| #ifndef GIM_CONTACT_H_INCLUDED |
| #define GIM_CONTACT_H_INCLUDED |
| |
| /*! \file gim_contact.h |
| \author Francisco Len Nßjera |
| */ |
| /* |
| ----------------------------------------------------------------------------- |
| This source file is part of GIMPACT Library. |
| |
| For the latest info, see http://gimpact.sourceforge.net/ |
| |
| Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. |
| email: projectileman@yahoo.com |
| |
| This library is free software; you can redistribute it and/or |
| modify it under the terms of EITHER: |
| (1) The GNU Lesser General Public License as published by the Free |
| Software Foundation; either version 2.1 of the License, or (at |
| your option) any later version. The text of the GNU Lesser |
| General Public License is included with this library in the |
| file GIMPACT-LICENSE-LGPL.TXT. |
| (2) The BSD-style license that is included with this library in |
| the file GIMPACT-LICENSE-BSD.TXT. |
| (3) The zlib/libpng license that is included with this library in |
| the file GIMPACT-LICENSE-ZLIB.TXT. |
| |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files |
| GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. |
| |
| ----------------------------------------------------------------------------- |
| */ |
| #include "gim_geometry.h" |
| #include "gim_radixsort.h" |
| #include "gim_array.h" |
| |
| |
| /** |
| Configuration var for applying interpolation of contact normals |
| */ |
| #define NORMAL_CONTACT_AVERAGE 1 |
| #define CONTACT_DIFF_EPSILON 0.00001f |
| |
| /// Structure for collision results |
| ///Functions for managing and sorting contacts resulting from a collision query. |
| ///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST |
| ///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY |
| ///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts |
| class GIM_CONTACT |
| { |
| public: |
| btVector3 m_point; |
| btVector3 m_normal; |
| GREAL m_depth;//Positive value indicates interpenetration |
| GREAL m_distance;//Padding not for use |
| GUINT m_feature1;//Face number |
| GUINT m_feature2;//Face number |
| public: |
| GIM_CONTACT() |
| { |
| } |
| |
| GIM_CONTACT(const GIM_CONTACT & contact): |
| m_point(contact.m_point), |
| m_normal(contact.m_normal), |
| m_depth(contact.m_depth), |
| m_feature1(contact.m_feature1), |
| m_feature2(contact.m_feature2) |
| { |
| m_point = contact.m_point; |
| m_normal = contact.m_normal; |
| m_depth = contact.m_depth; |
| m_feature1 = contact.m_feature1; |
| m_feature2 = contact.m_feature2; |
| } |
| |
| GIM_CONTACT(const btVector3 &point,const btVector3 & normal, |
| GREAL depth, GUINT feature1, GUINT feature2): |
| m_point(point), |
| m_normal(normal), |
| m_depth(depth), |
| m_feature1(feature1), |
| m_feature2(feature2) |
| { |
| } |
| |
| //! Calcs key for coord classification |
| SIMD_FORCE_INLINE GUINT calc_key_contact() const |
| { |
| GINT _coords[] = { |
| (GINT)(m_point[0]*1000.0f+1.0f), |
| (GINT)(m_point[1]*1333.0f), |
| (GINT)(m_point[2]*2133.0f+3.0f)}; |
| GUINT _hash=0; |
| GUINT *_uitmp = (GUINT *)(&_coords[0]); |
| _hash = *_uitmp; |
| _uitmp++; |
| _hash += (*_uitmp)<<4; |
| _uitmp++; |
| _hash += (*_uitmp)<<8; |
| return _hash; |
| } |
| |
| SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) |
| { |
| btVector3 vec_sum(m_normal); |
| for(GUINT i=0;i<normal_count;i++) |
| { |
| vec_sum += normals[i]; |
| } |
| |
| GREAL vec_sum_len = vec_sum.length2(); |
| if(vec_sum_len <CONTACT_DIFF_EPSILON) return; |
| |
| GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len) |
| |
| m_normal = vec_sum*vec_sum_len; |
| } |
| |
| }; |
| |
| |
| class gim_contact_array:public gim_array<GIM_CONTACT> |
| { |
| public: |
| gim_contact_array():gim_array<GIM_CONTACT>(64) |
| { |
| } |
| |
| SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, |
| GREAL depth, GUINT feature1, GUINT feature2) |
| { |
| push_back_mem(); |
| GIM_CONTACT & newele = back(); |
| newele.m_point = point; |
| newele.m_normal = normal; |
| newele.m_depth = depth; |
| newele.m_feature1 = feature1; |
| newele.m_feature2 = feature2; |
| } |
| |
| SIMD_FORCE_INLINE void push_triangle_contacts( |
| const GIM_TRIANGLE_CONTACT_DATA & tricontact, |
| GUINT feature1,GUINT feature2) |
| { |
| for(GUINT i = 0;i<tricontact.m_point_count ;i++ ) |
| { |
| push_back_mem(); |
| GIM_CONTACT & newele = back(); |
| newele.m_point = tricontact.m_points[i]; |
| newele.m_normal = tricontact.m_separating_normal; |
| newele.m_depth = tricontact.m_penetration_depth; |
| newele.m_feature1 = feature1; |
| newele.m_feature2 = feature2; |
| } |
| } |
| |
| void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true); |
| void merge_contacts_unique(const gim_contact_array & contacts); |
| }; |
| |
| #endif // GIM_CONTACT_H_INCLUDED |