146 lines
3.9 KiB
C
146 lines
3.9 KiB
C
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#ifndef BT_CONTACT_H_INCLUDED
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#define BT_CONTACT_H_INCLUDED
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/*! \file gim_contact.h
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\author Francisco Leon Najera
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*/
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btTriangleShapeEx.h"
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/**
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Configuration var for applying interpolation of contact normals
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*/
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#define NORMAL_CONTACT_AVERAGE 1
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#define CONTACT_DIFF_EPSILON 0.00001f
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///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
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///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
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class GIM_CONTACT
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{
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public:
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btVector3 m_point;
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btVector3 m_normal;
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btScalar m_depth;//Positive value indicates interpenetration
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btScalar m_distance;//Padding not for use
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int m_feature1;//Face number
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int m_feature2;//Face number
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public:
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GIM_CONTACT()
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{
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}
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GIM_CONTACT(const GIM_CONTACT & contact):
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m_point(contact.m_point),
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m_normal(contact.m_normal),
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m_depth(contact.m_depth),
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m_feature1(contact.m_feature1),
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m_feature2(contact.m_feature2)
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{
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}
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GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
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btScalar depth, int feature1, int feature2):
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m_point(point),
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m_normal(normal),
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m_depth(depth),
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m_feature1(feature1),
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m_feature2(feature2)
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{
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}
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//! Calcs key for coord classification
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SIMD_FORCE_INLINE unsigned int calc_key_contact() const
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{
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int _coords[] = {
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(int)(m_point[0]*1000.0f+1.0f),
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(int)(m_point[1]*1333.0f),
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(int)(m_point[2]*2133.0f+3.0f)};
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unsigned int _hash=0;
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unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
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_hash = *_uitmp;
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_uitmp++;
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_hash += (*_uitmp)<<4;
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_uitmp++;
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_hash += (*_uitmp)<<8;
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return _hash;
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}
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SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
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{
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btVector3 vec_sum(m_normal);
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for(int i=0;i<normal_count;i++)
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{
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vec_sum += normals[i];
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}
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btScalar vec_sum_len = vec_sum.length2();
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if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
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//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
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m_normal = vec_sum/btSqrt(vec_sum_len);
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}
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};
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class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
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{
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public:
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btContactArray()
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{
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reserve(64);
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}
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SIMD_FORCE_INLINE void push_contact(
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const btVector3 &point,const btVector3 & normal,
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btScalar depth, int feature1, int feature2)
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{
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push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
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}
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SIMD_FORCE_INLINE void push_triangle_contacts(
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const GIM_TRIANGLE_CONTACT & tricontact,
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int feature1,int feature2)
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{
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for(int i = 0;i<tricontact.m_point_count ;i++ )
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{
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push_contact(
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tricontact.m_points[i],
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tricontact.m_separating_normal,
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tricontact.m_penetration_depth,feature1,feature2);
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}
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}
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void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true);
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void merge_contacts_unique(const btContactArray & contacts);
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};
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#endif // GIM_CONTACT_H_INCLUDED
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