/usr/include/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h is in libbullet-dev 2.87+dfsg-2.
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#define B3_CONTACT_CONVEX_CONVEX_SAT_H
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h"
#define B3_MAX_VERTS 1024
inline b3Float4 b3Lerp3(const b3Float4& a,const b3Float4& b, float t)
{
return b3MakeVector3( a.x + (b.x - a.x) * t,
a.y + (b.y - a.y) * t,
a.z + (b.z - a.z) * t,
0.f);
}
// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS,float planeEqWS, b3Float4* ppVtxOut)
{
int ve;
float ds, de;
int numVertsOut = 0;
if (numVertsIn < 2)
return 0;
b3Float4 firstVertex=pVtxIn[numVertsIn-1];
b3Float4 endVertex = pVtxIn[0];
ds = b3Dot3F4(planeNormalWS,firstVertex)+planeEqWS;
for (ve = 0; ve < numVertsIn; ve++)
{
endVertex=pVtxIn[ve];
de = b3Dot3F4(planeNormalWS,endVertex)+planeEqWS;
if (ds<0)
{
if (de<0)
{
// Start < 0, end < 0, so output endVertex
ppVtxOut[numVertsOut++] = endVertex;
}
else
{
// Start < 0, end >= 0, so output intersection
ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
}
}
else
{
if (de<0)
{
// Start >= 0, end < 0 so output intersection and end
ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
ppVtxOut[numVertsOut++] = endVertex;
}
}
firstVertex = endVertex;
ds = de;
}
return numVertsOut;
}
inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA,
const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1,
b3Float4* worldVertsB2, int capacityWorldVertsB2,
const float minDist, float maxDist,
const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
//const b3Float4* verticesB, const b3GpuFace* facesB, const int* indicesB,
b3Float4* contactsOut,
int contactCapacity)
{
int numContactsOut = 0;
b3Float4* pVtxIn = worldVertsB1;
b3Float4* pVtxOut = worldVertsB2;
int numVertsIn = numWorldVertsB1;
int numVertsOut = 0;
int closestFaceA=-1;
{
float dmin = FLT_MAX;
for(int face=0;face<hullA->m_numFaces;face++)
{
const b3Float4 Normal = b3MakeVector3(
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 = b3Dot3F4(faceANormalWS,separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
}
}
}
if (closestFaceA<0)
return numContactsOut;
b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
//int numContacts = numWorldVertsB1;
int numVerticesA = polyA.m_numIndices;
for(int e0=0;e0<numVerticesA;e0++)
{
const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];
const b3Float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
const b3Float4 edge0 = a - b;
const b3Float4 WorldEdge0 = b3QuatRotate(ornA,edge0);
b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA,planeNormalA);
b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0,worldPlaneAnormal1);
b3Float4 worldA1 = b3TransformPoint(a,posA,ornA);
float planeEqWS1 = -b3Dot3F4(worldA1,planeNormalWS1);
b3Float4 planeNormalWS = planeNormalWS1;
float planeEqWS=planeEqWS1;
//clip face
//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
//btSwap(pVtxIn,pVtxOut);
b3Float4* tmp = pVtxOut;
pVtxOut = pVtxIn;
pVtxIn = tmp;
numVertsIn = numVertsOut;
numVertsOut = 0;
}
// only keep points that are behind the witness face
{
b3Float4 localPlaneNormal = b3MakeFloat4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
float localPlaneEq = polyA.m_plane.w;
b3Float4 planeNormalWS = b3QuatRotate(ornA,localPlaneNormal);
float planeEqWS=localPlaneEq-b3Dot3F4(planeNormalWS,posA);
for (int i=0;i<numVertsIn;i++)
{
float depth = b3Dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
if (depth <=minDist)
{
depth = minDist;
}
if (numContactsOut<contactCapacity)
{
if (depth <=maxDist)
{
b3Float4 pointInWorld = pVtxIn[i];
//resultOut.addContactPoint(separatingNormal,point,depth);
contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
//printf("depth=%f\n",depth);
}
} else
{
b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut,contactCapacity);
}
}
}
return numContactsOut;
}
inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal,
const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
const b3Float4& posA, const b3Quaternion& ornA,const b3Float4& posB, const b3Quaternion& ornB,
b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts,
const float minDist, float maxDist,
const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
const b3AlignedObjectArray<b3Float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB,
b3Float4* contactsOut,
int contactCapacity)
{
int numContactsOut = 0;
int numWorldVertsB1= 0;
B3_PROFILE("clipHullAgainstHull");
//float curMaxDist=maxDist;
int closestFaceB=-1;
float dmax = -FLT_MAX;
{
//B3_PROFILE("closestFaceB");
if (hullB.m_numFaces!=1)
{
//printf("wtf\n");
}
static bool once = true;
//printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z);
for(int face=0;face<hullB.m_numFaces;face++)
{
#ifdef BT_DEBUG_SAT_FACE
if (once)
printf("face %d\n",face);
const b3GpuFace* faceB = &facesB[hullB.m_faceOffset+face];
if (once)
{
for (int i=0;i<faceB->m_numIndices;i++)
{
b3Float4 vert = verticesB[hullB.m_vertexOffset+indicesB[faceB->m_indexOffset+i]];
printf("vert[%d] = %f,%f,%f\n",i,vert.x,vert.y,vert.z);
}
}
#endif //BT_DEBUG_SAT_FACE
//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
{
const b3Float4 Normal = b3MakeVector3(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);
#ifdef BT_DEBUG_SAT_FACE
if (once)
printf("faceNormal = %f,%f,%f\n",Normal.x,Normal.y,Normal.z);
#endif
float d = b3Dot3F4(WorldNormal,separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
once = false;
}
b3Assert(closestFaceB>=0);
{
//B3_PROFILE("worldVertsB1");
const b3GpuFace& 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[numWorldVertsB1++] = b3TransformPoint(b,posB,ornB);
}
}
if (closestFaceB>=0)
{
//B3_PROFILE("clipFaceAgainstHull");
numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA,
posA,ornA,
worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,
verticesA, facesA, indicesA,
contactsOut,contactCapacity);
}
return numContactsOut;
}
inline int b3ClipHullHullSingle(
int bodyIndexA, int bodyIndexB,
const b3Float4& posA,
const b3Quaternion& ornA,
const b3Float4& posB,
const b3Quaternion& ornB,
int collidableIndexA, int collidableIndexB,
const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf,
b3AlignedObjectArray<b3Contact4Data>* globalContactOut,
int& nContacts,
const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
const b3AlignedObjectArray<b3Vector3>& verticesA,
const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
const b3AlignedObjectArray<b3GpuFace>& facesA,
const b3AlignedObjectArray<int>& indicesA,
const b3AlignedObjectArray<b3Vector3>& verticesB,
const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
const b3AlignedObjectArray<b3GpuFace>& facesB,
const b3AlignedObjectArray<int>& indicesB,
const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
const b3Vector3& sepNormalWorldSpace,
int maxContactCapacity )
{
int contactIndex = -1;
b3ConvexPolyhedronData hullA, hullB;
b3Collidable colA = hostCollidablesA[collidableIndexA];
hullA = hostConvexDataA[colA.m_shapeIndex];
//printf("numvertsA = %d\n",hullA.m_numVertices);
b3Collidable colB = hostCollidablesB[collidableIndexB];
hullB = hostConvexDataB[colB.m_shapeIndex];
//printf("numvertsB = %d\n",hullB.m_numVertices);
b3Float4 contactsOut[B3_MAX_VERTS];
int localContactCapacity = B3_MAX_VERTS;
#ifdef _WIN32
b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x));
b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x));
#endif
{
b3Float4 worldVertsB1[B3_MAX_VERTS];
b3Float4 worldVertsB2[B3_MAX_VERTS];
int capacityWorldVerts = B3_MAX_VERTS;
b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z,0.f);
int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
b3Scalar minDist = -1;
b3Scalar maxDist = 0.;
b3Transform trA,trB;
{
//B3_PROFILE("b3TransformPoint computation");
//trA.setIdentity();
trA.setOrigin(b3MakeVector3(posA.x,posA.y,posA.z));
trA.setRotation(b3Quaternion(ornA.x,ornA.y,ornA.z,ornA.w));
//trB.setIdentity();
trB.setOrigin(b3MakeVector3(posB.x,posB.y,posB.z));
trB.setRotation(b3Quaternion(ornB.x,ornB.y,ornB.z,ornB.w));
}
b3Quaternion trAorn = trA.getRotation();
b3Quaternion trBorn = trB.getRotation();
int numContactsOut = b3ClipHullAgainstHull(hostNormal,
hostConvexDataA.at(shapeA),
hostConvexDataB.at(shapeB),
(b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
(b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
worldVertsB1,worldVertsB2,capacityWorldVerts,
minDist, maxDist,
verticesA, facesA,indicesA,
verticesB, facesB,indicesB,
contactsOut,localContactCapacity);
if (numContactsOut>0)
{
B3_PROFILE("overlap");
b3Float4 normalOnSurfaceB = (b3Float4&)hostNormal;
// b3Float4 centerOut;
b3Int4 contactIdx;
contactIdx.x = 0;
contactIdx.y = 1;
contactIdx.z = 2;
contactIdx.w = 3;
int numPoints = 0;
{
B3_PROFILE("extractManifold");
numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
}
b3Assert(numPoints);
if (nContacts<maxContactCapacity)
{
contactIndex = nContacts;
globalContactOut->expand();
b3Contact4Data& contact = globalContactOut->at(nContacts);
contact.m_batchIdx = 0;//i;
contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
contact.m_frictionCoeffCmp = 45874;
contact.m_restituitionCoeffCmp = 0;
// float distance = 0.f;
for (int p=0;p<numPoints;p++)
{
contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
contact.m_worldNormalOnB = normalOnSurfaceB;
}
//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
nContacts++;
} else
{
b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts,maxContactCapacity);
}
}
}
return contactIndex;
}
inline int b3ContactConvexConvexSAT(
int pairIndex,
int bodyIndexA, int bodyIndexB,
int collidableIndexA, int collidableIndexB,
const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies,
const b3AlignedObjectArray<b3Collidable>& collidables,
const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
const b3AlignedObjectArray<b3Float4>& convexVertices,
const b3AlignedObjectArray<b3Float4>& uniqueEdges,
const b3AlignedObjectArray<int>& convexIndices,
const b3AlignedObjectArray<b3GpuFace>& faces,
b3AlignedObjectArray<b3Contact4Data>& globalContactsOut,
int& nGlobalContactsOut,
int maxContactCapacity)
{
int contactIndex = -1;
b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
b3ConvexPolyhedronData hullA, hullB;
b3Float4 sepNormalWorldSpace;
b3Collidable colA = collidables[collidableIndexA];
hullA = convexShapes[colA.m_shapeIndex];
//printf("numvertsA = %d\n",hullA.m_numVertices);
b3Collidable colB = collidables[collidableIndexB];
hullB = convexShapes[colB.m_shapeIndex];
//printf("numvertsB = %d\n",hullB.m_numVertices);
#ifdef _WIN32
b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x));
b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x));
#endif
bool foundSepAxis = b3FindSeparatingAxis(hullA,hullB,
posA,
ornA,
posB,
ornB,
convexVertices,uniqueEdges,faces,convexIndices,
convexVertices,uniqueEdges,faces,convexIndices,
sepNormalWorldSpace
);
if (foundSepAxis)
{
contactIndex = b3ClipHullHullSingle(
bodyIndexA, bodyIndexB,
posA,ornA,
posB,ornB,
collidableIndexA, collidableIndexB,
&rigidBodies,
&globalContactsOut,
nGlobalContactsOut,
convexShapes,
convexShapes,
convexVertices,
uniqueEdges,
faces,
convexIndices,
convexVertices,
uniqueEdges,
faces,
convexIndices,
collidables,
collidables,
sepNormalWorldSpace,
maxContactCapacity);
}
return contactIndex;
}
#endif //B3_CONTACT_CONVEX_CONVEX_SAT_H
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