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source: code/branches/physics/src/bullet/BulletCollision/Gimpact/gim_contact.cpp @ 1963

Last change on this file since 1963 was 1963, checked in by rgrieder, 16 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 3.7 KB
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[1963]1
2/*
3-----------------------------------------------------------------------------
4This source file is part of GIMPACT Library.
5
6For the latest info, see http://gimpact.sourceforge.net/
7
8Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
9email: 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
35void 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
116void 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
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