1 files changed, 105 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessingStructs.h b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessingStructs.h
new file mode 100644
index 00000000000..bc8a709246f
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+++ b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessingStructs.h
@@ -0,0 +1,105 @@
+#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
+#define BT_CONTACT_H_STRUCTS_INCLUDED
+
+/*! \file gim_contact.h
+\author Francisco Leon Najera
+*/
+/*
+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"
+
+/**
+Configuration var for applying interpolation of  contact normals
+*/
+#define NORMAL_CONTACT_AVERAGE 1
+
+#define CONTACT_DIFF_EPSILON 0.00001f
+
+///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
+///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
+class GIM_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:
+	GIM_CONTACT()
+	{
+	}
+
+	GIM_CONTACT(const GIM_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)
+	{
+	}
+
+	GIM_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);
+	}
+};
+
+#endif  // BT_CONTACT_H_STRUCTS_INCLUDED