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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* 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 LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file 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 *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#include <ode/collision.h>
#include "config.h"
#if dTRIMESH_ENABLED && dTRIMESH_GIMPACT
#include "gimpact_contact_export_helper.h"
#include "error.h"
/*static */
dReal dxGImpactContactsExportHelper::FindContactsMarginalDepth(dReal *pdepths, unsigned contactcount, unsigned maxcontacts, dReal mindepth, dReal maxdepth)
{
dReal result;
while (true)
{
dReal firstdepth = REAL(0.5) * (mindepth + maxdepth);
dReal lowdepth = maxdepth, highdepth = mindepth;
unsigned marginindex = 0;
unsigned highindex = marginindex;
dIASSERT(contactcount != 0);
for (unsigned i = 0; i < contactcount; i++)
{
dReal depth = pdepths[i];
if (depth < firstdepth)
{
dReal temp = pdepths[marginindex]; pdepths[highindex++] = temp; pdepths[marginindex++] = depth;
if (highdepth < depth) { highdepth = depth; }
}
else if (depth > firstdepth)
{
pdepths[highindex++] = depth;
if (depth < lowdepth) { lowdepth = depth; }
}
}
unsigned countabove = highindex - marginindex;
if (maxcontacts < countabove)
{
contactcount = countabove;
pdepths += marginindex;
mindepth = lowdepth;
}
else if (maxcontacts == countabove)
{
result = dNextAfter(firstdepth, dInfinity);
break;
}
else
{
unsigned countbelow = marginindex;
if (maxcontacts <= contactcount - countbelow)
{
result = firstdepth;
break;
}
maxcontacts -= contactcount - countbelow;
contactcount = countbelow;
maxdepth = highdepth;
}
}
return result;
}
#endif // #if dTRIMESH_ENABLED && dTRIMESH_GIMPACT
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