3
This source file is part of GIMPACT Library.
5
For the latest info, see http://gimpact.sourceforge.net/
7
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
8
email: projectileman@yahoo.com
11
This software is provided 'as-is', without any express or implied warranty.
12
In no event will the authors be held liable for any damages arising from the use of this software.
13
Permission is granted to anyone to use this software for any purpose,
14
including commercial applications, and to alter it and redistribute it freely,
15
subject to the following restrictions:
17
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.
18
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
19
3. This notice may not be removed or altered from any source distribution.
21
#include "btContactProcessing.h"
23
#define MAX_COINCIDENT 8
25
struct CONTACT_KEY_TOKEN
33
CONTACT_KEY_TOKEN(unsigned int key,int token)
39
CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
42
m_value = rtoken.m_value;
45
inline bool operator <(const CONTACT_KEY_TOKEN& other) const
47
return (m_key < other.m_key);
50
inline bool operator >(const CONTACT_KEY_TOKEN& other) const
52
return (m_key > other.m_key);
57
class CONTACT_KEY_TOKEN_COMP
61
bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b )
68
void btContactArray::merge_contacts(
69
const btContactArray & contacts, bool normal_contact_average)
74
if(contacts.size()==0) return;
77
if(contacts.size()==1)
79
push_back(contacts[0]);
83
btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts;
85
keycontacts.reserve(contacts.size());
89
for ( i = 0;i<contacts.size() ;i++ )
91
keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i));
95
keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
98
int coincident_count=0;
99
btVector3 coincident_normals[MAX_COINCIDENT];
101
unsigned int last_key = keycontacts[0].m_key;
102
unsigned int key = 0;
104
push_back(contacts[keycontacts[0].m_value]);
106
BT_CONTACT * pcontact = &(*this)[0];
108
for( i=1;i<keycontacts.size();i++)
110
key = keycontacts[i].m_key;
111
const BT_CONTACT * scontact = &contacts[keycontacts[i].m_value];
113
if(last_key == key)//same points
116
if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
118
*pcontact = *scontact;
119
coincident_count = 0;
121
else if(normal_contact_average)
123
if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
125
if(coincident_count<MAX_COINCIDENT)
127
coincident_normals[coincident_count] = scontact->m_normal;
136
if(normal_contact_average && coincident_count>0)
138
pcontact->interpolate_normals(coincident_normals,coincident_count);
139
coincident_count = 0;
142
push_back(*scontact);
143
pcontact = &(*this)[this->size()-1];
149
void btContactArray::merge_contacts_unique(const btContactArray & contacts)
153
if(contacts.size()==0) return;
155
if(contacts.size()==1)
157
push_back(contacts[0]);
161
BT_CONTACT average_contact = contacts[0];
163
for (int i=1;i<contacts.size() ;i++ )
165
average_contact.m_point += contacts[i].m_point;
166
average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
170
btScalar divide_average = 1.0f/((btScalar)contacts.size());
172
average_contact.m_point *= divide_average;
174
average_contact.m_normal *= divide_average;
176
average_contact.m_depth = average_contact.m_normal.length();
178
average_contact.m_normal /= average_contact.m_depth;
3
This source file is part of GIMPACT Library.
5
For the latest info, see http://gimpact.sourceforge.net/
7
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
8
email: projectileman@yahoo.com
11
This software is provided 'as-is', without any express or implied warranty.
12
In no event will the authors be held liable for any damages arising from the use of this software.
13
Permission is granted to anyone to use this software for any purpose,
14
including commercial applications, and to alter it and redistribute it freely,
15
subject to the following restrictions:
17
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.
18
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
19
3. This notice may not be removed or altered from any source distribution.
21
#include "btContactProcessing.h"
23
#define MAX_COINCIDENT 8
25
struct CONTACT_KEY_TOKEN
33
CONTACT_KEY_TOKEN(unsigned int key,int token)
39
CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
42
m_value = rtoken.m_value;
45
inline bool operator <(const CONTACT_KEY_TOKEN& other) const
47
return (m_key < other.m_key);
50
inline bool operator >(const CONTACT_KEY_TOKEN& other) const
52
return (m_key > other.m_key);
57
class CONTACT_KEY_TOKEN_COMP
61
bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b )
68
void btContactArray::merge_contacts(
69
const btContactArray & contacts, bool normal_contact_average)
74
if(contacts.size()==0) return;
77
if(contacts.size()==1)
79
push_back(contacts[0]);
83
btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts;
85
keycontacts.reserve(contacts.size());
89
for ( i = 0;i<contacts.size() ;i++ )
91
keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i));
95
keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
98
int coincident_count=0;
99
btVector3 coincident_normals[MAX_COINCIDENT];
101
unsigned int last_key = keycontacts[0].m_key;
102
unsigned int key = 0;
104
push_back(contacts[keycontacts[0].m_value]);
106
GIM_CONTACT * pcontact = &(*this)[0];
108
for( i=1;i<keycontacts.size();i++)
110
key = keycontacts[i].m_key;
111
const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
113
if(last_key == key)//same points
116
if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
118
*pcontact = *scontact;
119
coincident_count = 0;
121
else if(normal_contact_average)
123
if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
125
if(coincident_count<MAX_COINCIDENT)
127
coincident_normals[coincident_count] = scontact->m_normal;
136
if(normal_contact_average && coincident_count>0)
138
pcontact->interpolate_normals(coincident_normals,coincident_count);
139
coincident_count = 0;
142
push_back(*scontact);
143
pcontact = &(*this)[this->size()-1];
149
void btContactArray::merge_contacts_unique(const btContactArray & contacts)
153
if(contacts.size()==0) return;
155
if(contacts.size()==1)
157
push_back(contacts[0]);
161
GIM_CONTACT average_contact = contacts[0];
163
for (int i=1;i<contacts.size() ;i++ )
165
average_contact.m_point += contacts[i].m_point;
166
average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
170
btScalar divide_average = 1.0f/((btScalar)contacts.size());
172
average_contact.m_point *= divide_average;
174
average_contact.m_normal *= divide_average;
176
average_contact.m_depth = average_contact.m_normal.length();
178
average_contact.m_normal /= average_contact.m_depth;