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source: code/trunk/src/bullet/BulletCollision/Gimpact/btContactProcessing.h @ 3722

Last change on this file since 3722 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 3.9 KB
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[2431]1#ifndef BT_CONTACT_H_INCLUDED
2#define BT_CONTACT_H_INCLUDED
3
4/*! \file gim_contact.h
5\author Francisco Len Nßjera
6*/
7/*
8This source file is part of GIMPACT Library.
9
10For the latest info, see http://gimpact.sourceforge.net/
11
12Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
13email: projectileman@yahoo.com
14
15
16This software is provided 'as-is', without any express or implied warranty.
17In no event will the authors be held liable for any damages arising from the use of this software.
18Permission is granted to anyone to use this software for any purpose,
19including commercial applications, and to alter it and redistribute it freely,
20subject to the following restrictions:
21
221. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
232. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
243. This notice may not be removed or altered from any source distribution.
25*/
26
27#include "LinearMath/btTransform.h"
28#include "LinearMath/btAlignedObjectArray.h"
29#include "btTriangleShapeEx.h"
30
31
32
33/**
34Configuration var for applying interpolation of  contact normals
35*/
36#define NORMAL_CONTACT_AVERAGE 1
37
38#define CONTACT_DIFF_EPSILON 0.00001f
39
40///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
41///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
42class GIM_CONTACT
43{
44public:
45    btVector3 m_point;
46    btVector3 m_normal;
47    btScalar m_depth;//Positive value indicates interpenetration
48    btScalar m_distance;//Padding not for use
49    int m_feature1;//Face number
50    int m_feature2;//Face number
51public:
52    GIM_CONTACT()
53    {
54    }
55
56    GIM_CONTACT(const GIM_CONTACT & contact):
57                                m_point(contact.m_point),
58                                m_normal(contact.m_normal),
59                                m_depth(contact.m_depth),
60                                m_feature1(contact.m_feature1),
61                                m_feature2(contact.m_feature2)
62    {
63    }
64
65    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
66                                btScalar depth, int feature1, int feature2):
67                                m_point(point),
68                                m_normal(normal),
69                                m_depth(depth),
70                                m_feature1(feature1),
71                                m_feature2(feature2)
72    {
73    }
74
75        //! Calcs key for coord classification
76    SIMD_FORCE_INLINE unsigned int calc_key_contact() const
77    {
78        int _coords[] = {
79                (int)(m_point[0]*1000.0f+1.0f),
80                (int)(m_point[1]*1333.0f),
81                (int)(m_point[2]*2133.0f+3.0f)};
82                unsigned int _hash=0;
83                unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
84                _hash = *_uitmp;
85                _uitmp++;
86                _hash += (*_uitmp)<<4;
87                _uitmp++;
88                _hash += (*_uitmp)<<8;
89                return _hash;
90    }
91
92    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
93    {
94        btVector3 vec_sum(m_normal);
95                for(int i=0;i<normal_count;i++)
96                {
97                        vec_sum += normals[i];
98                }
99
100                btScalar vec_sum_len = vec_sum.length2();
101                if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
102
103                //GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
104
105                m_normal = vec_sum/btSqrt(vec_sum_len);
106    }
107
108};
109
110
111class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
112{
113public:
114        btContactArray()
115        {
116                reserve(64);
117        }
118
119        SIMD_FORCE_INLINE void push_contact(
120                const btVector3 &point,const btVector3 & normal,
121                btScalar depth, int feature1, int feature2)
122        {
123                push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
124        }
125
126        SIMD_FORCE_INLINE void push_triangle_contacts(
127                const GIM_TRIANGLE_CONTACT & tricontact,
128                int feature1,int feature2)
129        {
130                for(int i = 0;i<tricontact.m_point_count ;i++ )
131                {
132                        push_contact(
133                                tricontact.m_points[i],
134                                tricontact.m_separating_normal,
135                                tricontact.m_penetration_depth,feature1,feature2);
136                }
137        }
138
139        void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true);
140
141        void merge_contacts_unique(const btContactArray & contacts);
142};
143
144
145#endif // GIM_CONTACT_H_INCLUDED
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