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

Bullet Collision Detection & Physics Library

gim_contact.h
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1#ifndef GIM_CONTACT_H_INCLUDED
2#define GIM_CONTACT_H_INCLUDED
3
7/*
8-----------------------------------------------------------------------------
9This source file is part of GIMPACT Library.
10
11For the latest info, see http://gimpact.sourceforge.net/
12
13Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14email: 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
57class GIM_CONTACT
58{
59public:
60 btVector3 m_point;
61 btVector3 m_normal;
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
66public:
67 GIM_CONTACT()
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
94 SIMD_FORCE_INLINE GUINT calc_key_contact() const
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
110 SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count)
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{
131public:
132 gim_contact_array() : gim_array<GIM_CONTACT>(64)
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
148 SIMD_FORCE_INLINE void push_triangle_contacts(
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
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
GIM_CONTACT
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
Definition: btContactProcessingStructs.h:41
GIM_CONTACT::m_feature1
GUINT m_feature1
Definition: gim_contact.h:64
GIM_CONTACT::interpolate_normals
void interpolate_normals(btVector3 *normals, GUINT normal_count)
Definition: gim_contact.h:110
GIM_CONTACT::GIM_CONTACT
GIM_CONTACT()
Definition: gim_contact.h:67
GIM_CONTACT::m_point
btVector3 m_point
Definition: btContactProcessingStructs.h:43
GIM_CONTACT::m_feature1
int m_feature1
Definition: btContactProcessingStructs.h:47
GIM_CONTACT::m_depth
GREAL m_depth
Definition: gim_contact.h:62
GIM_CONTACT::m_feature2
int m_feature2
Definition: btContactProcessingStructs.h:48
GIM_CONTACT::calc_key_contact
GUINT calc_key_contact() const
Calcs key for coord classification.
Definition: gim_contact.h:94
GIM_CONTACT::m_distance
GREAL m_distance
Definition: gim_contact.h:63
GIM_CONTACT::m_depth
btScalar m_depth
Definition: btContactProcessingStructs.h:45
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_CONTACT::GIM_CONTACT
GIM_CONTACT(const GIM_CONTACT &contact)
Definition: gim_contact.h:71
GIM_CONTACT::m_feature2
GUINT m_feature2
Definition: gim_contact.h:65
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
gim_array
Very simple array container with fast access and simd memory.
Definition: gim_array.h:43
gim_array< GIM_CONTACT >::back
GIM_CONTACT & back()
Definition: gim_array.h:198
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_array
Definition: gim_contact.h:130
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_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_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
gim_contact_array::gim_contact_array
gim_contact_array()
Definition: gim_contact.h:132
gim_array.h
CONTACT_DIFF_EPSILON
#define CONTACT_DIFF_EPSILON
Definition: gim_contact.h:47
gim_geometry.h
GREAL
#define GREAL
Definition: gim_math.h:37
GUINT
#define GUINT
Definition: gim_math.h:40
GINT
#define GINT
Definition: gim_math.h:39
GIM_INV_SQRT
#define GIM_INV_SQRT(va, isva)
Definition: gim_math.h:112
gim_radixsort.h
GIM_TRIANGLE_CONTACT_DATA
Structure for collision.
Definition: gim_tri_collision.h:45
GIM_TRIANGLE_CONTACT_DATA::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition: gim_tri_collision.h:49
GIM_TRIANGLE_CONTACT_DATA::m_penetration_depth
GREAL m_penetration_depth
Definition: gim_tri_collision.h:46
GIM_TRIANGLE_CONTACT_DATA::m_point_count
GUINT m_point_count
Definition: gim_tri_collision.h:47
GIM_TRIANGLE_CONTACT_DATA::m_separating_normal
btVector4 m_separating_normal
Definition: gim_tri_collision.h:48