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Viewing changes to tests/bullet/src/BulletCollision/Gimpact/gim_contact.cpp

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletCollision/Gimpact/gim_contact.cpp
 
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/*
 
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-----------------------------------------------------------------------------
 
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This source file is part of GIMPACT Library.
 
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For the latest info, see http://gimpact.sourceforge.net/
 
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Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
 
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email: projectileman@yahoo.com
 
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 This library is free software; you can redistribute it and/or
 
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 modify it under the terms of EITHER:
 
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   (1) The GNU Lesser General Public License as published by the Free
 
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       Software Foundation; either version 2.1 of the License, or (at
 
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       your option) any later version. The text of the GNU Lesser
 
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       General Public License is included with this library in the
 
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       file GIMPACT-LICENSE-LGPL.TXT.
 
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   (2) The BSD-style license that is included with this library in
 
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       the file GIMPACT-LICENSE-BSD.TXT.
 
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   (3) The zlib/libpng license that is included with this library in
 
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       the file GIMPACT-LICENSE-ZLIB.TXT.
 
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 This library is distributed in the hope that it will be useful,
 
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 but WITHOUT ANY WARRANTY; without even the implied warranty of
 
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 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
 
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 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
 
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-----------------------------------------------------------------------------
 
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*/
 
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#include "gim_contact.h"
 
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#define MAX_COINCIDENT 8
 
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void gim_contact_array::merge_contacts(
 
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        const gim_contact_array & contacts, bool normal_contact_average)
 
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{
 
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        clear();
 
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        if(contacts.size()==1)
 
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        {
 
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                push_back(contacts.back());
 
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                return;
 
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        }
 
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        gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
 
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        keycontacts.resize(contacts.size(),false);
 
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        //fill key contacts
 
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        GUINT i;
 
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        for (i = 0;i<contacts.size() ;i++ )
 
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        {
 
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                keycontacts[i].m_key = contacts[i].calc_key_contact();
 
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                keycontacts[i].m_value = i;
 
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        }
 
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        //sort keys
 
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        gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());
 
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        // Merge contacts
 
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        GUINT coincident_count=0;
 
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        btVector3 coincident_normals[MAX_COINCIDENT];
 
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        GUINT last_key = keycontacts[0].m_key;
 
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        GUINT key = 0;
 
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        push_back(contacts[keycontacts[0].m_value]);
 
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        GIM_CONTACT * pcontact = &back();
 
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        for( i=1;i<keycontacts.size();i++)
 
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        {
 
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            key = keycontacts[i].m_key;
 
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                const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
 
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                if(last_key ==  key)//same points
 
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                {
 
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                        //merge contact
 
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                        if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
 
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                        {
 
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                                *pcontact = *scontact;
 
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                coincident_count = 0;
 
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                        }
 
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                        else if(normal_contact_average)
 
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                        {
 
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                                if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
 
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                {
 
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                    if(coincident_count<MAX_COINCIDENT)
 
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                    {
 
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                        coincident_normals[coincident_count] = scontact->m_normal;
 
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                        coincident_count++;
 
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                    }
 
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                }
 
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                        }
 
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                }
 
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                else
 
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                {//add new contact
 
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                    if(normal_contact_average && coincident_count>0)
 
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                    {
 
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                        pcontact->interpolate_normals(coincident_normals,coincident_count);
 
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                        coincident_count = 0;
 
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                    }
 
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                    push_back(*scontact);
 
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                    pcontact = &back();
 
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        }
 
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                last_key = key;
 
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        }
 
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}
 
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void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts)
 
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{
 
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        clear();
 
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        if(contacts.size()==1)
 
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        {
 
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                push_back(contacts.back());
 
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                return;
 
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        }
 
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        GIM_CONTACT average_contact = contacts.back();
 
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        for (GUINT i=1;i<contacts.size() ;i++ )
 
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        {
 
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                average_contact.m_point += contacts[i].m_point;
 
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                average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
 
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        }
 
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        //divide
 
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        GREAL divide_average = 1.0f/((GREAL)contacts.size());
 
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        average_contact.m_point *= divide_average;
 
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        average_contact.m_normal *= divide_average;
 
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        average_contact.m_depth = average_contact.m_normal.length();
 
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        average_contact.m_normal /= average_contact.m_depth;
 
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}
 
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