23 #define MAX_COINCIDENT 8 47 return (m_key < other.
m_key);
52 return (m_key > other.
m_key);
74 if(contacts.
size()==0)
return;
77 if(contacts.
size()==1)
79 push_back(contacts[0]);
89 for ( i = 0;i<contacts.
size() ;i++ )
98 int coincident_count=0;
101 unsigned int last_key = keycontacts[0].m_key;
102 unsigned int key = 0;
104 push_back(contacts[keycontacts[0].
m_value]);
108 for( i=1;i<keycontacts.
size();i++)
110 key = keycontacts[i].m_key;
111 const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
118 *pcontact = *scontact;
119 coincident_count = 0;
121 else if(normal_contact_average)
127 coincident_normals[coincident_count] = scontact->
m_normal;
136 if(normal_contact_average && coincident_count>0)
139 coincident_count = 0;
142 push_back(*scontact);
143 pcontact = &(*this)[this->
size()-1];
153 if(contacts.
size()==0)
return;
155 if(contacts.
size()==1)
157 push_back(contacts[0]);
163 for (
int i=1;i<contacts.
size() ;i++ )
165 average_contact.
m_point += contacts[i].m_point;
166 average_contact.
m_normal += contacts[i].m_normal * contacts[i].m_depth;
172 average_contact.
m_point *= divide_average;
174 average_contact.
m_normal *= divide_average;
void push_back(const T &_Val)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
int size() const
return the number of elements in the array
btScalar length() const
Return the length of the vector.
btVector3 can be used to represent 3D points and vectors.
static void clear(T &value)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
void quickSort(const L &CompareFunc)
btScalar btFabs(btScalar x)