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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. *
* *
*************************************************************************/
#ifndef _ODE_GIMPACT_CONTACT_EXPORT_HELPER_H_
#define _ODE_GIMPACT_CONTACT_EXPORT_HELPER_H_
#include "collision_kernel.h"
#include "collision_util.h"
#include "util.h"
#ifndef ALLOCA
#define ALLOCA(x) dALLOCA16(x)
#endif
struct dxGImpactContactsExportHelper
{
public:
template<class dxGImpactContactAccessor>
static unsigned ExportMaxDepthGImpactContacts(dxGImpactContactAccessor &srccontacts, unsigned contactcount,
int Flags, dContactGeom* Contacts, int Stride)
{
unsigned result;
unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK);
if (contactcount > maxcontacts)
{
ExportExcesssiveContacts(srccontacts, contactcount, Flags, Contacts, Stride);
result = maxcontacts;
}
else
{
ExportFitContacts(srccontacts, contactcount, Flags, Contacts, Stride);
result = contactcount;
}
return result;
}
private:
template<class dxGImpactContactAccessor>
static void ExportExcesssiveContacts(dxGImpactContactAccessor &srccontacts, unsigned contactcount,
int Flags, dContactGeom* Contacts, int Stride);
template<class dxGImpactContactAccessor>
static void ExportFitContacts(dxGImpactContactAccessor &srccontacts, unsigned contactcount,
int Flags, dContactGeom* Contacts, int Stride);
template<class dxGImpactContactAccessor>
static dReal FindContactsMarginalDepth(dxGImpactContactAccessor &srccontacts, unsigned contactcount, unsigned maxcontacts);
static dReal FindContactsMarginalDepth(dReal *pdepths, unsigned contactcount, unsigned maxcontacts, dReal mindepth, dReal maxdepth);
};
template<class dxGImpactContactAccessor>
/*static */
void dxGImpactContactsExportHelper::ExportExcesssiveContacts(dxGImpactContactAccessor &srccontacts, unsigned contactcount,
int Flags, dContactGeom* Contacts, int Stride)
{
unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK);
dReal marginaldepth = FindContactsMarginalDepth(srccontacts, contactcount, maxcontacts);
unsigned contactshead = 0, contacttail = maxcontacts;
for (unsigned i = 0; i < contactcount; i++)
{
dReal depth = srccontacts.RetrieveDepthByIndex(i);
if (depth > marginaldepth)
{
dContactGeom *pcontact = SAFECONTACT(Flags, Contacts, contactshead, Stride);
srccontacts.ExportContactGeomByIndex(pcontact, i);
if (++contactshead == maxcontacts)
{
break;
}
}
else if (depth == marginaldepth && contactshead < contacttail)
{
--contacttail;
dContactGeom *pcontact = SAFECONTACT(Flags, Contacts, contacttail, Stride);
srccontacts.ExportContactGeomByIndex(pcontact, i);
}
}
}
template<class dxGImpactContactAccessor>
/*static */
void dxGImpactContactsExportHelper::ExportFitContacts(dxGImpactContactAccessor &srccontacts, unsigned contactcount,
int Flags, dContactGeom* Contacts, int Stride)
{
for (unsigned i = 0; i < contactcount; i++)
{
dContactGeom *pcontact = SAFECONTACT(Flags, Contacts, i, Stride);
srccontacts.ExportContactGeomByIndex(pcontact, i);
}
}
template<class dxGImpactContactAccessor>
/*static */
dReal dxGImpactContactsExportHelper::FindContactsMarginalDepth(dxGImpactContactAccessor &srccontacts, unsigned contactcount, unsigned maxcontacts)
{
dReal result;
dReal *pdepths = (dReal *)ALLOCA(contactcount * sizeof(dReal));
unsigned marginindex = 0;
unsigned highindex = marginindex;
dReal firstdepth = srccontacts.RetrieveDepthByIndex(0);
dReal mindepth = firstdepth, maxdepth = firstdepth;
dIASSERT(contactcount > 1);
for (unsigned i = 1; i < contactcount; i++)
{
dReal depth = srccontacts.RetrieveDepthByIndex(i);
if (depth < firstdepth)
{
dReal temp = pdepths[marginindex]; pdepths[highindex++] = temp; pdepths[marginindex++] = depth;
if (depth < mindepth) { mindepth = depth; }
}
else if (depth > firstdepth)
{
pdepths[highindex++] = depth;
if (maxdepth < depth) { maxdepth = depth; }
}
}
unsigned countabove = highindex - marginindex;
if (maxcontacts < countabove)
{
result = FindContactsMarginalDepth(pdepths + marginindex, countabove, maxcontacts, firstdepth, maxdepth);
}
else if (maxcontacts == countabove)
{
result = dNextAfter(firstdepth, dInfinity);
}
else
{
unsigned countbelow = marginindex;
if (maxcontacts <= contactcount - countbelow)
{
result = firstdepth;
}
else
{
result = FindContactsMarginalDepth(pdepths, countbelow, maxcontacts - (contactcount - countbelow), mindepth, firstdepth);
}
}
return result;
}
#endif //_ODE_GIMPACT_CONTACT_EXPORT_HELPER_H_
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