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-rw-r--r--thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h126
1 files changed, 61 insertions, 65 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
index b41c714b5f..9deb28a26e 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
@@ -36,7 +36,6 @@ email: projectileman@yahoo.com
#include "gim_radixsort.h"
#include "gim_array.h"
-
/**
Configuration var for applying interpolation of contact normals
*/
@@ -58,90 +57,87 @@ Configuration var for applying interpolation of contact normals
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
+ 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)
- {
- }
+ 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;
+ 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;
+ _hash += (*_uitmp) << 4;
_uitmp++;
- _hash += (*_uitmp)<<8;
+ _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++)
+ 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)
+ if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
- m_normal = vec_sum*vec_sum_len;
- }
+ 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>
+class gim_contact_array : public gim_array<GIM_CONTACT>
{
public:
- gim_contact_array():gim_array<GIM_CONTACT>(64)
+ 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)
+ 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();
+ GIM_CONTACT &newele = back();
newele.m_point = point;
newele.m_normal = normal;
newele.m_depth = depth;
@@ -150,13 +146,13 @@ public:
}
SIMD_FORCE_INLINE void push_triangle_contacts(
- const GIM_TRIANGLE_CONTACT_DATA & tricontact,
- GUINT feature1,GUINT feature2)
+ const GIM_TRIANGLE_CONTACT_DATA &tricontact,
+ GUINT feature1, GUINT feature2)
{
- for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
+ for (GUINT i = 0; i < tricontact.m_point_count; i++)
{
push_back_mem();
- GIM_CONTACT & newele = back();
+ 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;
@@ -165,8 +161,8 @@ public:
}
}
- void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
- void merge_contacts_unique(const gim_contact_array & contacts);
+ 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
+#endif // GIM_CONTACT_H_INCLUDED