Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 146 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/gim_contact.cpp b/thirdparty/bullet/src/BulletCollision/Gimpact/gim_contact.cpp
new file mode 100644
index 0000000000..20e41de089
--- /dev/null
+++ b/thirdparty/bullet/src/BulletCollision/Gimpact/gim_contact.cpp
@@ -0,0 +1,146 @@
+
+/*
+-----------------------------------------------------------------------------
+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_contact.h"
+
+#define MAX_COINCIDENT 8
+
+void gim_contact_array::merge_contacts(
+	const gim_contact_array & contacts, bool normal_contact_average)
+{
+	clear();
+
+	if(contacts.size()==1)
+	{
+		push_back(contacts.back());
+		return;
+	}
+
+	gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
+	keycontacts.resize(contacts.size(),false);
+
+	//fill key contacts
+
+	GUINT i;
+
+	for (i = 0;i<contacts.size() ;i++ )
+	{
+		keycontacts[i].m_key = contacts[i].calc_key_contact();
+		keycontacts[i].m_value = i;
+	}
+
+	//sort keys
+	gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());
+
+	// Merge contacts
+
+	GUINT coincident_count=0;
+	btVector3 coincident_normals[MAX_COINCIDENT];
+
+	GUINT last_key = keycontacts[0].m_key;
+	GUINT key = 0;
+
+	push_back(contacts[keycontacts[0].m_value]);
+	GIM_CONTACT * pcontact = &back();
+
+
+
+	for( i=1;i<keycontacts.size();i++)
+	{
+	    key = keycontacts[i].m_key;
+		const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+
+		if(last_key ==  key)//same points
+		{
+			//merge contact
+			if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
+			{
+				*pcontact = *scontact;
+                coincident_count = 0;
+			}
+			else if(normal_contact_average)
+			{
+				if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
+                {
+                    if(coincident_count<MAX_COINCIDENT)
+                    {
+                    	coincident_normals[coincident_count] = scontact->m_normal;
+                        coincident_count++;
+                    }
+                }
+			}
+		}
+		else
+		{//add new contact
+
+		    if(normal_contact_average && coincident_count>0)
+		    {
+		    	pcontact->interpolate_normals(coincident_normals,coincident_count);
+		        coincident_count = 0;
+		    }
+
+		    push_back(*scontact);
+		    pcontact = &back();
+        }
+		last_key = key;
+	}
+}
+
+void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts)
+{
+	clear();
+
+	if(contacts.size()==1)
+	{
+		push_back(contacts.back());
+		return;
+	}
+
+	GIM_CONTACT average_contact = contacts.back();
+
+	for (GUINT i=1;i<contacts.size() ;i++ )
+	{
+		average_contact.m_point += contacts[i].m_point;
+		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
+	}
+
+	//divide
+	GREAL divide_average = 1.0f/((GREAL)contacts.size());
+
+	average_contact.m_point *= divide_average;
+
+	average_contact.m_normal *= divide_average;
+
+	average_contact.m_depth = average_contact.m_normal.length();
+
+	average_contact.m_normal /= average_contact.m_depth;
+
+}
+