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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h | 168 |
1 files changed, 0 insertions, 168 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h deleted file mode 100644 index 9deb28a26e..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h +++ /dev/null @@ -1,168 +0,0 @@ -#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 |