blob: 20e41de089f4c927463d6b50999cb3b385abae70 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
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;
}
|