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diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
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+/*
+Copyright (c) 2012 Advanced Micro Devices, Inc.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+//Originally written by Erwin Coumans
+
+
+#include "b3ConvexUtility.h"
+#include "Bullet3Geometry/b3ConvexHullComputer.h"
+#include "Bullet3Geometry/b3GrahamScan2dConvexHull.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3HashMap.h"
+
+
+
+
+
+b3ConvexUtility::~b3ConvexUtility()
+{
+}
+
+bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
+{
+
+
+
+ b3ConvexHullComputer conv;
+ conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3),numPoints,0.f,0.f);
+
+ b3AlignedObjectArray<b3Vector3> faceNormals;
+ int numFaces = conv.faces.size();
+ faceNormals.resize(numFaces);
+ b3ConvexHullComputer* convexUtil = &conv;
+
+
+ b3AlignedObjectArray<b3MyFace> tmpFaces;
+ tmpFaces.resize(numFaces);
+
+ int numVertices = convexUtil->vertices.size();
+ m_vertices.resize(numVertices);
+ for (int p=0;p<numVertices;p++)
+ {
+ m_vertices[p] = convexUtil->vertices[p];
+ }
+
+
+ for (int i=0;i<numFaces;i++)
+ {
+ int face = convexUtil->faces[i];
+ //printf("face=%d\n",face);
+ const b3ConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
+ const b3ConvexHullComputer::Edge* edge = firstEdge;
+
+ b3Vector3 edges[3];
+ int numEdges = 0;
+ //compute face normals
+
+ do
+ {
+
+ int src = edge->getSourceVertex();
+ tmpFaces[i].m_indices.push_back(src);
+ int targ = edge->getTargetVertex();
+ b3Vector3 wa = convexUtil->vertices[src];
+
+ b3Vector3 wb = convexUtil->vertices[targ];
+ b3Vector3 newEdge = wb-wa;
+ newEdge.normalize();
+ if (numEdges<2)
+ edges[numEdges++] = newEdge;
+
+ edge = edge->getNextEdgeOfFace();
+ } while (edge!=firstEdge);
+
+ b3Scalar planeEq = 1e30f;
+
+
+ if (numEdges==2)
+ {
+ faceNormals[i] = edges[0].cross(edges[1]);
+ faceNormals[i].normalize();
+ tmpFaces[i].m_plane[0] = faceNormals[i].getX();
+ tmpFaces[i].m_plane[1] = faceNormals[i].getY();
+ tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
+ tmpFaces[i].m_plane[3] = planeEq;
+
+ }
+ else
+ {
+ b3Assert(0);//degenerate?
+ faceNormals[i].setZero();
+ }
+
+ for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+ {
+ b3Scalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
+ if (planeEq>eq)
+ {
+ planeEq=eq;
+ }
+ }
+ tmpFaces[i].m_plane[3] = -planeEq;
+ }
+
+ //merge coplanar faces and copy them to m_polyhedron
+
+ b3Scalar faceWeldThreshold= 0.999f;
+ b3AlignedObjectArray<int> todoFaces;
+ for (int i=0;i<tmpFaces.size();i++)
+ todoFaces.push_back(i);
+
+ while (todoFaces.size())
+ {
+ b3AlignedObjectArray<int> coplanarFaceGroup;
+ int refFace = todoFaces[todoFaces.size()-1];
+
+ coplanarFaceGroup.push_back(refFace);
+ b3MyFace& faceA = tmpFaces[refFace];
+ todoFaces.pop_back();
+
+ b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
+ for (int j=todoFaces.size()-1;j>=0;j--)
+ {
+ int i = todoFaces[j];
+ b3MyFace& faceB = tmpFaces[i];
+ b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
+ if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+ {
+ coplanarFaceGroup.push_back(i);
+ todoFaces.remove(i);
+ }
+ }
+
+
+ bool did_merge = false;
+ if (coplanarFaceGroup.size()>1)
+ {
+ //do the merge: use Graham Scan 2d convex hull
+
+ b3AlignedObjectArray<b3GrahamVector3> orgpoints;
+ b3Vector3 averageFaceNormal = b3MakeVector3(0,0,0);
+
+ for (int i=0;i<coplanarFaceGroup.size();i++)
+ {
+// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+
+ b3MyFace& face = tmpFaces[coplanarFaceGroup[i]];
+ b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
+ averageFaceNormal+=faceNormal;
+ for (int f=0;f<face.m_indices.size();f++)
+ {
+ int orgIndex = face.m_indices[f];
+ b3Vector3 pt = m_vertices[orgIndex];
+
+ bool found = false;
+
+ for (int i=0;i<orgpoints.size();i++)
+ {
+ //if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
+ if (orgpoints[i].m_orgIndex == orgIndex)
+ {
+ found=true;
+ break;
+ }
+ }
+ if (!found)
+ orgpoints.push_back(b3GrahamVector3(pt,orgIndex));
+ }
+ }
+
+
+
+ b3MyFace combinedFace;
+ for (int i=0;i<4;i++)
+ combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
+
+ b3AlignedObjectArray<b3GrahamVector3> hull;
+
+ averageFaceNormal.normalize();
+ b3GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
+
+ for (int i=0;i<hull.size();i++)
+ {
+ combinedFace.m_indices.push_back(hull[i].m_orgIndex);
+ for(int k = 0; k < orgpoints.size(); k++)
+ {
+ if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
+ {
+ orgpoints[k].m_orgIndex = -1; // invalidate...
+ break;
+ }
+ }
+ }
+
+ // are there rejected vertices?
+ bool reject_merge = false;
+
+
+
+ for(int i = 0; i < orgpoints.size(); i++) {
+ if(orgpoints[i].m_orgIndex == -1)
+ continue; // this is in the hull...
+ // this vertex is rejected -- is anybody else using this vertex?
+ for(int j = 0; j < tmpFaces.size(); j++) {
+
+ b3MyFace& face = tmpFaces[j];
+ // is this a face of the current coplanar group?
+ bool is_in_current_group = false;
+ for(int k = 0; k < coplanarFaceGroup.size(); k++) {
+ if(coplanarFaceGroup[k] == j) {
+ is_in_current_group = true;
+ break;
+ }
+ }
+ if(is_in_current_group) // ignore this face...
+ continue;
+ // does this face use this rejected vertex?
+ for(int v = 0; v < face.m_indices.size(); v++) {
+ if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+ // this rejected vertex is used in another face -- reject merge
+ reject_merge = true;
+ break;
+ }
+ }
+ if(reject_merge)
+ break;
+ }
+ if(reject_merge)
+ break;
+ }
+
+ if (!reject_merge)
+ {
+ // do this merge!
+ did_merge = true;
+ m_faces.push_back(combinedFace);
+ }
+ }
+ if(!did_merge)
+ {
+ for (int i=0;i<coplanarFaceGroup.size();i++)
+ {
+ b3MyFace face = tmpFaces[coplanarFaceGroup[i]];
+ m_faces.push_back(face);
+ }
+
+ }
+
+
+
+ }
+
+ initialize();
+
+ return true;
+}
+
+
+
+
+
+
+inline bool IsAlmostZero(const b3Vector3& v)
+{
+ if(fabsf(v.getX())>1e-6 || fabsf(v.getY())>1e-6 || fabsf(v.getZ())>1e-6) return false;
+ return true;
+}
+
+struct b3InternalVertexPair
+{
+ b3InternalVertexPair(short int v0,short int v1)
+ :m_v0(v0),
+ m_v1(v1)
+ {
+ if (m_v1>m_v0)
+ b3Swap(m_v0,m_v1);
+ }
+ short int m_v0;
+ short int m_v1;
+ int getHash() const
+ {
+ return m_v0+(m_v1<<16);
+ }
+ bool equals(const b3InternalVertexPair& other) const
+ {
+ return m_v0==other.m_v0 && m_v1==other.m_v1;
+ }
+};
+
+struct b3InternalEdge
+{
+ b3InternalEdge()
+ :m_face0(-1),
+ m_face1(-1)
+ {
+ }
+ short int m_face0;
+ short int m_face1;
+};
+
+//
+
+#ifdef TEST_INTERNAL_OBJECTS
+bool b3ConvexUtility::testContainment() const
+{
+ for(int p=0;p<8;p++)
+ {
+ b3Vector3 LocalPt;
+ if(p==0) LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]);
+ else if(p==1) LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]);
+ else if(p==2) LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]);
+ else if(p==3) LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]);
+ else if(p==4) LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]);
+ else if(p==5) LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]);
+ else if(p==6) LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]);
+ else if(p==7) LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]);
+
+ for(int i=0;i<m_faces.size();i++)
+ {
+ const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+ const b3Scalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
+ if(d>0.0f)
+ return false;
+ }
+ }
+ return true;
+}
+#endif
+
+void b3ConvexUtility::initialize()
+{
+
+ b3HashMap<b3InternalVertexPair,b3InternalEdge> edges;
+
+ b3Scalar TotalArea = 0.0f;
+
+ m_localCenter.setValue(0, 0, 0);
+ for(int i=0;i<m_faces.size();i++)
+ {
+ int numVertices = m_faces[i].m_indices.size();
+ int NbTris = numVertices;
+ for(int j=0;j<NbTris;j++)
+ {
+ int k = (j+1)%numVertices;
+ b3InternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+ b3InternalEdge* edptr = edges.find(vp);
+ b3Vector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
+ edge.normalize();
+
+ bool found = false;
+ b3Vector3 diff,diff2;
+
+ for (int p=0;p<m_uniqueEdges.size();p++)
+ {
+ diff = m_uniqueEdges[p]-edge;
+ diff2 = m_uniqueEdges[p]+edge;
+
+ // if ((diff.length2()==0.f) ||
+ // (diff2.length2()==0.f))
+
+ if (IsAlmostZero(diff) ||
+ IsAlmostZero(diff2))
+ {
+ found = true;
+ break;
+ }
+ }
+
+ if (!found)
+ {
+ m_uniqueEdges.push_back(edge);
+ }
+
+ if (edptr)
+ {
+ //TBD: figure out why I added this assert
+// b3Assert(edptr->m_face0>=0);
+ // b3Assert(edptr->m_face1<0);
+ edptr->m_face1 = i;
+ } else
+ {
+ b3InternalEdge ed;
+ ed.m_face0 = i;
+ edges.insert(vp,ed);
+ }
+ }
+ }
+
+#ifdef USE_CONNECTED_FACES
+ for(int i=0;i<m_faces.size();i++)
+ {
+ int numVertices = m_faces[i].m_indices.size();
+ m_faces[i].m_connectedFaces.resize(numVertices);
+
+ for(int j=0;j<numVertices;j++)
+ {
+ int k = (j+1)%numVertices;
+ b3InternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+ b3InternalEdge* edptr = edges.find(vp);
+ b3Assert(edptr);
+ b3Assert(edptr->m_face0>=0);
+ b3Assert(edptr->m_face1>=0);
+
+ int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
+ m_faces[i].m_connectedFaces[j] = connectedFace;
+ }
+ }
+#endif//USE_CONNECTED_FACES
+
+ for(int i=0;i<m_faces.size();i++)
+ {
+ int numVertices = m_faces[i].m_indices.size();
+ int NbTris = numVertices-2;
+
+ const b3Vector3& p0 = m_vertices[m_faces[i].m_indices[0]];
+ for(int j=1;j<=NbTris;j++)
+ {
+ int k = (j+1)%numVertices;
+ const b3Vector3& p1 = m_vertices[m_faces[i].m_indices[j]];
+ const b3Vector3& p2 = m_vertices[m_faces[i].m_indices[k]];
+ b3Scalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
+ b3Vector3 Center = (p0+p1+p2)/3.0f;
+ m_localCenter += Area * Center;
+ TotalArea += Area;
+ }
+ }
+ m_localCenter /= TotalArea;
+
+
+
+
+#ifdef TEST_INTERNAL_OBJECTS
+ if(1)
+ {
+ m_radius = FLT_MAX;
+ for(int i=0;i<m_faces.size();i++)
+ {
+ const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+ const b3Scalar dist = b3Fabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
+ if(dist<m_radius)
+ m_radius = dist;
+ }
+
+
+ b3Scalar MinX = FLT_MAX;
+ b3Scalar MinY = FLT_MAX;
+ b3Scalar MinZ = FLT_MAX;
+ b3Scalar MaxX = -FLT_MAX;
+ b3Scalar MaxY = -FLT_MAX;
+ b3Scalar MaxZ = -FLT_MAX;
+ for(int i=0; i<m_vertices.size(); i++)
+ {
+ const b3Vector3& pt = m_vertices[i];
+ if(pt.getX()<MinX) MinX = pt.getX();
+ if(pt.getX()>MaxX) MaxX = pt.getX();
+ if(pt.getY()<MinY) MinY = pt.getY();
+ if(pt.getY()>MaxY) MaxY = pt.getY();
+ if(pt.getZ()<MinZ) MinZ = pt.getZ();
+ if(pt.getZ()>MaxZ) MaxZ = pt.getZ();
+ }
+ mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
+ mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
+
+
+
+// const b3Scalar r = m_radius / sqrtf(2.0f);
+ const b3Scalar r = m_radius / sqrtf(3.0f);
+ const int LargestExtent = mE.maxAxis();
+ const b3Scalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
+ m_extents[0] = m_extents[1] = m_extents[2] = r;
+ m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
+ bool FoundBox = false;
+ for(int j=0;j<1024;j++)
+ {
+ if(testContainment())
+ {
+ FoundBox = true;
+ break;
+ }
+
+ m_extents[LargestExtent] -= Step;
+ }
+ if(!FoundBox)
+ {
+ m_extents[0] = m_extents[1] = m_extents[2] = r;
+ }
+ else
+ {
+ // Refine the box
+ const b3Scalar Step = (m_radius - r)/1024.0f;
+ const int e0 = (1<<LargestExtent) & 3;
+ const int e1 = (1<<e0) & 3;
+
+ for(int j=0;j<1024;j++)
+ {
+ const b3Scalar Saved0 = m_extents[e0];
+ const b3Scalar Saved1 = m_extents[e1];
+ m_extents[e0] += Step;
+ m_extents[e1] += Step;
+
+ if(!testContainment())
+ {
+ m_extents[e0] = Saved0;
+ m_extents[e1] = Saved1;
+ break;
+ }
+ }
+ }
+ }
+#endif
+}
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