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Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h | 149 |
1 files changed, 149 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h new file mode 100644 index 00000000000..5ff762937fb --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h @@ -0,0 +1,149 @@ +#ifndef BT_CONTACT_H_INCLUDED +#define BT_CONTACT_H_INCLUDED + +/*! \file gim_contact.h +\author Francisco León Nájera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "LinearMath/btTransform.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btTriangleShapeEx.h" + + +/*! \defgroup CONTACTS +\brief +Functions for managing and sorting contacts resulting from a collision query. +*/ +//! @{ + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 + +#define CONTACT_DIFF_EPSILON 0.00001f + +/// Structure for collision results +class BT_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + btScalar m_depth;//Positive value indicates interpenetration + btScalar m_distance;//Padding not for use + int m_feature1;//Face number + int m_feature2;//Face number +public: + BT_CONTACT() + { + } + + BT_CONTACT(const BT_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + } + + BT_CONTACT(const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE unsigned int calc_key_contact() const + { + int _coords[] = { + (int)(m_point[0]*1000.0f+1.0f), + (int)(m_point[1]*1333.0f), + (int)(m_point[2]*2133.0f+3.0f)}; + unsigned int _hash=0; + unsigned int *_uitmp = (unsigned int *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count) + { + btVector3 vec_sum(m_normal); + for(int i=0;i<normal_count;i++) + { + vec_sum += normals[i]; + } + + btScalar vec_sum_len = vec_sum.length2(); + if(vec_sum_len <CONTACT_DIFF_EPSILON) return; + + //GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len) + + m_normal = vec_sum/btSqrt(vec_sum_len); + } + +}; + + +class btContactArray:public btAlignedObjectArray<BT_CONTACT> +{ +public: + btContactArray() + { + reserve(64); + } + + SIMD_FORCE_INLINE void push_contact( + const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2) + { + push_back( BT_CONTACT(point,normal,depth,feature1,feature2) ); + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const BT_TRIANGLE_CONTACT & tricontact, + int feature1,int feature2) + { + for(int i = 0;i<tricontact.m_point_count ;i++ ) + { + push_contact( + tricontact.m_points[i], + tricontact.m_separating_normal, + tricontact.m_penetration_depth,feature1,feature2); + } + } + + void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true); + + void merge_contacts_unique(const btContactArray & contacts); +}; + +//! @} +#endif // GIM_CONTACT_H_INCLUDED |