forked from bartvdbraak/blender
281f236e6e
- on Ton's request use double versions of cos,sin,tan, sqrt etc. just like Solid in MT_Scalar #if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__) - updated an url in the header of files
119 lines
2.8 KiB
C++
119 lines
2.8 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef PERSISTENT_MANIFOLD_H
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#define PERSISTENT_MANIFOLD_H
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#include "SimdVector3.h"
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#include "SimdTransform.h"
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#include "ManifoldPoint.h"
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struct CollisionResult;
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///contact breaking and merging treshold
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extern float gContactBreakingTreshold;
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#define MANIFOLD_CACHE_SIZE 4
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///PersistentManifold maintains contact points, and reduces them to 4
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class PersistentManifold
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{
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ManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
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/// this two body pointers can point to the physics rigidbody class.
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/// void* will allow any rigidbody class
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void* m_body0;
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void* m_body1;
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int m_cachedPoints;
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/// sort cached points so most isolated points come first
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int SortCachedPoints(const ManifoldPoint& pt);
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int FindContactPoint(const ManifoldPoint* unUsed, int numUnused,const ManifoldPoint& pt);
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public:
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int m_index1;
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PersistentManifold();
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PersistentManifold(void* body0,void* body1)
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: m_body0(body0),m_body1(body1),m_cachedPoints(0)
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{
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}
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inline void* GetBody0() { return m_body0;}
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inline void* GetBody1() { return m_body1;}
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inline const void* GetBody0() const { return m_body0;}
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inline const void* GetBody1() const { return m_body1;}
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void SetBodies(void* body0,void* body1)
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{
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m_body0 = body0;
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m_body1 = body1;
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}
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inline int GetNumContacts() const { return m_cachedPoints;}
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inline const ManifoldPoint& GetContactPoint(int index) const
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{
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ASSERT(index < m_cachedPoints);
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return m_pointCache[index];
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}
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inline ManifoldPoint& GetContactPoint(int index)
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{
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ASSERT(index < m_cachedPoints);
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return m_pointCache[index];
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}
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/// todo: get this margin from the current physics / collision environment
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float GetManifoldMargin() const;
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int GetCacheEntry(const ManifoldPoint& newPoint) const;
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void AddManifoldPoint( const ManifoldPoint& newPoint);
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void RemoveContactPoint (int index)
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{
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m_pointCache[index] = m_pointCache[GetNumContacts() - 1];
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m_cachedPoints--;
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}
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void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)
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{
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assert(ValidContactDistance(newPoint));
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m_pointCache[insertIndex] = newPoint;
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}
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bool ValidContactDistance(const ManifoldPoint& pt) const
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{
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return pt.m_distance1 <= GetManifoldMargin();
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}
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/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
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void RefreshContactPoints( const SimdTransform& trA,const SimdTransform& trB);
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void ClearManifold();
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float GetCollisionImpulse() const;
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};
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#endif //PERSISTENT_MANIFOLD_H
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