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https://github.com/Relintai/pandemonium_engine.git
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90 lines
1.6 KiB
C++
90 lines
1.6 KiB
C++
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#ifndef B3_REDUCE_CONTACTS_H
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#define B3_REDUCE_CONTACTS_H
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inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx)
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{
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if (nPoints == 0)
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return 0;
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if (nPoints <= 4)
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return nPoints;
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if (nPoints > 64)
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nPoints = 64;
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b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
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{
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for (int i = 0; i < nPoints; i++)
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center += p[i];
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center /= (float)nPoints;
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}
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// sample 4 directions
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b3Float4 aVector = p[0] - center;
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b3Float4 u = b3Cross3(nearNormal, aVector);
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b3Float4 v = b3Cross3(nearNormal, u);
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u = b3FastNormalized3(u);
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v = b3FastNormalized3(v);
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//keep point with deepest penetration
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float minW = FLT_MAX;
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int minIndex = -1;
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b3Float4 maxDots;
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maxDots.x = FLT_MIN;
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maxDots.y = FLT_MIN;
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maxDots.z = FLT_MIN;
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maxDots.w = FLT_MIN;
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// idx, distance
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for (int ie = 0; ie < nPoints; ie++)
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{
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if (p[ie].w < minW)
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{
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minW = p[ie].w;
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minIndex = ie;
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}
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float f;
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b3Float4 r = p[ie] - center;
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f = b3Dot3F4(u, r);
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if (f < maxDots.x)
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{
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maxDots.x = f;
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contactIdx[0].x = ie;
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}
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f = b3Dot3F4(-u, r);
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if (f < maxDots.y)
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{
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maxDots.y = f;
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contactIdx[0].y = ie;
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}
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f = b3Dot3F4(v, r);
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if (f < maxDots.z)
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{
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maxDots.z = f;
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contactIdx[0].z = ie;
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}
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f = b3Dot3F4(-v, r);
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if (f < maxDots.w)
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{
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maxDots.w = f;
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contactIdx[0].w = ie;
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}
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}
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if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
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{
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//replace the first contact with minimum (todo: replace contact with least penetration)
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contactIdx[0].x = minIndex;
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}
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return 4;
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}
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#endif //B3_REDUCE_CONTACTS_H
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