1
2 /*
3 -----------------------------------------------------------------------------
4 This source file is part of GIMPACT Library.
5
6 For the latest info, see http://gimpact.sourceforge.net/
7
8 Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
9 email: projectileman@yahoo.com
10
11 This library is free software; you can redistribute it and/or
12 modify it under the terms of EITHER:
13 (1) The GNU Lesser General Public License as published by the Free
14 Software Foundation; either version 2.1 of the License, or (at
15 your option) any later version. The text of the GNU Lesser
16 General Public License is included with this library in the
17 file GIMPACT-LICENSE-LGPL.TXT.
18 (2) The BSD-style license that is included with this library in
19 the file GIMPACT-LICENSE-BSD.TXT.
20 (3) The zlib/libpng license that is included with this library in
21 the file GIMPACT-LICENSE-ZLIB.TXT.
22
23 This library is distributed in the hope that it will be useful,
24 but WITHOUT ANY WARRANTY; without even the implied warranty of
25 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
26 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
27
28 -----------------------------------------------------------------------------
29 */
30
31 #include "gim_contact.h"
32
33 #define MAX_COINCIDENT 8
34
merge_contacts(const gim_contact_array & contacts,bool normal_contact_average)35 void gim_contact_array::merge_contacts(
36 const gim_contact_array & contacts, bool normal_contact_average)
37 {
38 clear();
39
40 if(contacts.size()==1)
41 {
42 push_back(contacts.back());
43 return;
44 }
45
46 gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
47 keycontacts.resize(contacts.size(),false);
48
49 //fill key contacts
50
51 GUINT i;
52
53 for (i = 0;i<contacts.size() ;i++ )
54 {
55 keycontacts[i].m_key = contacts[i].calc_key_contact();
56 keycontacts[i].m_value = i;
57 }
58
59 //sort keys
60 gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());
61
62 // Merge contacts
63
64 GUINT coincident_count=0;
65 btVector3 coincident_normals[MAX_COINCIDENT];
66
67 GUINT last_key = keycontacts[0].m_key;
68 GUINT key = 0;
69
70 push_back(contacts[keycontacts[0].m_value]);
71 GIM_CONTACT * pcontact = &back();
72
73
74
75 for( i=1;i<keycontacts.size();i++)
76 {
77 key = keycontacts[i].m_key;
78 const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
79
80 if(last_key == key)//same points
81 {
82 //merge contact
83 if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
84 {
85 *pcontact = *scontact;
86 coincident_count = 0;
87 }
88 else if(normal_contact_average)
89 {
90 if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
91 {
92 if(coincident_count<MAX_COINCIDENT)
93 {
94 coincident_normals[coincident_count] = scontact->m_normal;
95 coincident_count++;
96 }
97 }
98 }
99 }
100 else
101 {//add new contact
102
103 if(normal_contact_average && coincident_count>0)
104 {
105 pcontact->interpolate_normals(coincident_normals,coincident_count);
106 coincident_count = 0;
107 }
108
109 push_back(*scontact);
110 pcontact = &back();
111 }
112 last_key = key;
113 }
114 }
115
merge_contacts_unique(const gim_contact_array & contacts)116 void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts)
117 {
118 clear();
119
120 if(contacts.size()==1)
121 {
122 push_back(contacts.back());
123 return;
124 }
125
126 GIM_CONTACT average_contact = contacts.back();
127
128 for (GUINT i=1;i<contacts.size() ;i++ )
129 {
130 average_contact.m_point += contacts[i].m_point;
131 average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
132 }
133
134 //divide
135 GREAL divide_average = 1.0f/((GREAL)contacts.size());
136
137 average_contact.m_point *= divide_average;
138
139 average_contact.m_normal *= divide_average;
140
141 average_contact.m_depth = average_contact.m_normal.length();
142
143 average_contact.m_normal /= average_contact.m_depth;
144
145 }
146
147