From 3d7f1555865a981b7144becfc58d3f3f34362f5f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= Date: Wed, 9 Mar 2022 21:15:53 +0100 Subject: Remove unused Bullet module and thirdparty code It has been disabled in `master` since one year (#45852) and our plan is for Bullet, and possibly other thirdparty physics engines, to be implemented via GDExtension so that they can be selected by the users who need them. --- .../NarrowPhaseCollision/shared/b3MprPenetration.h | 888 --------------------- 1 file changed, 888 deletions(-) delete mode 100644 thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.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 - * - * 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 . - * 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 -- cgit v1.2.3