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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/Gimpact/btContactProcessing.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/Gimpact/btContactProcessing.cpp | 181 |
1 files changed, 0 insertions, 181 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/btContactProcessing.cpp b/thirdparty/bullet/src/BulletCollision/Gimpact/btContactProcessing.cpp deleted file mode 100644 index eed31d839f..0000000000 --- a/thirdparty/bullet/src/BulletCollision/Gimpact/btContactProcessing.cpp +++ /dev/null @@ -1,181 +0,0 @@ - -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -#include "btContactProcessing.h" - -#define MAX_COINCIDENT 8 - -struct CONTACT_KEY_TOKEN -{ - unsigned int m_key; - int m_value; - CONTACT_KEY_TOKEN() - { - } - - CONTACT_KEY_TOKEN(unsigned int key,int token) - { - m_key = key; - m_value = token; - } - - CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken) - { - m_key = rtoken.m_key; - m_value = rtoken.m_value; - } - - inline bool operator <(const CONTACT_KEY_TOKEN& other) const - { - return (m_key < other.m_key); - } - - inline bool operator >(const CONTACT_KEY_TOKEN& other) const - { - return (m_key > other.m_key); - } - -}; - -class CONTACT_KEY_TOKEN_COMP -{ - public: - - bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) const - { - return ( a < b ); - } -}; - - -void btContactArray::merge_contacts( - const btContactArray & contacts, bool normal_contact_average) -{ - clear(); - - int i; - if(contacts.size()==0) return; - - - if(contacts.size()==1) - { - push_back(contacts[0]); - return; - } - - btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts; - - keycontacts.reserve(contacts.size()); - - //fill key contacts - - for ( i = 0;i<contacts.size() ;i++ ) - { - keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i)); - } - - //sort keys - keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP()); - - // Merge contacts - int coincident_count=0; - btVector3 coincident_normals[MAX_COINCIDENT]; - - unsigned int last_key = keycontacts[0].m_key; - unsigned int key = 0; - - push_back(contacts[keycontacts[0].m_value]); - - GIM_CONTACT * pcontact = &(*this)[0]; - - 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 = &(*this)[this->size()-1]; - } - last_key = key; - } -} - -void btContactArray::merge_contacts_unique(const btContactArray & contacts) -{ - clear(); - - if(contacts.size()==0) return; - - if(contacts.size()==1) - { - push_back(contacts[0]); - return; - } - - GIM_CONTACT average_contact = contacts[0]; - - for (int 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 - btScalar divide_average = 1.0f/((btScalar)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; - -} - |