diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared')
16 files changed, 0 insertions, 3395 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h deleted file mode 100644 index d6beb662b5..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h +++ /dev/null @@ -1,19 +0,0 @@ - -#ifndef B3_BVH_SUBTREE_INFO_DATA_H -#define B3_BVH_SUBTREE_INFO_DATA_H - -typedef struct b3BvhSubtreeInfoData b3BvhSubtreeInfoData_t; - -struct b3BvhSubtreeInfoData -{ - //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; - //4 bytes, points to the root of the subtree - int m_rootNodeIndex; - //4 bytes - int m_subtreeSize; - int m_padding[3]; -}; - -#endif //B3_BVH_SUBTREE_INFO_DATA_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h deleted file mode 100644 index 7c2507cc98..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h +++ /dev/null @@ -1,123 +0,0 @@ - - -#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" - -// work-in-progress -void b3BvhTraversal(__global const b3Int4* pairs, - __global const b3RigidBodyData* rigidBodies, - __global const b3Collidable* collidables, - __global b3Aabb* aabbs, - __global b3Int4* concavePairsOut, - __global volatile int* numConcavePairsOut, - __global const b3BvhSubtreeInfo* subtreeHeadersRoot, - __global const b3QuantizedBvhNode* quantizedNodesRoot, - __global const b3BvhInfo* bvhInfos, - int numPairs, - int maxNumConcavePairsCapacity, - int id) -{ - int bodyIndexA = pairs[id].x; - int bodyIndexB = pairs[id].y; - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - //once the broadphase avoids static-static pairs, we can remove this test - if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0)) - { - return; - } - - if (collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH) - return; - - int shapeTypeB = collidables[collidableIndexB].m_shapeType; - - if (shapeTypeB != SHAPE_CONVEX_HULL && - shapeTypeB != SHAPE_SPHERE && - shapeTypeB != SHAPE_COMPOUND_OF_CONVEX_HULLS) - return; - - b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes]; - - b3Float4 bvhAabbMin = bvhInfo.m_aabbMin; - b3Float4 bvhAabbMax = bvhInfo.m_aabbMax; - b3Float4 bvhQuantization = bvhInfo.m_quantization; - int numSubtreeHeaders = bvhInfo.m_numSubTrees; - __global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset]; - __global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset]; - - unsigned short int quantizedQueryAabbMin[3]; - unsigned short int quantizedQueryAabbMax[3]; - b3QuantizeWithClamp(quantizedQueryAabbMin, aabbs[bodyIndexB].m_minVec, false, bvhAabbMin, bvhAabbMax, bvhQuantization); - b3QuantizeWithClamp(quantizedQueryAabbMax, aabbs[bodyIndexB].m_maxVec, true, bvhAabbMin, bvhAabbMax, bvhQuantization); - - for (int i = 0; i < numSubtreeHeaders; i++) - { - b3BvhSubtreeInfoData subtree = subtreeHeaders[i]; - - int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax); - if (overlap != 0) - { - int startNodeIndex = subtree.m_rootNodeIndex; - int endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize; - int curIndex = startNodeIndex; - int escapeIndex; - int isLeafNode; - int aabbOverlap; - while (curIndex < endNodeIndex) - { - b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex]; - aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode.m_quantizedAabbMin, rootNode.m_quantizedAabbMax); - isLeafNode = b3IsLeaf(&rootNode); - if (aabbOverlap) - { - if (isLeafNode) - { - int triangleIndex = b3GetTriangleIndex(&rootNode); - if (shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS) - { - int numChildrenB = collidables[collidableIndexB].m_numChildShapes; - int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB); - for (int b = 0; b < numChildrenB; b++) - { - if ((pairIdx + b) < maxNumConcavePairsCapacity) - { - int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b; - b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB); - concavePairsOut[pairIdx + b] = newPair; - } - } - } - else - { - int pairIdx = b3AtomicInc(numConcavePairsOut); - if (pairIdx < maxNumConcavePairsCapacity) - { - b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0); - concavePairsOut[pairIdx] = newPair; - } - } - } - curIndex++; - } - else - { - if (isLeafNode) - { - curIndex++; - } - else - { - escapeIndex = b3GetEscapeIndex(&rootNode); - curIndex += escapeIndex; - } - } - } - } - } -}
\ No newline at end of file diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h deleted file mode 100644 index 0d9b13f1d6..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h +++ /dev/null @@ -1,171 +0,0 @@ -#ifndef B3_CLIP_FACES_H -#define B3_CLIP_FACES_H - -#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 b3Float4 b3Lerp3(b3Float4ConstArg a, b3Float4ConstArg b, float t) -{ - return b3MakeFloat4(a.x + (b.x - a.x) * t, - a.y + (b.y - a.y) * t, - a.z + (b.z - a.z) * t, - 0.f); -} - -// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut -int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4ConstArg planeNormalWS, float planeEqWS, __global b3Float4* ppVtxOut) -{ - int ve; - float ds, de; - int numVertsOut = 0; - //double-check next test - // if (numVertsIn < 2) - // return 0; - - b3Float4 firstVertex = pVtxIn[numVertsIn - 1]; - b3Float4 endVertex = pVtxIn[0]; - - ds = b3Dot(planeNormalWS, firstVertex) + planeEqWS; - - for (ve = 0; ve < numVertsIn; ve++) - { - endVertex = pVtxIn[ve]; - de = b3Dot(planeNormalWS, endVertex) + planeEqWS; - if (ds < 0) - { - if (de < 0) - { - // Start < 0, end < 0, so output endVertex - ppVtxOut[numVertsOut++] = endVertex; - } - else - { - // Start < 0, end >= 0, so output intersection - ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de))); - } - } - else - { - if (de < 0) - { - // Start >= 0, end < 0 so output intersection and end - ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de))); - ppVtxOut[numVertsOut++] = endVertex; - } - } - firstVertex = endVertex; - ds = de; - } - return numVertsOut; -} - -__kernel void clipFacesAndFindContactsKernel(__global const b3Float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global b3Int4* clippingFacesOut, - __global b3Float4* worldVertsA1, - __global b3Float4* worldNormalsA1, - __global b3Float4* worldVertsB1, - __global b3Float4* worldVertsB2, - int vertexFaceCapacity, - int pairIndex) -{ - // int i = get_global_id(0); - //int pairIndex = i; - int i = pairIndex; - - float minDist = -1e30f; - float maxDist = 0.02f; - - // if (i<numPairs) - { - if (hasSeparatingAxis[i]) - { - // int bodyIndexA = pairs[i].x; - // int bodyIndexB = pairs[i].y; - - int numLocalContactsOut = 0; - - int capacityWorldVertsB2 = vertexFaceCapacity; - - __global b3Float4* pVtxIn = &worldVertsB1[pairIndex * capacityWorldVertsB2]; - __global b3Float4* pVtxOut = &worldVertsB2[pairIndex * capacityWorldVertsB2]; - - { - __global b3Int4* clippingFaces = clippingFacesOut; - - int closestFaceA = clippingFaces[pairIndex].x; - // int closestFaceB = clippingFaces[pairIndex].y; - int numVertsInA = clippingFaces[pairIndex].z; - int numVertsInB = clippingFaces[pairIndex].w; - - int numVertsOut = 0; - - if (closestFaceA >= 0) - { - // clip polygon to back of planes of all faces of hull A that are adjacent to witness face - - for (int e0 = 0; e0 < numVertsInA; e0++) - { - const b3Float4 aw = worldVertsA1[pairIndex * capacityWorldVertsB2 + e0]; - const b3Float4 bw = worldVertsA1[pairIndex * capacityWorldVertsB2 + ((e0 + 1) % numVertsInA)]; - const b3Float4 WorldEdge0 = aw - bw; - b3Float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex]; - b3Float4 planeNormalWS1 = -b3Cross(WorldEdge0, worldPlaneAnormal1); - b3Float4 worldA1 = aw; - float planeEqWS1 = -b3Dot(worldA1, planeNormalWS1); - b3Float4 planeNormalWS = planeNormalWS1; - float planeEqWS = planeEqWS1; - numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS, planeEqWS, pVtxOut); - __global b3Float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsInB = numVertsOut; - numVertsOut = 0; - } - - b3Float4 planeNormalWS = worldNormalsA1[pairIndex]; - float planeEqWS = -b3Dot(planeNormalWS, worldVertsA1[pairIndex * capacityWorldVertsB2]); - - for (int i = 0; i < numVertsInB; i++) - { - float depth = b3Dot(planeNormalWS, pVtxIn[i]) + planeEqWS; - if (depth <= minDist) - { - depth = minDist; - } - /* - static float maxDepth = 0.f; - if (depth < maxDepth) - { - maxDepth = depth; - if (maxDepth < -10) - { - printf("error at framecount %d?\n",myframecount); - } - printf("maxDepth = %f\n", maxDepth); - - } -*/ - if (depth <= maxDist) - { - b3Float4 pointInWorld = pVtxIn[i]; - pVtxOut[numLocalContactsOut++] = b3MakeFloat4(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth); - } - } - } - clippingFaces[pairIndex].w = numLocalContactsOut; - } - - for (int i = 0; i < numLocalContactsOut; i++) - pVtxIn[i] = pVtxOut[i]; - - } // if (hasSeparatingAxis[i]) - } // if (i<numPairs) -} - -#endif //B3_CLIP_FACES_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h deleted file mode 100644 index 9a8c668af2..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h +++ /dev/null @@ -1,69 +0,0 @@ - -#ifndef B3_COLLIDABLE_H -#define B3_COLLIDABLE_H - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Common/shared/b3Quat.h" - -enum b3ShapeTypes -{ - SHAPE_HEIGHT_FIELD = 1, - - SHAPE_CONVEX_HULL = 3, - SHAPE_PLANE = 4, - SHAPE_CONCAVE_TRIMESH = 5, - SHAPE_COMPOUND_OF_CONVEX_HULLS = 6, - SHAPE_SPHERE = 7, - MAX_NUM_SHAPE_TYPES, -}; - -typedef struct b3Collidable b3Collidable_t; - -struct b3Collidable -{ - union { - int m_numChildShapes; - int m_bvhIndex; - }; - union { - float m_radius; - int m_compoundBvhIndex; - }; - - int m_shapeType; - union { - int m_shapeIndex; - float m_height; - }; -}; - -typedef struct b3GpuChildShape b3GpuChildShape_t; -struct b3GpuChildShape -{ - b3Float4 m_childPosition; - b3Quat m_childOrientation; - union { - int m_shapeIndex; //used for SHAPE_COMPOUND_OF_CONVEX_HULLS - int m_capsuleAxis; - }; - union { - float m_radius; //used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES - int m_numChildShapes; //used for compound shape - }; - union { - float m_height; //used for childshape of SHAPE_COMPOUND_OF_CAPSULES - int m_collidableShapeIndex; - }; - int m_shapeType; -}; - -struct b3CompoundOverlappingPair -{ - int m_bodyIndexA; - int m_bodyIndexB; - // int m_pairType; - int m_childShapeIndexA; - int m_childShapeIndexB; -}; - -#endif //B3_COLLIDABLE_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h deleted file mode 100644 index d5f6daa993..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h +++ /dev/null @@ -1,36 +0,0 @@ -#ifndef B3_CONTACT4DATA_H -#define B3_CONTACT4DATA_H - -#include "Bullet3Common/shared/b3Float4.h" - -typedef struct b3Contact4Data b3Contact4Data_t; - -struct b3Contact4Data -{ - b3Float4 m_worldPosB[4]; - // b3Float4 m_localPosA[4]; - // b3Float4 m_localPosB[4]; - b3Float4 m_worldNormalOnB; // w: m_nPoints - unsigned short m_restituitionCoeffCmp; - unsigned short m_frictionCoeffCmp; - int m_batchIdx; - int m_bodyAPtrAndSignBit; //x:m_bodyAPtr, y:m_bodyBPtr - int m_bodyBPtrAndSignBit; - - int m_childIndexA; - int m_childIndexB; - int m_unused1; - int m_unused2; -}; - -inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact) -{ - return (int)contact->m_worldNormalOnB.w; -}; - -inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints) -{ - contact->m_worldNormalOnB.w = (float)numPoints; -}; - -#endif //B3_CONTACT4DATA_H
\ No newline at end of file diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h deleted file mode 100644 index ca68f4bc4e..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h +++ /dev/null @@ -1,486 +0,0 @@ - -#ifndef B3_CONTACT_CONVEX_CONVEX_SAT_H -#define B3_CONTACT_CONVEX_CONVEX_SAT_H - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h" - -#define B3_MAX_VERTS 1024 - -inline b3Float4 b3Lerp3(const b3Float4& a, const b3Float4& b, float t) -{ - return b3MakeVector3(a.x + (b.x - a.x) * t, - a.y + (b.y - a.y) * t, - a.z + (b.z - a.z) * t, - 0.f); -} - -// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut -inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS, float planeEqWS, b3Float4* ppVtxOut) -{ - int ve; - float ds, de; - int numVertsOut = 0; - if (numVertsIn < 2) - return 0; - - b3Float4 firstVertex = pVtxIn[numVertsIn - 1]; - b3Float4 endVertex = pVtxIn[0]; - - ds = b3Dot3F4(planeNormalWS, firstVertex) + planeEqWS; - - for (ve = 0; ve < numVertsIn; ve++) - { - endVertex = pVtxIn[ve]; - - de = b3Dot3F4(planeNormalWS, endVertex) + planeEqWS; - - if (ds < 0) - { - if (de < 0) - { - // Start < 0, end < 0, so output endVertex - ppVtxOut[numVertsOut++] = endVertex; - } - else - { - // Start < 0, end >= 0, so output intersection - ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de))); - } - } - else - { - if (de < 0) - { - // Start >= 0, end < 0 so output intersection and end - ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de))); - ppVtxOut[numVertsOut++] = endVertex; - } - } - firstVertex = endVertex; - ds = de; - } - return numVertsOut; -} - -inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA, - const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1, - b3Float4* worldVertsB2, int capacityWorldVertsB2, - const float minDist, float maxDist, - const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA, - //const b3Float4* verticesB, const b3GpuFace* facesB, const int* indicesB, - b3Float4* contactsOut, - int contactCapacity) -{ - int numContactsOut = 0; - - b3Float4* pVtxIn = worldVertsB1; - b3Float4* pVtxOut = worldVertsB2; - - int numVertsIn = numWorldVertsB1; - int numVertsOut = 0; - - int closestFaceA = -1; - { - float dmin = FLT_MAX; - for (int face = 0; face < hullA->m_numFaces; face++) - { - const b3Float4 Normal = b3MakeVector3( - 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 = b3Dot3F4(faceANormalWS, separatingNormal); - if (d < dmin) - { - dmin = d; - closestFaceA = face; - } - } - } - if (closestFaceA < 0) - return numContactsOut; - - b3GpuFace polyA = facesA[hullA->m_faceOffset + closestFaceA]; - - // clip polygon to back of planes of all faces of hull A that are adjacent to witness face - //int numContacts = numWorldVertsB1; - int numVerticesA = polyA.m_numIndices; - for (int e0 = 0; e0 < numVerticesA; e0++) - { - const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + e0]]; - const b3Float4 b = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + ((e0 + 1) % numVerticesA)]]; - const b3Float4 edge0 = a - b; - const b3Float4 WorldEdge0 = b3QuatRotate(ornA, edge0); - b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f); - b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA, planeNormalA); - - b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0, worldPlaneAnormal1); - b3Float4 worldA1 = b3TransformPoint(a, posA, ornA); - float planeEqWS1 = -b3Dot3F4(worldA1, planeNormalWS1); - - b3Float4 planeNormalWS = planeNormalWS1; - float planeEqWS = planeEqWS1; - - //clip face - //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS); - numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS, planeEqWS, pVtxOut); - - //btSwap(pVtxIn,pVtxOut); - b3Float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsIn = numVertsOut; - numVertsOut = 0; - } - - // only keep points that are behind the witness face - { - b3Float4 localPlaneNormal = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f); - float localPlaneEq = polyA.m_plane.w; - b3Float4 planeNormalWS = b3QuatRotate(ornA, localPlaneNormal); - float planeEqWS = localPlaneEq - b3Dot3F4(planeNormalWS, posA); - for (int i = 0; i < numVertsIn; i++) - { - float depth = b3Dot3F4(planeNormalWS, pVtxIn[i]) + planeEqWS; - if (depth <= minDist) - { - depth = minDist; - } - if (numContactsOut < contactCapacity) - { - if (depth <= maxDist) - { - b3Float4 pointInWorld = pVtxIn[i]; - //resultOut.addContactPoint(separatingNormal,point,depth); - contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth); - //printf("depth=%f\n",depth); - } - } - else - { - b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut, contactCapacity); - } - } - } - - return numContactsOut; -} - -inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal, - const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3Float4& posA, const b3Quaternion& ornA, const b3Float4& posB, const b3Quaternion& ornB, - b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts, - const float minDist, float maxDist, - const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA, - const b3AlignedObjectArray<b3Float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB, - - b3Float4* contactsOut, - int contactCapacity) -{ - int numContactsOut = 0; - int numWorldVertsB1 = 0; - - B3_PROFILE("clipHullAgainstHull"); - - //float curMaxDist=maxDist; - int closestFaceB = -1; - float dmax = -FLT_MAX; - - { - //B3_PROFILE("closestFaceB"); - if (hullB.m_numFaces != 1) - { - //printf("wtf\n"); - } - static bool once = true; - //printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z); - - for (int face = 0; face < hullB.m_numFaces; face++) - { -#ifdef BT_DEBUG_SAT_FACE - if (once) - printf("face %d\n", face); - const b3GpuFace* faceB = &facesB[hullB.m_faceOffset + face]; - if (once) - { - for (int i = 0; i < faceB->m_numIndices; i++) - { - b3Float4 vert = verticesB[hullB.m_vertexOffset + indicesB[faceB->m_indexOffset + i]]; - printf("vert[%d] = %f,%f,%f\n", i, vert.x, vert.y, vert.z); - } - } -#endif //BT_DEBUG_SAT_FACE \ - //if (facesB[hullB.m_faceOffset+face].m_numIndices>2) - { - const b3Float4 Normal = b3MakeVector3(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); -#ifdef BT_DEBUG_SAT_FACE - if (once) - printf("faceNormal = %f,%f,%f\n", Normal.x, Normal.y, Normal.z); -#endif - float d = b3Dot3F4(WorldNormal, separatingNormal); - if (d > dmax) - { - dmax = d; - closestFaceB = face; - } - } - } - once = false; - } - - b3Assert(closestFaceB >= 0); - { - //B3_PROFILE("worldVertsB1"); - const b3GpuFace& 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[numWorldVertsB1++] = b3TransformPoint(b, posB, ornB); - } - } - - if (closestFaceB >= 0) - { - //B3_PROFILE("clipFaceAgainstHull"); - numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA, - posA, ornA, - worldVertsB1, numWorldVertsB1, worldVertsB2, capacityWorldVerts, minDist, maxDist, - verticesA, facesA, indicesA, - contactsOut, contactCapacity); - } - - return numContactsOut; -} - -inline int b3ClipHullHullSingle( - int bodyIndexA, int bodyIndexB, - const b3Float4& posA, - const b3Quaternion& ornA, - const b3Float4& posB, - const b3Quaternion& ornB, - - int collidableIndexA, int collidableIndexB, - - const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf, - b3AlignedObjectArray<b3Contact4Data>* globalContactOut, - int& nContacts, - - const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA, - const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB, - - const b3AlignedObjectArray<b3Vector3>& verticesA, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, - const b3AlignedObjectArray<b3GpuFace>& facesA, - const b3AlignedObjectArray<int>& indicesA, - - const b3AlignedObjectArray<b3Vector3>& verticesB, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB, - const b3AlignedObjectArray<b3GpuFace>& facesB, - const b3AlignedObjectArray<int>& indicesB, - - const b3AlignedObjectArray<b3Collidable>& hostCollidablesA, - const b3AlignedObjectArray<b3Collidable>& hostCollidablesB, - const b3Vector3& sepNormalWorldSpace, - int maxContactCapacity) -{ - int contactIndex = -1; - b3ConvexPolyhedronData hullA, hullB; - - b3Collidable colA = hostCollidablesA[collidableIndexA]; - hullA = hostConvexDataA[colA.m_shapeIndex]; - //printf("numvertsA = %d\n",hullA.m_numVertices); - - b3Collidable colB = hostCollidablesB[collidableIndexB]; - hullB = hostConvexDataB[colB.m_shapeIndex]; - //printf("numvertsB = %d\n",hullB.m_numVertices); - - b3Float4 contactsOut[B3_MAX_VERTS]; - int localContactCapacity = B3_MAX_VERTS; - -#ifdef _WIN32 - b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x)); - b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x)); -#endif - - { - b3Float4 worldVertsB1[B3_MAX_VERTS]; - b3Float4 worldVertsB2[B3_MAX_VERTS]; - int capacityWorldVerts = B3_MAX_VERTS; - - b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x, sepNormalWorldSpace.y, sepNormalWorldSpace.z, 0.f); - int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex; - int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex; - - b3Scalar minDist = -1; - b3Scalar maxDist = 0.; - - b3Transform trA, trB; - { - //B3_PROFILE("b3TransformPoint computation"); - //trA.setIdentity(); - trA.setOrigin(b3MakeVector3(posA.x, posA.y, posA.z)); - trA.setRotation(b3Quaternion(ornA.x, ornA.y, ornA.z, ornA.w)); - - //trB.setIdentity(); - trB.setOrigin(b3MakeVector3(posB.x, posB.y, posB.z)); - trB.setRotation(b3Quaternion(ornB.x, ornB.y, ornB.z, ornB.w)); - } - - b3Quaternion trAorn = trA.getRotation(); - b3Quaternion trBorn = trB.getRotation(); - - int numContactsOut = b3ClipHullAgainstHull(hostNormal, - hostConvexDataA.at(shapeA), - hostConvexDataB.at(shapeB), - (b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn, - (b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn, - worldVertsB1, worldVertsB2, capacityWorldVerts, - minDist, maxDist, - verticesA, facesA, indicesA, - verticesB, facesB, indicesB, - - contactsOut, localContactCapacity); - - if (numContactsOut > 0) - { - B3_PROFILE("overlap"); - - b3Float4 normalOnSurfaceB = (b3Float4&)hostNormal; - // b3Float4 centerOut; - - b3Int4 contactIdx; - contactIdx.x = 0; - contactIdx.y = 1; - contactIdx.z = 2; - contactIdx.w = 3; - - int numPoints = 0; - - { - B3_PROFILE("extractManifold"); - numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx); - } - - b3Assert(numPoints); - - if (nContacts < maxContactCapacity) - { - contactIndex = nContacts; - globalContactOut->expand(); - b3Contact4Data& contact = globalContactOut->at(nContacts); - contact.m_batchIdx = 0; //i; - contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA; - contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB; - - contact.m_frictionCoeffCmp = 45874; - contact.m_restituitionCoeffCmp = 0; - - // float distance = 0.f; - for (int p = 0; p < numPoints; p++) - { - contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]]; //check if it is actually on B - contact.m_worldNormalOnB = normalOnSurfaceB; - } - //printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints); - contact.m_worldNormalOnB.w = (b3Scalar)numPoints; - nContacts++; - } - else - { - b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts, maxContactCapacity); - } - } - } - return contactIndex; -} - -inline int b3ContactConvexConvexSAT( - int pairIndex, - int bodyIndexA, int bodyIndexB, - int collidableIndexA, int collidableIndexB, - const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies, - const b3AlignedObjectArray<b3Collidable>& collidables, - const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes, - const b3AlignedObjectArray<b3Float4>& convexVertices, - const b3AlignedObjectArray<b3Float4>& uniqueEdges, - const b3AlignedObjectArray<int>& convexIndices, - const b3AlignedObjectArray<b3GpuFace>& faces, - b3AlignedObjectArray<b3Contact4Data>& globalContactsOut, - int& nGlobalContactsOut, - int maxContactCapacity) -{ - int contactIndex = -1; - - b3Float4 posA = rigidBodies[bodyIndexA].m_pos; - b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat; - b3Float4 posB = rigidBodies[bodyIndexB].m_pos; - b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat; - - b3ConvexPolyhedronData hullA, hullB; - - b3Float4 sepNormalWorldSpace; - - b3Collidable colA = collidables[collidableIndexA]; - hullA = convexShapes[colA.m_shapeIndex]; - //printf("numvertsA = %d\n",hullA.m_numVertices); - - b3Collidable colB = collidables[collidableIndexB]; - hullB = convexShapes[colB.m_shapeIndex]; - //printf("numvertsB = %d\n",hullB.m_numVertices); - -#ifdef _WIN32 - b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x)); - b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x)); -#endif - - bool foundSepAxis = b3FindSeparatingAxis(hullA, hullB, - posA, - ornA, - posB, - ornB, - - convexVertices, uniqueEdges, faces, convexIndices, - convexVertices, uniqueEdges, faces, convexIndices, - - sepNormalWorldSpace); - - if (foundSepAxis) - { - contactIndex = b3ClipHullHullSingle( - bodyIndexA, bodyIndexB, - posA, ornA, - posB, ornB, - collidableIndexA, collidableIndexB, - &rigidBodies, - &globalContactsOut, - nGlobalContactsOut, - - convexShapes, - convexShapes, - - convexVertices, - uniqueEdges, - faces, - convexIndices, - - convexVertices, - uniqueEdges, - faces, - convexIndices, - - collidables, - collidables, - sepNormalWorldSpace, - maxContactCapacity); - } - - return contactIndex; -} - -#endif //B3_CONTACT_CONVEX_CONVEX_SAT_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h deleted file mode 100644 index acf7c1b180..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h +++ /dev/null @@ -1,153 +0,0 @@ - -#ifndef B3_CONTACT_SPHERE_SPHERE_H -#define B3_CONTACT_SPHERE_SPHERE_H - -void computeContactSphereConvex(int pairIndex, - int bodyIndexA, int bodyIndexB, - int collidableIndexA, int collidableIndexB, - const b3RigidBodyData* rigidBodies, - const b3Collidable* collidables, - const b3ConvexPolyhedronData* convexShapes, - const b3Vector3* convexVertices, - const int* convexIndices, - const b3GpuFace* faces, - b3Contact4* globalContactsOut, - int& nGlobalContactsOut, - int maxContactCapacity) -{ - float radius = collidables[collidableIndexA].m_radius; - float4 spherePos1 = rigidBodies[bodyIndexA].m_pos; - b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat; - - float4 pos = rigidBodies[bodyIndexB].m_pos; - - b3Quaternion quat = rigidBodies[bodyIndexB].m_quat; - - b3Transform tr; - tr.setIdentity(); - tr.setOrigin(pos); - tr.setRotation(quat); - b3Transform trInv = tr.inverse(); - - float4 spherePos = trInv(spherePos1); - - int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx; - int shapeIndex = collidables[collidableIndex].m_shapeIndex; - int numFaces = convexShapes[shapeIndex].m_numFaces; - float4 closestPnt = b3MakeVector3(0, 0, 0, 0); - float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0); - float minDist = -1000000.f; // TODO: What is the largest/smallest float? - bool bCollide = true; - int region = -1; - float4 localHitNormal; - for (int f = 0; f < numFaces; f++) - { - b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f]; - float4 planeEqn; - float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f); - float4 n1 = localPlaneNormal; //quatRotate(quat,localPlaneNormal); - planeEqn = n1; - planeEqn[3] = face.m_plane.w; - - float4 pntReturn; - float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn); - - if (dist > radius) - { - bCollide = false; - break; - } - - if (dist > 0) - { - //might hit an edge or vertex - b3Vector3 out; - - bool isInPoly = IsPointInPolygon(spherePos, - &face, - &convexVertices[convexShapes[shapeIndex].m_vertexOffset], - convexIndices, - &out); - if (isInPoly) - { - if (dist > minDist) - { - minDist = dist; - closestPnt = pntReturn; - localHitNormal = planeEqn; - region = 1; - } - } - else - { - b3Vector3 tmp = spherePos - out; - b3Scalar l2 = tmp.length2(); - if (l2 < radius * radius) - { - dist = b3Sqrt(l2); - if (dist > minDist) - { - minDist = dist; - closestPnt = out; - localHitNormal = tmp / dist; - region = 2; - } - } - else - { - bCollide = false; - break; - } - } - } - else - { - if (dist > minDist) - { - minDist = dist; - closestPnt = pntReturn; - localHitNormal = planeEqn; - region = 3; - } - } - } - static int numChecks = 0; - numChecks++; - - if (bCollide && minDist > -10000) - { - float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal; //-hitNormalWorld; - float4 pOnB1 = tr(closestPnt); - //printf("dist ,%f,",minDist); - float actualDepth = minDist - radius; - if (actualDepth < 0) - { - //printf("actualDepth = ,%f,", actualDepth); - //printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z); - //printf("region=,%d,\n", region); - pOnB1[3] = actualDepth; - - int dstIdx; - // dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx ); - - if (nGlobalContactsOut < maxContactCapacity) - { - dstIdx = nGlobalContactsOut; - nGlobalContactsOut++; - - b3Contact4* c = &globalContactsOut[dstIdx]; - c->m_worldNormalOnB = normalOnSurfaceB1; - c->setFrictionCoeff(0.7); - c->setRestituitionCoeff(0.f); - - c->m_batchIdx = pairIndex; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB; - c->m_worldPosB[0] = pOnB1; - int numPoints = 1; - c->m_worldNormalOnB.w = (b3Scalar)numPoints; - } //if (dstIdx < numPairs) - } - } //if (hasCollision) -} -#endif //B3_CONTACT_SPHERE_SPHERE_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h deleted file mode 100644 index d5a73bd4f5..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h +++ /dev/null @@ -1,38 +0,0 @@ - -#ifndef B3_CONVEX_POLYHEDRON_DATA_H -#define B3_CONVEX_POLYHEDRON_DATA_H - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Common/shared/b3Quat.h" - -typedef struct b3GpuFace b3GpuFace_t; -struct b3GpuFace -{ - b3Float4 m_plane; - int m_indexOffset; - int m_numIndices; - int m_unusedPadding1; - int m_unusedPadding2; -}; - -typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t; - -struct b3ConvexPolyhedronData -{ - b3Float4 m_localCenter; - b3Float4 m_extents; - b3Float4 mC; - b3Float4 mE; - - float m_radius; - int m_faceOffset; - int m_numFaces; - int m_numVertices; - - int m_vertexOffset; - int m_uniqueEdgesOffset; - int m_numUniqueEdges; - int m_unused; -}; - -#endif //B3_CONVEX_POLYHEDRON_DATA_H 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 diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h deleted file mode 100644 index b4981ae654..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h +++ /dev/null @@ -1,197 +0,0 @@ -#ifndef B3_FIND_SEPARATING_AXIS_H -#define B3_FIND_SEPARATING_AXIS_H - -inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) -{ - min = FLT_MAX; - max = -FLT_MAX; - int numVerts = hull.m_numVertices; - - const b3Float4 localDir = b3QuatRotate(orn.inverse(), dir); - - b3Scalar offset = b3Dot3F4(pos, dir); - - for (int i = 0; i < numVerts; i++) - { - //b3Vector3 pt = trans * vertices[m_vertexOffset+i]; - //b3Scalar dp = pt.dot(dir); - //b3Vector3 vertex = vertices[hull.m_vertexOffset+i]; - b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset + i], localDir); - //b3Assert(dp==dpL); - if (dp < min) min = dp; - if (dp > max) max = dp; - } - if (min > max) - { - b3Scalar tmp = min; - min = max; - max = tmp; - } - min += offset; - max += offset; -} - -inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3Float4& posA, const b3Quaternion& ornA, - const b3Float4& posB, const b3Quaternion& ornB, - const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth) -{ - b3Scalar Min0, Max0; - b3Scalar Min1, Max1; - b3ProjectAxis(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0); - b3ProjectAxis(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1); - - if (Max0 < Min1 || Max1 < Min0) - return false; - - b3Scalar d0 = Max0 - Min1; - b3Assert(d0 >= 0.0f); - b3Scalar d1 = Max1 - Min0; - b3Assert(d1 >= 0.0f); - depth = d0 < d1 ? d0 : d1; - return true; -} - -inline bool b3FindSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3Float4& posA1, - const b3Quaternion& ornA, - const b3Float4& posB1, - const b3Quaternion& ornB, - const b3AlignedObjectArray<b3Vector3>& verticesA, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, - const b3AlignedObjectArray<b3GpuFace>& facesA, - const b3AlignedObjectArray<int>& indicesA, - const b3AlignedObjectArray<b3Vector3>& verticesB, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB, - const b3AlignedObjectArray<b3GpuFace>& facesB, - const b3AlignedObjectArray<int>& indicesB, - - b3Vector3& sep) -{ - B3_PROFILE("findSeparatingAxis"); - - b3Float4 posA = posA1; - posA.w = 0.f; - b3Float4 posB = posB1; - posB.w = 0.f; - //#ifdef TEST_INTERNAL_OBJECTS - b3Float4 c0local = (b3Float4&)hullA.m_localCenter; - - b3Float4 c0 = b3TransformPoint(c0local, posA, ornA); - b3Float4 c1local = (b3Float4&)hullB.m_localCenter; - b3Float4 c1 = b3TransformPoint(c1local, posB, ornB); - const b3Float4 deltaC2 = c0 - c1; - //#endif - - b3Scalar dmin = FLT_MAX; - int curPlaneTests = 0; - - int numFacesA = hullA.m_numFaces; - // Test normals from hullA - for (int i = 0; i < numFacesA; i++) - { - const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset + i].m_plane; - b3Float4 faceANormalWS = b3QuatRotate(ornA, normal); - - if (b3Dot3F4(deltaC2, faceANormalWS) < 0) - faceANormalWS *= -1.f; - - curPlaneTests++; -#ifdef TEST_INTERNAL_OBJECTS - gExpectedNbTests++; - if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin)) - continue; - gActualNbTests++; -#endif - - b3Scalar d; - if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d)) - return false; - - if (d < dmin) - { - dmin = d; - sep = (b3Vector3&)faceANormalWS; - } - } - - int numFacesB = hullB.m_numFaces; - // Test normals from hullB - for (int i = 0; i < numFacesB; i++) - { - b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset + i].m_plane; - b3Float4 WorldNormal = b3QuatRotate(ornB, normal); - - if (b3Dot3F4(deltaC2, WorldNormal) < 0) - { - WorldNormal *= -1.f; - } - curPlaneTests++; -#ifdef TEST_INTERNAL_OBJECTS - gExpectedNbTests++; - if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin)) - continue; - gActualNbTests++; -#endif - - b3Scalar d; - if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d)) - return false; - - if (d < dmin) - { - dmin = d; - sep = (b3Vector3&)WorldNormal; - } - } - - // b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend; - - int curEdgeEdge = 0; - // Test edges - for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++) - { - const b3Float4& edge0 = (b3Float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0]; - b3Float4 edge0World = b3QuatRotate(ornA, (b3Float4&)edge0); - - for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++) - { - const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1]; - b3Float4 edge1World = b3QuatRotate(ornB, (b3Float4&)edge1); - - b3Float4 crossje = b3Cross3(edge0World, edge1World); - - curEdgeEdge++; - if (!b3IsAlmostZero((b3Vector3&)crossje)) - { - crossje = b3FastNormalized3(crossje); - if (b3Dot3F4(deltaC2, crossje) < 0) - crossje *= -1.f; - -#ifdef TEST_INTERNAL_OBJECTS - gExpectedNbTests++; - if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin)) - continue; - gActualNbTests++; -#endif - - b3Scalar dist; - if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist)) - return false; - - if (dist < dmin) - { - dmin = dist; - sep = (b3Vector3&)crossje; - } - } - } - } - - if ((b3Dot3F4(-deltaC2, (b3Float4&)sep)) > 0.0f) - sep = -sep; - - return true; -} - -#endif //B3_FIND_SEPARATING_AXIS_H 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 diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h deleted file mode 100644 index 6e991e14b0..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h +++ /dev/null @@ -1,175 +0,0 @@ - -#ifndef B3_NEW_CONTACT_REDUCTION_H -#define B3_NEW_CONTACT_REDUCTION_H - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" - -#define GET_NPOINTS(x) (x).m_worldNormalOnB.w - -int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx) -{ - if (nPoints == 0) - return 0; - - if (nPoints <= 4) - return nPoints; - - if (nPoints > 64) - nPoints = 64; - - b3Float4 center = b3MakeFloat4(0, 0, 0, 0); - { - for (int i = 0; i < nPoints; i++) - center += p[i]; - center /= (float)nPoints; - } - - // sample 4 directions - - b3Float4 aVector = p[0] - center; - b3Float4 u = b3Cross(nearNormal, aVector); - b3Float4 v = b3Cross(nearNormal, u); - u = b3Normalized(u); - v = b3Normalized(v); - - //keep point with deepest penetration - float minW = FLT_MAX; - - int minIndex = -1; - - b3Float4 maxDots; - maxDots.x = FLT_MIN; - maxDots.y = FLT_MIN; - maxDots.z = FLT_MIN; - maxDots.w = FLT_MIN; - - // idx, distance - for (int ie = 0; ie < nPoints; ie++) - { - if (p[ie].w < minW) - { - minW = p[ie].w; - minIndex = ie; - } - float f; - b3Float4 r = p[ie] - center; - f = b3Dot(u, r); - if (f < maxDots.x) - { - maxDots.x = f; - contactIdx[0].x = ie; - } - - f = b3Dot(-u, r); - if (f < maxDots.y) - { - maxDots.y = f; - contactIdx[0].y = ie; - } - - f = b3Dot(v, r); - if (f < maxDots.z) - { - maxDots.z = f; - contactIdx[0].z = ie; - } - - f = b3Dot(-v, r); - if (f < maxDots.w) - { - maxDots.w = f; - contactIdx[0].w = ie; - } - } - - if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex) - { - //replace the first contact with minimum (todo: replace contact with least penetration) - contactIdx[0].x = minIndex; - } - - return 4; -} - -__kernel void b3NewContactReductionKernel(__global b3Int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global struct b3Contact4Data* globalContactsOut, - __global b3Int4* clippingFaces, - __global b3Float4* worldVertsB2, - volatile __global int* nGlobalContactsOut, - int vertexFaceCapacity, - int contactCapacity, - int numPairs, - int pairIndex) -{ - // int i = get_global_id(0); - //int pairIndex = i; - int i = pairIndex; - - b3Int4 contactIdx; - contactIdx = b3MakeInt4(0, 1, 2, 3); - - if (i < numPairs) - { - if (hasSeparatingAxis[i]) - { - int nPoints = clippingFaces[pairIndex].w; - - if (nPoints > 0) - { - __global b3Float4* pointsIn = &worldVertsB2[pairIndex * vertexFaceCapacity]; - b3Float4 normal = -separatingNormals[i]; - - int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx); - - int dstIdx; - dstIdx = b3AtomicInc(nGlobalContactsOut); - - //#if 0 - b3Assert(dstIdx < contactCapacity); - if (dstIdx < contactCapacity) - { - __global struct b3Contact4Data* c = &globalContactsOut[dstIdx]; - c->m_worldNormalOnB = -normal; - c->m_restituitionCoeffCmp = (0.f * 0xffff); - c->m_frictionCoeffCmp = (0.7f * 0xffff); - c->m_batchIdx = pairIndex; - int bodyA = pairs[pairIndex].x; - int bodyB = pairs[pairIndex].y; - - pairs[pairIndex].w = dstIdx; - - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB; - c->m_childIndexA = -1; - c->m_childIndexB = -1; - - switch (nReducedContacts) - { - case 4: - c->m_worldPosB[3] = pointsIn[contactIdx.w]; - case 3: - c->m_worldPosB[2] = pointsIn[contactIdx.z]; - case 2: - c->m_worldPosB[1] = pointsIn[contactIdx.y]; - case 1: - c->m_worldPosB[0] = pointsIn[contactIdx.x]; - default: - { - } - }; - - GET_NPOINTS(*c) = nReducedContacts; - } - - //#endif - - } // if (numContactsOut>0) - } // if (hasSeparatingAxis[i]) - } // if (i<numPairs) -} -#endif diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h deleted file mode 100644 index ba796eac72..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h +++ /dev/null @@ -1,88 +0,0 @@ - - -#ifndef B3_QUANTIZED_BVH_NODE_H -#define B3_QUANTIZED_BVH_NODE_H - -#include "Bullet3Common/shared/b3Float4.h" - -#define B3_MAX_NUM_PARTS_IN_BITS 10 - -///b3QuantizedBvhNodeData is a compressed aabb node, 16 bytes. -///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). -typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t; - -struct b3QuantizedBvhNodeData -{ - //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; - //4 bytes - int m_escapeIndexOrTriangleIndex; -}; - -inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode) -{ - unsigned int x = 0; - unsigned int y = (~(x & 0)) << (31 - B3_MAX_NUM_PARTS_IN_BITS); - // Get only the lower bits where the triangle index is stored - return (rootNode->m_escapeIndexOrTriangleIndex & ~(y)); -} - -inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode) -{ - //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (rootNode->m_escapeIndexOrTriangleIndex >= 0) ? 1 : 0; -} - -inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode) -{ - return -rootNode->m_escapeIndexOrTriangleIndex; -} - -inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2, int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization) -{ - b3Float4 clampedPoint = b3MaxFloat4(point2, bvhAabbMin); - clampedPoint = b3MinFloat4(clampedPoint, bvhAabbMax); - - b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization; - if (isMax) - { - out[0] = (unsigned short)(((unsigned short)(v.x + 1.f) | 1)); - out[1] = (unsigned short)(((unsigned short)(v.y + 1.f) | 1)); - out[2] = (unsigned short)(((unsigned short)(v.z + 1.f) | 1)); - } - else - { - out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe)); - out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe)); - out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe)); - } -} - -inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow( - const unsigned short int* aabbMin1, - const unsigned short int* aabbMax1, - const unsigned short int* aabbMin2, - const unsigned short int* aabbMax2) -{ - //int overlap = 1; - if (aabbMin1[0] > aabbMax2[0]) - return 0; - if (aabbMax1[0] < aabbMin2[0]) - return 0; - if (aabbMin1[1] > aabbMax2[1]) - return 0; - if (aabbMax1[1] < aabbMin2[1]) - return 0; - if (aabbMin1[2] > aabbMax2[2]) - return 0; - if (aabbMax1[2] < aabbMin2[2]) - return 0; - return 1; - //overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap; - //overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap; - //overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap; - //return overlap; -} - -#endif //B3_QUANTIZED_BVH_NODE_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h deleted file mode 100644 index c108255b9f..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h +++ /dev/null @@ -1,89 +0,0 @@ -#ifndef B3_REDUCE_CONTACTS_H -#define B3_REDUCE_CONTACTS_H - -inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx) -{ - if (nPoints == 0) - return 0; - - if (nPoints <= 4) - return nPoints; - - if (nPoints > 64) - nPoints = 64; - - b3Float4 center = b3MakeFloat4(0, 0, 0, 0); - { - for (int i = 0; i < nPoints; i++) - center += p[i]; - center /= (float)nPoints; - } - - // sample 4 directions - - b3Float4 aVector = p[0] - center; - b3Float4 u = b3Cross3(nearNormal, aVector); - b3Float4 v = b3Cross3(nearNormal, u); - u = b3FastNormalized3(u); - v = b3FastNormalized3(v); - - //keep point with deepest penetration - float minW = FLT_MAX; - - int minIndex = -1; - - b3Float4 maxDots; - maxDots.x = FLT_MIN; - maxDots.y = FLT_MIN; - maxDots.z = FLT_MIN; - maxDots.w = FLT_MIN; - - // idx, distance - for (int ie = 0; ie < nPoints; ie++) - { - if (p[ie].w < minW) - { - minW = p[ie].w; - minIndex = ie; - } - float f; - b3Float4 r = p[ie] - center; - f = b3Dot3F4(u, r); - if (f < maxDots.x) - { - maxDots.x = f; - contactIdx[0].x = ie; - } - - f = b3Dot3F4(-u, r); - if (f < maxDots.y) - { - maxDots.y = f; - contactIdx[0].y = ie; - } - - f = b3Dot3F4(v, r); - if (f < maxDots.z) - { - maxDots.z = f; - contactIdx[0].z = ie; - } - - f = b3Dot3F4(-v, r); - if (f < maxDots.w) - { - maxDots.w = f; - contactIdx[0].w = ie; - } - } - - if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex) - { - //replace the first contact with minimum (todo: replace contact with least penetration) - contactIdx[0].x = minIndex; - } - - return 4; -} - -#endif //B3_REDUCE_CONTACTS_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h deleted file mode 100644 index 663e946fc1..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h +++ /dev/null @@ -1,31 +0,0 @@ -#ifndef B3_RIGIDBODY_DATA_H -#define B3_RIGIDBODY_DATA_H - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Common/shared/b3Quat.h" -#include "Bullet3Common/shared/b3Mat3x3.h" - -typedef struct b3RigidBodyData b3RigidBodyData_t; - -struct b3RigidBodyData -{ - b3Float4 m_pos; - b3Quat m_quat; - b3Float4 m_linVel; - b3Float4 m_angVel; - - int m_collidableIdx; - float m_invMass; - float m_restituitionCoeff; - float m_frictionCoeff; -}; - -typedef struct b3InertiaData b3InertiaData_t; - -struct b3InertiaData -{ - b3Mat3x3 m_invInertiaWorld; - b3Mat3x3 m_initInvInertia; -}; - -#endif //B3_RIGIDBODY_DATA_H diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h deleted file mode 100644 index e0c3a5cf97..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h +++ /dev/null @@ -1,35 +0,0 @@ -#ifndef B3_UPDATE_AABBS_H -#define B3_UPDATE_AABBS_H - -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" - -void b3ComputeWorldAabb(int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs) -{ - __global const b3RigidBodyData_t* body = &bodies[bodyId]; - - b3Float4 position = body->m_pos; - b3Quat orientation = body->m_quat; - - int collidableIndex = body->m_collidableIdx; - int shapeIndex = collidables[collidableIndex].m_shapeIndex; - - if (shapeIndex >= 0) - { - b3Aabb_t localAabb = localShapeAABB[collidableIndex]; - b3Aabb_t worldAabb; - - b3Float4 aabbAMinOut, aabbAMaxOut; - float margin = 0.f; - b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &aabbAMinOut, &aabbAMaxOut); - - worldAabb.m_minVec = aabbAMinOut; - worldAabb.m_minIndices[3] = bodyId; - worldAabb.m_maxVec = aabbAMaxOut; - worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass == 0.f ? 0 : 1; - worldAabbs[bodyId] = worldAabb; - } -} - -#endif //B3_UPDATE_AABBS_H |