData().m_triangles[1];
+        }
+        
+        //  set vertex[0] and vertex[1] to have the same orientation as the corresponding vertices of fv.
+        long i;                                 // index of e->m_vertices[0] in fv
+        CircularListElement<TMMVertex> * v0 = e->GetData().m_vertices[0];
+        CircularListElement<TMMVertex> * v1 = e->GetData().m_vertices[1];
+        for(i = 0; fv->GetData().m_vertices[i] !=  v0; i++);
+        
+        if ( fv->GetData().m_vertices[(i+1) % 3] != e->GetData().m_vertices[1] )
+        {
+            f->GetData().m_vertices[0] = v1;
+            f->GetData().m_vertices[1] = v0;
+        }
+        else
+        {
+            f->GetData().m_vertices[0] = v0;
+            f->GetData().m_vertices[1] = v1;  
+            // swap edges
+            CircularListElement<TMMEdge> * tmp = f->GetData().m_edges[0];
+            f->GetData().m_edges[0] = f->GetData().m_edges[1];
+            f->GetData().m_edges[1] = tmp;
+        }
+        f->GetData().m_vertices[2] = v;
+        return true;
+    }
+    bool ICHull::CleanUp(unsigned long & addedPoints)
+    {
+        bool r0 = CleanEdges();
+        bool r1 = CleanTriangles();
+        bool r2 = CleanVertices(addedPoints);
+        return  r0 && r1 && r2;
+    }
+    bool ICHull::CleanEdges()
+    {
+        // integrate the new faces into the data structure
+        CircularListElement<TMMEdge> * e;
+        const std::vector<CircularListElement<TMMEdge> *>::iterator itEndUpdate = m_edgesToUpdate.end();
+        for(std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToUpdate.begin(); it != itEndUpdate; ++it)
+        {
+            e = *it;
+            if ( e->GetData().m_newFace )
+            {
+                if ( e->GetData().m_triangles[0]->GetData().m_visible)
+                {
+                    e->GetData().m_triangles[0] = e->GetData().m_newFace;
+                }
+                else
+                {
+                    e->GetData().m_triangles[1] = e->GetData().m_newFace;
+                }
+                e->GetData().m_newFace = 0;
+            }           
+        }
+        // delete edges maked for deletion
+        CircularList<TMMEdge> & edges = m_mesh.GetEdges();
+        const std::vector<CircularListElement<TMMEdge> *>::iterator itEndDelete = m_edgesToDelete.end();
+        for(std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToDelete.begin(); it != itEndDelete; ++it)
+        {
+            edges.Delete(*it);         
+        }
+		m_edgesToDelete.clear();
+        m_edgesToUpdate.clear();
+        return true;
+    }
+    bool ICHull::CleanTriangles()
+    {
+        CircularList<TMMTriangle> & triangles = m_mesh.GetTriangles();
+        const std::vector<CircularListElement<TMMTriangle> *>::iterator itEndDelete = m_trianglesToDelete.end();
+        for(std::vector<CircularListElement<TMMTriangle> *>::iterator it = m_trianglesToDelete.begin(); it != itEndDelete; ++it)
+        {
+			if (m_distPoints)
+			{
+				if (m_isFlat)
+				{
+					// to be updated
+				}
+				else
+				{
+					std::set<long>::const_iterator itPEnd((*it)->GetData().m_incidentPoints.end());
+					std::set<long>::const_iterator itP((*it)->GetData().m_incidentPoints.begin());
+					std::map<long, DPoint>::iterator itPoint;
+					for(; itP != itPEnd; ++itP) 
+					{
+						itPoint = m_distPoints->find(*itP);
+						if (itPoint != m_distPoints->end())
+						{
+							itPoint->second.m_computed = false;
+						}
+					}
+				}
+			}
+            triangles.Delete(*it);         
+        }
+		m_trianglesToDelete.clear();
+        return true;
+    }
+    bool ICHull::CleanVertices(unsigned long & addedPoints)
+    {
+        // mark all vertices incident to some undeleted edge as on the hull
+        CircularList<TMMEdge> & edges = m_mesh.GetEdges();
+        CircularListElement<TMMEdge> * e = edges.GetHead();
+        size_t nE = edges.GetSize();
+        for(size_t i = 0; i < nE; i++)
+        {
+            e->GetData().m_vertices[0]->GetData().m_onHull = true;
+            e->GetData().m_vertices[1]->GetData().m_onHull = true;
+            e = e->GetNext();
+        }
+        // delete all the vertices that have been processed but are not on the hull
+        CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
+        CircularListElement<TMMVertex> * vHead = vertices.GetHead();
+        CircularListElement<TMMVertex> * v = vHead;
+        v = v->GetPrev();
+        do 
+        {
+            if (v->GetData().m_tag && !v->GetData().m_onHull)
+            {
+                CircularListElement<TMMVertex> * tmp = v->GetPrev();
+                vertices.Delete(v);
+                v = tmp;
+                addedPoints--;
+            }
+            else
+            {
+                v->GetData().m_duplicate = 0;
+                v->GetData().m_onHull = false;
+                v = v->GetPrev();
+            }
+        } 
+        while (v->GetData().m_tag && v != vHead);
+        return true;
+    }
+	void ICHull::Clear()
+	{	
+		m_mesh.Clear();
+		m_edgesToDelete = std::vector<CircularListElement<TMMEdge> *>();
+		m_edgesToUpdate = std::vector<CircularListElement<TMMEdge> *>();
+		m_trianglesToDelete= std::vector<CircularListElement<TMMTriangle> *>();
+		m_isFlat = false;
+	}
+    const ICHull & ICHull::operator=(ICHull & rhs)
+    {
+        if (&rhs != this)
+        {
+            m_mesh.Copy(rhs.m_mesh);
+            m_edgesToDelete = rhs.m_edgesToDelete;
+            m_edgesToUpdate = rhs.m_edgesToUpdate;
+            m_trianglesToDelete = rhs.m_trianglesToDelete;
+			m_isFlat = rhs.m_isFlat;
+        }
+        return (*this);
+    }   
+    double ICHull::ComputeVolume()
+    {
+        size_t nV = m_mesh.m_vertices.GetSize();
+		if (nV == 0 || m_isFlat)
+		{
+			return 0.0;
+		}       
+        Vec3<double> bary(0.0, 0.0, 0.0);
+        for(size_t v = 0; v < nV; v++)
+        {
+			bary.X() +=  m_mesh.m_vertices.GetHead()->GetData().m_pos.X();
+			bary.Y() +=  m_mesh.m_vertices.GetHead()->GetData().m_pos.Y();
+			bary.Z() +=  m_mesh.m_vertices.GetHead()->GetData().m_pos.Z();
+			m_mesh.m_vertices.Next();
+        }
+        bary /= static_cast<double>(nV);
+        
+        size_t nT = m_mesh.m_triangles.GetSize();
+        Vec3<double> ver0, ver1, ver2;
+        double totalVolume = 0.0;
+        for(size_t t = 0; t < nT; t++)
+        {
+            ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
+            ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
+            ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
+            ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
+            ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
+            ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
+            ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
+            ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
+            ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
+			totalVolume += Volume(ver0, ver1, ver2, bary);
+			m_mesh.m_triangles.Next();
+        }
+        return totalVolume;
+    }
+    bool ICHull::IsInside(const Vec3<Real> & pt0)
+    {
+		const Vec3<double> pt(pt0.X(), pt0.Y(), pt0.Z());
+		if (m_isFlat)
+		{
+			size_t nT = m_mesh.m_triangles.GetSize();
+			Vec3<double> ver0, ver1, ver2, a, b, c;
+			double u,v;
+			for(size_t t = 0; t < nT; t++)
+			{
+				ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
+				ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
+				ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
+				ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
+				ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
+				ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
+				ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
+				ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
+				ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
+				a = ver1 - ver0;
+				b = ver2 - ver0;
+				c = pt - ver0;
+				u = c * a;
+				v = c * b;
+				if ( u >= 0.0 && u <= 1.0 && v >= 0.0 && u+v <= 1.0)
+				{
+					return true;
+				}
+				m_mesh.m_triangles.Next();
+			}
+			return false;
+		}
+		else
+		{
+			size_t nT = m_mesh.m_triangles.GetSize();
+			Vec3<double> ver0, ver1, ver2;
+			for(size_t t = 0; t < nT; t++)
+			{
+				ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
+				ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
+				ver0.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Z();
+				ver1.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.X();
+				ver1.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Y();
+				ver1.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[1]->GetData().m_pos.Z();
+				ver2.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.X();
+				ver2.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Y();
+				ver2.Z() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[2]->GetData().m_pos.Z();
+				if (Volume(ver0, ver1, ver2, pt) < 0.0)
+				{
+					return false;
+				}
+				m_mesh.m_triangles.Next();
+			}
+			return true;
+		}
+    }
+	double ICHull::ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints)
+	{
+		Vec3<double> ptNormal(static_cast<double>(normal.X()), 
+							  static_cast<double>(normal.Y()), 
+							  static_cast<double>(normal.Z()));
+		Vec3<double> p0( static_cast<double>(pt.X()), 
+						 static_cast<double>(pt.Y()), 
+						 static_cast<double>(pt.Z()));
+
+		if (m_isFlat)
+		{
+			double distance = 0.0;
+			Vec3<double> chNormal(static_cast<double>(m_normal.X()), 
+								  static_cast<double>(m_normal.Y()), 
+							      static_cast<double>(m_normal.Z()));
+			ptNormal -= (ptNormal * chNormal) * chNormal;
+			if (ptNormal.GetNorm() > 0.0)
+			{
+				ptNormal.Normalize();
+				long nameVE1;
+				long nameVE2;
+				Vec3<double> pa, pb, d0, d1, d2, d3;				
+				Vec3<double> p1 = p0 + ptNormal;
+				Vec3<double> p2, p3;
+				double mua, mub, s;
+				const double EPS = 0.00000000001;
+				size_t nE = m_mesh.GetNEdges();
+				for(size_t e = 0; e < nE; e++)
+				{
+					TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
+                    nameVE1 = currentEdge.m_vertices[0]->GetData().m_name;
+                    nameVE2 = currentEdge.m_vertices[1]->GetData().m_name;
+                    if (currentEdge.m_triangles[0] == 0 || currentEdge.m_triangles[1] == 0)
+                    {
+                        if ( nameVE1==name || nameVE2==name )
+                        {
+                            return 0.0;
+                        }
+                        /*
+                        if (debug) std::cout << "V" << name 
+                                             << " E "  << nameVE1 << " " << nameVE2 << std::endl;
+                         */
+
+                        p2.X() = currentEdge.m_vertices[0]->GetData().m_pos.X();
+                        p2.Y() = currentEdge.m_vertices[0]->GetData().m_pos.Y();
+                        p2.Z() = currentEdge.m_vertices[0]->GetData().m_pos.Z();
+                        p3.X() = currentEdge.m_vertices[1]->GetData().m_pos.X();
+                        p3.Y() = currentEdge.m_vertices[1]->GetData().m_pos.Y();
+                        p3.Z() = currentEdge.m_vertices[1]->GetData().m_pos.Z();
+                        d0 = p3 - p2;
+                        if (d0.GetNorm() > 0.0)
+                        {
+                            if (IntersectLineLine(p0, p1, p2, p3, pa, pb, mua, mub))
+                            {
+                                d1 = pa - p2;
+                                d2 = pa - pb;
+                                d3 = pa - p0;
+                                mua = d1.GetNorm()/d0.GetNorm();
+                                mub = d1*d0;
+                                s = d3*ptNormal;
+                                if (d2.GetNorm() < EPS &&  mua <= 1.0 && mub>=0.0 && s>0.0)
+                                {
+                                    distance = std::max<double>(distance, d3.GetNorm());
+                                }
+                            }
+                        }
+                    }
+					m_mesh.m_edges.Next();
+				}
+			}
+			return distance;
+		}
+		else
+		{
+			Vec3<double> ptNormal(static_cast<double>(normal.X()), 
+								  static_cast<double>(normal.Y()), 
+								  static_cast<double>(normal.Z()));
+
+			Vec3<double> impact;
+			long nhit;
+			double dist;
+			double distance = 0.0; 
+			size_t nT = m_mesh.GetNTriangles();
+			insideHull = false;
+			CircularListElement<TMMTriangle> * face = 0;
+			Vec3<double> ver0, ver1, ver2;
+			for(size_t f = 0; f < nT; f++)
+			{
+				TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
+	/*
+				if (debug) std::cout << "T " << currentTriangle.m_vertices[0]->GetData().m_name << " "
+														  << currentTriangle.m_vertices[1]->GetData().m_name << " "
+														  << currentTriangle.m_vertices[2]->GetData().m_name << std::endl;
+     */
+				if (currentTriangle.m_vertices[0]->GetData().m_name == name ||
+					currentTriangle.m_vertices[1]->GetData().m_name == name ||
+					currentTriangle.m_vertices[2]->GetData().m_name == name)
+				{
+					nhit = 1;
+					dist = 0.0;
+				}
+				else
+				{
+					ver0.X() = currentTriangle.m_vertices[0]->GetData().m_pos.X();
+					ver0.Y() = currentTriangle.m_vertices[0]->GetData().m_pos.Y();
+					ver0.Z() = currentTriangle.m_vertices[0]->GetData().m_pos.Z();
+					ver1.X() = currentTriangle.m_vertices[1]->GetData().m_pos.X();
+					ver1.Y() = currentTriangle.m_vertices[1]->GetData().m_pos.Y();
+					ver1.Z() = currentTriangle.m_vertices[1]->GetData().m_pos.Z();
+					ver2.X() = currentTriangle.m_vertices[2]->GetData().m_pos.X();
+					ver2.Y() = currentTriangle.m_vertices[2]->GetData().m_pos.Y();
+					ver2.Z() = currentTriangle.m_vertices[2]->GetData().m_pos.Z();
+					nhit = IntersectRayTriangle(p0, ptNormal, ver0, ver1, ver2, dist);
+				}
+
+				if (nhit == 1 && distance <= dist)
+				{
+					distance = dist;
+					insideHull = true;
+					face = m_mesh.m_triangles.GetHead();	
+/*
+					std::cout << name << " -> T " << currentTriangle.m_vertices[0]->GetData().m_name << " "
+												  << currentTriangle.m_vertices[1]->GetData().m_name << " "
+												  << currentTriangle.m_vertices[2]->GetData().m_name << " Dist "
+												  << dist << " P " << currentTriangle.m_normal * normal << std::endl;
+*/
+					if (dist > 0.1)
+					{
+						break;
+					}
+				}
+				m_mesh.m_triangles.Next();
+			}
+			if (updateIncidentPoints && face && m_distPoints)
+			{
+				(*m_distPoints)[name].m_dist = static_cast<Real>(distance);
+				face->GetData().m_incidentPoints.insert(name);
+			}
+			return distance;
+		}
+	}
+}
+
diff --git a/Extras/HACD/hacdICHull.h b/Extras/HACD/hacdICHull.h
new file mode 100644
index 000000000..548f992bd
--- /dev/null
+++ b/Extras/HACD/hacdICHull.h
@@ -0,0 +1,120 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_ICHULL_H
+#define HACD_ICHULL_H
+#include "hacdVersion.h"
+#include "hacdManifoldMesh.h"
+#include "hacdVector.h"
+#include <vector>
+#include <map>
+namespace HACD
+{
+	class DPoint;
+	class HACD;
+	//!	Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
+	enum ICHullError
+	{
+		ICHullErrorOK = 0,
+		ICHullErrorCoplanarPoints,
+		ICHullErrorNoVolume,
+		ICHullErrorInconsistent,
+		ICHullErrorNotEnoughPoints
+	};
+	class ICHull
+	{
+		public:
+			//!
+			bool												IsFlat() { return m_isFlat;}
+			//! 
+            std::map<long, DPoint> *							GetDistPoints() const { return m_distPoints;}
+			//!
+			void												SetDistPoints(std::map<long, DPoint> * distPoints) { m_distPoints = distPoints;}
+			//! Returns the computed mesh
+            TMMesh &                                            GetMesh() { return m_mesh;}
+			//!	Add one point to the convex-hull    
+            bool                                                AddPoint(const Vec3<Real> & point) {return AddPoints(&point, 1);}
+			//!	Add one point to the convex-hull    
+            bool                                                AddPoint(const Vec3<Real> & point, long id);
+			//!	Add points to the convex-hull
+			bool                                                AddPoints(const Vec3<Real> * points, size_t nPoints);	
+			bool												AddPoints(std::vector< Vec3<Real> > points);
+			//!	
+			ICHullError                                         Process();
+            //! 
+            ICHullError                                         Process(unsigned long nPointsCH);
+            //!
+            double                                              ComputeVolume();
+            //!
+            bool                                                IsInside(const Vec3<Real> & pt0);
+			//!
+			double												ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints);
+            //!
+            const ICHull &                                      operator=(ICHull & rhs);        
+
+			//!	Constructor
+																ICHull(void);
+			//! Destructor
+			virtual                                             ~ICHull(void) {};
+
+		private:
+            //!	DoubleTriangle builds the initial double triangle.  It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face.  The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up. 
+			ICHullError                                         DoubleTriangle();
+            //!	MakeFace creates a new face structure from three vertices (in ccw order).  It returns a pointer to the face.
+            CircularListElement<TMMTriangle> *                  MakeFace(CircularListElement<TMMVertex> * v0,  
+                                                                         CircularListElement<TMMVertex> * v1,
+                                                                         CircularListElement<TMMVertex> * v2,
+                                                                         CircularListElement<TMMTriangle> * fold);			
+            //!	
+            CircularListElement<TMMTriangle> *                  MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * v);
+			//!	
+			bool                                                ProcessPoint();
+            //!
+            bool                                                ComputePointVolume(double &totalVolume, bool markVisibleFaces);
+            //!
+            bool                                                FindMaxVolumePoint();
+            //!	
+            bool                                                CleanEdges();
+            //!	
+            bool                                                CleanVertices(unsigned long & addedPoints);
+            //!	
+            bool                                                CleanTriangles();
+            //!	
+            bool                                                CleanUp(unsigned long & addedPoints);
+            //!
+            bool                                                MakeCCW(CircularListElement<TMMTriangle> * f,
+                                                                        CircularListElement<TMMEdge> * e, 
+                                                                        CircularListElement<TMMVertex> * v);
+			void												Clear(); 
+		private:
+            static const long                                   sc_dummyIndex;
+            static const double                                 sc_distMin;
+			TMMesh                                              m_mesh;
+            std::vector<CircularListElement<TMMEdge> *>         m_edgesToDelete;
+            std::vector<CircularListElement<TMMEdge> *>         m_edgesToUpdate;
+            std::vector<CircularListElement<TMMTriangle> *>     m_trianglesToDelete; 
+			std::map<long, DPoint> *							m_distPoints;            
+			CircularListElement<TMMVertex> *					m_dummyVertex;
+			Vec3<Real>                                          m_normal;
+			bool												m_isFlat;
+        
+					                                           
+																ICHull(const ICHull & rhs);
+        
+			friend class HACD;
+	};
+
+}
+#endif
diff --git a/Extras/HACD/hacdManifoldMesh.cpp b/Extras/HACD/hacdManifoldMesh.cpp
new file mode 100644
index 000000000..22a3576e4
--- /dev/null
+++ b/Extras/HACD/hacdManifoldMesh.cpp
@@ -0,0 +1,577 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "hacdManifoldMesh.h"
+using namespace std;
+
+
+namespace HACD
+{    
+    Material::Material(void)
+    {
+        m_diffuseColor.X()  = 0.5;
+        m_diffuseColor.Y()  = 0.5;
+        m_diffuseColor.Z()  = 0.5;
+        m_specularColor.X() = 0.5;
+        m_specularColor.Y() = 0.5;
+        m_specularColor.Z() = 0.5;
+        m_ambientIntensity  = 0.4;
+        m_emissiveColor.X() = 0.0;
+        m_emissiveColor.Y() = 0.0;
+        m_emissiveColor.Z() = 0.0;
+        m_shininess         = 0.4;
+        m_transparency      = 0.0;
+    }
+    
+	TMMVertex::TMMVertex(void)
+	{
+		m_name = 0;
+        m_id = 0;
+		m_duplicate = 0;
+		m_onHull = false;
+		m_tag = false;
+	}
+	TMMVertex::~TMMVertex(void)
+	{
+	}
+	TMMEdge::TMMEdge(void)
+	{
+        m_id = 0;
+		m_triangles[0] = m_triangles[1] = m_newFace = 0;
+		m_vertices[0] = m_vertices[1] = 0;
+	}
+	TMMEdge::~TMMEdge(void)
+	{
+	}
+	TMMTriangle::TMMTriangle(void)
+	{
+        m_id = 0;
+		for(int i = 0; i < 3; i++)
+		{
+			m_edges[i] = 0;
+			m_vertices[0] = 0;
+		}
+		m_visible = false;
+	}
+	TMMTriangle::~TMMTriangle(void)
+	{
+	}
+	TMMesh::TMMesh(void)
+	{
+		m_barycenter = Vec3<Real>(0,0,0);
+		m_diag = 1;
+	}
+	TMMesh::~TMMesh(void)
+	{
+	}
+
+	void TMMesh::Print() 
+	{
+		size_t nV = m_vertices.GetSize();
+		std::cout << "-----------------------------" << std::endl;
+        std::cout << "vertices (" << nV << ")" << std::endl;
+        for(size_t v = 0; v < nV; v++)
+		{
+			const TMMVertex & currentVertex = m_vertices.GetData();
+			std::cout  << currentVertex.m_id	  << ", " 
+		 			   << currentVertex.m_pos.X() << ", " 
+					   << currentVertex.m_pos.Y() << ", "
+					   << currentVertex.m_pos.Z() << std::endl;
+			m_vertices.Next();
+		}
+    
+
+		size_t nE = m_edges.GetSize();
+		std::cout << "edges (" << nE << ")" << std::endl;
+		for(size_t e = 0; e < nE; e++)
+		{
+			const TMMEdge & currentEdge = m_edges.GetData();
+            const CircularListElement<TMMVertex> * v0 = currentEdge.m_vertices[0];
+            const CircularListElement<TMMVertex> * v1 = currentEdge.m_vertices[1];
+            const CircularListElement<TMMTriangle> * f0 = currentEdge.m_triangles[0];
+            const CircularListElement<TMMTriangle> * f1 = currentEdge.m_triangles[1];
+
+			std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ")" << std::endl; 
+            std::cout << "-> F0 (" << f0->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << f0->GetData().m_vertices[1]->GetData().m_name << ", "
+                                   << f0->GetData().m_vertices[2]->GetData().m_name <<")" << std::endl; 
+            std::cout << "-> F1 (" << f1->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << f1->GetData().m_vertices[1]->GetData().m_name << ", "
+                                   << f1->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;                         
+			m_edges.Next();
+		}
+		size_t nT = m_triangles.GetSize();
+		std::cout << "triangles (" << nT << ")" << std::endl;
+		for(size_t t = 0; t < nT; t++)
+		{
+			const TMMTriangle & currentTriangle = m_triangles.GetData();
+            const CircularListElement<TMMVertex> * v0 = currentTriangle.m_vertices[0];
+            const CircularListElement<TMMVertex> * v1 = currentTriangle.m_vertices[1];
+            const CircularListElement<TMMVertex> * v2 = currentTriangle.m_vertices[2];
+            const CircularListElement<TMMEdge> * e0 = currentTriangle.m_edges[0];
+            const CircularListElement<TMMEdge> * e1 = currentTriangle.m_edges[1];
+            const CircularListElement<TMMEdge> * e2 = currentTriangle.m_edges[2];
+            
+			std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", "<< v2->GetData().m_name << ")" << std::endl; 
+         
+            std::cout << "-> E0 (" << e0->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << e0->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl; 
+            std::cout << "-> E1 (" << e1->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << e1->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
+            std::cout << "-> E2 (" << e2->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << e2->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;   
+			m_triangles.Next();
+		}   
+	}
+    bool TMMesh::Save(const char *fileName)
+    {
+        std::ofstream fout(fileName);
+        std::cout << "Saving " <<  fileName << std::endl;
+		if (SaveVRML2(fout))
+		{
+           fout.close();
+		   return true;
+		}
+        return false;
+    }
+    bool TMMesh::SaveVRML2(std::ofstream &fout)
+    {
+        return SaveVRML2(fout, Material());
+    }
+    bool TMMesh::SaveVRML2(std::ofstream &fout, const Material & material)
+    {
+        if (fout.is_open()) 
+        {
+            size_t nV = m_vertices.GetSize();
+            size_t nT = m_triangles.GetSize();            
+            fout <<"#VRML V2.0 utf8" << std::endl;	    	
+            fout <<"" << std::endl;
+            fout <<"# Vertices: " << nV << std::endl;		
+            fout <<"# Triangles: " << nT << std::endl;		
+            fout <<"" << std::endl;
+            fout <<"Group {" << std::endl;
+            fout <<"	children [" << std::endl;
+            fout <<"		Shape {" << std::endl;
+            fout <<"			appearance Appearance {" << std::endl;
+            fout <<"				material Material {" << std::endl;
+            fout <<"					diffuseColor "      << material.m_diffuseColor.X()      << " " 
+                                                            << material.m_diffuseColor.Y()      << " "
+                                                            << material.m_diffuseColor.Z()      << std::endl;  
+            fout <<"					ambientIntensity "  << material.m_ambientIntensity      << std::endl;
+            fout <<"					specularColor "     << material.m_specularColor.X()     << " " 
+                                                            << material.m_specularColor.Y()     << " "
+                                                            << material.m_specularColor.Z()     << std::endl; 
+            fout <<"					emissiveColor "     << material.m_emissiveColor.X()     << " " 
+                                                            << material.m_emissiveColor.Y()     << " "
+                                                            << material.m_emissiveColor.Z()     << std::endl; 
+            fout <<"					shininess "         << material.m_shininess             << std::endl;
+            fout <<"					transparency "      << material.m_transparency          << std::endl;
+            fout <<"				}" << std::endl;
+            fout <<"			}" << std::endl;
+            fout <<"			geometry IndexedFaceSet {" << std::endl;
+            fout <<"				ccw TRUE" << std::endl;
+            fout <<"				solid TRUE" << std::endl;
+            fout <<"				convex TRUE" << std::endl;
+            if (GetNVertices() > 0) {
+                fout <<"				coord DEF co Coordinate {" << std::endl;
+                fout <<"					point [" << std::endl;
+                for(size_t v = 0; v < nV; v++)
+                {
+                    TMMVertex & currentVertex = m_vertices.GetData();
+                    fout <<"						" << currentVertex.m_pos.X() << " " 
+                                                      << currentVertex.m_pos.Y() << " " 
+                                                      << currentVertex.m_pos.Z() << "," << std::endl;
+                    currentVertex.m_id = v;
+                    m_vertices.Next();
+                }
+                fout <<"					]" << std::endl;
+                fout <<"				}" << std::endl;
+            }
+            if (GetNTriangles() > 0) {
+                fout <<"				coordIndex [ " << std::endl;
+                for(size_t f = 0; f < nT; f++)
+                {
+                    TMMTriangle & currentTriangle = m_triangles.GetData();
+                    fout <<"						" << currentTriangle.m_vertices[0]->GetData().m_id << ", " 
+                                                      << currentTriangle.m_vertices[1]->GetData().m_id << ", "                                                  
+                                                      << currentTriangle.m_vertices[2]->GetData().m_id << ", -1," << std::endl;
+                    m_triangles.Next();
+                }
+                fout <<"				]" << std::endl;
+            }
+            fout <<"			}" << std::endl;
+            fout <<"		}" << std::endl;
+            fout <<"	]" << std::endl;
+            fout <<"}" << std::endl;	
+        }
+        return true;
+    }
+    void TMMesh::GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles)
+    {
+        size_t nV = m_vertices.GetSize();
+        size_t nT = m_triangles.GetSize(); 
+
+        for(size_t v = 0; v < nV; v++)
+        {
+            points[v] = m_vertices.GetData().m_pos;
+            m_vertices.GetData().m_id = v;
+            m_vertices.Next();
+        }
+        for(size_t f = 0; f < nT; f++)
+        {
+            TMMTriangle & currentTriangle = m_triangles.GetData();
+            triangles[f].X() = static_cast<long>(currentTriangle.m_vertices[0]->GetData().m_id);
+            triangles[f].Y() = static_cast<long>(currentTriangle.m_vertices[1]->GetData().m_id);
+            triangles[f].Z() = static_cast<long>(currentTriangle.m_vertices[2]->GetData().m_id);
+            m_triangles.Next();
+        }
+    }
+	void TMMesh::Clear()
+    {
+		m_vertices.Clear();
+		m_edges.Clear();
+		m_triangles.Clear();
+	}
+    void TMMesh::Copy(TMMesh & mesh)
+    {
+        Clear();
+        // updating the id's
+        size_t nV = mesh.m_vertices.GetSize();
+        size_t nE = mesh. m_edges.GetSize();
+        size_t nT = mesh.m_triangles.GetSize();
+        for(size_t v = 0; v < nV; v++)
+        {
+            mesh.m_vertices.GetData().m_id = v;
+            mesh.m_vertices.Next();            
+        }
+        for(size_t e = 0; e < nE; e++)
+        {
+            mesh.m_edges.GetData().m_id = e;
+            mesh.m_edges.Next();
+            
+        }        
+        for(size_t f = 0; f < nT; f++)
+        {
+            mesh.m_triangles.GetData().m_id = f;
+            mesh.m_triangles.Next();
+        }
+        // copying data
+        m_vertices  = mesh.m_vertices;
+        m_edges     = mesh.m_edges;
+        m_triangles = mesh.m_triangles;
+ 
+        // generating mapping
+        CircularListElement<TMMVertex> ** vertexMap     = new CircularListElement<TMMVertex> * [nV];
+        CircularListElement<TMMEdge> ** edgeMap         = new CircularListElement<TMMEdge> * [nE];
+        CircularListElement<TMMTriangle> ** triangleMap = new CircularListElement<TMMTriangle> * [nT];
+        for(size_t v = 0; v < nV; v++)
+        {
+            vertexMap[v] = m_vertices.GetHead();
+            m_vertices.Next();            
+        }
+        for(size_t e = 0; e < nE; e++)
+        {
+            edgeMap[e] = m_edges.GetHead();
+            m_edges.Next();            
+        }        
+        for(size_t f = 0; f < nT; f++)
+        {
+            triangleMap[f] = m_triangles.GetHead();
+            m_triangles.Next();
+        }
+        
+        // updating pointers
+        for(size_t v = 0; v < nV; v++)
+        {
+            if (vertexMap[v]->GetData().m_duplicate)
+            {
+                vertexMap[v]->GetData().m_duplicate = edgeMap[vertexMap[v]->GetData().m_duplicate->GetData().m_id];
+            }
+        }
+        for(size_t e = 0; e < nE; e++)
+        {
+            if (edgeMap[e]->GetData().m_newFace)
+            {
+                edgeMap[e]->GetData().m_newFace = triangleMap[edgeMap[e]->GetData().m_newFace->GetData().m_id];
+            }
+			if (nT > 0)
+			{
+				for(int f = 0; f < 2; f++)
+				{
+					if (edgeMap[e]->GetData().m_triangles[f])
+					{
+						edgeMap[e]->GetData().m_triangles[f] = triangleMap[edgeMap[e]->GetData().m_triangles[f]->GetData().m_id];
+					}
+				}            
+			}
+            for(int v = 0; v < 2; v++)
+            {
+                if (edgeMap[e]->GetData().m_vertices[v])
+                {
+                    edgeMap[e]->GetData().m_vertices[v] = vertexMap[edgeMap[e]->GetData().m_vertices[v]->GetData().m_id];
+                }
+            }
+        }        
+        for(size_t f = 0; f < nT; f++)
+        {
+			if (nE > 0)
+			{
+				for(int e = 0; e < 3; e++)
+				{
+					if (triangleMap[f]->GetData().m_edges[e])
+					{
+						triangleMap[f]->GetData().m_edges[e] = edgeMap[triangleMap[f]->GetData().m_edges[e]->GetData().m_id];
+					}
+				}            
+			}
+            for(int v = 0; v < 3; v++)
+            {
+                if (triangleMap[f]->GetData().m_vertices[v])
+                {
+                    triangleMap[f]->GetData().m_vertices[v] = vertexMap[triangleMap[f]->GetData().m_vertices[v]->GetData().m_id];
+                }
+            }
+        }
+        delete [] vertexMap;
+        delete [] edgeMap;
+        delete [] triangleMap;
+        
+    }
+	long  IntersectRayTriangle(const Vec3<double> & P0, const Vec3<double> & dir, 
+							   const Vec3<double> & V0, const Vec3<double> & V1, 
+							   const Vec3<double> & V2, double &t)
+	{
+		Vec3<double> edge1, edge2, edge3;
+		double det, invDet;
+		edge1 = V1 - V2;
+		edge2 = V2 - V0;
+		Vec3<double> pvec = dir ^ edge2;
+		det = edge1 * pvec;
+		if (det == 0.0)
+			return 0;
+		invDet = 1.0/det;
+		Vec3<double> tvec = P0 - V0;
+		Vec3<double> qvec = tvec ^ edge1;
+		t = (edge2 * qvec) * invDet;
+        if (t < 0.0)
+        {
+            return 0;
+        }
+		edge3 = V0 - V1;
+		Vec3<double> I(P0 + t * dir);
+		Vec3<double> s0 = (I-V0) ^ edge3;
+		Vec3<double> s1 = (I-V1) ^ edge1;
+		Vec3<double> s2 = (I-V2) ^ edge2;
+		if (s0*s1 > -1e-9 && s2*s1 > -1e-9)
+		{
+			return 1;
+		}
+		return 0;
+	}
+
+    bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2, 
+                          const Vec3<double> & p3, const Vec3<double> & p4,
+                          Vec3<double> & pa, Vec3<double> & pb, 
+                          double & mua, double & mub)
+    {
+        Vec3<double> p13,p43,p21;
+        double d1343,d4321,d1321,d4343,d2121;
+        double numer,denom;
+        
+        p13.X() = p1.X() - p3.X();
+        p13.Y() = p1.Y() - p3.Y();
+        p13.Z() = p1.Z() - p3.Z();
+        p43.X() = p4.X() - p3.X();
+        p43.Y() = p4.Y() - p3.Y();
+        p43.Z() = p4.Z() - p3.Z();
+        if (p43.X()==0.0 && p43.Y()==0.0 && p43.Z()==0.0)
+            return false;
+        p21.X() = p2.X() - p1.X();
+        p21.Y() = p2.Y() - p1.Y();
+        p21.Z() = p2.Z() - p1.Z();
+        if (p21.X()==0.0 && p21.Y()==0.0 && p21.Z()==0.0)
+            return false;
+        
+        d1343 = p13.X() * p43.X() + p13.Y() * p43.Y() + p13.Z() * p43.Z();
+        d4321 = p43.X() * p21.X() + p43.Y() * p21.Y() + p43.Z() * p21.Z();
+        d1321 = p13.X() * p21.X() + p13.Y() * p21.Y() + p13.Z() * p21.Z();
+        d4343 = p43.X() * p43.X() + p43.Y() * p43.Y() + p43.Z() * p43.Z();
+        d2121 = p21.X() * p21.X() + p21.Y() * p21.Y() + p21.Z() * p21.Z();
+        
+        denom = d2121 * d4343 - d4321 * d4321;
+        if (denom==0.0)
+            return false;
+        numer = d1343 * d4321 - d1321 * d4343;
+        
+        mua = numer / denom;
+        mub = (d1343 + d4321 * (mua)) / d4343;
+        
+        pa.X() = p1.X() + mua * p21.X();
+        pa.Y() = p1.Y() + mua * p21.Y();
+        pa.Z() = p1.Z() + mua * p21.Z();
+        pb.X() = p3.X() + mub * p43.X();
+        pb.Y() = p3.Y() + mub * p43.Y();
+        pb.Z() = p3.Z() + mub * p43.Z();
+        
+        return true;
+    }
+
+	long  IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir, 
+							   const Vec3<double> & V0, const Vec3<double> & V1, 
+							   const Vec3<double> & V2, double &r)
+	{
+		Vec3<double> u, v, n;          // triangle vectors
+		Vec3<double> w0, w;          // ray vectors
+		double     a, b;             // params to calc ray-plane intersect
+
+		// get triangle edge vectors and plane normal
+		u = V1 - V0;
+		v = V2 - V0;
+		n = u ^ v;             // cross product
+		if (n.GetNorm() == 0.0)            // triangle is degenerate
+			return -1;                 // do not deal with this case
+
+		w0 = P0 - V0;
+		a = - n * w0;
+		b =   n * dir;
+		if (fabs(b) <= 0.0) {     // ray is parallel to triangle plane
+			if (a == 0.0)                // ray lies in triangle plane
+				return 2;
+			else return 0;             // ray disjoint from plane
+		}
+
+		// get intersect point of ray with triangle plane
+		r = a / b;
+		if (r < 0.0)                   // ray goes away from triangle
+			return 0;                  // => no intersect
+		// for a segment, also test if (r > 1.0) => no intersect
+
+		Vec3<double> I = P0 + r * dir;           // intersect point of ray and plane
+
+		// is I inside T?
+		double uu, uv, vv, wu, wv, D;
+		uu = u * u;
+		uv = u * v;
+		vv = v * v;
+		w  = I - V0;
+		wu = w * u;
+		wv = w * v;
+		D = uv * uv - uu * vv;
+
+		// get and test parametric coords
+		double s, t;
+		s = (uv * wv - vv * wu) / D;
+		if (s < 0.0 || s > 1.0)        // I is outside T
+			return 0;
+		t = (uv * wu - uu * wv) / D;
+		if (t < 0.0 || (s + t) > 1.0)  // I is outside T
+			return 0;
+		return 1;                      // I is in T
+	}
+    
+    
+	bool TMMesh::CheckConsistancy()
+    {
+        size_t nE = m_edges.GetSize();
+        size_t nT = m_triangles.GetSize();
+        for(size_t e = 0; e < nE; e++)
+        {
+            for(int f = 0; f < 2; f++)
+            {
+                if (!m_edges.GetHead()->GetData().m_triangles[f])
+                {
+                    return false;
+                }
+            }            
+			m_edges.Next();
+        }        
+
+        for(size_t f = 0; f < nT; f++)
+        {
+            for(int e = 0; e < 3; e++)
+            {
+                int found = 0;
+                for(int k = 0; k < 2; k++)
+                {
+                    if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead())
+                    {
+                        found++;
+                    }
+                }
+                if (found != 1)
+                {
+                    return false;
+                }
+            }            
+			m_triangles.Next();
+        }
+
+		return true;
+    }
+	bool TMMesh::Normalize()
+    {
+        size_t nV = m_vertices.GetSize();
+		if (nV == 0)
+		{
+			return false;
+		}
+        m_barycenter = m_vertices.GetHead()->GetData().m_pos;
+		Vec3<Real> min = m_barycenter;
+		Vec3<Real> max = m_barycenter;
+		Real x, y, z;
+        for(size_t v = 1; v < nV; v++)
+        {
+			m_barycenter +=  m_vertices.GetHead()->GetData().m_pos;
+            x = m_vertices.GetHead()->GetData().m_pos.X();
+            y = m_vertices.GetHead()->GetData().m_pos.Y();
+            z = m_vertices.GetHead()->GetData().m_pos.Z();
+            if ( x < min.X()) min.X() = x;
+			else if ( x > max.X()) max.X() = x;
+            if ( y < min.Y()) min.Y() = y;
+			else if ( y > max.Y()) max.Y() = y;
+            if ( z < min.Z()) min.Z() = z;
+			else if ( z > max.Z()) max.Z() = z;
+			m_vertices.Next();
+        }
+		m_barycenter /= static_cast<Real>(nV);
+        m_diag = static_cast<Real>(0.001 * (max-min).GetNorm());
+        const Real invDiag = static_cast<Real>(1.0 / m_diag);
+		if (m_diag != 0.0)
+		{
+	        for(size_t v = 0; v < nV; v++)
+		    {
+				m_vertices.GetHead()->GetData().m_pos = (m_vertices.GetHead()->GetData().m_pos - m_barycenter) * invDiag;
+				m_vertices.Next();
+		    }
+		}
+		return true;
+	}
+	bool TMMesh::Denormalize()
+	{
+        size_t nV = m_vertices.GetSize();
+		if (nV == 0)
+		{
+			return false;
+		}
+		if (m_diag != 0.0)
+		{
+	        for(size_t v = 0; v < nV; v++)
+		    {
+				m_vertices.GetHead()->GetData().m_pos = m_vertices.GetHead()->GetData().m_pos * m_diag + m_barycenter;
+				m_vertices.Next();
+			}
+		}
+		return false;
+    }
+}
diff --git a/Extras/HACD/hacdManifoldMesh.h b/Extras/HACD/hacdManifoldMesh.h
new file mode 100644
index 000000000..318ecbab6
--- /dev/null
+++ b/Extras/HACD/hacdManifoldMesh.h
@@ -0,0 +1,250 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+All rights reserved.
+
+
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_MANIFOLD_MESH_H
+#define HACD_MANIFOLD_MESH_H
+#include <iostream>
+#include <fstream>
+#include "hacdVersion.h"
+#include "hacdCircularList.h"
+#include "hacdVector.h"
+#include <set>
+namespace HACD
+{
+	class TMMTriangle;
+	class TMMEdge;
+    class TMMesh;
+    class ICHull;
+	class HACD;
+
+    class DPoint  
+    {
+    public:       
+																DPoint(Real dist=0, bool computed=false, bool distOnly=false)
+																	:m_dist(dist),
+																	 m_computed(computed),
+                                                                     m_distOnly(distOnly){};
+                                                				~DPoint(){};      
+    private:
+		Real                                                    m_dist;
+		bool													m_computed;
+        bool                                                    m_distOnly;
+		friend class TMMTriangle;
+	    friend class TMMesh;
+		friend class GraphVertex;
+        friend class GraphEdge;
+        friend class Graph;
+		friend class ICHull;
+		friend class HACD;
+    };
+
+	//!	Vertex data structure used in a triangular manifold mesh (TMM).
+	class TMMVertex
+	{
+		public:
+																TMMVertex(void);
+                                                                ~TMMVertex(void);
+        
+        private:
+			Vec3<Real>										m_pos;
+			long												m_name;
+            size_t												m_id;
+			CircularListElement<TMMEdge> *						m_duplicate;		// pointer to incident cone edge (or NULL)
+			bool												m_onHull;
+			bool												m_tag;
+																TMMVertex(const TMMVertex & rhs);
+            
+			friend class HACD;            
+			friend class ICHull;
+            friend class TMMesh;
+            friend class TMMTriangle;
+            friend class TMMEdge;
+	};
+
+	//!	Edge data structure used in a triangular manifold mesh (TMM).
+	class TMMEdge
+	{		
+		public:
+																TMMEdge(void);
+																~TMMEdge(void);
+        private:
+            size_t												m_id;
+			CircularListElement<TMMTriangle> *					m_triangles[2];
+			CircularListElement<TMMVertex> *					m_vertices[2];
+			CircularListElement<TMMTriangle> *					m_newFace;
+
+
+																TMMEdge(const TMMEdge & rhs);
+                
+		friend class HACD;
+		friend class ICHull;
+        friend class TMMTriangle;
+        friend class TMMVertex;
+        friend class TMMesh;
+	};
+
+	//!	Triangle data structure used in a triangular manifold mesh (TMM).
+	class TMMTriangle
+	{
+		public:
+																TMMTriangle(void);
+																~TMMTriangle(void);
+        private:
+            size_t												m_id;
+			CircularListElement<TMMEdge> *						m_edges[3];
+			CircularListElement<TMMVertex> *					m_vertices[3];
+			std::set<long>										m_incidentPoints;
+			bool												m_visible;
+																
+																TMMTriangle(const TMMTriangle & rhs);
+        
+		friend class HACD;
+        friend class ICHull;
+        friend class TMMesh;
+        friend class TMMVertex;
+        friend class TMMEdge;
+	};
+    
+    class Material
+    {
+    public:    
+                                                                Material(void);
+                                                                ~Material(void){}        
+//    private:
+        Vec3<double>                                            m_diffuseColor;
+        double                                                  m_ambientIntensity;
+        Vec3<double>                                            m_specularColor;
+        Vec3<double>                                            m_emissiveColor;
+        double                                                  m_shininess;
+        double                                                  m_transparency;
+        
+        friend class TMMesh;
+		friend class HACD;
+    };
+
+	//!	triangular manifold mesh data structure.
+	class TMMesh
+	{
+		public:
+
+			//! Returns the number of vertices>
+			inline size_t										GetNVertices() const { return m_vertices.GetSize();}
+			//! Returns the number of edges
+			inline size_t										GetNEdges() const { return m_edges.GetSize();}
+			//! Returns the number of triangles
+			inline size_t										GetNTriangles() const { return m_triangles.GetSize();}
+            //! Returns the vertices circular list
+            inline const CircularList<TMMVertex> &              GetVertices() const { return m_vertices;}
+            //! Returns the edges circular list
+            inline const CircularList<TMMEdge> &				GetEdges() const { return m_edges;}
+            //! Returns the triangles circular list
+            inline const CircularList<TMMTriangle> &			GetTriangles() const { return m_triangles;}
+            //! Returns the vertices circular list
+            inline CircularList<TMMVertex> &                    GetVertices() { return m_vertices;}
+            //! Returns the edges circular list
+            inline CircularList<TMMEdge> &                      GetEdges() { return m_edges;}
+            //! Returns the triangles circular list
+            inline CircularList<TMMTriangle> &                  GetTriangles() { return m_triangles;}               
+			//! Add vertex to the mesh
+			CircularListElement<TMMVertex> *					AddVertex() {return m_vertices.Add();}
+			//! Add vertex to the mesh
+			CircularListElement<TMMEdge> *						AddEdge() {return m_edges.Add();}
+			//! Add vertex to the mesh
+			CircularListElement<TMMTriangle> *					AddTriangle() {return m_triangles.Add();}
+			//! Print mesh information 
+			void												Print();
+            //!
+            void                                                GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
+            //! Save mesh 
+            bool												Save(const char *fileName);        
+            //! Save mesh to VRML 2.0 format 
+            bool												SaveVRML2(std::ofstream &fout);             
+            //! Save mesh to VRML 2.0 format 
+            bool												SaveVRML2(std::ofstream &fout, const Material & material);  			
+            //!  
+            void												Clear();
+            //!
+            void                                                Copy(TMMesh & mesh);
+			//!
+			bool												CheckConsistancy();
+			//!
+			bool												Normalize();
+			//!
+			bool												Denormalize();
+            //!	Constructor
+																TMMesh(void);
+			//! Destructor
+			virtual												~TMMesh(void);
+
+		private:
+			CircularList<TMMVertex>								m_vertices;
+			CircularList<TMMEdge>								m_edges;
+			CircularList<TMMTriangle>							m_triangles;
+			Real                                                m_diag;						//>! length of the BB diagonal
+			Vec3<Real>                                          m_barycenter;				//>! barycenter of the mesh
+
+			// not defined
+																TMMesh(const TMMesh & rhs);
+			friend class ICHull;
+			friend class HACD;
+	};
+	//! IntersectRayTriangle(): intersect a ray with a 3D triangle
+	//!    Input:  a ray R, and a triangle T
+	//!    Output: *I = intersection point (when it exists)
+	//!             0 = disjoint (no intersect)
+	//!             1 = intersect in unique point I1
+	long														IntersectRayTriangle( const Vec3<double> & P0, const Vec3<double> & dir, 
+																					  const Vec3<double> & V0, const Vec3<double> & V1, 
+																					  const Vec3<double> & V2, double &t);
+
+	// intersect_RayTriangle(): intersect a ray with a 3D triangle
+	//    Input:  a ray R, and a triangle T
+	//    Output: *I = intersection point (when it exists)
+	//    Return: -1 = triangle is degenerate (a segment or point)
+	//             0 = disjoint (no intersect)
+	//             1 = intersect in unique point I1
+	//             2 = are in the same plane
+	long														IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir, 
+																					   const Vec3<double> & V0, const Vec3<double> & V1, 
+																					   const Vec3<double> & V2, double &r);
+
+    /*
+     Calculate the line segment PaPb that is the shortest route between
+     two lines P1P2 and P3P4. Calculate also the values of mua and mub where
+     Pa = P1 + mua (P2 - P1)
+     Pb = P3 + mub (P4 - P3)
+     Return FALSE if no solution exists.
+     */
+    bool                                                        IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2, 
+                                                                                  const Vec3<double> & p3, const Vec3<double> & p4,
+                                                                                  Vec3<double> & pa, Vec3<double> & pb, 
+                                                                                  double & mua, double &mub);
+}
+#endif
diff --git a/Extras/HACD/hacdVector.h b/Extras/HACD/hacdVector.h
new file mode 100644
index 000000000..0c8dd022d
--- /dev/null
+++ b/Extras/HACD/hacdVector.h
@@ -0,0 +1,67 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_VECTOR_H
+#define HACD_VECTOR_H
+#include<math.h>
+#include<iostream>
+#include "hacdVersion.h"
+
+namespace HACD
+{
+    typedef double Real;
+	//!	Vector dim 3.
+	template < typename T > class Vec3
+	{
+	public:
+		T &					X();
+		T &					Y();
+		T &					Z();
+		const T	&			X() const;
+		const T	&			Y() const;
+		const T	&			Z() const;
+		void				Normalize();
+		T					GetNorm() const;
+		void				operator= (const Vec3 & rhs);
+		void				operator+=(const Vec3 & rhs);
+		void				operator-=(const Vec3 & rhs);
+		void				operator-=(T a);
+		void				operator+=(T a);
+		void				operator/=(T a);
+		void				operator*=(T a);
+		Vec3				operator^ (const Vec3 & rhs) const;
+		T			    	operator* (const Vec3 & rhs) const;
+		Vec3				operator+ (const Vec3 & rhs) const;
+		Vec3				operator- (const Vec3 & rhs) const;
+		Vec3				operator- () const;
+		Vec3				operator* (T rhs) const;
+		Vec3				operator/ (T rhs) const;
+							Vec3();
+							Vec3(T a);
+							Vec3(T x, T y, T z);
+							Vec3(const Vec3 & rhs);
+		/*virtual*/			~Vec3(void);
+
+	private:
+		T					m_data[3];
+	};
+    template<typename T>
+    const bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c);
+    template<typename T>
+    const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d);
+    
+}
+#include "hacdVector.inl"	// template implementation
+#endif
diff --git a/Extras/HACD/hacdVector.inl b/Extras/HACD/hacdVector.inl
new file mode 100644
index 000000000..ab0a94ddb
--- /dev/null
+++ b/Extras/HACD/hacdVector.inl
@@ -0,0 +1,178 @@
+#pragma once
+#ifndef HACD_VECTOR_INL
+#define HACD_VECTOR_INL
+namespace HACD
+{
+	template <typename T> 
+	inline Vec3<T> operator*(T lhs, const Vec3<T> & rhs)
+	{
+		return Vec3<T>(lhs * rhs.X(), lhs * rhs.Y(), lhs * rhs.Z());
+	}
+	template <typename T> 
+	inline T & Vec3<T>::X() 
+	{
+		return m_data[0];
+	}
+	template <typename T>	
+	inline  T &	Vec3<T>::Y() 
+	{
+		return m_data[1];
+	}
+	template <typename T>	
+	inline  T &	Vec3<T>::Z() 
+	{
+		return m_data[2];
+	}
+	template <typename T>	
+	inline  const T & Vec3<T>::X() const 
+	{
+		return m_data[0];
+	}
+	template <typename T>	
+	inline  const T & Vec3<T>::Y() const 
+	{
+		return m_data[1];
+	}
+	template <typename T>	
+	inline  const T & Vec3<T>::Z() const 
+	{
+		return m_data[2];
+	}
+	template <typename T>	
+	inline  void Vec3<T>::Normalize()
+	{
+		T n = sqrt(m_data[0]*m_data[0]+m_data[1]*m_data[1]+m_data[2]*m_data[2]);
+		if (n != 0.0) (*this) /= n;
+	}
+	template <typename T>	
+	inline  T Vec3<T>::GetNorm() const 
+	{ 
+		return sqrt(m_data[0]*m_data[0]+m_data[1]*m_data[1]+m_data[2]*m_data[2]);
+	}
+	template <typename T>	
+	inline  void Vec3<T>::operator= (const Vec3 & rhs)
+	{ 
+		this->m_data[0] = rhs.m_data[0]; 
+		this->m_data[1] = rhs.m_data[1]; 
+		this->m_data[2] = rhs.m_data[2]; 
+	}
+	template <typename T>	
+	inline  void Vec3<T>::operator+=(const Vec3 & rhs)
+	{ 
+		this->m_data[0] += rhs.m_data[0]; 
+		this->m_data[1] += rhs.m_data[1]; 
+		this->m_data[2] += rhs.m_data[2]; 
+	}     
+	template <typename T>  
+	inline void Vec3<T>::operator-=(const Vec3 & rhs)
+	{ 
+		this->m_data[0] -= rhs.m_data[0]; 
+		this->m_data[1] -= rhs.m_data[1]; 
+		this->m_data[2] -= rhs.m_data[2]; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator-=(T a)
+	{ 
+		this->m_data[0] -= a; 
+		this->m_data[1] -= a; 
+		this->m_data[2] -= a; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator+=(T a)
+	{ 
+		this->m_data[0] += a; 
+		this->m_data[1] += a; 
+		this->m_data[2] += a; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator/=(T a)
+	{ 
+		this->m_data[0] /= a; 
+		this->m_data[1] /= a; 
+		this->m_data[2] /= a; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator*=(T a)
+	{ 
+		this->m_data[0] *= a; 
+		this->m_data[1] *= a; 
+		this->m_data[2] *= a; 
+	}  
+	template <typename T>	
+	inline Vec3<T> Vec3<T>::operator^ (const Vec3<T> & rhs) const
+	{
+		return Vec3<T>(m_data[1] * rhs.m_data[2] - m_data[2] * rhs.m_data[1],
+					   m_data[2] * rhs.m_data[0] - m_data[0] * rhs.m_data[2],
+					   m_data[0] * rhs.m_data[1] - m_data[1] * rhs.m_data[0]);
+	}
+	template <typename T>
+	inline T Vec3<T>::operator*(const Vec3<T> & rhs) const
+	{
+		return (m_data[0] * rhs.m_data[0] + m_data[1] * rhs.m_data[1] + m_data[2] * rhs.m_data[2]);
+	}        
+	template <typename T>
+	inline Vec3<T> Vec3<T>::operator+(const Vec3<T> & rhs) const
+	{
+		return Vec3<T>(m_data[0] + rhs.m_data[0],m_data[1] + rhs.m_data[1],m_data[2] + rhs.m_data[2]);
+	}
+	template <typename T> 
+	inline  Vec3<T> Vec3<T>::operator-(const Vec3<T> & rhs) const
+	{
+		return Vec3<T>(m_data[0] - rhs.m_data[0],m_data[1] - rhs.m_data[1],m_data[2] - rhs.m_data[2]) ;
+	}     
+	template <typename T> 
+	inline  Vec3<T> Vec3<T>::operator-() const
+	{
+		return Vec3<T>(-m_data[0],-m_data[1],-m_data[2]) ;
+	}     
+
+	template <typename T> 
+	inline Vec3<T> Vec3<T>::operator*(T rhs) const
+	{
+		return Vec3<T>(rhs * this->m_data[0], rhs * this->m_data[1], rhs * this->m_data[2]);
+	}
+	template <typename T>
+	inline Vec3<T> Vec3<T>::operator/ (T rhs) const
+	{
+		return Vec3<T>(m_data[0] / rhs, m_data[1] / rhs, m_data[2] / rhs);
+	}
+	template <typename T>
+	inline Vec3<T>::Vec3(T a) 
+	{ 
+		m_data[0] = m_data[1] = m_data[2] = a; 
+	}
+	template <typename T>
+	inline Vec3<T>::Vec3(T x, T y, T z)
+	{
+		m_data[0] = x;
+		m_data[1] = y;
+		m_data[2] = z;
+	}
+	template <typename T>
+	inline Vec3<T>::Vec3(const Vec3 & rhs)
+	{		
+		m_data[0] = rhs.m_data[0];
+		m_data[1] = rhs.m_data[1];
+		m_data[2] = rhs.m_data[2];
+	}
+	template <typename T>
+	inline Vec3<T>::~Vec3(void){};
+
+	template <typename T>
+	inline Vec3<T>::Vec3() {}
+    
+    template<typename T>
+    inline const bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c)
+    {
+        return  ((c.Z() - a.Z()) * (b.Y() - a.Y()) - (b.Z() - a.Z()) * (c.Y() - a.Y()) == 0.0 /*EPS*/) &&
+                ((b.Z() - a.Z()) * (c.X() - a.X()) - (b.X() - a.X()) * (c.Z() - a.Z()) == 0.0 /*EPS*/) &&
+                ((b.X() - a.X()) * (c.Y() - a.Y()) - (b.Y() - a.Y()) * (c.X() - a.X()) == 0.0 /*EPS*/);
+    }
+    
+    template<typename T>
+    inline const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d)
+    {
+        return (a-d) * ((b-d) ^ (c-d));
+    }
+}
+#endif //HACD_VECTOR_INL
\ No newline at end of file
diff --git a/Extras/HACD/hacdVersion.h b/Extras/HACD/hacdVersion.h
new file mode 100644
index 000000000..c9f7f28da
--- /dev/null
+++ b/Extras/HACD/hacdVersion.h
@@ -0,0 +1,20 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_VERSION_H
+#define HACD_VERSION_H
+#define HACD_VERSION_MAJOR 0
+#define HACD_VERSION_MINOR 0
+#endif
\ No newline at end of file
diff --git a/Extras/HACD/premake4.lua b/Extras/HACD/premake4.lua
new file mode 100644
index 000000000..7b82929e6
--- /dev/null
+++ b/Extras/HACD/premake4.lua
@@ -0,0 +1,9 @@
+	project "HACD"
+		
+	kind "StaticLib"
+	targetdir "../../lib"
+	includedirs {"."}
+	files {
+		"**.cpp",
+		"**.h"
+	}
\ No newline at end of file