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

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Thanks a lot to Francisco León Nájera for the contribution!
This commit is contained in:
ejcoumans
2006-11-12 06:15:19 +00:00
parent 86c27a7c9d
commit a9172d8684
47 changed files with 14930 additions and 5 deletions
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185
Extras/GIMPACT/src/gim_contact.cpp Normal file
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/*
-----------------------------------------------------------------------------
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_contact.h"
#define MAX_COINCIDENT 8
void gim_interpolate_contact_normals(GIM_CONTACT * destcontact,vec3f * normals,GUINT normal_count)
{
GREAL vec_sum[]={0.0f,0.0f,0.0f};
vec3f test_vec;
for(GUINT i=0;i<normal_count;i++)
{
VEC_SCALE(test_vec,destcontact->m_depth,normals[i]);
VEC_SUM(vec_sum,vec_sum,test_vec);
}
if(VEC_DOT(vec_sum,vec_sum)<CONTACT_DIFF_EPSILON) return;
test_vec[0] = 1.0f/((GREAL)normal_count);
VEC_SCALE(vec_sum,test_vec[0],vec_sum);
VEC_LENGTH(vec_sum,destcontact->m_depth);
test_vec[0] = 1.0f/destcontact->m_depth;
VEC_SCALE(destcontact->m_normal,test_vec[0],vec_sum);
}
void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,
GDYNAMIC_ARRAY * dest_contacts)
{
dest_contacts->m_size = 0;
GUINT source_count = source_contacts->m_size;
GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
//create keys
GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count);
GUINT i;
for(i=0;i<source_count;i++)
{
keycontacts[i].m_value = i;
GIM_CALC_KEY_CONTACT(psource_contacts[i].m_point,keycontacts[i].m_key);
}
//sort keys
GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , keycontacts, source_count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);
// Merge contacts
GIM_CONTACT * pcontact = 0;
GIM_CONTACT * scontact = 0;
GUINT key,last_key=0;
GUINT coincident_count=0;
vec3f coincident_normals[MAX_COINCIDENT];
for(i=0;i<source_contacts->m_size;i++)
{
key = keycontacts[i].m_key;
scontact = &psource_contacts[keycontacts[i].m_value];
if(i>0 && last_key == key)
{
//merge contact
if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
{
GIM_COPY_CONTACTS(pcontact, scontact);
coincident_count = 0;
}
else
{
#if (NORMAL_CONTACT_AVERAGE == 1)
if(fabsf(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
{
if(coincident_count<MAX_COINCIDENT)
{
VEC_COPY(coincident_normals[coincident_count],scontact->m_normal);
coincident_count++;
}
}
#endif
}
}
else
{//add new contact
#if (NORMAL_CONTACT_AVERAGE == 1)
if(pcontact&&coincident_count>0)
{
gim_interpolate_contact_normals(pcontact,coincident_normals,coincident_count);
coincident_count = 0;
}
#endif
GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
GIM_COPY_CONTACTS(pcontact, scontact);
coincident_count=0;
}
last_key = key;
}
gim_free(keycontacts,0);
}
void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,
GDYNAMIC_ARRAY * dest_contacts)
{
dest_contacts->m_size = 0;
//Traverse the source contacts
GUINT source_count = source_contacts->m_size;
if(source_count==0) return;
GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
//add the unique contact
GIM_CONTACT * pcontact = 0;
GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
//set the first contact
GIM_COPY_CONTACTS(pcontact, psource_contacts);
if(source_count==1) return;
//scale the first contact
VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal);
psource_contacts++;
//Average the contacts
GUINT i;
for(i=1;i<source_count;i++)
{
VEC_SUM(pcontact->m_point,pcontact->m_point,psource_contacts->m_point);
VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal);
psource_contacts++;
}
GREAL divide_average = 1.0f/((GREAL)source_count);
VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point);
pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average;
GIM_SQRT(pcontact->m_depth,pcontact->m_depth);
VEC_NORMALIZE(pcontact->m_normal);
/*GREAL normal_len;
VEC_INV_LENGTH(pcontact->m_normal,normal_len);
VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal);
//Deep = LEN(normal)/SQRT(source_count)
GIM_SQRT(divide_average,divide_average);
pcontact->m_depth = divide_average/normal_len;
*/
}