Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)

Thanks a lot to Francisco León Nájera for the contribution!
2006-11-12 06:15:19 +00:00
parent 86c27a7c9d
commit a9172d8684
47 changed files with 14930 additions and 5 deletions
--- a/Extras/GIMPACT/include/GIMPACT/gim_contact.h
+++ b/Extras/GIMPACT/include/GIMPACT/gim_contact.h
@@ -0,0 +1,121 @@
+#ifndef GIM_CONTACT_H_INCLUDED
+#define GIM_CONTACT_H_INCLUDED
+
+/*! \file gim_contact.h
+\author Francisco Le<4C>n N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+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 "GIMPACT/gim_geometry.h"
+#include "GIMPACT/gim_radixsort.h"
+
+/*! \defgroup CONTACTS
+\brief
+Functions for managing and sorting contacts resulting from a collision query.
+<ul>
+<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
+<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
+<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
+</ul>
+
+*/
+//! @{
+
+/**
+Configuration var for applying interpolation of  contact normals
+*/
+#define NORMAL_CONTACT_AVERAGE 1
+
+/// Structure for collision results
+struct GIM_CONTACT
+{
+    vec3f m_point;
+    vec3f m_normal;
+    GREAL m_depth;//Positive value indicates interpenetration
+    void * m_handle1;
+    void * m_handle2;
+    GUINT m_feature1;//Face number
+    GUINT m_feature2;//Face number
+};
+//typedef struct _GIM_CONTACT GIM_CONTACT;
+
+#define CONTACT_DIFF_EPSILON 0.00001f
+
+#define GIM_CALC_KEY_CONTACT(pos,hash)\
+{\
+	GINT _coords[] = {(GINT)(pos[0]*1000.0f+1.0f),(GINT)(pos[1]*1333.0f),(GINT)(pos[2]*2133.0f+3.0f)};\
+	GUINT _hash=0;\
+	GUINT *_uitmp = (GUINT *)(&_coords[0]);\
+	_hash = *_uitmp;\
+	_uitmp++;\
+	_hash += (*_uitmp)<<4;\
+	_uitmp++;\
+	_hash += (*_uitmp)<<8;\
+	hash = _hash;\
+}\
+
+///Creates a contact list for queries
+#define GIM_CREATE_CONTACT_LIST(contact_array) GIM_DYNARRAY_CREATE(GIM_CONTACT,contact_array,64)
+
+#define GIM_PUSH_CONTACT(contact_array, point, normal, deep,handle1, handle2, feat1, feat2)\
+{\
+    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,contact_array);\
+    GIM_CONTACT * _last = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,contact_array);\
+    VEC_COPY(_last->m_point,point);\
+    VEC_COPY(_last->m_normal,normal);\
+    _last->m_depth = deep;\
+    _last->m_handle1 = handle1;\
+    _last->m_handle2 = handle2;\
+    _last->m_feature1 = feat1;\
+    _last->m_feature2 = feat2;\
+}\
+
+///Receive pointer to contacts
+#define GIM_COPY_CONTACTS(dest_contact, source_contact)\
+{\
+    VEC_COPY(dest_contact->m_point,source_contact->m_point);\
+    VEC_COPY(dest_contact->m_normal,source_contact->m_normal);\
+    dest_contact->m_depth = source_contact->m_depth;\
+    dest_contact->m_handle1 = source_contact->m_handle1;\
+    dest_contact->m_handle2 = source_contact->m_handle2;\
+    dest_contact->m_feature1 = source_contact->m_feature1;\
+    dest_contact->m_feature2 = source_contact->m_feature2;\
+}\
+
+//! Merges duplicate contacts with minimum depth criterion
+void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,
+					GDYNAMIC_ARRAY * dest_contacts);
+
+
+//! Merges to an unique contact
+void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,
+					GDYNAMIC_ARRAY * dest_contacts);
+
+//! @}
+#endif // GIM_CONTACT_H_INCLUDED