Every state has a code of practice (Engineering approval / certification / modification plate) which specifies the requirements for rollcage installations.
There are specifications on anchor point locations, harness points if the hoops are to be used as part of the restraining system, distance requirements, side-intrusion bar restrictions, and several other requirements, not limited to the metallurgy of the tube and the welding etc.
ALL areas where the cage is directly exposed to any part of the body when it is seated and secured with a safety harness MUST be padded. so that's the front hoop, a pillar, b pillar, centre hoop, cross braces etc. If rear passengers are also occupants, then the same policies apply to those seat locations also.
You will need to check with the specific requirements in your state as each state has a different opinion on exactly what their own definitions are - however, if it's left to an engineer for approval, I would urge you to seek the advice of someone who specifically builds rollcages for homologated racing vehicles - i.e. someone who builds to FIA class specifications.
Why? for one, they can weld specialist tube like 4130 etc. They have access to the special tubes required for rollcages (the tubes are very specific and are not widely available) and they will be able to certify the cage, as well as make it permanent or removable. Bear in mind the roof of the RRC is removeable, so installing is not as evil as you may think....
in the end it's up to you, but since it is a safety item being installed, it makes sense to have it installed by a professional who is actually certified to build them.

