dali-physics/third-party/bullet3/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 Configuration var for applying interpolation of  contact normals
  41 */
  42 #ifndef NORMAL_CONTACT_AVERAGE
  43 #define NORMAL_CONTACT_AVERAGE 1
  44 #endif
  45
  46 #ifndef CONTACT_DIFF_EPSILON
  47 #define CONTACT_DIFF_EPSILON 0.00001f
  48 #endif
  49
  50 #ifndef BT_CONTACT_H_STRUCTS_INCLUDED
  51
  52 /// Structure for collision results
  53 ///Functions for managing and sorting contacts resulting from a collision query.
  54 ///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
  55 ///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
  56 ///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
  57 class GIM_CONTACT
  58 {
  59 public:
  60         btVector3 m_point;
  61         btVector3 m_normal;
  62         GREAL m_depth;     //Positive value indicates interpenetration
  63         GREAL m_distance;  //Padding not for use
  64         GUINT m_feature1;  //Face number
  65         GUINT m_feature2;  //Face number
  66 public:
  67         GIM_CONTACT()
  68         {
  69         }
  70
  71         GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
  72                                                                                           m_normal(contact.m_normal),
  73                                                                                           m_depth(contact.m_depth),
  74                                                                                           m_feature1(contact.m_feature1),
  75                                                                                           m_feature2(contact.m_feature2)
  76         {
  77                 m_point = contact.m_point;
  78                 m_normal = contact.m_normal;
  79                 m_depth = contact.m_depth;
  80                 m_feature1 = contact.m_feature1;
  81                 m_feature2 = contact.m_feature2;
  82         }
  83
  84         GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
  85                                 GREAL depth, GUINT feature1, GUINT feature2) : m_point(point),
  86                                                                                                                            m_normal(normal),
  87                                                                                                                            m_depth(depth),
  88                                                                                                                            m_feature1(feature1),
  89                                                                                                                            m_feature2(feature2)
  90         {
  91         }
  92
  93         //! Calcs key for coord classification
  94         SIMD_FORCE_INLINE GUINT calc_key_contact() const
  95         {
  96                 GINT _coords[] = {
  97                         (GINT)(m_point[0] * 1000.0f + 1.0f),
  98                         (GINT)(m_point[1] * 1333.0f),
  99                         (GINT)(m_point[2] * 2133.0f + 3.0f)};
 100                 GUINT _hash = 0;
 101                 GUINT *_uitmp = (GUINT *)(&_coords[0]);
 102                 _hash = *_uitmp;
 103                 _uitmp++;
 104                 _hash += (*_uitmp) << 4;
 105                 _uitmp++;
 106                 _hash += (*_uitmp) << 8;
 107                 return _hash;
 108         }
 109
 110         SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count)
 111         {
 112                 btVector3 vec_sum(m_normal);
 113                 for (GUINT i = 0; i < normal_count; i++)
 114                 {
 115                         vec_sum += normals[i];
 116                 }
 117
 118                 GREAL vec_sum_len = vec_sum.length2();
 119                 if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
 120
 121                 GIM_INV_SQRT(vec_sum_len, vec_sum_len);  // 1/sqrt(vec_sum_len)
 122
 123                 m_normal = vec_sum * vec_sum_len;
 124         }
 125 };
 126
 127 #endif
 128
 129 class gim_contact_array : public gim_array<GIM_CONTACT>
 130 {
 131 public:
 132         gim_contact_array() : gim_array<GIM_CONTACT>(64)
 133         {
 134         }
 135
 136         SIMD_FORCE_INLINE void push_contact(const btVector3 &point, const btVector3 &normal,
 137                                                                                 GREAL depth, GUINT feature1, GUINT feature2)
 138         {
 139                 push_back_mem();
 140                 GIM_CONTACT &newele = back();
 141                 newele.m_point = point;
 142                 newele.m_normal = normal;
 143                 newele.m_depth = depth;
 144                 newele.m_feature1 = feature1;
 145                 newele.m_feature2 = feature2;
 146         }
 147
 148         SIMD_FORCE_INLINE void push_triangle_contacts(
 149                 const GIM_TRIANGLE_CONTACT_DATA &tricontact,
 150                 GUINT feature1, GUINT feature2)
 151         {
 152                 for (GUINT i = 0; i < tricontact.m_point_count; i++)
 153                 {
 154                         push_back_mem();
 155                         GIM_CONTACT &newele = back();
 156                         newele.m_point = tricontact.m_points[i];
 157                         newele.m_normal = tricontact.m_separating_normal;
 158                         newele.m_depth = tricontact.m_penetration_depth;
 159                         newele.m_feature1 = feature1;
 160                         newele.m_feature2 = feature2;
 161                 }
 162         }
 163
 164         void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average = true);
 165         void merge_contacts_unique(const gim_contact_array &contacts);
 166 };
 167
 168 #endif  // GIM_CONTACT_H_INCLUDED