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66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
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#ifndef BT_CONTACT_H_INCLUDED
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#define BT_CONTACT_H_INCLUDED
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/*! \file gim_contact.h
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\author Francisco Leon Najera
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*/
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btTriangleShapeEx.h"
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#include "btContactProcessingStructs.h"
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class btContactArray : public btAlignedObjectArray<GIM_CONTACT>
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{
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public:
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btContactArray()
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{
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reserve(64);
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}
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SIMD_FORCE_INLINE void push_contact(
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const btVector3 &point, const btVector3 &normal,
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btScalar depth, int feature1, int feature2)
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{
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push_back(GIM_CONTACT(point, normal, depth, feature1, feature2));
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}
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SIMD_FORCE_INLINE void push_triangle_contacts(
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const GIM_TRIANGLE_CONTACT &tricontact,
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int feature1, int feature2)
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{
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for (int i = 0; i < tricontact.m_point_count; i++)
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{
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push_contact(
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tricontact.m_points[i],
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tricontact.m_separating_normal,
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tricontact.m_penetration_depth, feature1, feature2);
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}
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}
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void merge_contacts(const btContactArray &contacts, bool normal_contact_average = true);
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void merge_contacts_unique(const btContactArray &contacts);
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};
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#endif // GIM_CONTACT_H_INCLUDED
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