source: code/branches/ode/ode-0.9/GIMPACT/src/gim_contact.cpp @ 216

/*
-----------------------------------------------------------------------------
This source file is part of GIMPACT Library.

For the latest info, see http://gimpact.sourceforge.net/

Copyright (c) 2006 Francisco Leon. C.C. 80087371.
email: projectileman@yahoo.com

 This library is free software; you can redistribute it and/or
 modify it under the terms of EITHER:
   (1) The GNU Lesser General Public License as published by the Free
       Software Foundation; either version 2.1 of the License, or (at
       your option) any later version. The text of the GNU Lesser
       General Public License is included with this library in the
       file GIMPACT-LICENSE-LGPL.TXT.
   (2) The BSD-style license that is included with this library in
       the file GIMPACT-LICENSE-BSD.TXT.

 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
 GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-----------------------------------------------------------------------------
*/

#include "GIMPACT/gim_contact.h"

void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,
                                        GDYNAMIC_ARRAY * dest_contacts)
{
    dest_contacts->m_size = 0;

        GUINT source_count = source_contacts->m_size;
        GIM_CONTACT * psource_contacts  = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
        //create keys
        GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count);

    GUINT i;
        for(i=0;i<source_count;i++)
        {
                keycontacts[i].m_value = i;
                GIM_CALC_KEY_CONTACT(psource_contacts[i].m_point,keycontacts[i].m_key);
        }

        //sort keys
        GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , keycontacts, source_count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);

        // Merge contacts
        GIM_CONTACT * pcontact = 0;
        GIM_CONTACT * scontact = 0;
        GUINT key,last_key=0;

        for(i=0;i<source_contacts->m_size;i++)
        {
            key = keycontacts[i].m_key;
                scontact = &psource_contacts[keycontacts[i].m_value];

                if(i>0 && last_key ==  key)
                {
                        //merge contact
                        if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON)
                        {
                            GIM_COPY_CONTACTS(pcontact, scontact);
                        }
                }
                else
                {//add new contact
                    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
            pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
                    GIM_COPY_CONTACTS(pcontact, scontact);
        }
                last_key = key;
        }
        gim_free(keycontacts,0);
}

void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,
                                        GDYNAMIC_ARRAY * dest_contacts)
{
    dest_contacts->m_size = 0;
    //Traverse the source contacts
        GUINT source_count = source_contacts->m_size;
        if(source_count==0) return;

        GIM_CONTACT * psource_contacts  = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));

        //add the unique contact
        GIM_CONTACT * pcontact = 0;
    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
    pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
    //set the first contact
    GIM_COPY_CONTACTS(pcontact, psource_contacts);

    if(source_count==1) return;
    //scale the first contact
    VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal);

    psource_contacts++;

        //Average the contacts
    GUINT i;
        for(i=1;i<source_count;i++)
        {
            VEC_SUM(pcontact->m_point,pcontact->m_point,psource_contacts->m_point);
            VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal);
            psource_contacts++;
        }

        GREAL divide_average = 1.0f/((GREAL)source_count);

        VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point);

        pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average;
        GIM_SQRT(pcontact->m_depth,pcontact->m_depth);

        VEC_NORMALIZE(pcontact->m_normal);

        /*GREAL normal_len;
    VEC_INV_LENGTH(pcontact->m_normal,normal_len);
        VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal);

    //Deep = LEN(normal)/SQRT(source_count)
    GIM_SQRT(divide_average,divide_average);
        pcontact->m_depth = divide_average/normal_len;
        */
}