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godot/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h

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Vendor thirdparty Bullet source for upcoming physics server backend
2017-08-01 12:30:58 +00:00
#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