Bullet Collision Detection & Physics Library
gim_contact.cpp
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1
2/*
3-----------------------------------------------------------------------------
4This source file is part of GIMPACT Library.
5
6For the latest info, see http://gimpact.sourceforge.net/
7
8Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
9email: projectileman@yahoo.com
10
11 This library is free software; you can redistribute it and/or
12 modify it under the terms of EITHER:
13 (1) The GNU Lesser General Public License as published by the Free
14 Software Foundation; either version 2.1 of the License, or (at
15 your option) any later version. The text of the GNU Lesser
16 General Public License is included with this library in the
17 file GIMPACT-LICENSE-LGPL.TXT.
18 (2) The BSD-style license that is included with this library in
19 the file GIMPACT-LICENSE-BSD.TXT.
20 (3) The zlib/libpng license that is included with this library in
21 the file GIMPACT-LICENSE-ZLIB.TXT.
22
23 This library is distributed in the hope that it will be useful,
24 but WITHOUT ANY WARRANTY; without even the implied warranty of
25 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
26 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
27
28-----------------------------------------------------------------------------
29*/
30
31#include "gim_contact.h"
32
33#define MAX_COINCIDENT 8
34
37{
38 clear();
39
40 if (contacts.size() == 1)
41 {
42 push_back(contacts.back());
43 return;
44 }
45
47 keycontacts.resize(contacts.size(), false);
48
49 //fill key contacts
50
51 GUINT i;
52
53 for (i = 0; i < contacts.size(); i++)
54 {
55 keycontacts[i].m_key = contacts[i].calc_key_contact();
56 keycontacts[i].m_value = i;
57 }
58
59 //sort keys
61
62 // Merge contacts
63
66
67 GUINT last_key = keycontacts[0].m_key;
68 GUINT key = 0;
69
70 push_back(contacts[keycontacts[0].m_value]);
72
73 for (i = 1; i < keycontacts.size(); i++)
74 {
75 key = keycontacts[i].m_key;
76 const GIM_CONTACT* scontact = &contacts[keycontacts[i].m_value];
77
78 if (last_key == key) //same points
79 {
80 //merge contact
81 if (pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth) //)
82 {
85 }
87 {
88 if (btFabs(pcontact->m_depth - scontact->m_depth) < CONTACT_DIFF_EPSILON)
89 {
91 {
94 }
95 }
96 }
97 }
98 else
99 { //add new contact
100
102 {
103 pcontact->interpolate_normals(coincident_normals, coincident_count);
105 }
106
108 pcontact = &back();
109 }
110 last_key = key;
111 }
112}
113
115{
116 clear();
117
118 if (contacts.size() == 1)
119 {
120 push_back(contacts.back());
121 return;
122 }
123
125
126 for (GUINT i = 1; i < contacts.size(); i++)
127 {
128 average_contact.m_point += contacts[i].m_point;
129 average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
130 }
131
132 //divide
133 GREAL divide_average = 1.0f / ((GREAL)contacts.size());
134
136
138
139 average_contact.m_depth = average_contact.m_normal.length();
140
141 average_contact.m_normal /= average_contact.m_depth;
142}
#define MAX_COINCIDENT
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
btScalar btFabs(btScalar x)
Definition btScalar.h:497
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
Prototype for comparators.
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btScalar length() const
Return the length of the vector.
Definition btVector3.h:257
Very simple array container with fast access and simd memory.
Definition gim_array.h:43
GIM_CONTACT & back()
Definition gim_array.h:198
void push_back(const GIM_CONTACT &obj)
Definition gim_array.h:213
void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average=true)
void merge_contacts_unique(const gim_contact_array &contacts)
#define CONTACT_DIFF_EPSILON
Definition gim_contact.h:47
#define GREAL
Definition gim_math.h:37
#define GUINT
Definition gim_math.h:40
void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc)