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"btContactProcessing.h" divided into two files "btContactProcessing.h" and "btContactProcessingSructs.h"

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nicolaichuk
2017-03-23 14:10:17 +03:00
parent c7834e8e25
commit b859ad7e4f
2 changed files with 139 additions and 81 deletions
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82
src/BulletCollision/Gimpact/btContactProcessing.h
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@@ -27,86 +27,7 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btTriangleShapeEx.h"
/**
Configuration var for applying interpolation of contact normals
*/
#define NORMAL_CONTACT_AVERAGE 1
#define CONTACT_DIFF_EPSILON 0.00001f
///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
class GIM_CONTACT
{
public:
btVector3 m_point;
btVector3 m_normal;
btScalar m_depth;//Positive value indicates interpenetration
btScalar m_distance;//Padding not for use
int m_feature1;//Face number
int 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)
{
}
GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
btScalar depth, int feature1, int feature2):
m_point(point),
m_normal(normal),
m_depth(depth),
m_feature1(feature1),
m_feature2(feature2)
{
}
//! Calcs key for coord classification
SIMD_FORCE_INLINE unsigned int calc_key_contact() const
{
int _coords[] = {
(int)(m_point[0]*1000.0f+1.0f),
(int)(m_point[1]*1333.0f),
(int)(m_point[2]*2133.0f+3.0f)};
unsigned int _hash=0;
unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
_hash = *_uitmp;
_uitmp++;
_hash += (*_uitmp)<<4;
_uitmp++;
_hash += (*_uitmp)<<8;
return _hash;
}
SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
{
btVector3 vec_sum(m_normal);
for(int i=0;i<normal_count;i++)
{
vec_sum += normals[i];
}
btScalar 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/btSqrt(vec_sum_len);
}
};
#include "btContactProcessingSructs.h"
class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
{
@@ -141,5 +62,4 @@ public:
void merge_contacts_unique(const btContactArray & contacts);
};
#endif // GIM_CONTACT_H_INCLUDED