From e12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= Date: Sat, 13 Jan 2018 14:01:53 +0100 Subject: bullet: Streamline bundling, remove extraneous src/ folder Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one. --- .../shared/b3FindConcaveSatAxis.h | 832 +++++++++++++++++++++ 1 file changed, 832 insertions(+) create mode 100644 thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h') diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h new file mode 100644 index 0000000000..89993f3565 --- /dev/null +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h @@ -0,0 +1,832 @@ +#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;im_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(Max0m_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;im_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;e0m_numUniqueEdges;e0++) + { + const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0]; + b3Float4 edge0World = b3QuatRotate(ornA,edge0); + + for(int e1=0;e1m_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(Max00) + { + 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(Max00.0f) + { + *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;facem_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;e0m_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;facem_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;e0m_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