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

  • 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.h
 
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#ifndef GIM_CONTACT_H_INCLUDED
 
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#define GIM_CONTACT_H_INCLUDED
 
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/*! \file gim_contact.h
 
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\author Francisco Leon Najera
 
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*/
 
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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_geometry.h"
 
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#include "gim_radixsort.h"
 
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#include "gim_array.h"
 
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/**
 
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Configuration var for applying interpolation of  contact normals
 
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*/
 
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#define NORMAL_CONTACT_AVERAGE 1
 
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#define CONTACT_DIFF_EPSILON 0.00001f
 
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/// Structure for collision results
 
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///Functions for managing and sorting contacts resulting from a collision query.
 
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///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
 
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///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
 
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///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
 
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class GIM_CONTACT
 
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{
 
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public:
 
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    btVector3 m_point;
 
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    btVector3 m_normal;
 
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    GREAL m_depth;//Positive value indicates interpenetration
 
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    GREAL m_distance;//Padding not for use
 
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    GUINT m_feature1;//Face number
 
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    GUINT m_feature2;//Face number
 
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public:
 
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    GIM_CONTACT()
 
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    {
 
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    }
 
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    GIM_CONTACT(const GIM_CONTACT & contact):
 
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                                m_point(contact.m_point),
 
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                                m_normal(contact.m_normal),
 
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                                m_depth(contact.m_depth),
 
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                                m_feature1(contact.m_feature1),
 
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                                m_feature2(contact.m_feature2)
 
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    {
 
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        m_point = contact.m_point;
 
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        m_normal = contact.m_normal;
 
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        m_depth = contact.m_depth;
 
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        m_feature1 = contact.m_feature1;
 
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        m_feature2 = contact.m_feature2;
 
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    }
 
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    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
 
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                                GREAL depth, GUINT feature1, GUINT feature2):
 
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                                m_point(point),
 
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                                m_normal(normal),
 
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                                m_depth(depth),
 
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                                m_feature1(feature1),
 
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                                m_feature2(feature2)
 
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    {
 
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    }
 
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        //! Calcs key for coord classification
 
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    SIMD_FORCE_INLINE GUINT calc_key_contact() const
 
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    {
 
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        GINT _coords[] = {
 
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                (GINT)(m_point[0]*1000.0f+1.0f),
 
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                (GINT)(m_point[1]*1333.0f),
 
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                (GINT)(m_point[2]*2133.0f+3.0f)};
 
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                GUINT _hash=0;
 
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                GUINT *_uitmp = (GUINT *)(&_coords[0]);
 
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                _hash = *_uitmp;
 
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                _uitmp++;
 
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                _hash += (*_uitmp)<<4;
 
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                _uitmp++;
 
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                _hash += (*_uitmp)<<8;
 
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                return _hash;
 
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    }
 
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    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
 
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    {
 
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        btVector3 vec_sum(m_normal);
 
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                for(GUINT i=0;i<normal_count;i++)
 
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                {
 
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                        vec_sum += normals[i];
 
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                }
 
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                GREAL vec_sum_len = vec_sum.length2();
 
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                if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
 
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                GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
 
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                m_normal = vec_sum*vec_sum_len;
 
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    }
 
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};
 
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class gim_contact_array:public gim_array<GIM_CONTACT>
 
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{
 
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public:
 
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        gim_contact_array():gim_array<GIM_CONTACT>(64)
 
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        {
 
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        }
 
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        SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
 
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                                GREAL depth, GUINT feature1, GUINT feature2)
 
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        {
 
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                push_back_mem();
 
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                GIM_CONTACT & newele = back();
 
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                newele.m_point = point;
 
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                newele.m_normal = normal;
 
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                newele.m_depth = depth;
 
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                newele.m_feature1 = feature1;
 
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                newele.m_feature2 = feature2;
 
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        }
 
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        SIMD_FORCE_INLINE void push_triangle_contacts(
 
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                const GIM_TRIANGLE_CONTACT_DATA & tricontact,
 
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                GUINT feature1,GUINT feature2)
 
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        {
 
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                for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
 
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                {
 
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                        push_back_mem();
 
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                        GIM_CONTACT & newele = back();
 
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                        newele.m_point = tricontact.m_points[i];
 
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                        newele.m_normal = tricontact.m_separating_normal;
 
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                        newele.m_depth = tricontact.m_penetration_depth;
 
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                        newele.m_feature1 = feature1;
 
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                        newele.m_feature2 = feature2;
 
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                }
 
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        }
 
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        void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
 
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        void merge_contacts_unique(const gim_contact_array & contacts);
 
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};
 
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#endif // GIM_CONTACT_H_INCLUDED