1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
|
/*
-----------------------------------------------------------------------------
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2006 Francisco Leon. 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.
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 and GIMPACT-LICENSE-BSD.TXT for more details.
-----------------------------------------------------------------------------
*/
#include "GIMPACT/gim_contact.h"
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;
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 > scontact->m_depth + CONTACT_DIFF_EPSILON)
{
GIM_COPY_CONTACTS(pcontact, scontact);
}
}
else
{//add new contact
GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
GIM_COPY_CONTACTS(pcontact, scontact);
}
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;
*/
}
|
