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-rw-r--r--thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h797
1 files changed, 0 insertions, 797 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
deleted file mode 100644
index 983554eb2e..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
+++ /dev/null
@@ -1,797 +0,0 @@
-#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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