Bullet Collision Detection & Physics Library: gim_contact.h Source File

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gim_contact.h
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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
39
43 #define NORMAL_CONTACT_AVERAGE 1
44 #define CONTACT_DIFF_EPSILON 0.00001f
45
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
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
GIM_TRIANGLE_CONTACT_DATA::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition: gim_tri_collision.h:50
gim_geometry.h
GIM_CONTACT::m_normal
btVector3 m_normal
Definition: btContactProcessing.h:46
GIM_CONTACT::m_depth
GREAL m_depth
Definition: gim_contact.h:56
GIM_INV_SQRT
#define GIM_INV_SQRT(va, isva)
Definition: gim_math.h:119
CONTACT_DIFF_EPSILON
#define CONTACT_DIFF_EPSILON
Definition: gim_contact.h:44
gim_contact_array::gim_contact_array
gim_contact_array()
Definition: gim_contact.h:128
gim_contact_array::push_contact
void push_contact(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:132
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
gim_radixsort.h
GIM_CONTACT::m_depth
btScalar m_depth
Definition: btContactProcessing.h:47
GIM_CONTACT::interpolate_normals
void interpolate_normals(btVector3 *normals, GUINT normal_count)
Definition: gim_contact.h:106
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT(const GIM_CONTACT &contact)
Definition: gim_contact.h:65
GREAL
#define GREAL
Definition: gim_math.h:39
GIM_CONTACT::m_feature2
int m_feature2
Definition: btContactProcessing.h:50
GIM_TRIANGLE_CONTACT_DATA::m_point_count
GUINT m_point_count
Definition: gim_tri_collision.h:48
GIM_CONTACT::m_feature2
GUINT m_feature2
Definition: gim_contact.h:59
GINT
#define GINT
Definition: gim_math.h:41
GIM_TRIANGLE_CONTACT_DATA::m_penetration_depth
GREAL m_penetration_depth
Definition: gim_tri_collision.h:47
gim_array
Very simple array container with fast access and simd memory.
Definition: gim_array.h:43
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT()
Definition: gim_contact.h:61
gim_array.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:257
GIM_TRIANGLE_CONTACT_DATA
Structure for collision.
Definition: gim_tri_collision.h:45
GIM_CONTACT::m_distance
GREAL m_distance
Definition: gim_contact.h:57
GIM_CONTACT::m_point
btVector3 m_point
Definition: btContactProcessing.h:45
gim_contact_array
Definition: gim_contact.h:125
GIM_CONTACT::m_feature1
GUINT m_feature1
Definition: gim_contact.h:58
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT(const btVector3 &point, const btVector3 &normal, GREAL depth, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:79
GUINT
#define GUINT
Definition: gim_math.h:42
GIM_TRIANGLE_CONTACT_DATA::m_separating_normal
btVector4 m_separating_normal
Definition: gim_tri_collision.h:49
GIM_CONTACT::m_feature1
int m_feature1
Definition: btContactProcessing.h:49
GIM_CONTACT
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
Definition: btContactProcessing.h:42
GIM_CONTACT::calc_key_contact
GUINT calc_key_contact() const
Calcs key for coord classification.
Definition: gim_contact.h:90
gim_contact_array::push_triangle_contacts
void push_triangle_contacts(const GIM_TRIANGLE_CONTACT_DATA &tricontact, GUINT feature1, GUINT feature2)
Definition: gim_contact.h:144