/usr/include/bullet/BulletCollision/Gimpact/gim_contact.h is in libbullet-dev 2.83.6+dfsg-3.
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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 | #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
*/
#define NORMAL_CONTACT_AVERAGE 1
#define CONTACT_DIFF_EPSILON 0.00001f
/// 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;
}
};
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
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