public static bool Distance(ConvexShape shape0, ref IndexedMatrix wtrs0, ConvexShape shape1, ref IndexedMatrix wtrs1, ref IndexedVector3 guess, ref GjkEpaSolver2Results results)
{
using (GjkEpaSolver2MinkowskiDiff shape = BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.Get())
using (GJK gjk = BulletGlobals.GJKPool.Get())
{
Initialize(shape0, ref wtrs0, shape1, ref wtrs1, ref results, shape, false);
gjk.Initialise();
GJKStatus gjk_status = gjk.Evaluate(shape, ref guess);
if (gjk_status == GJKStatus.Valid)
{
IndexedVector3 w0 = IndexedVector3.Zero;
IndexedVector3 w1 = IndexedVector3.Zero;
for (uint i = 0; i < gjk.m_simplex.rank; ++i)
{
float p = gjk.m_simplex.p[i];
w0 += shape.Support(ref gjk.m_simplex.c[i].d, 0) * p;
IndexedVector3 temp = -gjk.m_simplex.c[i].d;
w1 += shape.Support(ref temp, 1) * p;
}
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * w1;
results.normal = w0 - w1;
results.distance = results.normal.Length();
results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
return(true);
}
else
{
//GjkEpaSolver2Status
results.status = (gjk_status == GJKStatus.Inside) ? GjkEpaSolver2Status.Penetrating : GjkEpaSolver2Status.GJK_Failed;
return(false);
}
}
}
public static float ProjectOrigin(ref IndexedVector3 a,
ref IndexedVector3 b,
ref IndexedVector3 c,
ref IndexedVector3 d,
ref IndexedVector4 w, ref uint m)
{
//uint[] imd3 ={1,2,0};
//IndexedVector3[] vt = {a,b,c,d};
//IndexedVector3[] dl= {a-d,b-d,c-d};
Debug.Assert(inhere1 == false);
inhere1 = true;
vta[0] = a; vta[1] = b; vta[2] = c; vta[3] = d;
dla[0] = a - d; dla[1] = b - d; dla[2] = c - d;
float vl = Det(dl[0], dl[1], dl[2]);
bool ng = (vl * IndexedVector3.Dot(a, IndexedVector3.Cross(b - c, a - b))) <= 0;
if (ng && (Math.Abs(vl) > GjkEpaSolver2.GJK_SIMPLEX4_EPS))
{
float mindist = -1;
IndexedVector4 subw = new IndexedVector4();
uint subm = 0;
for (int i = 0; i < 3; ++i)
{
uint j = imd3[i];
float s = vl * IndexedVector3.Dot(d, IndexedVector3.Cross(dl[i], dl[j]));
if (s > 0)
{
float subd = GJK.ProjectOrigin(ref vt[i], ref vt[j], ref d, ref subw, ref subm);
if ((mindist < 0) || (subd < mindist))
{
mindist = subd;
m = (uint)((((subm & 1) != 0)?1 << i:0) +
(((subm & 2) != 0)?1 << (int)j:0) +
(((subm & 4) != 0)?8:0));
w[(int)i] = subw.X;
w[(int)j] = subw.Y;
w[(int)imd3[j]] = 0f;
w.W = subw.Z;
}
}
}
if (mindist < 0)
{
mindist = 0;
m = 15;
w.X = Det(c, b, d) / vl;
w.Y = Det(a, c, d) / vl;
w.Z = Det(b, a, d) / vl;
w.W = 1 - (w.X + w.Y + w.Z);
}
inhere1 = false;
return(mindist);
}
inhere1 = false;
return(-1);
}
//
public float SignedDistance(ref IndexedVector3 position, float margin, ConvexShape shape0, ref IndexedMatrix wtrs0, ref GjkEpaSolver2Results results)
{
using (GjkEpaSolver2MinkowskiDiff shape = BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.Get())
using (GJK gjk = BulletGlobals.GJKPool.Get())
{
SphereShape shape1 = BulletGlobals.SphereShapePool.Get();
shape1.Initialize(margin);
IndexedMatrix wtrs1 = IndexedMatrix.CreateFromQuaternion(IndexedQuaternion.Identity);
wtrs0._origin = position;
Initialize(shape0, ref wtrs0, shape1, ref wtrs1, ref results, shape, false);
gjk.Initialise();
IndexedVector3 guess = new IndexedVector3(1);
GJKStatus gjk_status = gjk.Evaluate(shape, ref guess);
if (gjk_status == GJKStatus.Valid)
{
IndexedVector3 w0 = IndexedVector3.Zero;
IndexedVector3 w1 = IndexedVector3.Zero;
for (int i = 0; i < gjk.m_simplex.rank; ++i)
{
float p = gjk.m_simplex.p[i];
w0 += shape.Support(ref gjk.m_simplex.c[i].d, 0) * p;
IndexedVector3 temp = -gjk.m_simplex.c[i].d;
w1 += shape.Support(ref temp, 1) * p;
}
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * w1;
IndexedVector3 delta = results.witnesses1 - results.witnesses0;
float margin2 = shape0.GetMarginNonVirtual() + shape1.GetMarginNonVirtual();
float length = delta.Length();
results.normal = delta / length;
results.witnesses0 += results.normal * margin2;
return(length - margin2);
}
else
{
if (gjk_status == GJKStatus.Inside)
{
if (Penetration(shape0, ref wtrs0, shape1, ref wtrs1, ref gjk.m_ray, ref results))
{
IndexedVector3 delta = results.witnesses0 - results.witnesses1;
float length = delta.Length();
if (length >= MathUtil.SIMD_EPSILON)
{
results.normal = delta / length;
}
return(-length);
}
}
}
BulletGlobals.SphereShapePool.Free(shape1);
}
return(MathUtil.SIMD_INFINITY);
}
public static float ProjectOrigin(ref IndexedVector3 a,
ref IndexedVector3 b,
ref IndexedVector3 c,
ref IndexedVector4 w, ref uint m)
{
Debug.Assert(inhere2 == false);
inhere2 = true;
vt[0] = a; vt[1] = b; vt[2] = c;
dl[0] = a - b; dl[1] = b - c; dl[2] = c - a;
IndexedVector3 n = IndexedVector3.Cross(dl[0], dl[1]);
float l = n.LengthSquared();
if (l > GjkEpaSolver2.GJK_SIMPLEX3_EPS)
{
float mindist = -1f;
IndexedVector4 subw = new IndexedVector4();
uint subm = 0;
for (int i = 0; i < 3; ++i)
{
if (IndexedVector3.Dot(vt[i], IndexedVector3.Cross(dl[i], n)) > 0)
{
uint j = imd3[i];
float subd = GJK.ProjectOrigin(ref vt[i], ref vt[j], ref subw, ref subm);
if ((mindist < 0) || (subd < mindist))
{
mindist = subd;
m = (uint)((((subm & 1) != 0)?1 << i:0) + (((subm & 2) != 0)?1 << (int)j:0));
w[(int)i] = subw.X;
w[(int)j] = subw.Y;
w[(int)imd3[j]] = 0f;
}
}
}
if (mindist < 0)
{
float d = IndexedVector3.Dot(ref a, ref n);
float s = (float)Math.Sqrt(l);
IndexedVector3 p = n * (d / l);
mindist = p.LengthSquared();
m = 7;
w.X = (IndexedVector3.Cross(dl[1], b - p)).Length() / s;
w.Y = (IndexedVector3.Cross(dl[2], c - p)).Length() / s;
w.Z = 1 - (w.X + w.Y);
}
inhere2 = false;
return(mindist);
}
inhere2 = false;
return(-1);
}
public static bool Penetration(ConvexShape shape0, ref IndexedMatrix wtrs0, ConvexShape shape1, ref IndexedMatrix wtrs1, ref IndexedVector3 guess, ref GjkEpaSolver2Results results, bool usemargins)
{
using (GjkEpaSolver2MinkowskiDiff shape = BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.Get())
using (GJK gjk = BulletGlobals.GJKPool.Get())
{
Initialize(shape0, ref wtrs0, shape1, ref wtrs1, ref results, shape, usemargins);
gjk.Initialise();
IndexedVector3 minusGuess = -guess;
GJKStatus gjk_status = gjk.Evaluate(shape, ref minusGuess);
switch (gjk_status)
{
case GJKStatus.Inside:
{
//EPA epa = new EPA();
eStatus epa_status = epa.Evaluate(gjk, ref minusGuess);
if (epa_status != eStatus.Failed)
{
IndexedVector3 w0 = IndexedVector3.Zero;
for (uint i = 0; i < epa.m_result.rank; ++i)
{
// order of results here is 'different' , EPA.evaluate.
w0 += shape.Support(ref epa.m_result.c[i].d, 0) * epa.m_result.p[i];
}
results.status = GjkEpaSolver2Status.Penetrating;
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * (w0 - epa.m_normal * epa.m_depth);
results.normal = -epa.m_normal;
results.distance = -epa.m_depth;
return(true);
}
else
{
results.status = GjkEpaSolver2Status.EPA_Failed;
}
}
break;
case GJKStatus.Failed:
results.status = GjkEpaSolver2Status.GJK_Failed;
break;
}
}
return(false);
}
public eStatus Evaluate(GJK gjk, ref IndexedVector3 guess)
{
sSimplex simplex = gjk.m_simplex;
if ((simplex.rank > 1) && gjk.EncloseOrigin())
{
/* Clean up */
while (m_hull.Count > 0)
{
sFace f = m_hull[0];
Remove(m_hull, f);
Append(m_stock, f);
}
m_status = eStatus.Valid;
m_nextsv = 0;
/* Orient simplex */
if (GJK.Det(simplex.c[0].w - simplex.c[3].w,
simplex.c[1].w - simplex.c[3].w,
simplex.c[2].w - simplex.c[3].w) < 0)
{
SwapSv(simplex.c, 0, 1);
SwapFloat(simplex.p, 0, 1);
}
/* Build initial hull */
tetra[0] = NewFace(simplex.c[0], simplex.c[1], simplex.c[2], true);
tetra[1] = NewFace(simplex.c[1], simplex.c[0], simplex.c[3], true);
tetra[2] = NewFace(simplex.c[2], simplex.c[1], simplex.c[3], true);
tetra[3] = NewFace(simplex.c[0], simplex.c[2], simplex.c[3], true);
if (m_hull.Count == 4)
{
sFace best = FindBest();
sFace outer = best;
uint pass = 0;
uint iterations = 0;
Bind(tetra[0], 0, tetra[1], 0);
Bind(tetra[0], 1, tetra[2], 0);
Bind(tetra[0], 2, tetra[3], 0);
Bind(tetra[1], 1, tetra[3], 2);
Bind(tetra[1], 2, tetra[2], 1);
Bind(tetra[2], 2, tetra[3], 1);
m_status = eStatus.Valid;
for (; iterations < GjkEpaSolver2.EPA_MAX_ITERATIONS; ++iterations)
{
if (m_nextsv < GjkEpaSolver2.EPA_MAX_VERTICES)
{
sHorizon horizon = new sHorizon();
sSV w = m_sv_store[m_nextsv++];
bool valid = true;
best.pass = (uint)(++pass);
gjk.GetSupport(ref best.n, ref w);
float wdist = IndexedVector3.Dot(ref best.n, ref w.w) - best.d;
if (wdist > GjkEpaSolver2.EPA_ACCURACY)
{
for (int j = 0; (j < 3) && valid; ++j)
{
valid &= Expand(pass, w,
best.f[j], best.e[j],
ref horizon);
}
if (valid && (horizon.nf >= 3))
{
Bind(horizon.cf, 1, horizon.ff, 2);
Remove(m_hull, best);
Append(m_stock, best);
best = FindBest();
if (best.p >= outer.p)
{
outer = best;
}
}
else
{
m_status = eStatus.InvalidHull;
break;
}
}
else
{
m_status = eStatus.AccuraryReached;
break;
}
}
else
{
m_status = eStatus.OutOfVertices;
break;
}
}
IndexedVector3 projection = outer.n * outer.d;
m_normal = outer.n;
m_depth = outer.d;
m_result.rank = 3;
m_result.c[0] = outer.c[0];
m_result.c[1] = outer.c[1];
m_result.c[2] = outer.c[2];
m_result.p[0] = IndexedVector3.Cross(outer.c[1].w - projection,
outer.c[2].w - projection).Length();
m_result.p[1] = IndexedVector3.Cross(outer.c[2].w - projection,
outer.c[0].w - projection).Length();
m_result.p[2] = IndexedVector3.Cross(outer.c[0].w - projection,
outer.c[1].w - projection).Length();
float sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
m_result.p[0] /= sum;
m_result.p[1] /= sum;
m_result.p[2] /= sum;
return(m_status);
}
}
/* Fallback */
m_status = eStatus.FallBack;
m_normal = -guess;
float nl = m_normal.LengthSquared();
if (nl > 0)
{
m_normal.Normalize();
}
else
{
m_normal = new IndexedVector3(1, 0, 0);
}
m_depth = 0;
m_result.rank = 1;
m_result.c[0] = simplex.c[0];
m_result.p[0] = 1;
return(m_status);
}
public bool EncloseOrigin()
{
switch (m_simplex.rank)
{
case 1:
{
for (int i = 0; i < 3; ++i)
{
IndexedVector3 axis = IndexedVector3.Zero;
axis[i] = 1f;
AppendVertice(m_simplex, ref axis);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
IndexedVector3 temp = -axis;
AppendVertice(m_simplex, ref temp);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
}
break;
}
case 2:
{
IndexedVector3 d = m_simplex.c[1].w - m_simplex.c[0].w;
for (int i = 0; i < 3; ++i)
{
IndexedVector3 axis = IndexedVector3.Zero;
axis[i] = 1f;
IndexedVector3 p = IndexedVector3.Cross(d, axis);
if (p.LengthSquared() > 0)
{
AppendVertice(m_simplex, ref p);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
IndexedVector3 temp = -p;
AppendVertice(m_simplex, ref temp);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
}
}
break;
}
case 3:
{
IndexedVector3 n = IndexedVector3.Cross(m_simplex.c[1].w - m_simplex.c[0].w,
m_simplex.c[2].w - m_simplex.c[0].w);
if (n.LengthSquared() > 0)
{
AppendVertice(m_simplex, ref n);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
IndexedVector3 temp = -n;
AppendVertice(m_simplex, ref temp);
if (EncloseOrigin())
{
return(true);
}
RemoveVertice(m_simplex);
}
break;
}
case 4:
{
if (Math.Abs(GJK.Det(m_simplex.c[0].w - m_simplex.c[3].w,
m_simplex.c[1].w - m_simplex.c[3].w,
m_simplex.c[2].w - m_simplex.c[3].w)) > 0)
{
return(true);
}
break;
}
default:
{
break;
}
}
return(false);
}
public GJKStatus Evaluate(GjkEpaSolver2MinkowskiDiff shapearg, ref IndexedVector3 guess)
{
uint iterations = 0;
float sqdist = 0f;
float alpha = 0f;
uint clastw = 0;
/* Initialize solver */
m_free[0] = m_store[0];
m_free[1] = m_store[1];
m_free[2] = m_store[2];
m_free[3] = m_store[3];
m_nfree = 4;
m_current = 0;
m_status = GJKStatus.Valid;
m_shape = shapearg;
m_distance = 0f;
/* Initialize simplex */
m_simplices[0].rank = 0;
m_ray = guess;
float sqrl = m_ray.LengthSquared();
IndexedVector3 temp = sqrl > 0?-m_ray:new IndexedVector3(1, 0, 0);
AppendVertice(m_simplices[0], ref temp);
m_simplices[0].p[0] = 1;
m_ray = m_simplices[0].c[0].w;
sqdist = sqrl;
lastw[0] = lastw[1] = lastw[2] = lastw[3] = m_ray;
/* Loop */
do
{
uint next = 1 - m_current;
sSimplex cs = m_simplices[m_current];
sSimplex ns = m_simplices[next];
/* Check zero */
float rl = m_ray.Length();
if (rl < GjkEpaSolver2.GJK_MIN_DISTANCE)
{/* Touching or inside */
m_status = GJKStatus.Inside;
break;
}
/* Append new vertice in -'v' direction */
IndexedVector3 temp2 = -m_ray;
AppendVertice(cs, ref temp2);
IndexedVector3 w = cs.c[cs.rank - 1].w;
bool found = false;
for (int i = 0; i < 4; ++i)
{
if ((w - lastw[i]).LengthSquared() < GjkEpaSolver2.GJK_DUPLICATED_EPS)
{
found = true;
break;
}
}
if (found)
{/* Return old simplex */
RemoveVertice(m_simplices[m_current]);
break;
}
else
{/* Update lastw */
lastw[clastw = (clastw + 1) & 3] = w;
}
/* Check for termination */
float omega = IndexedVector3.Dot(ref m_ray, ref w) / rl;
alpha = Math.Max(omega, alpha);
if (((rl - alpha) - (GjkEpaSolver2.GJK_ACCURARY * rl)) <= 0)
{/* Return old simplex */
RemoveVertice(m_simplices[m_current]);
break;
}
/* Reduce simplex */
IndexedVector4 weights = new IndexedVector4();
uint mask = 0;
switch (cs.rank)
{
case 2:
{
sqdist = GJK.ProjectOrigin(ref cs.c[0].w, ref cs.c[1].w, ref weights, ref mask);
break;
}
case 3:
{
sqdist = GJK.ProjectOrigin(ref cs.c[0].w, ref cs.c[1].w, ref cs.c[2].w, ref weights, ref mask);
break;
}
case 4:
{
sqdist = GJK.ProjectOrigin(ref cs.c[0].w, ref cs.c[1].w, ref cs.c[2].w, ref cs.c[3].w, ref weights, ref mask);
break;
}
}
if (sqdist >= 0)
{/* Valid */
ns.rank = 0;
m_ray = IndexedVector3.Zero;
m_current = next;
for (uint i = 0, ni = cs.rank; i < ni; ++i)
{
if ((mask & (1 << (int)i)) != 0)
{
ns.c[ns.rank] = cs.c[i];
float weight = weights[(int)i];
ns.p[ns.rank++] = weight;
m_ray += cs.c[i].w * weight;
}
else
{
m_free[m_nfree++] = cs.c[i];
}
}
if (mask == 15)
{
m_status = GJKStatus.Inside;
}
}
else
{/* Return old simplex */
RemoveVertice(m_simplices[m_current]);
break;
}
m_status = ((++iterations) < GjkEpaSolver2.GJK_MAX_ITERATIONS) ? m_status : GJKStatus.Failed;
} while(m_status == GJKStatus.Valid);
m_simplex = m_simplices[m_current];
switch (m_status)
{
case GJKStatus.Valid:
{
m_distance = m_ray.Length();
break;
}
case GJKStatus.Inside:
{
m_distance = 0;
break;
}
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJK)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("gjk eval dist[{0}]", m_distance));
}
#endif
return(m_status);
}
