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

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

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	-----------------------------------------------------------------------------			-----------------------------------------------------------------------------
	*/			*/

	#include "gim_contact.h"			#include "gim_contact.h"

	#define MAX_COINCIDENT 8			#define MAX_COINCIDENT 8

	void gim_contact_array::merge_contacts(			void gim_contact_array::merge_contacts(
	const gim_contact_array & contacts, bool normal_contact_average)			const gim_contact_array& contacts, bool normal_contact_average)
	{			{
	clear();			clear();

	if(contacts.size()==1)			if (contacts.size() == 1)
	{			{
	push_back(contacts.back());			push_back(contacts.back());
	return;			return;
	}			}

	gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());			gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
	keycontacts.resize(contacts.size(),false);			keycontacts.resize(contacts.size(), false);

	//fill key contacts			//fill key contacts

	GUINT i;			GUINT i;

	for (i = 0;i<contacts.size() ;i++ )			for (i = 0; i < contacts.size(); i++)
	{			{
	keycontacts[i].m_key = contacts[i].calc_key_contact();			keycontacts[i].m_key = contacts[i].calc_key_contact();
	keycontacts[i].m_value = i;			keycontacts[i].m_value = i;
	}			}

	//sort keys			//sort keys
	gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());			gim_heap_sort(keycontacts.pointer(), keycontacts.size(), GIM_RSORT_TOKEN_COMPARATOR());

	// Merge contacts			// Merge contacts

	GUINT coincident_count=0;			GUINT coincident_count = 0;
	btVector3 coincident_normals[MAX_COINCIDENT];			btVector3 coincident_normals[MAX_COINCIDENT];

	GUINT last_key = keycontacts[0].m_key;			GUINT last_key = keycontacts[0].m_key;
	GUINT key = 0;			GUINT key = 0;

	push_back(contacts[keycontacts[0].m_value]);			push_back(contacts[keycontacts[0].m_value]);
	GIM_CONTACT * pcontact = &back();			GIM_CONTACT* pcontact = &back();



	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 = &back();			pcontact = &back();
	}			}
	last_key = key;			last_key = key;
	}			}
	}			}

	void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts)			void gim_contact_array::merge_contacts_unique(const gim_contact_array& contacts)
	{			{
	clear();			clear();

	if(contacts.size()==1)			if (contacts.size() == 1)
	{			{
	push_back(contacts.back());			push_back(contacts.back());
	return;			return;
	}			}

	GIM_CONTACT average_contact = contacts.back();			GIM_CONTACT average_contact = contacts.back();

	for (GUINT i=1;i<contacts.size() ;i++ )			for (GUINT 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
	GREAL divide_average = 1.0f/((GREAL)contacts.size());			GREAL divide_average = 1.0f / ((GREAL)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;

	}			}