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virtualx-engine/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
Oussama 22b7c9dfa8 Update Bullet to the latest commit 126b676
2019-01-07 12:30:35 +01:00

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#ifndef B3_FIND_CONCAVE_SEPARATING_AXIS_H
#define B3_FIND_CONCAVE_SEPARATING_AXIS_H
#define B3_TRIANGLE_NUM_CONVEX_FACES 5
#include "Bullet3Common/shared/b3Int4.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
inline void b3Project(__global const b3ConvexPolyhedronData* hull, b3Float4ConstArg pos, b3QuatConstArg orn,
const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
{
min[0] = FLT_MAX;
max[0] = -FLT_MAX;
int numVerts = hull->m_numVertices;
const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), *dir);
float offset = b3Dot(pos, *dir);
for (int i = 0; i < numVerts; i++)
{
float dp = b3Dot(vertices[hull->m_vertexOffset + i], localDir);
if (dp < min[0])
min[0] = dp;
if (dp > max[0])
max[0] = dp;
}
if (min[0] > max[0])
{
float tmp = min[0];
min[0] = max[0];
max[0] = tmp;
}
min[0] += offset;
max[0] += offset;
}
inline bool b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
b3Float4ConstArg posA, b3QuatConstArg ornA,
b3Float4ConstArg posB, b3QuatConstArg ornB,
b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB, float* depth)
{
float Min0, Max0;
float Min1, Max1;
b3Project(hullA, posA, ornA, sep_axis, verticesA, &Min0, &Max0);
b3Project(hullB, posB, ornB, sep_axis, verticesB, &Min1, &Max1);
if (Max0 < Min1 || Max1 < Min0)
return false;
float d0 = Max0 - Min1;
float d1 = Max1 - Min0;
*depth = d0 < d1 ? d0 : d1;
return true;
}
bool b3FindSeparatingAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
b3Float4ConstArg posA1,
b3QuatConstArg ornA,
b3Float4ConstArg posB1,
b3QuatConstArg ornB,
b3Float4ConstArg DeltaC2,
const b3Float4* verticesA,
const b3Float4* uniqueEdgesA,
const b3GpuFace* facesA,
const int* indicesA,
__global const b3Float4* verticesB,
__global const b3Float4* uniqueEdgesB,
__global const b3GpuFace* facesB,
__global const int* indicesB,
b3Float4* sep,
float* dmin)
{
b3Float4 posA = posA1;
posA.w = 0.f;
b3Float4 posB = posB1;
posB.w = 0.f;
/*
static int maxFaceVertex = 0;
int curFaceVertexAB = hullA->m_numFaces*hullB->m_numVertices;
curFaceVertexAB+= hullB->m_numFaces*hullA->m_numVertices;
if (curFaceVertexAB>maxFaceVertex)
{
maxFaceVertex = curFaceVertexAB;
printf("curFaceVertexAB = %d\n",curFaceVertexAB);
printf("hullA->m_numFaces = %d\n",hullA->m_numFaces);
printf("hullA->m_numVertices = %d\n",hullA->m_numVertices);
printf("hullB->m_numVertices = %d\n",hullB->m_numVertices);
}
*/
int curPlaneTests = 0;
{
int numFacesA = hullA->m_numFaces;
// Test normals from hullA
for (int i = 0; i < numFacesA; i++)
{
const b3Float4 normal = facesA[hullA->m_faceOffset + i].m_plane;
b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
if (b3Dot(DeltaC2, faceANormalWS) < 0)
faceANormalWS *= -1.f;
curPlaneTests++;
float d;
if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, &faceANormalWS, verticesA, verticesB, &d))
return false;
if (d < *dmin)
{
*dmin = d;
*sep = faceANormalWS;
}
}
}
if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
{
*sep = -(*sep);
}
return true;
}
b3Vector3 unitSphere162[] =
{
b3MakeVector3(0.000000, -1.000000, 0.000000),
b3MakeVector3(0.203181, -0.967950, 0.147618),
b3MakeVector3(-0.077607, -0.967950, 0.238853),
b3MakeVector3(0.723607, -0.447220, 0.525725),
b3MakeVector3(0.609547, -0.657519, 0.442856),
b3MakeVector3(0.812729, -0.502301, 0.295238),
b3MakeVector3(-0.251147, -0.967949, 0.000000),
b3MakeVector3(-0.077607, -0.967950, -0.238853),
b3MakeVector3(0.203181, -0.967950, -0.147618),
b3MakeVector3(0.860698, -0.251151, 0.442858),
b3MakeVector3(-0.276388, -0.447220, 0.850649),
b3MakeVector3(-0.029639, -0.502302, 0.864184),
b3MakeVector3(-0.155215, -0.251152, 0.955422),
b3MakeVector3(-0.894426, -0.447216, 0.000000),
b3MakeVector3(-0.831051, -0.502299, 0.238853),
b3MakeVector3(-0.956626, -0.251149, 0.147618),
b3MakeVector3(-0.276388, -0.447220, -0.850649),
b3MakeVector3(-0.483971, -0.502302, -0.716565),
b3MakeVector3(-0.436007, -0.251152, -0.864188),
b3MakeVector3(0.723607, -0.447220, -0.525725),
b3MakeVector3(0.531941, -0.502302, -0.681712),
b3MakeVector3(0.687159, -0.251152, -0.681715),
b3MakeVector3(0.687159, -0.251152, 0.681715),
b3MakeVector3(-0.436007, -0.251152, 0.864188),
b3MakeVector3(-0.956626, -0.251149, -0.147618),
b3MakeVector3(-0.155215, -0.251152, -0.955422),
b3MakeVector3(0.860698, -0.251151, -0.442858),
b3MakeVector3(0.276388, 0.447220, 0.850649),
b3MakeVector3(0.483971, 0.502302, 0.716565),
b3MakeVector3(0.232822, 0.657519, 0.716563),
b3MakeVector3(-0.723607, 0.447220, 0.525725),
b3MakeVector3(-0.531941, 0.502302, 0.681712),
b3MakeVector3(-0.609547, 0.657519, 0.442856),
b3MakeVector3(-0.723607, 0.447220, -0.525725),
b3MakeVector3(-0.812729, 0.502301, -0.295238),
b3MakeVector3(-0.609547, 0.657519, -0.442856),
b3MakeVector3(0.276388, 0.447220, -0.850649),
b3MakeVector3(0.029639, 0.502302, -0.864184),
b3MakeVector3(0.232822, 0.657519, -0.716563),
b3MakeVector3(0.894426, 0.447216, 0.000000),
b3MakeVector3(0.831051, 0.502299, -0.238853),
b3MakeVector3(0.753442, 0.657515, 0.000000),
b3MakeVector3(-0.232822, -0.657519, 0.716563),
b3MakeVector3(-0.162456, -0.850654, 0.499995),
b3MakeVector3(0.052790, -0.723612, 0.688185),
b3MakeVector3(0.138199, -0.894429, 0.425321),
b3MakeVector3(0.262869, -0.525738, 0.809012),
b3MakeVector3(0.361805, -0.723611, 0.587779),
b3MakeVector3(0.531941, -0.502302, 0.681712),
b3MakeVector3(0.425323, -0.850654, 0.309011),
b3MakeVector3(0.812729, -0.502301, -0.295238),
b3MakeVector3(0.609547, -0.657519, -0.442856),
b3MakeVector3(0.850648, -0.525736, 0.000000),
b3MakeVector3(0.670817, -0.723611, -0.162457),
b3MakeVector3(0.670817, -0.723610, 0.162458),
b3MakeVector3(0.425323, -0.850654, -0.309011),
b3MakeVector3(0.447211, -0.894428, 0.000001),
b3MakeVector3(-0.753442, -0.657515, 0.000000),
b3MakeVector3(-0.525730, -0.850652, 0.000000),
b3MakeVector3(-0.638195, -0.723609, 0.262864),
b3MakeVector3(-0.361801, -0.894428, 0.262864),
b3MakeVector3(-0.688189, -0.525736, 0.499997),
b3MakeVector3(-0.447211, -0.723610, 0.525729),
b3MakeVector3(-0.483971, -0.502302, 0.716565),
b3MakeVector3(-0.232822, -0.657519, -0.716563),
b3MakeVector3(-0.162456, -0.850654, -0.499995),
b3MakeVector3(-0.447211, -0.723611, -0.525727),
b3MakeVector3(-0.361801, -0.894429, -0.262863),
b3MakeVector3(-0.688189, -0.525736, -0.499997),
b3MakeVector3(-0.638195, -0.723609, -0.262863),
b3MakeVector3(-0.831051, -0.502299, -0.238853),
b3MakeVector3(0.361804, -0.723612, -0.587779),
b3MakeVector3(0.138197, -0.894429, -0.425321),
b3MakeVector3(0.262869, -0.525738, -0.809012),
b3MakeVector3(0.052789, -0.723611, -0.688186),
b3MakeVector3(-0.029639, -0.502302, -0.864184),
b3MakeVector3(0.956626, 0.251149, 0.147618),
b3MakeVector3(0.956626, 0.251149, -0.147618),
b3MakeVector3(0.951058, -0.000000, 0.309013),
b3MakeVector3(1.000000, 0.000000, 0.000000),
b3MakeVector3(0.947213, -0.276396, 0.162458),
b3MakeVector3(0.951058, 0.000000, -0.309013),
b3MakeVector3(0.947213, -0.276396, -0.162458),
b3MakeVector3(0.155215, 0.251152, 0.955422),
b3MakeVector3(0.436007, 0.251152, 0.864188),
b3MakeVector3(-0.000000, -0.000000, 1.000000),
b3MakeVector3(0.309017, 0.000000, 0.951056),
b3MakeVector3(0.138199, -0.276398, 0.951055),
b3MakeVector3(0.587786, 0.000000, 0.809017),
b3MakeVector3(0.447216, -0.276398, 0.850648),
b3MakeVector3(-0.860698, 0.251151, 0.442858),
b3MakeVector3(-0.687159, 0.251152, 0.681715),
b3MakeVector3(-0.951058, -0.000000, 0.309013),
b3MakeVector3(-0.809018, 0.000000, 0.587783),
b3MakeVector3(-0.861803, -0.276396, 0.425324),
b3MakeVector3(-0.587786, 0.000000, 0.809017),
b3MakeVector3(-0.670819, -0.276397, 0.688191),
b3MakeVector3(-0.687159, 0.251152, -0.681715),
b3MakeVector3(-0.860698, 0.251151, -0.442858),
b3MakeVector3(-0.587786, -0.000000, -0.809017),
b3MakeVector3(-0.809018, -0.000000, -0.587783),
b3MakeVector3(-0.670819, -0.276397, -0.688191),
b3MakeVector3(-0.951058, 0.000000, -0.309013),
b3MakeVector3(-0.861803, -0.276396, -0.425324),
b3MakeVector3(0.436007, 0.251152, -0.864188),
b3MakeVector3(0.155215, 0.251152, -0.955422),
b3MakeVector3(0.587786, -0.000000, -0.809017),
b3MakeVector3(0.309017, -0.000000, -0.951056),
b3MakeVector3(0.447216, -0.276398, -0.850648),
b3MakeVector3(0.000000, 0.000000, -1.000000),
b3MakeVector3(0.138199, -0.276398, -0.951055),
b3MakeVector3(0.670820, 0.276396, 0.688190),
b3MakeVector3(0.809019, -0.000002, 0.587783),
b3MakeVector3(0.688189, 0.525736, 0.499997),
b3MakeVector3(0.861804, 0.276394, 0.425323),
b3MakeVector3(0.831051, 0.502299, 0.238853),
b3MakeVector3(-0.447216, 0.276397, 0.850649),
b3MakeVector3(-0.309017, -0.000001, 0.951056),
b3MakeVector3(-0.262869, 0.525738, 0.809012),
b3MakeVector3(-0.138199, 0.276397, 0.951055),
b3MakeVector3(0.029639, 0.502302, 0.864184),
b3MakeVector3(-0.947213, 0.276396, -0.162458),
b3MakeVector3(-1.000000, 0.000001, 0.000000),
b3MakeVector3(-0.850648, 0.525736, -0.000000),
b3MakeVector3(-0.947213, 0.276397, 0.162458),
b3MakeVector3(-0.812729, 0.502301, 0.295238),
b3MakeVector3(-0.138199, 0.276397, -0.951055),
b3MakeVector3(-0.309016, -0.000000, -0.951057),
b3MakeVector3(-0.262869, 0.525738, -0.809012),
b3MakeVector3(-0.447215, 0.276397, -0.850649),
b3MakeVector3(-0.531941, 0.502302, -0.681712),
b3MakeVector3(0.861804, 0.276396, -0.425322),
b3MakeVector3(0.809019, 0.000000, -0.587782),
b3MakeVector3(0.688189, 0.525736, -0.499997),
b3MakeVector3(0.670821, 0.276397, -0.688189),
b3MakeVector3(0.483971, 0.502302, -0.716565),
b3MakeVector3(0.077607, 0.967950, 0.238853),
b3MakeVector3(0.251147, 0.967949, 0.000000),
b3MakeVector3(0.000000, 1.000000, 0.000000),
b3MakeVector3(0.162456, 0.850654, 0.499995),
b3MakeVector3(0.361800, 0.894429, 0.262863),
b3MakeVector3(0.447209, 0.723612, 0.525728),
b3MakeVector3(0.525730, 0.850652, 0.000000),
b3MakeVector3(0.638194, 0.723610, 0.262864),
b3MakeVector3(-0.203181, 0.967950, 0.147618),
b3MakeVector3(-0.425323, 0.850654, 0.309011),
b3MakeVector3(-0.138197, 0.894430, 0.425320),
b3MakeVector3(-0.361804, 0.723612, 0.587778),
b3MakeVector3(-0.052790, 0.723612, 0.688185),
b3MakeVector3(-0.203181, 0.967950, -0.147618),
b3MakeVector3(-0.425323, 0.850654, -0.309011),
b3MakeVector3(-0.447210, 0.894429, 0.000000),
b3MakeVector3(-0.670817, 0.723611, -0.162457),
b3MakeVector3(-0.670817, 0.723611, 0.162457),
b3MakeVector3(0.077607, 0.967950, -0.238853),
b3MakeVector3(0.162456, 0.850654, -0.499995),
b3MakeVector3(-0.138197, 0.894430, -0.425320),
b3MakeVector3(-0.052790, 0.723612, -0.688185),
b3MakeVector3(-0.361804, 0.723612, -0.587778),
b3MakeVector3(0.361800, 0.894429, -0.262863),
b3MakeVector3(0.638194, 0.723610, -0.262864),
b3MakeVector3(0.447209, 0.723612, -0.525728)};
bool b3FindSeparatingAxisEdgeEdge(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
b3Float4ConstArg posA1,
b3QuatConstArg ornA,
b3Float4ConstArg posB1,
b3QuatConstArg ornB,
b3Float4ConstArg DeltaC2,
const b3Float4* verticesA,
const b3Float4* uniqueEdgesA,
const b3GpuFace* facesA,
const int* indicesA,
__global const b3Float4* verticesB,
__global const b3Float4* uniqueEdgesB,
__global const b3GpuFace* facesB,
__global const int* indicesB,
b3Float4* sep,
float* dmin,
bool searchAllEdgeEdge)
{
b3Float4 posA = posA1;
posA.w = 0.f;
b3Float4 posB = posB1;
posB.w = 0.f;
// int curPlaneTests=0;
int curEdgeEdge = 0;
// Test edges
static int maxEdgeTests = 0;
int curEdgeTests = hullA->m_numUniqueEdges * hullB->m_numUniqueEdges;
if (curEdgeTests > maxEdgeTests)
{
maxEdgeTests = curEdgeTests;
printf("maxEdgeTests = %d\n", maxEdgeTests);
printf("hullA->m_numUniqueEdges = %d\n", hullA->m_numUniqueEdges);
printf("hullB->m_numUniqueEdges = %d\n", hullB->m_numUniqueEdges);
}
if (searchAllEdgeEdge)
{
for (int e0 = 0; e0 < hullA->m_numUniqueEdges; e0++)
{
const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset + e0];
b3Float4 edge0World = b3QuatRotate(ornA, edge0);
for (int e1 = 0; e1 < hullB->m_numUniqueEdges; e1++)
{
const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset + e1];
b3Float4 edge1World = b3QuatRotate(ornB, edge1);
b3Float4 crossje = b3Cross(edge0World, edge1World);
curEdgeEdge++;
if (!b3IsAlmostZero(crossje))
{
crossje = b3Normalized(crossje);
if (b3Dot(DeltaC2, crossje) < 0)
crossje *= -1.f;
float dist;
bool result = true;
{
float Min0, Max0;
float Min1, Max1;
b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
if (Max0 < Min1 || Max1 < Min0)
return false;
float d0 = Max0 - Min1;
float d1 = Max1 - Min0;
dist = d0 < d1 ? d0 : d1;
result = true;
}
if (dist < *dmin)
{
*dmin = dist;
*sep = crossje;
}
}
}
}
}
else
{
int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
//printf("numDirections =%d\n",numDirections );
for (int i = 0; i < numDirections; i++)
{
b3Float4 crossje = unitSphere162[i];
{
//if (b3Dot(DeltaC2,crossje)>0)
{
float dist;
bool result = true;
{
float Min0, Max0;
float Min1, Max1;
b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
if (Max0 < Min1 || Max1 < Min0)
return false;
float d0 = Max0 - Min1;
float d1 = Max1 - Min0;
dist = d0 < d1 ? d0 : d1;
result = true;
}
if (dist < *dmin)
{
*dmin = dist;
*sep = crossje;
}
}
}
}
}
if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
{
*sep = -(*sep);
}
return true;
}
inline int b3FindClippingFaces(b3Float4ConstArg separatingNormal,
__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
b3Float4ConstArg posA, b3QuatConstArg ornA, b3Float4ConstArg posB, b3QuatConstArg ornB,
__global b3Float4* worldVertsA1,
__global b3Float4* worldNormalsA1,
__global b3Float4* worldVertsB1,
int capacityWorldVerts,
const float minDist, float maxDist,
__global const b3Float4* verticesA,
__global const b3GpuFace_t* facesA,
__global const int* indicesA,
__global const b3Float4* verticesB,
__global const b3GpuFace_t* facesB,
__global const int* indicesB,
__global b3Int4* clippingFaces, int pairIndex)
{
int numContactsOut = 0;
int numWorldVertsB1 = 0;
int closestFaceB = -1;
float dmax = -FLT_MAX;
{
for (int face = 0; face < hullB->m_numFaces; face++)
{
const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset + face].m_plane.x,
facesB[hullB->m_faceOffset + face].m_plane.y, facesB[hullB->m_faceOffset + face].m_plane.z, 0.f);
const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
float d = b3Dot(WorldNormal, separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
{
const b3GpuFace_t polyB = facesB[hullB->m_faceOffset + closestFaceB];
const int numVertices = polyB.m_numIndices;
for (int e0 = 0; e0 < numVertices; e0++)
{
const b3Float4 b = verticesB[hullB->m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
worldVertsB1[pairIndex * capacityWorldVerts + numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
}
}
int closestFaceA = -1;
{
float dmin = FLT_MAX;
for (int face = 0; face < hullA->m_numFaces; face++)
{
const b3Float4 Normal = b3MakeFloat4(
facesA[hullA->m_faceOffset + face].m_plane.x,
facesA[hullA->m_faceOffset + face].m_plane.y,
facesA[hullA->m_faceOffset + face].m_plane.z,
0.f);
const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
float d = b3Dot(faceANormalWS, separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
worldNormalsA1[pairIndex] = faceANormalWS;
}
}
}
int numVerticesA = facesA[hullA->m_faceOffset + closestFaceA].m_numIndices;
for (int e0 = 0; e0 < numVerticesA; e0++)
{
const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[facesA[hullA->m_faceOffset + closestFaceA].m_indexOffset + e0]];
worldVertsA1[pairIndex * capacityWorldVerts + e0] = b3TransformPoint(a, posA, ornA);
}
clippingFaces[pairIndex].x = closestFaceA;
clippingFaces[pairIndex].y = closestFaceB;
clippingFaces[pairIndex].z = numVerticesA;
clippingFaces[pairIndex].w = numWorldVertsB1;
return numContactsOut;
}
__kernel void b3FindConcaveSeparatingAxisKernel(__global b3Int4* concavePairs,
__global const b3RigidBodyData* rigidBodies,
__global const b3Collidable* collidables,
__global const b3ConvexPolyhedronData* convexShapes,
__global const b3Float4* vertices,
__global const b3Float4* uniqueEdges,
__global const b3GpuFace* faces,
__global const int* indices,
__global const b3GpuChildShape* gpuChildShapes,
__global b3Aabb* aabbs,
__global b3Float4* concaveSeparatingNormalsOut,
__global b3Int4* clippingFacesOut,
__global b3Vector3* worldVertsA1Out,
__global b3Vector3* worldNormalsA1Out,
__global b3Vector3* worldVertsB1Out,
__global int* hasSeparatingNormals,
int vertexFaceCapacity,
int numConcavePairs,
int pairIdx)
{
int i = pairIdx;
/* int i = get_global_id(0);
if (i>=numConcavePairs)
return;
int pairIdx = i;
*/
int bodyIndexA = concavePairs[i].x;
int bodyIndexB = concavePairs[i].y;
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
if (collidables[collidableIndexB].m_shapeType != SHAPE_CONVEX_HULL &&
collidables[collidableIndexB].m_shapeType != SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
concavePairs[pairIdx].w = -1;
return;
}
hasSeparatingNormals[i] = 0;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
int numActualConcaveConvexTests = 0;
int f = concavePairs[i].z;
bool overlap = false;
b3ConvexPolyhedronData convexPolyhedronA;
//add 3 vertices of the triangle
convexPolyhedronA.m_numVertices = 3;
convexPolyhedronA.m_vertexOffset = 0;
b3Float4 localCenter = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset + f];
b3Aabb triAabb;
triAabb.m_minVec = b3MakeFloat4(1e30f, 1e30f, 1e30f, 0.f);
triAabb.m_maxVec = b3MakeFloat4(-1e30f, -1e30f, -1e30f, 0.f);
b3Float4 verticesA[3];
for (int i = 0; i < 3; i++)
{
int index = indices[face.m_indexOffset + i];
b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset + index];
verticesA[i] = vert;
localCenter += vert;
triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec, vert);
triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec, vert);
}
overlap = true;
overlap = (triAabb.m_minVec.x > aabbs[bodyIndexB].m_maxVec.x || triAabb.m_maxVec.x < aabbs[bodyIndexB].m_minVec.x) ? false : overlap;
overlap = (triAabb.m_minVec.z > aabbs[bodyIndexB].m_maxVec.z || triAabb.m_maxVec.z < aabbs[bodyIndexB].m_minVec.z) ? false : overlap;
overlap = (triAabb.m_minVec.y > aabbs[bodyIndexB].m_maxVec.y || triAabb.m_maxVec.y < aabbs[bodyIndexB].m_minVec.y) ? false : overlap;
if (overlap)
{
float dmin = FLT_MAX;
int hasSeparatingAxis = 5;
b3Float4 sepAxis = b3MakeFloat4(1, 2, 3, 4);
// int localCC=0;
numActualConcaveConvexTests++;
//a triangle has 3 unique edges
convexPolyhedronA.m_numUniqueEdges = 3;
convexPolyhedronA.m_uniqueEdgesOffset = 0;
b3Float4 uniqueEdgesA[3];
uniqueEdgesA[0] = (verticesA[1] - verticesA[0]);
uniqueEdgesA[1] = (verticesA[2] - verticesA[1]);
uniqueEdgesA[2] = (verticesA[0] - verticesA[2]);
convexPolyhedronA.m_faceOffset = 0;
b3Float4 normal = b3MakeFloat4(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
b3GpuFace facesA[B3_TRIANGLE_NUM_CONVEX_FACES];
int indicesA[3 + 3 + 2 + 2 + 2];
int curUsedIndices = 0;
int fidx = 0;
//front size of triangle
{
facesA[fidx].m_indexOffset = curUsedIndices;
indicesA[0] = 0;
indicesA[1] = 1;
indicesA[2] = 2;
curUsedIndices += 3;
float c = face.m_plane.w;
facesA[fidx].m_plane.x = normal.x;
facesA[fidx].m_plane.y = normal.y;
facesA[fidx].m_plane.z = normal.z;
facesA[fidx].m_plane.w = c;
facesA[fidx].m_numIndices = 3;
}
fidx++;
//back size of triangle
{
facesA[fidx].m_indexOffset = curUsedIndices;
indicesA[3] = 2;
indicesA[4] = 1;
indicesA[5] = 0;
curUsedIndices += 3;
float c = b3Dot(normal, verticesA[0]);
// float c1 = -face.m_plane.w;
facesA[fidx].m_plane.x = -normal.x;
facesA[fidx].m_plane.y = -normal.y;
facesA[fidx].m_plane.z = -normal.z;
facesA[fidx].m_plane.w = c;
facesA[fidx].m_numIndices = 3;
}
fidx++;
bool addEdgePlanes = true;
if (addEdgePlanes)
{
int numVertices = 3;
int prevVertex = numVertices - 1;
for (int i = 0; i < numVertices; i++)
{
b3Float4 v0 = verticesA[i];
b3Float4 v1 = verticesA[prevVertex];
b3Float4 edgeNormal = b3Normalized(b3Cross(normal, v1 - v0));
float c = -b3Dot(edgeNormal, v0);
facesA[fidx].m_numIndices = 2;
facesA[fidx].m_indexOffset = curUsedIndices;
indicesA[curUsedIndices++] = i;
indicesA[curUsedIndices++] = prevVertex;
facesA[fidx].m_plane.x = edgeNormal.x;
facesA[fidx].m_plane.y = edgeNormal.y;
facesA[fidx].m_plane.z = edgeNormal.z;
facesA[fidx].m_plane.w = c;
fidx++;
prevVertex = i;
}
}
convexPolyhedronA.m_numFaces = B3_TRIANGLE_NUM_CONVEX_FACES;
convexPolyhedronA.m_localCenter = localCenter * (1.f / 3.f);
b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
posA.w = 0.f;
b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
posB.w = 0.f;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
///////////////////
///compound shape support
if (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
int compoundChild = concavePairs[pairIdx].w;
int childShapeIndexB = compoundChild; //collidables[collidableIndexB].m_shapeIndex+compoundChild;
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
b3Float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
b3Quaternion childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
b3Float4 newPosB = b3TransformPoint(childPosB, posB, ornB);
b3Quaternion newOrnB = b3QuatMul(ornB, childOrnB);
posB = newPosB;
ornB = newOrnB;
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
}
//////////////////
b3Float4 c0local = convexPolyhedronA.m_localCenter;
b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
b3Float4 c1local = convexShapes[shapeIndexB].m_localCenter;
b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
const b3Float4 DeltaC2 = c0 - c1;
bool sepA = b3FindSeparatingAxis(&convexPolyhedronA, &convexShapes[shapeIndexB],
posA, ornA,
posB, ornB,
DeltaC2,
verticesA, uniqueEdgesA, facesA, indicesA,
vertices, uniqueEdges, faces, indices,
&sepAxis, &dmin);
hasSeparatingAxis = 4;
if (!sepA)
{
hasSeparatingAxis = 0;
}
else
{
bool sepB = b3FindSeparatingAxis(&convexShapes[shapeIndexB], &convexPolyhedronA,
posB, ornB,
posA, ornA,
DeltaC2,
vertices, uniqueEdges, faces, indices,
verticesA, uniqueEdgesA, facesA, indicesA,
&sepAxis, &dmin);
if (!sepB)
{
hasSeparatingAxis = 0;
}
else
{
bool sepEE = b3FindSeparatingAxisEdgeEdge(&convexPolyhedronA, &convexShapes[shapeIndexB],
posA, ornA,
posB, ornB,
DeltaC2,
verticesA, uniqueEdgesA, facesA, indicesA,
vertices, uniqueEdges, faces, indices,
&sepAxis, &dmin, true);
if (!sepEE)
{
hasSeparatingAxis = 0;
}
else
{
hasSeparatingAxis = 1;
}
}
}
if (hasSeparatingAxis)
{
hasSeparatingNormals[i] = 1;
sepAxis.w = dmin;
concaveSeparatingNormalsOut[pairIdx] = sepAxis;
//now compute clipping faces A and B, and world-space clipping vertices A and B...
float minDist = -1e30f;
float maxDist = 0.02f;
b3FindClippingFaces(sepAxis,
&convexPolyhedronA,
&convexShapes[shapeIndexB],
posA, ornA,
posB, ornB,
worldVertsA1Out,
worldNormalsA1Out,
worldVertsB1Out,
vertexFaceCapacity,
minDist, maxDist,
verticesA,
facesA,
indicesA,
vertices,
faces,
indices,
clippingFacesOut, pairIdx);
}
else
{
//mark this pair as in-active
concavePairs[pairIdx].w = -1;
}
}
else
{
//mark this pair as in-active
concavePairs[pairIdx].w = -1;
}
}
#endif //B3_FIND_CONCAVE_SEPARATING_AXIS_H
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