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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp

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extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp

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#define MAX_COINCIDENT 8 #define MAX_COINCIDENT 8
struct CONTACT_KEY_TOKEN struct CONTACT_KEY_TOKEN
{ {
unsigned int m_key; unsigned int m_key;
int m_value; int m_value;
CONTACT_KEY_TOKEN() CONTACT_KEY_TOKEN()
{ {
} }
CONTACT_KEY_TOKEN(unsigned int key,int token) CONTACT_KEY_TOKEN(unsigned int key, int token)
{ {
m_key = key; m_key = key;
m_value = token; m_value = token;
} }
CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken) CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
{ {
m_key = rtoken.m_key; m_key = rtoken.m_key;
m_value = rtoken.m_value; m_value = rtoken.m_value;
} }
inline bool operator <(const CONTACT_KEY_TOKEN& other) const inline bool operator<(const CONTACT_KEY_TOKEN& other) const
{ {
return (m_key < other.m_key); return (m_key < other.m_key);
} }
inline bool operator >(const CONTACT_KEY_TOKEN& other) const inline bool operator>(const CONTACT_KEY_TOKEN& other) const
{ {
return (m_key > other.m_key); return (m_key > other.m_key);
} }
}; };
class CONTACT_KEY_TOKEN_COMP class CONTACT_KEY_TOKEN_COMP
{ {
public: public:
bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) const bool operator()(const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b) const
{ {
return ( a < b ); return (a < b);
} }
}; };
void btContactArray::merge_contacts( void btContactArray::merge_contacts(
const btContactArray & contacts, bool normal_contact_average) const btContactArray& contacts, bool normal_contact_average)
{ {
clear(); clear();
int i; int i;
if(contacts.size()==0) return; if (contacts.size() == 0) return;
if(contacts.size()==1) if (contacts.size() == 1)
{ {
push_back(contacts[0]); push_back(contacts[0]);
return; return;
} }
btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts; btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts;
keycontacts.reserve(contacts.size()); keycontacts.reserve(contacts.size());
//fill key contacts //fill key contacts
for ( i = 0;i<contacts.size() ;i++ ) for (i = 0; i < contacts.size(); i++)
{ {
keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i)); keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(), i));
} }
//sort keys //sort keys
keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP()); keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
// Merge contacts // Merge contacts
int coincident_count=0; int coincident_count = 0;
btVector3 coincident_normals[MAX_COINCIDENT]; btVector3 coincident_normals[MAX_COINCIDENT];
unsigned int last_key = keycontacts[0].m_key; unsigned int last_key = keycontacts[0].m_key;
unsigned int key = 0; unsigned int key = 0;
push_back(contacts[keycontacts[0].m_value]); push_back(contacts[keycontacts[0].m_value]);
GIM_CONTACT * pcontact = &(*this)[0]; GIM_CONTACT* pcontact = &(*this)[0];
for( i=1;i<keycontacts.size();i++) for (i = 1; i < keycontacts.size(); i++)
{ {
key = keycontacts[i].m_key; key = keycontacts[i].m_key;
const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value]; const GIM_CONTACT* scontact = &contacts[keycontacts[i].m_value];
if(last_key == key)//same points if (last_key == key) //same points
{ {
//merge contact //merge contact
if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) if (pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth) //)
{ {
*pcontact = *scontact; *pcontact = *scontact;
coincident_count = 0; coincident_count = 0;
} }
else if(normal_contact_average) else if (normal_contact_average)
{ {
if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON) if (btFabs(pcontact->m_depth - scontact->m_depth) < CONTACT_DIFF_EPSILON)
{ {
if(coincident_count<MAX_COINCIDENT) if (coincident_count < MAX_COINCIDENT)
{ {
coincident_normals[coincident_count] = scontact->m_normal; coincident_normals[coincident_count] = scontact->m_normal;
coincident_count++; coincident_count++;
} }
} }
} }
} }
else else
{//add new contact { //add new contact
if(normal_contact_average && coincident_count>0) if (normal_contact_average && coincident_count > 0)
{ {
pcontact->interpolate_normals(coincident_normals,coincident_count); pcontact->interpolate_normals(coincident_normals, coincident_count);
coincident_count = 0; coincident_count = 0;
} }
push_back(*scontact); push_back(*scontact);
pcontact = &(*this)[this->size()-1]; pcontact = &(*this)[this->size() - 1];
} }
last_key = key; last_key = key;
} }
} }
void btContactArray::merge_contacts_unique(const btContactArray & contacts) void btContactArray::merge_contacts_unique(const btContactArray& contacts)
{ {
clear(); clear();
if(contacts.size()==0) return; if (contacts.size() == 0) return;
if(contacts.size()==1) if (contacts.size() == 1)
{ {
push_back(contacts[0]); push_back(contacts[0]);
return; return;
} }
GIM_CONTACT average_contact = contacts[0]; GIM_CONTACT average_contact = contacts[0];
for (int i=1;i<contacts.size() ;i++ ) for (int i = 1; i < contacts.size(); i++)
{ {
average_contact.m_point += contacts[i].m_point; average_contact.m_point += contacts[i].m_point;
average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth; average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
} }
//divide //divide
btScalar divide_average = 1.0f/((btScalar)contacts.size()); btScalar divide_average = 1.0f / ((btScalar)contacts.size());
average_contact.m_point *= divide_average; average_contact.m_point *= divide_average;
average_contact.m_normal *= divide_average; average_contact.m_normal *= divide_average;
average_contact.m_depth = average_contact.m_normal.length(); average_contact.m_depth = average_contact.m_normal.length();
average_contact.m_normal /= average_contact.m_depth; average_contact.m_normal /= average_contact.m_depth;
} }