diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h | 134 |
1 files changed, 69 insertions, 65 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h index 5d9f8ef8180..9deb28a26eb 100644 --- a/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h @@ -36,12 +36,18 @@ email: projectileman@yahoo.com #include "gim_radixsort.h" #include "gim_array.h" - /** Configuration var for applying interpolation of contact normals */ +#ifndef NORMAL_CONTACT_AVERAGE #define NORMAL_CONTACT_AVERAGE 1 +#endif + +#ifndef CONTACT_DIFF_EPSILON #define CONTACT_DIFF_EPSILON 0.00001f +#endif + +#ifndef BT_CONTACT_H_STRUCTS_INCLUDED /// Structure for collision results ///Functions for managing and sorting contacts resulting from a collision query. @@ -51,89 +57,87 @@ Configuration var for applying interpolation of contact normals class GIM_CONTACT { public: - btVector3 m_point; - btVector3 m_normal; - GREAL m_depth;//Positive value indicates interpenetration - GREAL m_distance;//Padding not for use - GUINT m_feature1;//Face number - GUINT m_feature2;//Face number + btVector3 m_point; + btVector3 m_normal; + GREAL m_depth; //Positive value indicates interpenetration + GREAL m_distance; //Padding not for use + GUINT m_feature1; //Face number + GUINT 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) - { - 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, - GREAL depth, GUINT feature1, GUINT feature2): - m_point(point), - m_normal(normal), - m_depth(depth), - m_feature1(feature1), - m_feature2(feature2) - { - } + 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) + { + 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, + GREAL depth, GUINT feature1, GUINT feature2) : m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } //! Calcs key for coord classification - SIMD_FORCE_INLINE GUINT calc_key_contact() const - { - GINT _coords[] = { - (GINT)(m_point[0]*1000.0f+1.0f), - (GINT)(m_point[1]*1333.0f), - (GINT)(m_point[2]*2133.0f+3.0f)}; - GUINT _hash=0; + SIMD_FORCE_INLINE GUINT calc_key_contact() const + { + GINT _coords[] = { + (GINT)(m_point[0] * 1000.0f + 1.0f), + (GINT)(m_point[1] * 1333.0f), + (GINT)(m_point[2] * 2133.0f + 3.0f)}; + GUINT _hash = 0; GUINT *_uitmp = (GUINT *)(&_coords[0]); _hash = *_uitmp; _uitmp++; - _hash += (*_uitmp)<<4; + _hash += (*_uitmp) << 4; _uitmp++; - _hash += (*_uitmp)<<8; + _hash += (*_uitmp) << 8; return _hash; - } + } - SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) - { - btVector3 vec_sum(m_normal); - for(GUINT i=0;i<normal_count;i++) + SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count) + { + btVector3 vec_sum(m_normal); + for (GUINT i = 0; i < normal_count; i++) { vec_sum += normals[i]; } GREAL vec_sum_len = vec_sum.length2(); - if(vec_sum_len <CONTACT_DIFF_EPSILON) return; + 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*vec_sum_len; - } + GIM_INV_SQRT(vec_sum_len, vec_sum_len); // 1/sqrt(vec_sum_len) + m_normal = vec_sum * vec_sum_len; + } }; +#endif -class gim_contact_array:public gim_array<GIM_CONTACT> +class gim_contact_array : public gim_array<GIM_CONTACT> { public: - gim_contact_array():gim_array<GIM_CONTACT>(64) + gim_contact_array() : gim_array<GIM_CONTACT>(64) { } - SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, - GREAL depth, GUINT feature1, GUINT feature2) + SIMD_FORCE_INLINE void push_contact(const btVector3 &point, const btVector3 &normal, + GREAL depth, GUINT feature1, GUINT feature2) { push_back_mem(); - GIM_CONTACT & newele = back(); + GIM_CONTACT &newele = back(); newele.m_point = point; newele.m_normal = normal; newele.m_depth = depth; @@ -142,13 +146,13 @@ public: } SIMD_FORCE_INLINE void push_triangle_contacts( - const GIM_TRIANGLE_CONTACT_DATA & tricontact, - GUINT feature1,GUINT feature2) + const GIM_TRIANGLE_CONTACT_DATA &tricontact, + GUINT feature1, GUINT feature2) { - for(GUINT i = 0;i<tricontact.m_point_count ;i++ ) + for (GUINT i = 0; i < tricontact.m_point_count; i++) { push_back_mem(); - GIM_CONTACT & newele = back(); + GIM_CONTACT &newele = back(); newele.m_point = tricontact.m_points[i]; newele.m_normal = tricontact.m_separating_normal; newele.m_depth = tricontact.m_penetration_depth; @@ -157,8 +161,8 @@ public: } } - void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true); - void merge_contacts_unique(const gim_contact_array & contacts); + void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average = true); + void merge_contacts_unique(const gim_contact_array &contacts); }; -#endif // GIM_CONTACT_H_INCLUDED +#endif // GIM_CONTACT_H_INCLUDED |