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#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
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