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 (at) 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 165
