Bullet Collision Detection & Physics Library
gim_contact.h
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1 #ifndef GIM_CONTACT_H_INCLUDED
2 #define GIM_CONTACT_H_INCLUDED
3 
7 /*
8 -----------------------------------------------------------------------------
9 This source file is part of GIMPACT Library.
10 
11 For the latest info, see http://gimpact.sourceforge.net/
12 
13 Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14 email: projectileman@yahoo.com
15 
16  This library is free software; you can redistribute it and/or
17  modify it under the terms of EITHER:
18  (1) The GNU Lesser General Public License as published by the Free
19  Software Foundation; either version 2.1 of the License, or (at
20  your option) any later version. The text of the GNU Lesser
21  General Public License is included with this library in the
22  file GIMPACT-LICENSE-LGPL.TXT.
23  (2) The BSD-style license that is included with this library in
24  the file GIMPACT-LICENSE-BSD.TXT.
25  (3) The zlib/libpng license that is included with this library in
26  the file GIMPACT-LICENSE-ZLIB.TXT.
27 
28  This library is distributed in the hope that it will be useful,
29  but WITHOUT ANY WARRANTY; without even the implied warranty of
30  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
31  GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
32 
33 -----------------------------------------------------------------------------
34 */
35 #include "gim_geometry.h"
36 #include "gim_radixsort.h"
37 #include "gim_array.h"
38 
39 
43 #ifndef NORMAL_CONTACT_AVERAGE
44 #define NORMAL_CONTACT_AVERAGE 1
45 #endif
46 
47 #ifndef CONTACT_DIFF_EPSILON
48 #define CONTACT_DIFF_EPSILON 0.00001f
49 #endif
50 
51 #ifndef BT_CONTACT_H_STRUCTS_INCLUDED
52 
58 class GIM_CONTACT
59 {
60 public:
63  GREAL m_depth;//Positive value indicates interpenetration
64  GREAL m_distance;//Padding not for use
65  GUINT m_feature1;//Face number
66  GUINT m_feature2;//Face number
67 public:
69  {
70  }
71 
72  GIM_CONTACT(const GIM_CONTACT & contact):
73  m_point(contact.m_point),
74  m_normal(contact.m_normal),
75  m_depth(contact.m_depth),
76  m_feature1(contact.m_feature1),
77  m_feature2(contact.m_feature2)
78  {
79  m_point = contact.m_point;
80  m_normal = contact.m_normal;
81  m_depth = contact.m_depth;
82  m_feature1 = contact.m_feature1;
83  m_feature2 = contact.m_feature2;
84  }
85 
86  GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
87  GREAL depth, GUINT feature1, GUINT feature2):
88  m_point(point),
89  m_normal(normal),
90  m_depth(depth),
91  m_feature1(feature1),
92  m_feature2(feature2)
93  {
94  }
95 
98  {
99  GINT _coords[] = {
100  (GINT)(m_point[0]*1000.0f+1.0f),
101  (GINT)(m_point[1]*1333.0f),
102  (GINT)(m_point[2]*2133.0f+3.0f)};
103  GUINT _hash=0;
104  GUINT *_uitmp = (GUINT *)(&_coords[0]);
105  _hash = *_uitmp;
106  _uitmp++;
107  _hash += (*_uitmp)<<4;
108  _uitmp++;
109  _hash += (*_uitmp)<<8;
110  return _hash;
111  }
112 
113  SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
114  {
115  btVector3 vec_sum(m_normal);
116  for(GUINT i=0;i<normal_count;i++)
117  {
118  vec_sum += normals[i];
119  }
120 
121  GREAL vec_sum_len = vec_sum.length2();
122  if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
123 
124  GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
125 
126  m_normal = vec_sum*vec_sum_len;
127  }
128 
129 };
130 
131 #endif
132 
133 class gim_contact_array:public gim_array<GIM_CONTACT>
134 {
135 public:
137  {
138  }
139 
140  SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
141  GREAL depth, GUINT feature1, GUINT feature2)
142  {
143  push_back_mem();
144  GIM_CONTACT & newele = back();
145  newele.m_point = point;
146  newele.m_normal = normal;
147  newele.m_depth = depth;
148  newele.m_feature1 = feature1;
149  newele.m_feature2 = feature2;
150  }
151 
153  const GIM_TRIANGLE_CONTACT_DATA & tricontact,
154  GUINT feature1,GUINT feature2)
155  {
156  for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
157  {
158  push_back_mem();
159  GIM_CONTACT & newele = back();
160  newele.m_point = tricontact.m_points[i];
161  newele.m_normal = tricontact.m_separating_normal;
162  newele.m_depth = tricontact.m_penetration_depth;
163  newele.m_feature1 = feature1;
164  newele.m_feature2 = feature2;
165  }
166  }
167 
168  void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
169  void merge_contacts_unique(const gim_contact_array & contacts);
170 };
171 
172 #endif // GIM_CONTACT_H_INCLUDED
btVector3 m_points[MAX_TRI_CLIPPING]
GREAL m_depth
Definition: gim_contact.h:63
#define GIM_INV_SQRT(va, isva)
Definition: gim_math.h:119
#define CONTACT_DIFF_EPSILON
Definition: gim_contact.h:48
void push_contact(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:140
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
void interpolate_normals(btVector3 *normals, GUINT normal_count)
Definition: gim_contact.h:113
GIM_CONTACT(const GIM_CONTACT &contact)
Definition: gim_contact.h:72
#define GREAL
Definition: gim_math.h:39
GUINT m_feature2
Definition: gim_contact.h:66
#define GINT
Definition: gim_math.h:41
Very simple array container with fast access and simd memory.
Definition: gim_array.h:43
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:257
Structure for collision.
GREAL m_distance
Definition: gim_contact.h:64
GUINT m_feature1
Definition: gim_contact.h:65
GIM_CONTACT(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:86
#define GUINT
Definition: gim_math.h:42
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
GUINT calc_key_contact() const
Calcs key for coord classification.
Definition: gim_contact.h:97
void push_triangle_contacts(const GIM_TRIANGLE_CONTACT_DATA &tricontact, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:152