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diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
deleted file mode 100644
index a3bfbf2995..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
+++ /dev/null
@@ -1,888 +0,0 @@
-
-/***
- * ---------------------------------
- * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>
- *
- * This file was ported from mpr.c file, part of libccd.
- * The Minkoski Portal Refinement implementation was ported
- * to OpenCL by Erwin Coumans for the Bullet 3 Physics library.
- * at http://github.com/erwincoumans/bullet3
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see <http://www.opensource.org/licenses/bsd-license.php>.
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef B3_MPR_PENETRATION_H
-#define B3_MPR_PENETRATION_H
-
-#include "Bullet3Common/shared/b3PlatformDefinitions.h"
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-
-#ifdef __cplusplus
-#define B3_MPR_SQRT sqrtf
-#else
-#define B3_MPR_SQRT sqrt
-#endif
-#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))
-#define B3_MPR_FABS fabs
-
-#define B3_MPR_TOLERANCE 1E-6f
-#define B3_MPR_MAX_ITERATIONS 1000
-
-struct _b3MprSupport_t
-{
- b3Float4 v; //!< Support point in minkowski sum
- b3Float4 v1; //!< Support point in obj1
- b3Float4 v2; //!< Support point in obj2
-};
-typedef struct _b3MprSupport_t b3MprSupport_t;
-
-struct _b3MprSimplex_t
-{
- b3MprSupport_t ps[4];
- int last; //!< index of last added point
-};
-typedef struct _b3MprSimplex_t b3MprSimplex_t;
-
-inline b3MprSupport_t *b3MprSimplexPointW(b3MprSimplex_t *s, int idx)
-{
- return &s->ps[idx];
-}
-
-inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)
-{
- s->last = size - 1;
-}
-
-inline int b3MprSimplexSize(const b3MprSimplex_t *s)
-{
- return s->last + 1;
-}
-
-inline const b3MprSupport_t *b3MprSimplexPoint(const b3MprSimplex_t *s, int idx)
-{
- // here is no check on boundaries
- return &s->ps[idx];
-}
-
-inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)
-{
- *d = *s;
-}
-
-inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)
-{
- b3MprSupportCopy(s->ps + pos, a);
-}
-
-inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)
-{
- b3MprSupport_t supp;
-
- b3MprSupportCopy(&supp, &s->ps[pos1]);
- b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
- b3MprSupportCopy(&s->ps[pos2], &supp);
-}
-
-inline int b3MprIsZero(float val)
-{
- return B3_MPR_FABS(val) < FLT_EPSILON;
-}
-
-inline int b3MprEq(float _a, float _b)
-{
- float ab;
- float a, b;
-
- ab = B3_MPR_FABS(_a - _b);
- if (B3_MPR_FABS(ab) < FLT_EPSILON)
- return 1;
-
- a = B3_MPR_FABS(_a);
- b = B3_MPR_FABS(_b);
- if (b > a)
- {
- return ab < FLT_EPSILON * b;
- }
- else
- {
- return ab < FLT_EPSILON * a;
- }
-}
-
-inline int b3MprVec3Eq(const b3Float4 *a, const b3Float4 *b)
-{
- return b3MprEq((*a).x, (*b).x) && b3MprEq((*a).y, (*b).y) && b3MprEq((*a).z, (*b).z);
-}
-
-inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec, __global const b3ConvexPolyhedronData_t *hull, b3ConstArray(b3Float4) verticesA)
-{
- b3Float4 supVec = b3MakeFloat4(0, 0, 0, 0);
- float maxDot = -B3_LARGE_FLOAT;
-
- if (0 < hull->m_numVertices)
- {
- const b3Float4 scaled = supportVec;
- int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
- return verticesA[hull->m_vertexOffset + index];
- }
-
- return supVec;
-}
-
-B3_STATIC void b3MprConvexSupport(int pairIndex, int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
- b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
- b3ConstArray(b3Collidable_t) cpuCollidables,
- b3ConstArray(b3Float4) cpuVertices,
- __global b3Float4 *sepAxis,
- const b3Float4 *_dir, b3Float4 *outp, int logme)
-{
- //dir is in worldspace, move to local space
-
- b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;
- b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;
-
- b3Float4 dir = b3MakeFloat4((*_dir).x, (*_dir).y, (*_dir).z, 0.f);
-
- const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), dir);
-
- //find local support vertex
- int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;
-
- b3Assert(cpuCollidables[colIndex].m_shapeType == SHAPE_CONVEX_HULL);
- __global const b3ConvexPolyhedronData_t *hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];
-
- b3Float4 pInA;
- if (logme)
- {
- // b3Float4 supVec = b3MakeFloat4(0,0,0,0);
- float maxDot = -B3_LARGE_FLOAT;
-
- if (0 < hull->m_numVertices)
- {
- const b3Float4 scaled = localDir;
- int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
- pInA = cpuVertices[hull->m_vertexOffset + index];
- }
- }
- else
- {
- pInA = b3LocalGetSupportVertex(localDir, hull, cpuVertices);
- }
-
- //move vertex to world space
- *outp = b3TransformPoint(pInA, pos, orn);
-}
-
-inline void b3MprSupport(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
- b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
- b3ConstArray(b3Collidable_t) cpuCollidables,
- b3ConstArray(b3Float4) cpuVertices,
- __global b3Float4 *sepAxis,
- const b3Float4 *_dir, b3MprSupport_t *supp)
-{
- b3Float4 dir;
- dir = *_dir;
- b3MprConvexSupport(pairIndex, bodyIndexA, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v1, 0);
- dir = *_dir * -1.f;
- b3MprConvexSupport(pairIndex, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v2, 0);
- supp->v = supp->v1 - supp->v2;
-}
-
-inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)
-{
- center->v1 = cpuBodyBuf[bodyIndexA].m_pos;
- center->v2 = cpuBodyBuf[bodyIndexB].m_pos;
- center->v = center->v1 - center->v2;
-}
-
-inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)
-{
- (*v).x = x;
- (*v).y = y;
- (*v).z = z;
- (*v).w = 0.f;
-}
-
-inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)
-{
- (*v).x += (*w).x;
- (*v).y += (*w).y;
- (*v).z += (*w).z;
-}
-
-inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)
-{
- *v = *w;
-}
-
-inline void b3MprVec3Scale(b3Float4 *d, float k)
-{
- *d *= k;
-}
-
-inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)
-{
- float dot;
-
- dot = b3Dot3F4(*a, *b);
- return dot;
-}
-
-inline float b3MprVec3Len2(const b3Float4 *v)
-{
- return b3MprVec3Dot(v, v);
-}
-
-inline void b3MprVec3Normalize(b3Float4 *d)
-{
- float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));
- b3MprVec3Scale(d, k);
-}
-
-inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)
-{
- *d = b3Cross3(*a, *b);
-}
-
-inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)
-{
- *d = *v - *w;
-}
-
-inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)
-{
- b3Float4 v2v1, v3v1;
-
- b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,
- &b3MprSimplexPoint(portal, 1)->v);
- b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,
- &b3MprSimplexPoint(portal, 1)->v);
- b3MprVec3Cross(dir, &v2v1, &v3v1);
- b3MprVec3Normalize(dir);
-}
-
-inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,
- const b3Float4 *dir)
-{
- float dot;
- dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);
- return b3MprIsZero(dot) || dot > 0.f;
-}
-
-inline int portalReachTolerance(const b3MprSimplex_t *portal,
- const b3MprSupport_t *v4,
- const b3Float4 *dir)
-{
- float dv1, dv2, dv3, dv4;
- float dot1, dot2, dot3;
-
- // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
-
- dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);
- dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);
- dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);
- dv4 = b3MprVec3Dot(&v4->v, dir);
-
- dot1 = dv4 - dv1;
- dot2 = dv4 - dv2;
- dot3 = dv4 - dv3;
-
- dot1 = B3_MPR_FMIN(dot1, dot2);
- dot1 = B3_MPR_FMIN(dot1, dot3);
-
- return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;
-}
-
-inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,
- const b3MprSupport_t *v4,
- const b3Float4 *dir)
-{
- float dot;
- dot = b3MprVec3Dot(&v4->v, dir);
- return b3MprIsZero(dot) || dot > 0.f;
-}
-
-inline void b3ExpandPortal(b3MprSimplex_t *portal,
- const b3MprSupport_t *v4)
-{
- float dot;
- b3Float4 v4v0;
-
- b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);
- dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);
- if (dot > 0.f)
- {
- dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);
- if (dot > 0.f)
- {
- b3MprSimplexSet(portal, 1, v4);
- }
- else
- {
- b3MprSimplexSet(portal, 3, v4);
- }
- }
- else
- {
- dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);
- if (dot > 0.f)
- {
- b3MprSimplexSet(portal, 2, v4);
- }
- else
- {
- b3MprSimplexSet(portal, 1, v4);
- }
- }
-}
-
-B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
- b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
- b3ConstArray(b3Collidable_t) cpuCollidables,
- b3ConstArray(b3Float4) cpuVertices,
- __global b3Float4 *sepAxis,
- __global int *hasSepAxis,
- b3MprSimplex_t *portal)
-{
- b3Float4 dir, va, vb;
- float dot;
- int cont;
-
- // vertex 0 is center of portal
- b3FindOrigin(bodyIndexA, bodyIndexB, cpuBodyBuf, b3MprSimplexPointW(portal, 0));
- // vertex 0 is center of portal
- b3MprSimplexSetSize(portal, 1);
-
- b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
- b3Float4 *b3mpr_vec3_origin = &zero;
-
- if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin))
- {
- // Portal's center lies on origin (0,0,0) => we know that objects
- // intersect but we would need to know penetration info.
- // So move center little bit...
- b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
- b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);
- }
-
- // vertex 1 = support in direction of origin
- b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);
- b3MprVec3Scale(&dir, -1.f);
- b3MprVec3Normalize(&dir);
-
- b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 1));
-
- b3MprSimplexSetSize(portal, 2);
-
- // test if origin isn't outside of v1
- dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);
-
- if (b3MprIsZero(dot) || dot < 0.f)
- return -1;
-
- // vertex 2
- b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,
- &b3MprSimplexPoint(portal, 1)->v);
- if (b3MprIsZero(b3MprVec3Len2(&dir)))
- {
- if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin))
- {
- // origin lies on v1
- return 1;
- }
- else
- {
- // origin lies on v0-v1 segment
- return 2;
- }
- }
-
- b3MprVec3Normalize(&dir);
- b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 2));
-
- dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);
- if (b3MprIsZero(dot) || dot < 0.f)
- return -1;
-
- b3MprSimplexSetSize(portal, 3);
-
- // vertex 3 direction
- b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
- &b3MprSimplexPoint(portal, 0)->v);
- b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
- &b3MprSimplexPoint(portal, 0)->v);
- b3MprVec3Cross(&dir, &va, &vb);
- b3MprVec3Normalize(&dir);
-
- // it is better to form portal faces to be oriented "outside" origin
- dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);
- if (dot > 0.f)
- {
- b3MprSimplexSwap(portal, 1, 2);
- b3MprVec3Scale(&dir, -1.f);
- }
-
- while (b3MprSimplexSize(portal) < 4)
- {
- b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 3));
-
- dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);
- if (b3MprIsZero(dot) || dot < 0.f)
- return -1;
-
- cont = 0;
-
- // test if origin is outside (v1, v0, v3) - set v2 as v3 and
- // continue
- b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,
- &b3MprSimplexPoint(portal, 3)->v);
- dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
- if (dot < 0.f && !b3MprIsZero(dot))
- {
- b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));
- cont = 1;
- }
-
- if (!cont)
- {
- // test if origin is outside (v3, v0, v2) - set v1 as v3 and
- // continue
- b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,
- &b3MprSimplexPoint(portal, 2)->v);
- dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
- if (dot < 0.f && !b3MprIsZero(dot))
- {
- b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));
- cont = 1;
- }
- }
-
- if (cont)
- {
- b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
- &b3MprSimplexPoint(portal, 0)->v);
- b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
- &b3MprSimplexPoint(portal, 0)->v);
- b3MprVec3Cross(&dir, &va, &vb);
- b3MprVec3Normalize(&dir);
- }
- else
- {
- b3MprSimplexSetSize(portal, 4);
- }
- }
-
- return 0;
-}
-
-B3_STATIC int b3RefinePortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
- b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
- b3ConstArray(b3Collidable_t) cpuCollidables,
- b3ConstArray(b3Float4) cpuVertices,
- __global b3Float4 *sepAxis,
- b3MprSimplex_t *portal)
-{
- b3Float4 dir;
- b3MprSupport_t v4;
-
- for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
- //while (1)
- {
- // compute direction outside the portal (from v0 throught v1,v2,v3
- // face)
- b3PortalDir(portal, &dir);
-
- // test if origin is inside the portal
- if (portalEncapsulesOrigin(portal, &dir))
- return 0;
-
- // get next support point
-
- b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
-
- // test if v4 can expand portal to contain origin and if portal
- // expanding doesn't reach given tolerance
- if (!portalCanEncapsuleOrigin(portal, &v4, &dir) || portalReachTolerance(portal, &v4, &dir))
- {
- return -1;
- }
-
- // v1-v2-v3 triangle must be rearranged to face outside Minkowski
- // difference (direction from v0).
- b3ExpandPortal(portal, &v4);
- }
-
- return -1;
-}
-
-B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)
-{
- b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
- b3Float4 *b3mpr_vec3_origin = &zero;
-
- b3Float4 dir;
- size_t i;
- float b[4], sum, inv;
- b3Float4 vec, p1, p2;
-
- b3PortalDir(portal, &dir);
-
- // use barycentric coordinates of tetrahedron to find origin
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
- &b3MprSimplexPoint(portal, 2)->v);
- b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
-
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
- &b3MprSimplexPoint(portal, 2)->v);
- b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
-
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,
- &b3MprSimplexPoint(portal, 1)->v);
- b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
-
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
- &b3MprSimplexPoint(portal, 1)->v);
- b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
-
- sum = b[0] + b[1] + b[2] + b[3];
-
- if (b3MprIsZero(sum) || sum < 0.f)
- {
- b[0] = 0.f;
-
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
- &b3MprSimplexPoint(portal, 3)->v);
- b[1] = b3MprVec3Dot(&vec, &dir);
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
- &b3MprSimplexPoint(portal, 1)->v);
- b[2] = b3MprVec3Dot(&vec, &dir);
- b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
- &b3MprSimplexPoint(portal, 2)->v);
- b[3] = b3MprVec3Dot(&vec, &dir);
-
- sum = b[1] + b[2] + b[3];
- }
-
- inv = 1.f / sum;
-
- b3MprVec3Copy(&p1, b3mpr_vec3_origin);
- b3MprVec3Copy(&p2, b3mpr_vec3_origin);
- for (i = 0; i < 4; i++)
- {
- b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);
- b3MprVec3Scale(&vec, b[i]);
- b3MprVec3Add(&p1, &vec);
-
- b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);
- b3MprVec3Scale(&vec, b[i]);
- b3MprVec3Add(&p2, &vec);
- }
- b3MprVec3Scale(&p1, inv);
- b3MprVec3Scale(&p2, inv);
-
- b3MprVec3Copy(pos, &p1);
- b3MprVec3Add(pos, &p2);
- b3MprVec3Scale(pos, 0.5);
-}
-
-inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)
-{
- b3Float4 ab;
- b3MprVec3Sub2(&ab, a, b);
- return b3MprVec3Len2(&ab);
-}
-
-inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,
- const b3Float4 *x0,
- const b3Float4 *b,
- b3Float4 *witness)
-{
- // The computation comes from solving equation of segment:
- // S(t) = x0 + t.d
- // where - x0 is initial point of segment
- // - d is direction of segment from x0 (|d| > 0)
- // - t belongs to <0, 1> interval
- //
- // Than, distance from a segment to some point P can be expressed:
- // D(t) = |x0 + t.d - P|^2
- // which is distance from any point on segment. Minimization
- // of this function brings distance from P to segment.
- // Minimization of D(t) leads to simple quadratic equation that's
- // solving is straightforward.
- //
- // Bonus of this method is witness point for free.
-
- float dist, t;
- b3Float4 d, a;
-
- // direction of segment
- b3MprVec3Sub2(&d, b, x0);
-
- // precompute vector from P to x0
- b3MprVec3Sub2(&a, x0, P);
-
- t = -1.f * b3MprVec3Dot(&a, &d);
- t /= b3MprVec3Len2(&d);
-
- if (t < 0.f || b3MprIsZero(t))
- {
- dist = b3MprVec3Dist2(x0, P);
- if (witness)
- b3MprVec3Copy(witness, x0);
- }
- else if (t > 1.f || b3MprEq(t, 1.f))
- {
- dist = b3MprVec3Dist2(b, P);
- if (witness)
- b3MprVec3Copy(witness, b);
- }
- else
- {
- if (witness)
- {
- b3MprVec3Copy(witness, &d);
- b3MprVec3Scale(witness, t);
- b3MprVec3Add(witness, x0);
- dist = b3MprVec3Dist2(witness, P);
- }
- else
- {
- // recycling variables
- b3MprVec3Scale(&d, t);
- b3MprVec3Add(&d, &a);
- dist = b3MprVec3Len2(&d);
- }
- }
-
- return dist;
-}
-
-inline float b3MprVec3PointTriDist2(const b3Float4 *P,
- const b3Float4 *x0, const b3Float4 *B,
- const b3Float4 *C,
- b3Float4 *witness)
-{
- // Computation comes from analytic expression for triangle (x0, B, C)
- // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
- // Then equation for distance is:
- // D(s, t) = | T(s, t) - P |^2
- // This leads to minimization of quadratic function of two variables.
- // The solution from is taken only if s is between 0 and 1, t is
- // between 0 and 1 and t + s < 1, otherwise distance from segment is
- // computed.
-
- b3Float4 d1, d2, a;
- float u, v, w, p, q, r;
- float s, t, dist, dist2;
- b3Float4 witness2;
-
- b3MprVec3Sub2(&d1, B, x0);
- b3MprVec3Sub2(&d2, C, x0);
- b3MprVec3Sub2(&a, x0, P);
-
- u = b3MprVec3Dot(&a, &a);
- v = b3MprVec3Dot(&d1, &d1);
- w = b3MprVec3Dot(&d2, &d2);
- p = b3MprVec3Dot(&a, &d1);
- q = b3MprVec3Dot(&a, &d2);
- r = b3MprVec3Dot(&d1, &d2);
-
- s = (q * r - w * p) / (w * v - r * r);
- t = (-s * r - q) / w;
-
- if ((b3MprIsZero(s) || s > 0.f) && (b3MprEq(s, 1.f) || s < 1.f) && (b3MprIsZero(t) || t > 0.f) && (b3MprEq(t, 1.f) || t < 1.f) && (b3MprEq(t + s, 1.f) || t + s < 1.f))
- {
- if (witness)
- {
- b3MprVec3Scale(&d1, s);
- b3MprVec3Scale(&d2, t);
- b3MprVec3Copy(witness, x0);
- b3MprVec3Add(witness, &d1);
- b3MprVec3Add(witness, &d2);
-
- dist = b3MprVec3Dist2(witness, P);
- }
- else
- {
- dist = s * s * v;
- dist += t * t * w;
- dist += 2.f * s * t * r;
- dist += 2.f * s * p;
- dist += 2.f * t * q;
- dist += u;
- }
- }
- else
- {
- dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);
-
- dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);
- if (dist2 < dist)
- {
- dist = dist2;
- if (witness)
- b3MprVec3Copy(witness, &witness2);
- }
-
- dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);
- if (dist2 < dist)
- {
- dist = dist2;
- if (witness)
- b3MprVec3Copy(witness, &witness2);
- }
- }
-
- return dist;
-}
-
-B3_STATIC void b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
- b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
- b3ConstArray(b3Collidable_t) cpuCollidables,
- b3ConstArray(b3Float4) cpuVertices,
- __global b3Float4 *sepAxis,
- b3MprSimplex_t *portal,
- float *depth, b3Float4 *pdir, b3Float4 *pos)
-{
- b3Float4 dir;
- b3MprSupport_t v4;
- unsigned long iterations;
-
- b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
- b3Float4 *b3mpr_vec3_origin = &zero;
-
- iterations = 1UL;
- for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
- //while (1)
- {
- // compute portal direction and obtain next support point
- b3PortalDir(portal, &dir);
-
- b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
-
- // reached tolerance -> find penetration info
- if (portalReachTolerance(portal, &v4, &dir) || iterations == B3_MPR_MAX_ITERATIONS)
- {
- *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin, &b3MprSimplexPoint(portal, 1)->v, &b3MprSimplexPoint(portal, 2)->v, &b3MprSimplexPoint(portal, 3)->v, pdir);
- *depth = B3_MPR_SQRT(*depth);
-
- if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))
- {
- *pdir = dir;
- }
- b3MprVec3Normalize(pdir);
-
- // barycentric coordinates:
- b3FindPos(portal, pos);
-
- return;
- }
-
- b3ExpandPortal(portal, &v4);
-
- iterations++;
- }
-}
-
-B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal, float *depth, b3Float4 *dir, b3Float4 *pos)
-{
- // Touching contact on portal's v1 - so depth is zero and direction
- // is unimportant and pos can be guessed
- *depth = 0.f;
- b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
- b3Float4 *b3mpr_vec3_origin = &zero;
-
- b3MprVec3Copy(dir, b3mpr_vec3_origin);
-
- b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
- b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
- b3MprVec3Scale(pos, 0.5);
-}
-
-B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,
- float *depth, b3Float4 *dir, b3Float4 *pos)
-{
- // Origin lies on v0-v1 segment.
- // Depth is distance to v1, direction also and position must be
- // computed
-
- b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
- b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
- b3MprVec3Scale(pos, 0.5f);
-
- b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);
- *depth = B3_MPR_SQRT(b3MprVec3Len2(dir));
- b3MprVec3Normalize(dir);
-}
-
-inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,
- b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
- b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
- b3ConstArray(b3Collidable_t) cpuCollidables,
- b3ConstArray(b3Float4) cpuVertices,
- __global b3Float4 *sepAxis,
- __global int *hasSepAxis,
- float *depthOut, b3Float4 *dirOut, b3Float4 *posOut)
-{
- b3MprSimplex_t portal;
-
- // if (!hasSepAxis[pairIndex])
- // return -1;
-
- hasSepAxis[pairIndex] = 0;
- int res;
-
- // Phase 1: Portal discovery
- res = b3DiscoverPortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, hasSepAxis, &portal);
-
- //sepAxis[pairIndex] = *pdir;//or -dir?
-
- switch (res)
- {
- case 0:
- {
- // Phase 2: Portal refinement
-
- res = b3RefinePortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal);
- if (res < 0)
- return -1;
-
- // Phase 3. Penetration info
- b3FindPenetr(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal, depthOut, dirOut, posOut);
- hasSepAxis[pairIndex] = 1;
- sepAxis[pairIndex] = -*dirOut;
- break;
- }
- case 1:
- {
- // Touching contact on portal's v1.
- b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);
- break;
- }
- case 2:
- {
- b3FindPenetrSegment(&portal, depthOut, dirOut, posOut);
- break;
- }
- default:
- {
- hasSepAxis[pairIndex] = 0;
- //if (res < 0)
- //{
- // Origin isn't inside portal - no collision.
- return -1;
- //}
- }
- };
-
- return 0;
-};
-
-#endif //B3_MPR_PENETRATION_H
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