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-----------------------------------------------------------------------------
9This source file is part of GIMPACT Library.
10
11For the latest info, see http://gimpact.sourceforge.net/
12
13Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14email: 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
58class GIM_CONTACT
59{
60public:
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
67public:
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
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
133class gim_contact_array:public gim_array<GIM_CONTACT>
134{
135public:
137 {
138 }
139
140 SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
141 GREAL depth, GUINT feature1, GUINT feature2)
142 {
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 {
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
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
GUINT m_feature1
Definition: gim_contact.h:65
void interpolate_normals(btVector3 *normals, GUINT normal_count)
Definition: gim_contact.h:113
GREAL m_depth
Definition: gim_contact.h:63
GUINT calc_key_contact() const
Calcs key for coord classification.
Definition: gim_contact.h:97
GREAL m_distance
Definition: gim_contact.h:64
GIM_CONTACT(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:86
GIM_CONTACT(const GIM_CONTACT &contact)
Definition: gim_contact.h:72
GUINT m_feature2
Definition: gim_contact.h:66
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:257
Very simple array container with fast access and simd memory.
Definition: gim_array.h:44
GIM_CONTACT & back()
Definition: gim_array.h:198
void push_back_mem()
Simply increase the m_size, doesn't call the new element constructor.
Definition: gim_array.h:222
void push_contact(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:140
void push_triangle_contacts(const GIM_TRIANGLE_CONTACT_DATA &tricontact, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:152
void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average=true)
Definition: gim_contact.cpp:35
void merge_contacts_unique(const gim_contact_array &contacts)
#define CONTACT_DIFF_EPSILON
Definition: gim_contact.h:48
#define GREAL
Definition: gim_math.h:39
#define GUINT
Definition: gim_math.h:42
#define GINT
Definition: gim_math.h:41
#define GIM_INV_SQRT(va, isva)
Definition: gim_math.h:119
Structure for collision.
btVector3 m_points[MAX_TRI_CLIPPING]