1 #ifndef BT_CONTACT_H_INCLUDED 2 #define BT_CONTACT_H_INCLUDED 3 4 /*! \file gim_contact.h 5 \author Francisco Leon Najera 6 */ 7 /* 8 This source file is part of GIMPACT Library. 9 10 For the latest info, see http://gimpact.sourceforge.net/ 11 12 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. 13 email: projectileman@yahoo.com 14 15 16 This software is provided 'as-is', without any express or implied warranty. 17 In no event will the authors be held liable for any damages arising from the use of this software. 18 Permission is granted to anyone to use this software for any purpose, 19 including commercial applications, and to alter it and redistribute it freely, 20 subject to the following restrictions: 21 22 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. 23 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 24 3. This notice may not be removed or altered from any source distribution. 25 */ 26 27 #include "LinearMath/btTransform.h" 28 #include "LinearMath/btAlignedObjectArray.h" 29 #include "btTriangleShapeEx.h" 30 31 32 33 /** 34 Configuration var for applying interpolation of contact normals 35 */ 36 #define NORMAL_CONTACT_AVERAGE 1 37 38 #define CONTACT_DIFF_EPSILON 0.00001f 39 40 ///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint. 41 ///@todo: remove and replace GIM_CONTACT by btManifoldPoint. 42 class GIM_CONTACT 43 { 44 public: 45 btVector3 m_point; 46 btVector3 m_normal; 47 btScalar m_depth;//Positive value indicates interpenetration 48 btScalar m_distance;//Padding not for use 49 int m_feature1;//Face number 50 int m_feature2;//Face number 51 public: GIM_CONTACT()52 GIM_CONTACT() 53 { 54 } 55 GIM_CONTACT(const GIM_CONTACT & contact)56 GIM_CONTACT(const GIM_CONTACT & contact): 57 m_point(contact.m_point), 58 m_normal(contact.m_normal), 59 m_depth(contact.m_depth), 60 m_feature1(contact.m_feature1), 61 m_feature2(contact.m_feature2) 62 { 63 } 64 GIM_CONTACT(const btVector3 & point,const btVector3 & normal,btScalar depth,int feature1,int feature2)65 GIM_CONTACT(const btVector3 &point,const btVector3 & normal, 66 btScalar depth, int feature1, int feature2): 67 m_point(point), 68 m_normal(normal), 69 m_depth(depth), 70 m_feature1(feature1), 71 m_feature2(feature2) 72 { 73 } 74 75 //! Calcs key for coord classification calc_key_contact()76 SIMD_FORCE_INLINE unsigned int calc_key_contact() const 77 { 78 int _coords[] = { 79 (int)(m_point[0]*1000.0f+1.0f), 80 (int)(m_point[1]*1333.0f), 81 (int)(m_point[2]*2133.0f+3.0f)}; 82 unsigned int _hash=0; 83 unsigned int *_uitmp = (unsigned int *)(&_coords[0]); 84 _hash = *_uitmp; 85 _uitmp++; 86 _hash += (*_uitmp)<<4; 87 _uitmp++; 88 _hash += (*_uitmp)<<8; 89 return _hash; 90 } 91 interpolate_normals(btVector3 * normals,int normal_count)92 SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count) 93 { 94 btVector3 vec_sum(m_normal); 95 for(int i=0;i<normal_count;i++) 96 { 97 vec_sum += normals[i]; 98 } 99 100 btScalar vec_sum_len = vec_sum.length2(); 101 if(vec_sum_len <CONTACT_DIFF_EPSILON) return; 102 103 //GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len) 104 105 m_normal = vec_sum/btSqrt(vec_sum_len); 106 } 107 108 }; 109 110 111 class btContactArray:public btAlignedObjectArray<GIM_CONTACT> 112 { 113 public: btContactArray()114 btContactArray() 115 { 116 reserve(64); 117 } 118 push_contact(const btVector3 & point,const btVector3 & normal,btScalar depth,int feature1,int feature2)119 SIMD_FORCE_INLINE void push_contact( 120 const btVector3 &point,const btVector3 & normal, 121 btScalar depth, int feature1, int feature2) 122 { 123 push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) ); 124 } 125 push_triangle_contacts(const GIM_TRIANGLE_CONTACT & tricontact,int feature1,int feature2)126 SIMD_FORCE_INLINE void push_triangle_contacts( 127 const GIM_TRIANGLE_CONTACT & tricontact, 128 int feature1,int feature2) 129 { 130 for(int i = 0;i<tricontact.m_point_count ;i++ ) 131 { 132 push_contact( 133 tricontact.m_points[i], 134 tricontact.m_separating_normal, 135 tricontact.m_penetration_depth,feature1,feature2); 136 } 137 } 138 139 void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true); 140 141 void merge_contacts_unique(const btContactArray & contacts); 142 }; 143 144 145 #endif // GIM_CONTACT_H_INCLUDED 146