ode/src/gimpact_gim_contact_accessor.h

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23
  24 #ifndef _ODE_GIMPACT_GIM_CONTACT_ACCESSOR_H_
  25 #define _ODE_GIMPACT_GIM_CONTACT_ACCESSOR_H_
  26
  27
  28 struct dxGIMCContactAccessor
  29 {
  30     dxGIMCContactAccessor(GIM_CONTACT *ptrimeshcontacts, dGeomID g1, dGeomID g2) : m_ptrimeshcontacts(ptrimeshcontacts), m_g1(g1), m_g2(g2), m_gotside2ovr(false), m_side2ovr() {}
  31     dxGIMCContactAccessor(GIM_CONTACT *ptrimeshcontacts, dGeomID g1, dGeomID g2, int side2ovr) : m_ptrimeshcontacts(ptrimeshcontacts), m_g1(g1), m_g2(g2), m_gotside2ovr(true), m_side2ovr(side2ovr) {}
  32
  33     dReal RetrieveDepthByIndex(unsigned index) const { return m_ptrimeshcontacts[index].m_depth; }
  34
  35     void ExportContactGeomByIndex(dContactGeom *pcontact, unsigned index) const
  36     {
  37         const GIM_CONTACT *ptrimeshcontact = m_ptrimeshcontacts + index;
  38         pcontact->pos[0] = ptrimeshcontact->m_point[0];
  39         pcontact->pos[1] = ptrimeshcontact->m_point[1];
  40         pcontact->pos[2] = ptrimeshcontact->m_point[2];
  41         pcontact->pos[3] = REAL(1.0);
  42
  43         pcontact->normal[0] = ptrimeshcontact->m_normal[0];
  44         pcontact->normal[1] = ptrimeshcontact->m_normal[1];
  45         pcontact->normal[2] = ptrimeshcontact->m_normal[2];
  46         pcontact->normal[3] = 0;
  47
  48         pcontact->depth = ptrimeshcontact->m_depth;
  49         pcontact->g1 = m_g1;
  50         pcontact->g2 = m_g2;
  51         pcontact->side1 = ptrimeshcontact->m_feature1;
  52         pcontact->side2 = !m_gotside2ovr ? ptrimeshcontact->m_feature2 : m_side2ovr;
  53     }
  54
  55     const GIM_CONTACT *m_ptrimeshcontacts;
  56     dGeomID         m_g1, m_g2;
  57     bool            m_gotside2ovr;
  58     int             m_side2ovr;
  59 };
  60
  61
  62 #endif  //_ODE_GIMPACT_GIM_CONTACT_ACCESSOR_H_