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authorRĂ©mi Verschelde <rverschelde@gmail.com>2018-01-13 14:43:30 +0100
committerGitHub <noreply@github.com>2018-01-13 14:43:30 +0100
commita3ee252993e8200c856be3fe664937f9461ee268 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
parentc01575b3125ce1828f0cacb3f9f00286136f373c (diff)
parente12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff)
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h')
-rw-r--r--thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h172
1 files changed, 172 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
new file mode 100644
index 0000000000..b41c714b5f
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
@@ -0,0 +1,172 @@
+#ifndef GIM_CONTACT_H_INCLUDED
+#define GIM_CONTACT_H_INCLUDED
+
+/*! \file gim_contact.h
+\author Francisco Leon Najera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. 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.
+ (3) The zlib/libpng license that is included with this library in
+ the file GIMPACT-LICENSE-ZLIB.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, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+#include "gim_geometry.h"
+#include "gim_radixsort.h"
+#include "gim_array.h"
+
+
+/**
+Configuration var for applying interpolation of contact normals
+*/
+#ifndef NORMAL_CONTACT_AVERAGE
+#define NORMAL_CONTACT_AVERAGE 1
+#endif
+
+#ifndef CONTACT_DIFF_EPSILON
+#define CONTACT_DIFF_EPSILON 0.00001f
+#endif
+
+#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
+
+/// Structure for collision results
+///Functions for managing and sorting contacts resulting from a collision query.
+///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
+///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
+///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
+class GIM_CONTACT
+{
+public:
+ btVector3 m_point;
+ btVector3 m_normal;
+ GREAL m_depth;//Positive value indicates interpenetration
+ GREAL m_distance;//Padding not for use
+ GUINT m_feature1;//Face number
+ GUINT m_feature2;//Face number
+public:
+ GIM_CONTACT()
+ {
+ }
+
+ GIM_CONTACT(const GIM_CONTACT & contact):
+ m_point(contact.m_point),
+ m_normal(contact.m_normal),
+ m_depth(contact.m_depth),
+ m_feature1(contact.m_feature1),
+ m_feature2(contact.m_feature2)
+ {
+ m_point = contact.m_point;
+ m_normal = contact.m_normal;
+ m_depth = contact.m_depth;
+ m_feature1 = contact.m_feature1;
+ m_feature2 = contact.m_feature2;
+ }
+
+ GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
+ GREAL depth, GUINT feature1, GUINT feature2):
+ m_point(point),
+ m_normal(normal),
+ m_depth(depth),
+ m_feature1(feature1),
+ m_feature2(feature2)
+ {
+ }
+
+ //! Calcs key for coord classification
+ SIMD_FORCE_INLINE GUINT calc_key_contact() const
+ {
+ GINT _coords[] = {
+ (GINT)(m_point[0]*1000.0f+1.0f),
+ (GINT)(m_point[1]*1333.0f),
+ (GINT)(m_point[2]*2133.0f+3.0f)};
+ GUINT _hash=0;
+ GUINT *_uitmp = (GUINT *)(&_coords[0]);
+ _hash = *_uitmp;
+ _uitmp++;
+ _hash += (*_uitmp)<<4;
+ _uitmp++;
+ _hash += (*_uitmp)<<8;
+ return _hash;
+ }
+
+ SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
+ {
+ btVector3 vec_sum(m_normal);
+ for(GUINT i=0;i<normal_count;i++)
+ {
+ vec_sum += normals[i];
+ }
+
+ GREAL vec_sum_len = vec_sum.length2();
+ if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
+
+ GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
+
+ m_normal = vec_sum*vec_sum_len;
+ }
+
+};
+
+#endif
+
+class gim_contact_array:public gim_array<GIM_CONTACT>
+{
+public:
+ gim_contact_array():gim_array<GIM_CONTACT>(64)
+ {
+ }
+
+ SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
+ GREAL depth, GUINT feature1, GUINT feature2)
+ {
+ push_back_mem();
+ GIM_CONTACT & newele = back();
+ newele.m_point = point;
+ newele.m_normal = normal;
+ newele.m_depth = depth;
+ newele.m_feature1 = feature1;
+ newele.m_feature2 = feature2;
+ }
+
+ SIMD_FORCE_INLINE void push_triangle_contacts(
+ const GIM_TRIANGLE_CONTACT_DATA & tricontact,
+ GUINT feature1,GUINT feature2)
+ {
+ for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
+ {
+ push_back_mem();
+ GIM_CONTACT & newele = back();
+ newele.m_point = tricontact.m_points[i];
+ newele.m_normal = tricontact.m_separating_normal;
+ newele.m_depth = tricontact.m_penetration_depth;
+ newele.m_feature1 = feature1;
+ newele.m_feature2 = feature2;
+ }
+ }
+
+ void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
+ void merge_contacts_unique(const gim_contact_array & contacts);
+};
+
+#endif // GIM_CONTACT_H_INCLUDED