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

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

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GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
----------------------------------------------------------------------------- -----------------------------------------------------------------------------
*/ */
#include "gim_geometry.h" #include "gim_geometry.h"
#include "gim_radixsort.h" #include "gim_radixsort.h"
#include "gim_array.h" #include "gim_array.h"
/** /**
Configuration var for applying interpolation of contact normals Configuration var for applying interpolation of contact normals
*/ */
#ifndef NORMAL_CONTACT_AVERAGE
#define NORMAL_CONTACT_AVERAGE 1 #define NORMAL_CONTACT_AVERAGE 1
#endif
#ifndef CONTACT_DIFF_EPSILON
#define CONTACT_DIFF_EPSILON 0.00001f #define CONTACT_DIFF_EPSILON 0.00001f
#endif
#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
/// Structure for collision results /// Structure for collision results
///Functions for managing and sorting contacts resulting from a collision query. ///Functions for managing and sorting contacts resulting from a collision query.
///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST ///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 ///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 ///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
class GIM_CONTACT class GIM_CONTACT
{ {
public: public:
btVector3 m_point; btVector3 m_point;
btVector3 m_normal; btVector3 m_normal;
GREAL m_depth;//Positive value indicates interpenetration GREAL m_depth; //Positive value indicates interpenetration
GREAL m_distance;//Padding not for use GREAL m_distance; //Padding not for use
GUINT m_feature1;//Face number GUINT m_feature1; //Face number
GUINT m_feature2;//Face number GUINT m_feature2; //Face number
public: public:
GIM_CONTACT() GIM_CONTACT()
{ {
} }
GIM_CONTACT(const GIM_CONTACT & contact): GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
m_point(contact.m_point),
m_normal(contact.m_normal), m_normal(contact.m_normal),
m_depth(contact.m_depth), m_depth(contact.m_depth),
m_feature1(contact.m_feature1), m_feature1(contact.m_feature1),
m_feature2(contact.m_feature2) m_feature2(contact.m_feature2)
{ {
m_point = contact.m_point; m_point = contact.m_point;
m_normal = contact.m_normal; m_normal = contact.m_normal;
m_depth = contact.m_depth; m_depth = contact.m_depth;
m_feature1 = contact.m_feature1; m_feature1 = contact.m_feature1;
m_feature2 = contact.m_feature2; m_feature2 = contact.m_feature2;
} }
GIM_CONTACT(const btVector3 &point,const btVector3 & normal, GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
GREAL depth, GUINT feature1, GUINT feature2): GREAL depth, GUINT feature1, GUINT feature2) : m_point(point),
m_point(point),
m_normal(normal), m_normal(normal),
m_depth(depth), m_depth(depth),
m_feature1(feature1), m_feature1(feature1),
m_feature2(feature2) m_feature2(feature2)
{ {
} }
//! Calcs key for coord classification //! Calcs key for coord classification
SIMD_FORCE_INLINE GUINT calc_key_contact() const SIMD_FORCE_INLINE GUINT calc_key_contact() const
{ {
GINT _coords[] = { GINT _coords[] = {
(GINT)(m_point[0]*1000.0f+1.0f), (GINT)(m_point[0] * 1000.0f + 1.0f),
(GINT)(m_point[1]*1333.0f), (GINT)(m_point[1] * 1333.0f),
(GINT)(m_point[2]*2133.0f+3.0f)}; (GINT)(m_point[2] * 2133.0f + 3.0f)};
GUINT _hash=0; GUINT _hash = 0;
GUINT *_uitmp = (GUINT *)(&_coords[0]); GUINT *_uitmp = (GUINT *)(&_coords[0]);
_hash = *_uitmp; _hash = *_uitmp;
_uitmp++; _uitmp++;
_hash += (*_uitmp)<<4; _hash += (*_uitmp) << 4;
_uitmp++; _uitmp++;
_hash += (*_uitmp)<<8; _hash += (*_uitmp) << 8;
return _hash; return _hash;
} }
SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count)
{ {
btVector3 vec_sum(m_normal); btVector3 vec_sum(m_normal);
for(GUINT i=0;i<normal_count;i++) for (GUINT i = 0; i < normal_count; i++)
{ {
vec_sum += normals[i]; vec_sum += normals[i];
} }
GREAL vec_sum_len = vec_sum.length2(); GREAL vec_sum_len = vec_sum.length2();
if(vec_sum_len <CONTACT_DIFF_EPSILON) return; if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len) GIM_INV_SQRT(vec_sum_len, vec_sum_len); // 1/sqrt(vec_sum_len)
m_normal = vec_sum*vec_sum_len; m_normal = vec_sum * vec_sum_len;
} }
}; };
#endif
class gim_contact_array:public gim_array<GIM_CONTACT> class gim_contact_array : public gim_array<GIM_CONTACT>
{ {
public: public:
gim_contact_array():gim_array<GIM_CONTACT>(64) gim_contact_array() : gim_array<GIM_CONTACT>(64)
{ {
} }
SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, SIMD_FORCE_INLINE void push_contact(const btVector3 &point, const btVector3 &normal,
GREAL depth, GUINT feature1, GUINT feature2) GREAL depth, GUINT feature1, GUINT feature2)
{ {
push_back_mem(); push_back_mem();
GIM_CONTACT & newele = back(); GIM_CONTACT &newele = back();
newele.m_point = point; newele.m_point = point;
newele.m_normal = normal; newele.m_normal = normal;
newele.m_depth = depth; newele.m_depth = depth;
newele.m_feature1 = feature1; newele.m_feature1 = feature1;
newele.m_feature2 = feature2; newele.m_feature2 = feature2;
} }
SIMD_FORCE_INLINE void push_triangle_contacts( SIMD_FORCE_INLINE void push_triangle_contacts(
const GIM_TRIANGLE_CONTACT_DATA & tricontact, const GIM_TRIANGLE_CONTACT_DATA &tricontact,
GUINT feature1,GUINT feature2) GUINT feature1, GUINT feature2)
{ {
for(GUINT i = 0;i<tricontact.m_point_count ;i++ ) for (GUINT i = 0; i < tricontact.m_point_count; i++)
{ {
push_back_mem(); push_back_mem();
GIM_CONTACT & newele = back(); GIM_CONTACT &newele = back();
newele.m_point = tricontact.m_points[i]; newele.m_point = tricontact.m_points[i];
newele.m_normal = tricontact.m_separating_normal; newele.m_normal = tricontact.m_separating_normal;
newele.m_depth = tricontact.m_penetration_depth; newele.m_depth = tricontact.m_penetration_depth;
newele.m_feature1 = feature1; newele.m_feature1 = feature1;
newele.m_feature2 = feature2; newele.m_feature2 = feature2;
} }
} }
void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true); void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average = true);
void merge_contacts_unique(const gim_contact_array & contacts); void merge_contacts_unique(const gim_contact_array &contacts);
}; };
#endif // GIM_CONTACT_H_INCLUDED #endif // GIM_CONTACT_H_INCLUDED