70 lines
2.4 KiB
C
70 lines
2.4 KiB
C
/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_CONTACT_CLUSTER_H
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#define B3_CONTACT_CLUSTER_H
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#include <bounce\common\geometry.h>
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#include <bounce\common\template\array.h>
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#include <bounce\dynamics\contacts\manifold.h>
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#define B3_NULL_CLUSTER (-1)
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// Used for contact cluster reduction.
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struct b3ClusterVertex
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{
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b3Vec3 position; // point on the cluster plane
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u32 clipIndex; // where did this vertex came from (hint: local point)
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};
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// Used for contact cluster reduction.
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typedef b3Array<b3ClusterVertex> b3ClusterPolygon;
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// A observation represents a contact normal.
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struct b3Observation
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{
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u32 manifold;
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u32 manifoldPoint;
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b3Vec3 point;
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i32 cluster; // normal
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};
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// A group of contact points with a similar contact normal.
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struct b3Cluster
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{
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b3Vec3 centroid;
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};
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// Initialize a set of clusters.
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void b3InitializeClusters(b3Array<b3Cluster>& outClusters,
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const b3Array<b3Observation>& inObservations);
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// Run the cluster algorithm.
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void b3Clusterize(b3Array<b3Cluster>& outClusters, b3Array<b3Observation>& outObservations,
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const b3Array<b3Cluster>& inClusters, const b3Array<b3Observation>& inObservations);
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u32 b3Clusterize(b3Manifold outManifolds[3], const b3Manifold* inManifolds, u32 numIn,
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const b3Transform& xfA, float32 radiusA, const b3Transform& xfB, float32 radiusB);
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// Reduce a set of contact points to a quad (approximate convex polygon).
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// All points must lie in a common plane and an initial point must be given.
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void b3ReducePolygon(b3ClusterPolygon& pOut, const b3ClusterPolygon& pIn,
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u32 startIndex);
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#endif
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