/*! For elastic objects, if we have two contacts close to each other
we assume they are actually part of the same contact. This function
checks for overlapping neighborhoods and merges them.
*/
void
mergeSoftNeighborhoods(Body *body1, Body *body2, ContactReport &contactSet)
{
bool mergePerformed = true;
ContactReport::iterator refContact, otherContact;
while (mergePerformed) {
mergePerformed = false;
//check each contact agains each other contact
for (refContact=contactSet.begin(); refContact!=contactSet.end(); refContact++) {
for (otherContact = contactSet.begin(); otherContact != contactSet.end(); otherContact++) {
if (otherContact == refContact) continue;
//this arbitrarily checks only the neighborhoods on body1
if ( neighborhoodsOverlap(refContact->nghbd1, otherContact->nghbd1) ) {
DBGP("Overlap found");
// this should be improved; it keeps the closest contact but merges neighborhoods
// ideally it should keep the closest contact and RECALCULATE the neighborhoods
if ( contactDistance(body1, body2, *refContact) < contactDistance(body1, body2, *otherContact) ) {
mergeNeighborhoods( refContact->nghbd1, otherContact->nghbd1 );
mergeNeighborhoods( refContact->nghbd2, otherContact->nghbd2 );
contactSet.erase( otherContact );
} else {
mergeNeighborhoods( otherContact->nghbd1, refContact->nghbd1 );
mergeNeighborhoods( otherContact->nghbd2, refContact->nghbd2 );
contactSet.erase( refContact );
}
mergePerformed = true;
break;
} else {
DBGP("Overlap not found");
}
}
//if we have a merge, restart operation
if (mergePerformed)
break;
}
}
}
