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Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/btContactProcessingStructs.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/btContactProcessingStructs.h | 105 |
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 --- /dev/null +++ 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 |