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source: code/branches/buildsystem3/src/bullet/BulletCollision/Gimpact/gim_contact.h @ 2706

Last change on this file since 2706 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

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1#ifndef GIM_CONTACT_H_INCLUDED
2#define GIM_CONTACT_H_INCLUDED
3
4/*! \file gim_contact.h
5\author Francisco Len Nßjera
6*/
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
40/**
41Configuration var for applying interpolation of  contact normals
42*/
43#define NORMAL_CONTACT_AVERAGE 1
44#define CONTACT_DIFF_EPSILON 0.00001f
45
46/// Structure for collision results
47///Functions for managing and sorting contacts resulting from a collision query.
48///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
49///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
50///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
51class GIM_CONTACT
52{
53public:
54    btVector3 m_point;
55    btVector3 m_normal;
56    GREAL m_depth;//Positive value indicates interpenetration
57    GREAL m_distance;//Padding not for use
58    GUINT m_feature1;//Face number
59    GUINT m_feature2;//Face number
60public:
61    GIM_CONTACT()
62    {
63    }
64
65    GIM_CONTACT(const GIM_CONTACT & contact):
66                                m_point(contact.m_point),
67                                m_normal(contact.m_normal),
68                                m_depth(contact.m_depth),
69                                m_feature1(contact.m_feature1),
70                                m_feature2(contact.m_feature2)
71    {
72        m_point = contact.m_point;
73        m_normal = contact.m_normal;
74        m_depth = contact.m_depth;
75        m_feature1 = contact.m_feature1;
76        m_feature2 = contact.m_feature2;
77    }
78
79    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
80                                GREAL depth, GUINT feature1, GUINT feature2):
81                                m_point(point),
82                                m_normal(normal),
83                                m_depth(depth),
84                                m_feature1(feature1),
85                                m_feature2(feature2)
86    {
87    }
88
89        //! Calcs key for coord classification
90    SIMD_FORCE_INLINE GUINT calc_key_contact() const
91    {
92        GINT _coords[] = {
93                (GINT)(m_point[0]*1000.0f+1.0f),
94                (GINT)(m_point[1]*1333.0f),
95                (GINT)(m_point[2]*2133.0f+3.0f)};
96                GUINT _hash=0;
97                GUINT *_uitmp = (GUINT *)(&_coords[0]);
98                _hash = *_uitmp;
99                _uitmp++;
100                _hash += (*_uitmp)<<4;
101                _uitmp++;
102                _hash += (*_uitmp)<<8;
103                return _hash;
104    }
105
106    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
107    {
108        btVector3 vec_sum(m_normal);
109                for(GUINT i=0;i<normal_count;i++)
110                {
111                        vec_sum += normals[i];
112                }
113
114                GREAL vec_sum_len = vec_sum.length2();
115                if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
116
117                GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
118
119                m_normal = vec_sum*vec_sum_len;
120    }
121
122};
123
124
125class gim_contact_array:public gim_array<GIM_CONTACT>
126{
127public:
128        gim_contact_array():gim_array<GIM_CONTACT>(64)
129        {
130        }
131
132        SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
133                                GREAL depth, GUINT feature1, GUINT feature2)
134        {
135                push_back_mem();
136                GIM_CONTACT & newele = back();
137                newele.m_point = point;
138                newele.m_normal = normal;
139                newele.m_depth = depth;
140                newele.m_feature1 = feature1;
141                newele.m_feature2 = feature2;
142        }
143
144        SIMD_FORCE_INLINE void push_triangle_contacts(
145                const GIM_TRIANGLE_CONTACT_DATA & tricontact,
146                GUINT feature1,GUINT feature2)
147        {
148                for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
149                {
150                        push_back_mem();
151                        GIM_CONTACT & newele = back();
152                        newele.m_point = tricontact.m_points[i];
153                        newele.m_normal = tricontact.m_separating_normal;
154                        newele.m_depth = tricontact.m_penetration_depth;
155                        newele.m_feature1 = feature1;
156                        newele.m_feature2 = feature2;
157                }
158        }
159
160        void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
161        void merge_contacts_unique(const gim_contact_array & contacts);
162};
163
164#endif // GIM_CONTACT_H_INCLUDED
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