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

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

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	1. 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.			1. 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.
	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.			2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	3. This notice may not be removed or altered from any source distribution.			3. This notice may not be removed or altered from any source distribution.
	*/			*/

	#include "LinearMath/btTransform.h"			#include "LinearMath/btTransform.h"
	#include "LinearMath/btAlignedObjectArray.h"			#include "LinearMath/btAlignedObjectArray.h"
	#include "btTriangleShapeEx.h"			#include "btTriangleShapeEx.h"
				#include "btContactProcessingStructs.h"


	/**
	Configuration var for applying interpolation of contact normals
	*/
	#define NORMAL_CONTACT_AVERAGE 1

	#define CONTACT_DIFF_EPSILON 0.00001f

	///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
	///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
	class GIM_CONTACT
	{
	public:
	btVector3 m_point;
	btVector3 m_normal;
	btScalar m_depth;//Positive value indicates interpenetration
	btScalar m_distance;//Padding not for use
	int m_feature1;//Face number
	int 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)
	{
	}

	GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
	btScalar depth, int feature1, int feature2):
	m_point(point),
	m_normal(normal),
	m_depth(depth),
	m_feature1(feature1),
	m_feature2(feature2)
	{
	}

	//! Calcs key for coord classification
	SIMD_FORCE_INLINE unsigned int calc_key_contact() const
	{
	int _coords[] = {
	(int)(m_point[0]*1000.0f+1.0f),
	(int)(m_point[1]*1333.0f),
	(int)(m_point[2]*2133.0f+3.0f)};
	unsigned int _hash=0;
	unsigned int _uitmp = (unsigned int )(&_coords[0]);
	_hash = *_uitmp;
	_uitmp++;
	_hash += (*_uitmp)<<4;
	_uitmp++;
	_hash += (*_uitmp)<<8;
	return _hash;
	}

	SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
	{
	btVector3 vec_sum(m_normal);
	for(int i=0;i<normal_count;i++)
	{
	vec_sum += normals[i];
	}

	btScalar 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/btSqrt(vec_sum_len);
	}

	};


	class btContactArray:public btAlignedObjectArray<GIM_CONTACT>			class btContactArray : public btAlignedObjectArray<GIM_CONTACT>
	{			{
	public:			public:
	btContactArray()			btContactArray()
	{			{
	reserve(64);			reserve(64);
	}			}

	SIMD_FORCE_INLINE void push_contact(			SIMD_FORCE_INLINE void push_contact(
	const btVector3 &point,const btVector3 & normal,			const btVector3 &point, const btVector3 &normal,
	btScalar depth, int feature1, int feature2)			btScalar depth, int feature1, int feature2)
	{			{
	push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );			push_back(GIM_CONTACT(point, normal, depth, feature1, feature2));
	}			}

	SIMD_FORCE_INLINE void push_triangle_contacts(			SIMD_FORCE_INLINE void push_triangle_contacts(
	const GIM_TRIANGLE_CONTACT & tricontact,			const GIM_TRIANGLE_CONTACT &tricontact,
	int feature1,int feature2)			int feature1, int feature2)
	{			{
	for(int i = 0;i<tricontact.m_point_count ;i++ )			for (int i = 0; i < tricontact.m_point_count; i++)
	{			{
	push_contact(			push_contact(
	tricontact.m_points[i],			tricontact.m_points[i],
	tricontact.m_separating_normal,			tricontact.m_separating_normal,
	tricontact.m_penetration_depth,feature1,feature2);			tricontact.m_penetration_depth, feature1, feature2);
	}			}
	}			}

	void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true);			void merge_contacts(const btContactArray &contacts, bool normal_contact_average = true);

	void merge_contacts_unique(const btContactArray & contacts);			void merge_contacts_unique(const btContactArray &contacts);
	};			};


	#endif // GIM_CONTACT_H_INCLUDED			#endif // GIM_CONTACT_H_INCLUDED