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https://github.com/Relintai/pandemonium_engine.git
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1374 lines
36 KiB
Common Lisp
1374 lines
36 KiB
Common Lisp
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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#define SHAPE_CONVEX_HULL 3
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#define SHAPE_PLANE 4
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#define SHAPE_CONCAVE_TRIMESH 5
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#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
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#define SHAPE_SPHERE 7
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#pragma OPENCL EXTENSION cl_amd_printf : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
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#ifdef cl_ext_atomic_counters_32
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#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
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#else
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#define counter32_t volatile __global int*
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#endif
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#define GET_GROUP_IDX get_group_id(0)
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#define GET_LOCAL_IDX get_local_id(0)
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#define GET_GLOBAL_IDX get_global_id(0)
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#define GET_GROUP_SIZE get_local_size(0)
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#define GET_NUM_GROUPS get_num_groups(0)
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#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
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#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
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#define AtomInc(x) atom_inc(&(x))
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#define AtomInc1(x, out) out = atom_inc(&(x))
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#define AppendInc(x, out) out = atomic_inc(x)
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#define AtomAdd(x, value) atom_add(&(x), value)
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#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
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#define AtomXhg(x, value) atom_xchg ( &(x), value )
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#define max2 max
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#define min2 min
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typedef unsigned int u32;
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typedef struct
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{
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union
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{
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float4 m_min;
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float m_minElems[4];
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int m_minIndices[4];
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};
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union
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{
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float4 m_max;
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float m_maxElems[4];
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int m_maxIndices[4];
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};
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} btAabbCL;
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///keep this in sync with btCollidable.h
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typedef struct
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{
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int m_numChildShapes;
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float m_radius;
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int m_shapeType;
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int m_shapeIndex;
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} btCollidableGpu;
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typedef struct
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{
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float4 m_childPosition;
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float4 m_childOrientation;
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int m_shapeIndex;
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int m_unused0;
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int m_unused1;
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int m_unused2;
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} btGpuChildShape;
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#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
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typedef struct
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{
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float4 m_pos;
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float4 m_quat;
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float4 m_linVel;
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float4 m_angVel;
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u32 m_collidableIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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} BodyData;
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typedef struct
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{
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float4 m_localCenter;
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float4 m_extents;
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float4 mC;
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float4 mE;
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float m_radius;
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int m_faceOffset;
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int m_numFaces;
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int m_numVertices;
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int m_vertexOffset;
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int m_uniqueEdgesOffset;
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int m_numUniqueEdges;
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int m_unused;
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} ConvexPolyhedronCL;
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typedef struct
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{
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float4 m_plane;
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int m_indexOffset;
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int m_numIndices;
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} btGpuFace;
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#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
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#define make_float4 (float4)
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#define make_float2 (float2)
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#define make_uint4 (uint4)
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#define make_int4 (int4)
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#define make_uint2 (uint2)
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#define make_int2 (int2)
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__inline
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float fastDiv(float numerator, float denominator)
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{
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return native_divide(numerator, denominator);
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// return numerator/denominator;
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}
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__inline
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float4 fastDiv4(float4 numerator, float4 denominator)
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{
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return native_divide(numerator, denominator);
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}
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__inline
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float4 cross3(float4 a, float4 b)
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{
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return cross(a,b);
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}
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//#define dot3F4 dot
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__inline
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float dot3F4(float4 a, float4 b)
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{
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float4 a1 = make_float4(a.xyz,0.f);
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float4 b1 = make_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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__inline
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float4 fastNormalize4(float4 v)
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{
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return fast_normalize(v);
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}
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///////////////////////////////////////
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// Quaternion
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///////////////////////////////////////
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typedef float4 Quaternion;
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b);
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__inline
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Quaternion qtNormalize(Quaternion in);
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__inline
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float4 qtRotate(Quaternion q, float4 vec);
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__inline
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Quaternion qtInvert(Quaternion q);
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b)
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{
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Quaternion ans;
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ans = cross3( a, b );
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ans += a.w*b+b.w*a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w*b.w - dot3F4(a, b);
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return ans;
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}
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__inline
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Quaternion qtNormalize(Quaternion in)
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{
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return fastNormalize4(in);
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// in /= length( in );
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// return in;
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}
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__inline
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float4 qtRotate(Quaternion q, float4 vec)
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{
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Quaternion qInv = qtInvert( q );
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = qtMul(qtMul(q,vcpy),qInv);
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return out;
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}
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__inline
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Quaternion qtInvert(Quaternion q)
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{
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return (Quaternion)(-q.xyz, q.w);
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}
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__inline
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float4 qtInvRotate(const Quaternion q, float4 vec)
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{
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return qtRotate( qtInvert( q ), vec );
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}
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__inline
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float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
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{
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return qtRotate( *orientation, *p ) + (*translation);
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}
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void trInverse(float4 translationIn, Quaternion orientationIn,
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float4* translationOut, Quaternion* orientationOut)
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{
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*orientationOut = qtInvert(orientationIn);
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*translationOut = qtRotate(*orientationOut, -translationIn);
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}
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void trMul(float4 translationA, Quaternion orientationA,
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float4 translationB, Quaternion orientationB,
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float4* translationOut, Quaternion* orientationOut)
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{
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*orientationOut = qtMul(orientationA,orientationB);
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*translationOut = transform(&translationB,&translationA,&orientationA);
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}
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__inline
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float4 normalize3(const float4 a)
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{
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float4 n = make_float4(a.x, a.y, a.z, 0.f);
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return fastNormalize4( n );
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}
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__inline float4 lerp3(const float4 a,const float4 b, float t)
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{
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return make_float4( a.x + (b.x - a.x) * t,
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a.y + (b.y - a.y) * t,
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a.z + (b.z - a.z) * t,
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0.f);
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}
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float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)
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{
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float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);
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float dist = dot3F4(n, point) + planeEqn.w;
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*closestPointOnFace = point - dist * n;
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return dist;
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}
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inline bool IsPointInPolygon(float4 p,
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const btGpuFace* face,
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__global const float4* baseVertex,
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__global const int* convexIndices,
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float4* out)
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{
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float4 a;
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float4 b;
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float4 ab;
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float4 ap;
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float4 v;
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float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
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if (face->m_numIndices<2)
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return false;
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float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
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b = v0;
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for(unsigned i=0; i != face->m_numIndices; ++i)
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{
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a = b;
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float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
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b = vi;
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ab = b-a;
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ap = p-a;
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v = cross3(ab,plane);
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if (dot(ap, v) > 0.f)
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{
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float ab_m2 = dot(ab, ab);
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float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;
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if (rt <= 0.f)
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{
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*out = a;
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}
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else if (rt >= 1.f)
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{
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*out = b;
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}
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else
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{
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float s = 1.f - rt;
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out[0].x = s * a.x + rt * b.x;
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out[0].y = s * a.y + rt * b.y;
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out[0].z = s * a.z + rt * b.z;
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}
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return false;
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}
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}
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return true;
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}
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void computeContactSphereConvex(int pairIndex,
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int bodyIndexA, int bodyIndexB,
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int collidableIndexA, int collidableIndexB,
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__global const BodyData* rigidBodies,
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__global const btCollidableGpu* collidables,
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__global const ConvexPolyhedronCL* convexShapes,
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__global const float4* convexVertices,
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__global const int* convexIndices,
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__global const btGpuFace* faces,
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__global struct b3Contact4Data* restrict globalContactsOut,
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counter32_t nGlobalContactsOut,
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int maxContactCapacity,
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float4 spherePos2,
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float radius,
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float4 pos,
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float4 quat
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)
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{
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float4 invPos;
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float4 invOrn;
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trInverse(pos,quat, &invPos,&invOrn);
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float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
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int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
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int numFaces = convexShapes[shapeIndex].m_numFaces;
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float4 closestPnt = (float4)(0, 0, 0, 0);
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float4 hitNormalWorld = (float4)(0, 0, 0, 0);
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float minDist = -1000000.f;
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bool bCollide = true;
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for ( int f = 0; f < numFaces; f++ )
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{
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btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
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// set up a plane equation
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float4 planeEqn;
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float4 n1 = face.m_plane;
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n1.w = 0.f;
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planeEqn = n1;
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planeEqn.w = face.m_plane.w;
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// compute a signed distance from the vertex in cloth to the face of rigidbody.
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float4 pntReturn;
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float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
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// If the distance is positive, the plane is a separating plane.
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if ( dist > radius )
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{
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bCollide = false;
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break;
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}
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if (dist>0)
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{
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//might hit an edge or vertex
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float4 out;
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float4 zeroPos = make_float4(0,0,0,0);
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bool isInPoly = IsPointInPolygon(spherePos,
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&face,
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&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
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convexIndices,
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&out);
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if (isInPoly)
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{
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if (dist>minDist)
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{
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minDist = dist;
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closestPnt = pntReturn;
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hitNormalWorld = planeEqn;
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}
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} else
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{
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float4 tmp = spherePos-out;
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float l2 = dot(tmp,tmp);
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if (l2<radius*radius)
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{
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dist = sqrt(l2);
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if (dist>minDist)
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{
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minDist = dist;
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closestPnt = out;
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hitNormalWorld = tmp/dist;
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}
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} else
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{
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bCollide = false;
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break;
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}
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}
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} else
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{
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if ( dist > minDist )
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{
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minDist = dist;
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closestPnt = pntReturn;
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hitNormalWorld.xyz = planeEqn.xyz;
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}
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}
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}
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if (bCollide && minDist > -10000)
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{
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float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
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float4 pOnB1 = transform(&closestPnt,&pos,&quat);
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float actualDepth = minDist-radius;
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if (actualDepth<=0.f)
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{
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pOnB1.w = actualDepth;
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int dstIdx;
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AppendInc( nGlobalContactsOut, dstIdx );
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if (1)//dstIdx < maxContactCapacity)
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{
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__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
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c->m_worldNormalOnB = -normalOnSurfaceB1;
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c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
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c->m_batchIdx = pairIndex;
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c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
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c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
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c->m_worldPosB[0] = pOnB1;
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c->m_childIndexA = -1;
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c->m_childIndexB = -1;
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GET_NPOINTS(*c) = 1;
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}
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}
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}//if (hasCollision)
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}
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int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)
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{
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if( nPoints == 0 )
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return 0;
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if (nPoints <=4)
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return nPoints;
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if (nPoints >64)
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nPoints = 64;
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float4 center = make_float4(0.f);
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{
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for (int i=0;i<nPoints;i++)
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center += p[i];
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center /= (float)nPoints;
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}
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// sample 4 directions
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float4 aVector = p[0] - center;
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float4 u = cross3( nearNormal, aVector );
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float4 v = cross3( nearNormal, u );
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u = normalize3( u );
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v = normalize3( v );
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//keep point with deepest penetration
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float minW= FLT_MAX;
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int minIndex=-1;
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float4 maxDots;
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maxDots.x = FLT_MIN;
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maxDots.y = FLT_MIN;
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maxDots.z = FLT_MIN;
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maxDots.w = FLT_MIN;
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// idx, distance
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for(int ie = 0; ie<nPoints; ie++ )
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{
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if (p[ie].w<minW)
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{
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minW = p[ie].w;
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minIndex=ie;
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}
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float f;
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float4 r = p[ie]-center;
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f = dot3F4( u, r );
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if (f<maxDots.x)
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{
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maxDots.x = f;
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contactIdx[0].x = ie;
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}
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f = dot3F4( -u, r );
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if (f<maxDots.y)
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{
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maxDots.y = f;
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contactIdx[0].y = ie;
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}
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f = dot3F4( v, r );
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if (f<maxDots.z)
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{
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maxDots.z = f;
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contactIdx[0].z = ie;
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}
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f = dot3F4( -v, r );
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if (f<maxDots.w)
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{
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maxDots.w = f;
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contactIdx[0].w = ie;
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}
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}
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|
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if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
|
|
{
|
|
//replace the first contact with minimum (todo: replace contact with least penetration)
|
|
contactIdx[0].x = minIndex;
|
|
}
|
|
|
|
return 4;
|
|
|
|
}
|
|
|
|
#define MAX_PLANE_CONVEX_POINTS 64
|
|
|
|
int computeContactPlaneConvex(int pairIndex,
|
|
int bodyIndexA, int bodyIndexB,
|
|
int collidableIndexA, int collidableIndexB,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu*collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* convexVertices,
|
|
__global const int* convexIndices,
|
|
__global const btGpuFace* faces,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int maxContactCapacity,
|
|
float4 posB,
|
|
Quaternion ornB
|
|
)
|
|
{
|
|
int resultIndex=-1;
|
|
|
|
int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
|
|
__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
|
|
|
|
float4 posA;
|
|
posA = rigidBodies[bodyIndexA].m_pos;
|
|
Quaternion ornA;
|
|
ornA = rigidBodies[bodyIndexA].m_quat;
|
|
|
|
int numContactsOut = 0;
|
|
int numWorldVertsB1= 0;
|
|
|
|
float4 planeEq;
|
|
planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
|
|
float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
|
|
float4 planeNormalWorld;
|
|
planeNormalWorld = qtRotate(ornA,planeNormal);
|
|
float planeConstant = planeEq.w;
|
|
|
|
float4 invPosA;Quaternion invOrnA;
|
|
float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
|
|
{
|
|
|
|
trInverse(posA,ornA,&invPosA,&invOrnA);
|
|
trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
|
}
|
|
float4 invPosB;Quaternion invOrnB;
|
|
float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
|
|
{
|
|
|
|
trInverse(posB,ornB,&invPosB,&invOrnB);
|
|
trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);
|
|
}
|
|
|
|
|
|
float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);
|
|
float maxDot = -1e30;
|
|
int hitVertex=-1;
|
|
float4 hitVtx;
|
|
|
|
|
|
|
|
float4 contactPoints[MAX_PLANE_CONVEX_POINTS];
|
|
int numPoints = 0;
|
|
|
|
int4 contactIdx;
|
|
contactIdx=make_int4(0,1,2,3);
|
|
|
|
|
|
for (int i=0;i<hullB->m_numVertices;i++)
|
|
{
|
|
float4 vtx = convexVertices[hullB->m_vertexOffset+i];
|
|
float curDot = dot(vtx,planeNormalInConvex);
|
|
|
|
|
|
if (curDot>maxDot)
|
|
{
|
|
hitVertex=i;
|
|
maxDot=curDot;
|
|
hitVtx = vtx;
|
|
//make sure the deepest points is always included
|
|
if (numPoints==MAX_PLANE_CONVEX_POINTS)
|
|
numPoints--;
|
|
}
|
|
|
|
if (numPoints<MAX_PLANE_CONVEX_POINTS)
|
|
{
|
|
float4 vtxWorld = transform(&vtx, &posB, &ornB);
|
|
float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;
|
|
float dist = dot(planeNormal,vtxInPlane)-planeConstant;
|
|
if (dist<0.f)
|
|
{
|
|
vtxWorld.w = dist;
|
|
contactPoints[numPoints] = vtxWorld;
|
|
numPoints++;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
int numReducedPoints = numPoints;
|
|
if (numPoints>4)
|
|
{
|
|
numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
|
|
}
|
|
|
|
if (numReducedPoints>0)
|
|
{
|
|
int dstIdx;
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
|
|
if (dstIdx < maxContactCapacity)
|
|
{
|
|
resultIndex = dstIdx;
|
|
__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
|
|
c->m_worldNormalOnB = -planeNormalWorld;
|
|
//c->setFrictionCoeff(0.7);
|
|
//c->setRestituitionCoeff(0.f);
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
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_childIndexA = -1;
|
|
c->m_childIndexB = -1;
|
|
|
|
switch (numReducedPoints)
|
|
{
|
|
case 4:
|
|
c->m_worldPosB[3] = contactPoints[contactIdx.w];
|
|
case 3:
|
|
c->m_worldPosB[2] = contactPoints[contactIdx.z];
|
|
case 2:
|
|
c->m_worldPosB[1] = contactPoints[contactIdx.y];
|
|
case 1:
|
|
c->m_worldPosB[0] = contactPoints[contactIdx.x];
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
GET_NPOINTS(*c) = numReducedPoints;
|
|
}//if (dstIdx < numPairs)
|
|
}
|
|
|
|
return resultIndex;
|
|
}
|
|
|
|
|
|
void computeContactPlaneSphere(int pairIndex,
|
|
int bodyIndexA, int bodyIndexB,
|
|
int collidableIndexA, int collidableIndexB,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const btGpuFace* faces,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int maxContactCapacity)
|
|
{
|
|
float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
|
|
float radius = collidables[collidableIndexB].m_radius;
|
|
float4 posA1 = rigidBodies[bodyIndexA].m_pos;
|
|
float4 ornA1 = rigidBodies[bodyIndexA].m_quat;
|
|
float4 posB1 = rigidBodies[bodyIndexB].m_pos;
|
|
float4 ornB1 = rigidBodies[bodyIndexB].m_quat;
|
|
|
|
bool hasCollision = false;
|
|
float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
|
|
float planeConstant = planeEq.w;
|
|
float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
|
|
{
|
|
float4 invPosA;Quaternion invOrnA;
|
|
trInverse(posA1,ornA1,&invPosA,&invOrnA);
|
|
trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
|
}
|
|
float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
|
|
{
|
|
float4 invPosB;Quaternion invOrnB;
|
|
trInverse(posB1,ornB1,&invPosB,&invOrnB);
|
|
trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);
|
|
}
|
|
float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;
|
|
float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
|
float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;
|
|
hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();
|
|
if (hasCollision)
|
|
{
|
|
float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;
|
|
float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);
|
|
float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);
|
|
float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;
|
|
pOnB1.w = distance;
|
|
|
|
int dstIdx;
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
|
|
if (dstIdx < maxContactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
|
|
c->m_worldNormalOnB = -normalOnSurfaceB1;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
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;
|
|
c->m_childIndexA = -1;
|
|
c->m_childIndexB = -1;
|
|
GET_NPOINTS(*c) = 1;
|
|
}//if (dstIdx < numPairs)
|
|
}//if (hasCollision)
|
|
}
|
|
|
|
|
|
__kernel void primitiveContactsKernel( __global int4* pairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int numPairs, int maxContactCapacity)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
float4 worldVertsB1[64];
|
|
float4 worldVertsB2[64];
|
|
int capacityWorldVerts = 64;
|
|
|
|
float4 localContactsOut[64];
|
|
int localContactCapacity=64;
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
if (i<numPairs)
|
|
{
|
|
|
|
int bodyIndexA = pairs[i].x;
|
|
int bodyIndexB = pairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
|
{
|
|
|
|
float4 posB;
|
|
posB = rigidBodies[bodyIndexB].m_pos;
|
|
Quaternion ornB;
|
|
ornB = rigidBodies[bodyIndexB].m_quat;
|
|
int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,
|
|
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);
|
|
if (contactIndex>=0)
|
|
pairs[pairIndex].z = contactIndex;
|
|
|
|
return;
|
|
}
|
|
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
|
|
{
|
|
|
|
float4 posA;
|
|
posA = rigidBodies[bodyIndexA].m_pos;
|
|
Quaternion ornA;
|
|
ornA = rigidBodies[bodyIndexA].m_quat;
|
|
|
|
|
|
int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,
|
|
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
|
|
|
|
if (contactIndex>=0)
|
|
pairs[pairIndex].z = contactIndex;
|
|
|
|
return;
|
|
}
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
|
{
|
|
computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
|
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
|
return;
|
|
}
|
|
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
|
|
{
|
|
|
|
|
|
computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
|
rigidBodies,collidables,
|
|
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
|
|
|
return;
|
|
}
|
|
|
|
|
|
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
|
{
|
|
|
|
float4 spherePos = rigidBodies[bodyIndexA].m_pos;
|
|
float sphereRadius = collidables[collidableIndexA].m_radius;
|
|
float4 convexPos = rigidBodies[bodyIndexB].m_pos;
|
|
float4 convexOrn = rigidBodies[bodyIndexB].m_quat;
|
|
|
|
computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
|
|
spherePos,sphereRadius,convexPos,convexOrn);
|
|
|
|
return;
|
|
}
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
|
{
|
|
|
|
float4 spherePos = rigidBodies[bodyIndexB].m_pos;
|
|
float sphereRadius = collidables[collidableIndexB].m_radius;
|
|
float4 convexPos = rigidBodies[bodyIndexA].m_pos;
|
|
float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
|
|
|
|
computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
|
|
spherePos,sphereRadius,convexPos,convexOrn);
|
|
return;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
|
{
|
|
//sphere-sphere
|
|
float radiusA = collidables[collidableIndexA].m_radius;
|
|
float radiusB = collidables[collidableIndexB].m_radius;
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
|
|
float4 diff = posA-posB;
|
|
float len = length(diff);
|
|
|
|
///iff distance positive, don't generate a new contact
|
|
if ( len <= (radiusA+radiusB))
|
|
{
|
|
///distance (negative means penetration)
|
|
float dist = len - (radiusA+radiusB);
|
|
float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
|
|
if (len > 0.00001)
|
|
{
|
|
normalOnSurfaceB = diff / len;
|
|
}
|
|
float4 contactPosB = posB + normalOnSurfaceB*radiusB;
|
|
contactPosB.w = dist;
|
|
|
|
int dstIdx;
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
|
|
if (dstIdx < maxContactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
|
|
c->m_worldNormalOnB = normalOnSurfaceB;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = pairIndex;
|
|
int bodyA = pairs[pairIndex].x;
|
|
int bodyB = pairs[pairIndex].y;
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
|
c->m_worldPosB[0] = contactPosB;
|
|
c->m_childIndexA = -1;
|
|
c->m_childIndexB = -1;
|
|
GET_NPOINTS(*c) = 1;
|
|
}//if (dstIdx < numPairs)
|
|
}//if ( len <= (radiusA+radiusB))
|
|
|
|
return;
|
|
}//SHAPE_SPHERE SHAPE_SPHERE
|
|
|
|
}// if (i<numPairs)
|
|
|
|
}
|
|
|
|
|
|
// work-in-progress
|
|
__kernel void processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global btAabbCL* aabbs,
|
|
__global const btGpuChildShape* gpuChildShapes,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int numCompoundPairs, int maxContactCapacity
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
if (i<numCompoundPairs)
|
|
{
|
|
int bodyIndexA = gpuCompoundPairs[i].x;
|
|
int bodyIndexB = gpuCompoundPairs[i].y;
|
|
|
|
int childShapeIndexA = gpuCompoundPairs[i].z;
|
|
int childShapeIndexB = gpuCompoundPairs[i].w;
|
|
|
|
int collidableIndexA = -1;
|
|
int collidableIndexB = -1;
|
|
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
|
|
float4 ornB = rigidBodies[bodyIndexB].m_quat;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
|
|
if (childShapeIndexA >= 0)
|
|
{
|
|
collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
|
|
float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
|
|
float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
|
|
float4 newPosA = qtRotate(ornA,childPosA)+posA;
|
|
float4 newOrnA = qtMul(ornA,childOrnA);
|
|
posA = newPosA;
|
|
ornA = newOrnA;
|
|
} else
|
|
{
|
|
collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
}
|
|
|
|
if (childShapeIndexB>=0)
|
|
{
|
|
collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
|
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
|
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
|
float4 newOrnB = qtMul(ornB,childOrnB);
|
|
posB = newPosB;
|
|
ornB = newOrnB;
|
|
} else
|
|
{
|
|
collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
}
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
int shapeTypeA = collidables[collidableIndexA].m_shapeType;
|
|
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
|
|
|
|
int pairIndex = i;
|
|
if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))
|
|
{
|
|
|
|
computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB, collidableIndexA,collidableIndexB,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,
|
|
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);
|
|
return;
|
|
}
|
|
|
|
if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))
|
|
{
|
|
|
|
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,
|
|
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
|
|
return;
|
|
}
|
|
|
|
if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))
|
|
{
|
|
float4 spherePos = rigidBodies[bodyIndexB].m_pos;
|
|
float sphereRadius = collidables[collidableIndexB].m_radius;
|
|
float4 convexPos = posA;
|
|
float4 convexOrn = ornA;
|
|
|
|
computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
|
|
spherePos,sphereRadius,convexPos,convexOrn);
|
|
|
|
return;
|
|
}
|
|
|
|
if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))
|
|
{
|
|
|
|
float4 spherePos = rigidBodies[bodyIndexA].m_pos;
|
|
float sphereRadius = collidables[collidableIndexA].m_radius;
|
|
float4 convexPos = posB;
|
|
float4 convexOrn = ornB;
|
|
|
|
|
|
computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
|
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
|
|
spherePos,sphereRadius,convexPos,convexOrn);
|
|
|
|
return;
|
|
}
|
|
}// if (i<numCompoundPairs)
|
|
}
|
|
|
|
|
|
bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )
|
|
{
|
|
|
|
const float4* p1 = &vertices[0];
|
|
const float4* p2 = &vertices[1];
|
|
const float4* p3 = &vertices[2];
|
|
|
|
float4 edge1; edge1 = (*p2 - *p1);
|
|
float4 edge2; edge2 = ( *p3 - *p2 );
|
|
float4 edge3; edge3 = ( *p1 - *p3 );
|
|
|
|
|
|
float4 p1_to_p; p1_to_p = ( *p - *p1 );
|
|
float4 p2_to_p; p2_to_p = ( *p - *p2 );
|
|
float4 p3_to_p; p3_to_p = ( *p - *p3 );
|
|
|
|
float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));
|
|
float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));
|
|
float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));
|
|
|
|
|
|
|
|
float r1, r2, r3;
|
|
r1 = dot(edge1_normal,p1_to_p );
|
|
r2 = dot(edge2_normal,p2_to_p );
|
|
r3 = dot(edge3_normal,p3_to_p );
|
|
|
|
if ( r1 > 0 && r2 > 0 && r3 > 0 )
|
|
return true;
|
|
if ( r1 <= 0 && r2 <= 0 && r3 <= 0 )
|
|
return true;
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest)
|
|
{
|
|
float4 diff = p - from;
|
|
float4 v = to - from;
|
|
float t = dot(v,diff);
|
|
|
|
if (t > 0)
|
|
{
|
|
float dotVV = dot(v,v);
|
|
if (t < dotVV)
|
|
{
|
|
t /= dotVV;
|
|
diff -= t*v;
|
|
} else
|
|
{
|
|
t = 1;
|
|
diff -= v;
|
|
}
|
|
} else
|
|
{
|
|
t = 0;
|
|
}
|
|
*nearest = from + t*v;
|
|
return dot(diff,diff);
|
|
}
|
|
|
|
|
|
void computeContactSphereTriangle(int pairIndex,
|
|
int bodyIndexA, int bodyIndexB,
|
|
int collidableIndexA, int collidableIndexB,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
const float4* triangleVertices,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int maxContactCapacity,
|
|
float4 spherePos2,
|
|
float radius,
|
|
float4 pos,
|
|
float4 quat,
|
|
int faceIndex
|
|
)
|
|
{
|
|
|
|
float4 invPos;
|
|
float4 invOrn;
|
|
|
|
trInverse(pos,quat, &invPos,&invOrn);
|
|
float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
|
|
int numFaces = 3;
|
|
float4 closestPnt = (float4)(0, 0, 0, 0);
|
|
float4 hitNormalWorld = (float4)(0, 0, 0, 0);
|
|
float minDist = -1000000.f;
|
|
bool bCollide = false;
|
|
|
|
|
|
//////////////////////////////////////
|
|
|
|
float4 sphereCenter;
|
|
sphereCenter = spherePos;
|
|
|
|
const float4* vertices = triangleVertices;
|
|
float contactBreakingThreshold = 0.f;//todo?
|
|
float radiusWithThreshold = radius + contactBreakingThreshold;
|
|
float4 edge10;
|
|
edge10 = vertices[1]-vertices[0];
|
|
edge10.w = 0.f;//is this needed?
|
|
float4 edge20;
|
|
edge20 = vertices[2]-vertices[0];
|
|
edge20.w = 0.f;//is this needed?
|
|
float4 normal = cross3(edge10,edge20);
|
|
normal = normalize(normal);
|
|
float4 p1ToCenter;
|
|
p1ToCenter = sphereCenter - vertices[0];
|
|
|
|
float distanceFromPlane = dot(p1ToCenter,normal);
|
|
|
|
if (distanceFromPlane < 0.f)
|
|
{
|
|
//triangle facing the other way
|
|
distanceFromPlane *= -1.f;
|
|
normal *= -1.f;
|
|
}
|
|
hitNormalWorld = normal;
|
|
|
|
bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
|
|
|
|
// Check for contact / intersection
|
|
bool hasContact = false;
|
|
float4 contactPoint;
|
|
if (isInsideContactPlane)
|
|
{
|
|
|
|
if (pointInTriangle(vertices,&normal, &sphereCenter))
|
|
{
|
|
// Inside the contact wedge - touches a point on the shell plane
|
|
hasContact = true;
|
|
contactPoint = sphereCenter - normal*distanceFromPlane;
|
|
|
|
} else {
|
|
// Could be inside one of the contact capsules
|
|
float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
|
|
float4 nearestOnEdge;
|
|
int numEdges = 3;
|
|
for (int i = 0; i < numEdges; i++)
|
|
{
|
|
float4 pa =vertices[i];
|
|
float4 pb = vertices[(i+1)%3];
|
|
|
|
float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);
|
|
if (distanceSqr < contactCapsuleRadiusSqr)
|
|
{
|
|
// Yep, we're inside a capsule
|
|
hasContact = true;
|
|
contactPoint = nearestOnEdge;
|
|
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
if (hasContact)
|
|
{
|
|
|
|
closestPnt = contactPoint;
|
|
float4 contactToCenter = sphereCenter - contactPoint;
|
|
minDist = length(contactToCenter);
|
|
if (minDist>FLT_EPSILON)
|
|
{
|
|
hitNormalWorld = normalize(contactToCenter);//*(1./minDist);
|
|
bCollide = true;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
/////////////////////////////////////
|
|
|
|
if (bCollide && minDist > -10000)
|
|
{
|
|
|
|
float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
|
|
float4 pOnB1 = transform(&closestPnt,&pos,&quat);
|
|
float actualDepth = minDist-radius;
|
|
|
|
|
|
if (actualDepth<=0.f)
|
|
{
|
|
pOnB1.w = actualDepth;
|
|
int dstIdx;
|
|
|
|
|
|
float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);
|
|
if (lenSqr>FLT_EPSILON)
|
|
{
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
|
|
if (dstIdx < maxContactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
|
|
c->m_worldNormalOnB = -normalOnSurfaceB1;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
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;
|
|
|
|
c->m_childIndexA = -1;
|
|
c->m_childIndexB = faceIndex;
|
|
|
|
GET_NPOINTS(*c) = 1;
|
|
}
|
|
}
|
|
|
|
}
|
|
}//if (hasCollision)
|
|
|
|
}
|
|
|
|
|
|
|
|
// work-in-progress
|
|
__kernel void findConcaveSphereContactsKernel( __global int4* concavePairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global btAabbCL* aabbs,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int numConcavePairs, int maxContactCapacity
|
|
)
|
|
{
|
|
|
|
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_SPHERE)
|
|
{
|
|
int f = concavePairs[i].z;
|
|
btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
|
|
|
|
float4 verticesA[3];
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
int index = indices[face.m_indexOffset+i];
|
|
float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
|
|
verticesA[i] = vert;
|
|
}
|
|
|
|
float4 spherePos = rigidBodies[bodyIndexB].m_pos;
|
|
float sphereRadius = collidables[collidableIndexB].m_radius;
|
|
float4 convexPos = rigidBodies[bodyIndexA].m_pos;
|
|
float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
|
|
|
|
computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
|
|
rigidBodies,collidables,
|
|
verticesA,
|
|
globalContactsOut, nGlobalContactsOut,maxContactCapacity,
|
|
spherePos,sphereRadius,convexPos,convexOrn, f);
|
|
|
|
return;
|
|
}
|
|
} |