Bullet Collision Detection & Physics Library
gim_contact.h
Go to the documentation of this file.
1 #ifndef GIM_CONTACT_H_INCLUDED
2 #define GIM_CONTACT_H_INCLUDED
3 
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 
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 
57 class GIM_CONTACT
58 {
59 public:
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:
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 
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 
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:
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 
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
GIM_CONTACT::m_depth
GREAL m_depth
Definition: gim_contact.h:62
GREAL
#define GREAL
Definition: gim_math.h:37
GIM_CONTACT::interpolate_normals
void interpolate_normals(btVector3 *normals, GUINT normal_count)
Definition: gim_contact.h:110
gim_contact_array::push_triangle_contacts
void push_triangle_contacts(const GIM_TRIANGLE_CONTACT_DATA &tricontact, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:148
GIM_CONTACT::m_feature1
int m_feature1
Definition: btContactProcessingStructs.h:47
gim_array
Very simple array container with fast access and simd memory.
Definition: gim_array.h:42
gim_array.h
GIM_CONTACT::calc_key_contact
GUINT calc_key_contact() const
Calcs key for coord classification.
Definition: gim_contact.h:94
GIM_CONTACT::m_depth
btScalar m_depth
Definition: btContactProcessingStructs.h:45
gim_contact_array::merge_contacts
void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average=true)
Definition: gim_contact.cpp:35
gim_contact_array::merge_contacts_unique
void merge_contacts_unique(const gim_contact_array &contacts)
Definition: gim_contact.cpp:114
GUINT
#define GUINT
Definition: gim_math.h:40
gim_contact_array::push_contact
void push_contact(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:136
GIM_CONTACT::m_point
btVector3 m_point
Definition: btContactProcessingStructs.h:43
CONTACT_DIFF_EPSILON
#define CONTACT_DIFF_EPSILON
Definition: gim_contact.h:47
GIM_TRIANGLE_CONTACT_DATA::m_penetration_depth
GREAL m_penetration_depth
Definition: gim_tri_collision.h:46
gim_radixsort.h
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT(const GIM_CONTACT &contact)
Definition: gim_contact.h:71
GIM_CONTACT::m_distance
GREAL m_distance
Definition: gim_contact.h:63
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT()
Definition: gim_contact.h:67
GIM_CONTACT::m_feature2
int m_feature2
Definition: btContactProcessingStructs.h:48
GIM_TRIANGLE_CONTACT_DATA::m_point_count
GUINT m_point_count
Definition: gim_tri_collision.h:47
GIM_TRIANGLE_CONTACT_DATA
Structure for collision.
Definition: gim_tri_collision.h:44
gim_array< GIM_CONTACT >::back
GIM_CONTACT & back()
Definition: gim_array.h:198
gim_contact_array::gim_contact_array
gim_contact_array()
Definition: gim_contact.h:132
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
GIM_TRIANGLE_CONTACT_DATA::m_separating_normal
btVector4 m_separating_normal
Definition: gim_tri_collision.h:48
gim_array< GIM_CONTACT >::push_back_mem
void push_back_mem()
Simply increase the m_size, doesn't call the new element constructor.
Definition: gim_array.h:221
GIM_CONTACT
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
Definition: btContactProcessingStructs.h:40
GIM_CONTACT::m_feature2
GUINT m_feature2
Definition: gim_contact.h:65
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
GIM_CONTACT::m_feature1
GUINT m_feature1
Definition: gim_contact.h:64
gim_contact_array
Definition: gim_contact.h:129
gim_geometry.h
GINT
#define GINT
Definition: gim_math.h:39
GIM_TRIANGLE_CONTACT_DATA::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition: gim_tri_collision.h:49
GIM_CONTACT::m_normal
btVector3 m_normal
Definition: btContactProcessingStructs.h:44
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:84
GIM_INV_SQRT
#define GIM_INV_SQRT(va, isva)
Definition: gim_math.h:112
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251