void gim_contact_array::merge_contacts(
const gim_contact_array & contacts, bool normal_contact_average)
{
clear();
if(contacts.size()==1)
{
push_back(contacts.back());
return;
}
gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
keycontacts.resize(contacts.size(),false);
//fill key contacts
GUINT i;
for (i = 0;i<contacts.size() ;i++ )
{
keycontacts[i].m_key = contacts[i].calc_key_contact();
keycontacts[i].m_value = i;
}
//sort keys
gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());
// Merge contacts
GUINT coincident_count=0;
btVector3 coincident_normals[MAX_COINCIDENT];
GUINT last_key = keycontacts[0].m_key;
GUINT key = 0;
push_back(contacts[keycontacts[0].m_value]);
GIM_CONTACT * pcontact = &back();
for( i=1;i<keycontacts.size();i++)
{
key = keycontacts[i].m_key;
const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
if(last_key == key)//same points
{
//merge contact
if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
{
*pcontact = *scontact;
coincident_count = 0;
}
else if(normal_contact_average)
{
if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
{
if(coincident_count<MAX_COINCIDENT)
{
coincident_normals[coincident_count] = scontact->m_normal;
coincident_count++;
}
}
}
}
else
{//add new contact
if(normal_contact_average && coincident_count>0)
{
pcontact->interpolate_normals(coincident_normals,coincident_count);
coincident_count = 0;
}
push_back(*scontact);
pcontact = &back();
}
last_key = key;
}
}
void btContactArray::merge_contacts(
const btContactArray & contacts, bool normal_contact_average)
{
clear();
int i;
if(contacts.size()==0) return;
if(contacts.size()==1)
{
push_back(contacts[0]);
return;
}
btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts;
keycontacts.reserve(contacts.size());
//fill key contacts
for ( i = 0;i<contacts.size() ;i++ )
{
keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i));
}
//sort keys
keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
// Merge contacts
int coincident_count=0;
btVector3 coincident_normals[MAX_COINCIDENT];
unsigned int last_key = keycontacts[0].m_key;
unsigned int key = 0;
push_back(contacts[keycontacts[0].m_value]);
GIM_CONTACT * pcontact = &(*this)[0];
for( i=1;i<keycontacts.size();i++)
{
key = keycontacts[i].m_key;
const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
if(last_key == key)//same points
{
//merge contact
if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
{
*pcontact = *scontact;
coincident_count = 0;
}
else if(normal_contact_average)
{
if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
{
if(coincident_count<MAX_COINCIDENT)
{
coincident_normals[coincident_count] = scontact->m_normal;
coincident_count++;
}
}
}
}
else
{//add new contact
if(normal_contact_average && coincident_count>0)
{
pcontact->interpolate_normals(coincident_normals,coincident_count);
coincident_count = 0;
}
push_back(*scontact);
pcontact = &(*this)[this->size()-1];
}
last_key = key;
}
}
