public void MergeContactsUnique(ContactArray contacts)
{
Clear();
if (contacts.Count == 0)
{
return;
}
if (contacts.Count == 1)
{
Add(contacts[0]);
return;
}
GIM_CONTACT average_contact = contacts[0];
for (int i = 1; i < contacts.Count; i++)
{
average_contact.m_point += contacts[i].m_point;
average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
}
// can't see how this does anything....
//divide
float divide_average = 1.0f / ((float)contacts.Count);
average_contact.m_point *= divide_average;
average_contact.m_normal *= divide_average;
average_contact.m_depth = average_contact.m_normal.Length();
average_contact.m_normal /= average_contact.m_depth;
}
public void MergeContacts(ContactArray contacts, bool normal_contact_average)
{
Clear();
if (contacts.Count == 0)
{
return;
}
if (contacts.Count == 1)
{
Add(contacts[0]);
return;
}
ObjectArray <CONTACT_KEY_TOKEN> keycontacts = new ObjectArray <CONTACT_KEY_TOKEN>();
keycontacts.Capacity = contacts.Count;
//fill key contacts
for (int i = 0; i < contacts.Count; i++)
{
keycontacts.Add(new CONTACT_KEY_TOKEN(contacts[i].CalcKeyContact(), i));
}
//sort keys
keycontacts.Sort(new Comparison <CONTACT_KEY_TOKEN>(CONTACT_KEY_TOKEN.SortPredicate));
// Merge contacts
int coincident_count = 0;
IndexedVector3[] coincident_normals = new IndexedVector3[MAX_COINCIDENT];
uint last_key = keycontacts[0].m_key;
uint key = 0;
Add(contacts[keycontacts[0].m_value]);
GIM_CONTACT pcontact = this[0];
int pcontactIndex = 0;
for (int i = 1; i < keycontacts.Count; i++)
{
key = keycontacts[i].m_key;
GIM_CONTACT scontact = contacts[keycontacts[i].m_value];
if (last_key == key)//same points
{
//merge contact
if (pcontact.m_depth - GIM_CONTACT.CONTACT_DIFF_EPSILON > scontact.m_depth)//)
{
//*pcontact = *scontact;
this[pcontactIndex] = scontact;
coincident_count = 0;
}
else if (normal_contact_average)
{
if (Math.Abs(pcontact.m_depth - scontact.m_depth) < GIM_CONTACT.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.InterpolateNormals(coincident_normals, coincident_count);
coincident_count = 0;
}
Add(scontact);
pcontactIndex = Count - 1;
pcontact = this[pcontactIndex];
}
last_key = key;
}
}
public void MergeContacts(ContactArray contacts)
{
MergeContacts(contacts, true);
}
