106 lines
3.2 KiB
C++
106 lines
3.2 KiB
C++
#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
|
|
#define BT_CONTACT_H_STRUCTS_INCLUDED
|
|
|
|
/*! \file gim_contact.h
|
|
\author Francisco Leon Najera
|
|
*/
|
|
/*
|
|
This source file is part of GIMPACT Library.
|
|
|
|
For the latest info, see http://gimpact.sourceforge.net/
|
|
|
|
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
|
|
email: projectileman@yahoo.com
|
|
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "LinearMath/btTransform.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "btTriangleShapeEx.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);
|
|
}
|
|
};
|
|
|
|
#endif // BT_CONTACT_H_STRUCTS_INCLUDED
|