src/BulletCollision/Gimpact/gim_contact.h

   1 #ifndef GIM_CONTACT_H_INCLUDED
   2 #define GIM_CONTACT_H_INCLUDED
   3
   4 /*! \file gim_contact.h
   5 \author Francisco Leon Najera
   6 */
   7 /*
   8 -----------------------------------------------------------------------------
   9 This source file is part of GIMPACT Library.
  10
  11 For the latest info, see http://gimpact.sourceforge.net/
  12
  13 Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
  14 email: projectileman@yahoo.com
  15
  16  This library is free software; you can redistribute it and/or
  17  modify it under the terms of EITHER:
  18    (1) The GNU Lesser General Public License as published by the Free
  19        Software Foundation; either version 2.1 of the License, or (at
  20        your option) any later version. The text of the GNU Lesser
  21        General Public License is included with this library in the
  22        file GIMPACT-LICENSE-LGPL.TXT.
  23    (2) The BSD-style license that is included with this library in
  24        the file GIMPACT-LICENSE-BSD.TXT.
  25    (3) The zlib/libpng license that is included with this library in
  26        the file GIMPACT-LICENSE-ZLIB.TXT.
  27
  28  This library is distributed in the hope that it will be useful,
  29  but WITHOUT ANY WARRANTY; without even the implied warranty of
  30  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
  31  GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
  32
  33 -----------------------------------------------------------------------------
  34 */
  35 #include "gim_geometry.h"
  36 #include "gim_radixsort.h"
  37 #include "gim_array.h"
  38
  39
  40 /**
  41 Configuration var for applying interpolation of  contact normals
  42 */
  43 #define NORMAL_CONTACT_AVERAGE 1
  44 #define CONTACT_DIFF_EPSILON 0.00001f
  45
  46 /// Structure for collision results
  47 ///Functions for managing and sorting contacts resulting from a collision query.
  48 ///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
  49 ///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
  50 ///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
  51 class GIM_CONTACT
  52 {
  53 public:
  54     btVector3 m_point;
  55     btVector3 m_normal;
  56     GREAL m_depth;//Positive value indicates interpenetration
  57     GREAL m_distance;//Padding not for use
  58     GUINT m_feature1;//Face number
  59     GUINT m_feature2;//Face number
  60 public:
  61     GIM_CONTACT()
  62     {
  63     }
  64
  65     GIM_CONTACT(const GIM_CONTACT & contact):
  66                                 m_point(contact.m_point),
  67                                 m_normal(contact.m_normal),
  68                                 m_depth(contact.m_depth),
  69                                 m_feature1(contact.m_feature1),
  70                                 m_feature2(contact.m_feature2)
  71     {
  72         m_point = contact.m_point;
  73         m_normal = contact.m_normal;
  74         m_depth = contact.m_depth;
  75         m_feature1 = contact.m_feature1;
  76         m_feature2 = contact.m_feature2;
  77     }
  78
  79     GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
  80                                 GREAL depth, GUINT feature1, GUINT feature2):
  81                                 m_point(point),
  82                                 m_normal(normal),
  83                                 m_depth(depth),
  84                                 m_feature1(feature1),
  85                                 m_feature2(feature2)
  86     {
  87     }
  88
  89         //! Calcs key for coord classification
  90     SIMD_FORCE_INLINE GUINT calc_key_contact() const
  91     {
  92         GINT _coords[] = {
  93                 (GINT)(m_point[0]*1000.0f+1.0f),
  94                 (GINT)(m_point[1]*1333.0f),
  95                 (GINT)(m_point[2]*2133.0f+3.0f)};
  96                 GUINT _hash=0;
  97                 GUINT *_uitmp = (GUINT *)(&_coords[0]);
  98                 _hash = *_uitmp;
  99                 _uitmp++;
 100                 _hash += (*_uitmp)<<4;
 101                 _uitmp++;
 102                 _hash += (*_uitmp)<<8;
 103                 return _hash;
 104     }
 105
 106     SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
 107     {
 108         btVector3 vec_sum(m_normal);
 109                 for(GUINT i=0;i<normal_count;i++)
 110                 {
 111                         vec_sum += normals[i];
 112                 }
 113
 114                 GREAL vec_sum_len = vec_sum.length2();
 115                 if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
 116
 117                 GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
 118
 119                 m_normal = vec_sum*vec_sum_len;
 120     }
 121
 122 };
 123
 124
 125 class gim_contact_array:public gim_array<GIM_CONTACT>
 126 {
 127 public:
 128         gim_contact_array():gim_array<GIM_CONTACT>(64)
 129         {
 130         }
 131
 132         SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
 133                                 GREAL depth, GUINT feature1, GUINT feature2)
 134         {
 135                 push_back_mem();
 136                 GIM_CONTACT & newele = back();
 137                 newele.m_point = point;
 138                 newele.m_normal = normal;
 139                 newele.m_depth = depth;
 140                 newele.m_feature1 = feature1;
 141                 newele.m_feature2 = feature2;
 142         }
 143
 144         SIMD_FORCE_INLINE void push_triangle_contacts(
 145                 const GIM_TRIANGLE_CONTACT_DATA & tricontact,
 146                 GUINT feature1,GUINT feature2)
 147         {
 148                 for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
 149                 {
 150                         push_back_mem();
 151                         GIM_CONTACT & newele = back();
 152                         newele.m_point = tricontact.m_points[i];
 153                         newele.m_normal = tricontact.m_separating_normal;
 154                         newele.m_depth = tricontact.m_penetration_depth;
 155                         newele.m_feature1 = feature1;
 156                         newele.m_feature2 = feature2;
 157                 }
 158         }
 159
 160         void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
 161         void merge_contacts_unique(const gim_contact_array & contacts);
 162 };
 163
 164 #endif // GIM_CONTACT_H_INCLUDED