public unsafe void Test(ref ConvexHullWide a, ref ConvexHullWide b, ref Vector <float> speculativeMargin, ref Vector3Wide offsetB, ref QuaternionWide orientationA, ref QuaternionWide orientationB, int pairCount, out Convex4ContactManifoldWide manifold)
{
Matrix3x3Wide.CreateFromQuaternion(orientationA, out var rA);
Matrix3x3Wide.CreateFromQuaternion(orientationB, out var rB);
Matrix3x3Wide.MultiplyByTransposeWithoutOverlap(rA, rB, out var bLocalOrientationA);
Matrix3x3Wide.TransformByTransposedWithoutOverlap(offsetB, rB, out var localOffsetB);
Vector3Wide.Negate(localOffsetB, out var localOffsetA);
Vector3Wide.Length(localOffsetA, out var centerDistance);
Vector3Wide.Scale(localOffsetA, Vector <float> .One / centerDistance, out var initialNormal);
var useInitialFallback = Vector.LessThan(centerDistance, new Vector <float>(1e-8f));
initialNormal.X = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.X);
initialNormal.Y = Vector.ConditionalSelect(useInitialFallback, Vector <float> .One, initialNormal.Y);
initialNormal.Z = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.Z);
var hullSupportFinder = default(ConvexHullSupportFinder);
ManifoldCandidateHelper.CreateInactiveMask(pairCount, out var inactiveLanes);
a.EstimateEpsilonScale(inactiveLanes, out var aEpsilonScale);
b.EstimateEpsilonScale(inactiveLanes, out var bEpsilonScale);
var epsilonScale = Vector.Min(aEpsilonScale, bEpsilonScale);
var depthThreshold = -speculativeMargin;
DepthRefiner <ConvexHull, ConvexHullWide, ConvexHullSupportFinder, ConvexHull, ConvexHullWide, ConvexHullSupportFinder> .FindMinimumDepth(
b, a, localOffsetA, bLocalOrientationA, ref hullSupportFinder, ref hullSupportFinder, initialNormal, inactiveLanes, 1e-5f *epsilonScale, depthThreshold,
out var depth, out var localNormal, out var closestOnB);
inactiveLanes = Vector.BitwiseOr(inactiveLanes, Vector.LessThan(depth, depthThreshold));
//Not every lane will generate contacts. Rather than requiring every lane to carefully clear all contactExists states, just clear them up front.
manifold.Contact0Exists = default;
manifold.Contact1Exists = default;
manifold.Contact2Exists = default;
manifold.Contact3Exists = default;
if (Vector.LessThanAll(inactiveLanes, Vector <int> .Zero))
{
//No contacts generated.
return;
}
Matrix3x3Wide.TransformByTransposedWithoutOverlap(localNormal, bLocalOrientationA, out var localNormalInA);
Vector3Wide.Negate(localNormalInA, out var negatedLocalNormalInA);
Vector3Wide.Scale(localNormal, depth, out var negatedOffsetToClosestOnA);
Vector3Wide.Subtract(closestOnB, negatedOffsetToClosestOnA, out var closestOnA);
Vector3Wide.Subtract(closestOnA, localOffsetA, out var aToClosestOnA);
Matrix3x3Wide.TransformByTransposedWithoutOverlap(aToClosestOnA, bLocalOrientationA, out var closestOnAInA);
//To find the contact manifold, we'll clip the capsule axis against the face as usual, but we're dealing with potentially
//distinct convex hulls. Rather than vectorizing over the different hulls, we vectorize within each hull.
Helpers.FillVectorWithLaneIndices(out var slotOffsetIndices);
var boundingPlaneEpsilon = 1e-3f * epsilonScale;
for (int slotIndex = 0; slotIndex < pairCount; ++slotIndex)
{
if (inactiveLanes[slotIndex] < 0)
{
continue;
}
ref var aSlot = ref a.Hulls[slotIndex];
ref var bSlot = ref b.Hulls[slotIndex];
public void Test(ref SphereWide a, ref ConvexHullWide b, ref Vector <float> speculativeMargin, ref Vector3Wide offsetB, ref QuaternionWide orientationB, int pairCount, out Convex1ContactManifoldWide manifold)
{
Matrix3x3Wide.CreateFromQuaternion(orientationB, out var hullOrientation);
Matrix3x3Wide.TransformByTransposedWithoutOverlap(offsetB, hullOrientation, out var localOffsetB);
Vector3Wide.Negate(localOffsetB, out var localOffsetA);
Matrix3x3Wide.CreateIdentity(out var identity);
Vector3Wide.Length(localOffsetA, out var centerDistance);
Vector3Wide.Scale(localOffsetA, Vector <float> .One / centerDistance, out var initialNormal);
var useInitialFallback = Vector.LessThan(centerDistance, new Vector <float>(1e-8f));
initialNormal.X = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.X);
initialNormal.Y = Vector.ConditionalSelect(useInitialFallback, Vector <float> .One, initialNormal.Y);
initialNormal.Z = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.Z);
var hullSupportFinder = default(ConvexHullSupportFinder);
var sphereSupportFinder = default(SphereSupportFinder);
ManifoldCandidateHelper.CreateInactiveMask(pairCount, out var inactiveLanes);
b.EstimateEpsilonScale(inactiveLanes, out var hullEpsilonScale);
var epsilonScale = Vector.Min(a.Radius, hullEpsilonScale);
DepthRefiner <ConvexHull, ConvexHullWide, ConvexHullSupportFinder, Sphere, SphereWide, SphereSupportFinder> .FindMinimumDepth(
b, a, localOffsetA, identity, ref hullSupportFinder, ref sphereSupportFinder, initialNormal, inactiveLanes, 1e-5f *epsilonScale, -speculativeMargin,
out var depth, out var localNormal, out var closestOnHull);
Matrix3x3Wide.TransformWithoutOverlap(closestOnHull, hullOrientation, out var hullToContact);
Matrix3x3Wide.TransformWithoutOverlap(localNormal, hullOrientation, out manifold.Normal);
Vector3Wide.Add(hullToContact, offsetB, out manifold.OffsetA);
manifold.FeatureId = Vector <int> .Zero;
manifold.Depth = depth;
manifold.ContactExists = Vector.GreaterThanOrEqual(manifold.Depth, -speculativeMargin);
}
public unsafe void Test(ref BoxWide a, ref ConvexHullWide b, ref Vector <float> speculativeMargin, ref Vector3Wide offsetB, ref QuaternionWide orientationA, ref QuaternionWide orientationB, int pairCount, out Convex4ContactManifoldWide manifold)
{
Matrix3x3Wide.CreateFromQuaternion(orientationA, out var boxOrientation);
Matrix3x3Wide.CreateFromQuaternion(orientationB, out var hullOrientation);
Matrix3x3Wide.MultiplyByTransposeWithoutOverlap(boxOrientation, hullOrientation, out var hullLocalBoxOrientation);
Matrix3x3Wide.TransformByTransposedWithoutOverlap(offsetB, hullOrientation, out var localOffsetB);
Vector3Wide.Negate(localOffsetB, out var localOffsetA);
Vector3Wide.Length(localOffsetA, out var centerDistance);
Vector3Wide.Scale(localOffsetA, Vector <float> .One / centerDistance, out var initialNormal);
var useInitialFallback = Vector.LessThan(centerDistance, new Vector <float>(1e-8f));
initialNormal.X = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.X);
initialNormal.Y = Vector.ConditionalSelect(useInitialFallback, Vector <float> .One, initialNormal.Y);
initialNormal.Z = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.Z);
var hullSupportFinder = default(ConvexHullSupportFinder);
var boxSupportFinder = default(BoxSupportFinder);
ManifoldCandidateHelper.CreateInactiveMask(pairCount, out var inactiveLanes);
b.EstimateEpsilonScale(inactiveLanes, out var hullEpsilonScale);
var epsilonScale = Vector.Min(Vector.Max(a.HalfWidth, Vector.Max(a.HalfHeight, a.HalfLength)), hullEpsilonScale);
var depthThreshold = -speculativeMargin;
DepthRefiner <ConvexHull, ConvexHullWide, ConvexHullSupportFinder, PhysicsBox, BoxWide, BoxSupportFinder> .FindMinimumDepth(
b, a, localOffsetA, hullLocalBoxOrientation, ref hullSupportFinder, ref boxSupportFinder, initialNormal, inactiveLanes, 1e-5f *epsilonScale, depthThreshold,
out var depth, out var localNormal, out var closestOnHull);
inactiveLanes = Vector.BitwiseOr(inactiveLanes, Vector.LessThan(depth, depthThreshold));
//Not every lane will generate contacts. Rather than requiring every lane to carefully clear all contactExists states, just clear them up front.
manifold = default;
manifold.Contact0Exists = default;
manifold.Contact1Exists = default;
manifold.Contact2Exists = default;
manifold.Contact3Exists = default;
if (Vector.LessThanAll(inactiveLanes, Vector <int> .Zero))
{
//No contacts generated.
return;
}
//Identify the box face.
Matrix3x3Wide.TransformByTransposedWithoutOverlap(localNormal, hullLocalBoxOrientation, out var localNormalInA);
Vector3Wide.Abs(localNormalInA, out var absLocalNormalInA);
var useX = Vector.BitwiseAnd(Vector.GreaterThan(absLocalNormalInA.X, absLocalNormalInA.Y), Vector.GreaterThan(absLocalNormalInA.X, absLocalNormalInA.Z));
var useY = Vector.AndNot(Vector.GreaterThan(absLocalNormalInA.Y, absLocalNormalInA.Z), useX);
Vector3Wide.ConditionalSelect(useX, hullLocalBoxOrientation.X, hullLocalBoxOrientation.Z, out var boxFaceNormal);
Vector3Wide.ConditionalSelect(useY, hullLocalBoxOrientation.Y, boxFaceNormal, out boxFaceNormal);
Vector3Wide.ConditionalSelect(useX, hullLocalBoxOrientation.Y, hullLocalBoxOrientation.X, out var boxFaceX);
Vector3Wide.ConditionalSelect(useY, hullLocalBoxOrientation.Z, boxFaceX, out boxFaceX);
Vector3Wide.ConditionalSelect(useX, hullLocalBoxOrientation.Z, hullLocalBoxOrientation.Y, out var boxFaceY);
Vector3Wide.ConditionalSelect(useY, hullLocalBoxOrientation.X, boxFaceY, out boxFaceY);
var negateFace =
Vector.ConditionalSelect(useX, Vector.GreaterThan(localNormalInA.X, Vector <float> .Zero),
Vector.ConditionalSelect(useY, Vector.GreaterThan(localNormalInA.Y, Vector <float> .Zero), Vector.GreaterThan(localNormalInA.Z, Vector <float> .Zero)));
Vector3Wide.ConditionallyNegate(negateFace, ref boxFaceNormal);
//Winding is important; flip the face bases if necessary.
Vector3Wide.ConditionallyNegate(Vector.OnesComplement(negateFace), ref boxFaceX);
var boxFaceHalfWidth = Vector.ConditionalSelect(useX, a.HalfHeight, Vector.ConditionalSelect(useY, a.HalfLength, a.HalfWidth));
var boxFaceHalfHeight = Vector.ConditionalSelect(useX, a.HalfLength, Vector.ConditionalSelect(useY, a.HalfWidth, a.HalfHeight));
var boxFaceNormalOffset = Vector.ConditionalSelect(useX, a.HalfWidth, Vector.ConditionalSelect(useY, a.HalfHeight, a.HalfLength));
Vector3Wide.Scale(boxFaceNormal, boxFaceNormalOffset, out var boxFaceCenterOffset);
Vector3Wide.Add(boxFaceCenterOffset, localOffsetA, out var boxFaceCenter);
Vector3Wide.Scale(boxFaceX, boxFaceHalfWidth, out var boxFaceXOffset);
Vector3Wide.Scale(boxFaceY, boxFaceHalfHeight, out var boxFaceYOffset);
Vector3Wide.Subtract(boxFaceCenter, boxFaceXOffset, out var v0);
Vector3Wide.Add(boxFaceCenter, boxFaceXOffset, out var v1);
Vector3Wide.Subtract(v0, boxFaceYOffset, out var v00);
Vector3Wide.Add(v0, boxFaceYOffset, out var v01);
Vector3Wide.Subtract(v1, boxFaceYOffset, out var v10);
Vector3Wide.Add(v1, boxFaceYOffset, out var v11);
//To find the contact manifold, we'll clip the box edges against the hull face as usual, but we're dealing with potentially
//distinct convex hulls. Rather than vectorizing over the different hulls, we vectorize within each hull.
Helpers.FillVectorWithLaneIndices(out var slotOffsetIndices);
var boundingPlaneEpsilon = 1e-3f * epsilonScale;
//There can be no more than 8 contacts (provided there are no numerical errors); 2 per box edge.
var candidates = stackalloc ManifoldCandidateScalar[8];
for (int slotIndex = 0; slotIndex < pairCount; ++slotIndex)
{
if (inactiveLanes[slotIndex] < 0)
{
continue;
}
ref var hull = ref b.Hulls[slotIndex];
ConvexHullTestHelper.PickRepresentativeFace(ref hull, slotIndex, ref localNormal, closestOnHull, slotOffsetIndices, ref boundingPlaneEpsilon, out var slotFaceNormal, out var slotLocalNormal, out var bestFaceIndex);
//Test each face edge plane against the box face.
//Note that we do not use the faceNormal x edgeOffset edge plane, but rather edgeOffset x localNormal.
//The faces are wound counterclockwise in right handed coordinates.
//X is 00->10; Y is 10->11; Z is 11->01; W is 01->00.
ref var v00Slot = ref GatherScatter.GetOffsetInstance(ref v00, slotIndex);
public unsafe void Test(ref TriangleWide a, ref ConvexHullWide b, ref Vector <float> speculativeMargin, ref Vector3Wide offsetB, ref QuaternionWide orientationA, ref QuaternionWide orientationB, int pairCount, out Convex4ContactManifoldWide manifold)
{
Matrix3x3Wide.CreateFromQuaternion(orientationA, out var triangleOrientation);
Matrix3x3Wide.CreateFromQuaternion(orientationB, out var hullOrientation);
Matrix3x3Wide.MultiplyByTransposeWithoutOverlap(triangleOrientation, hullOrientation, out var hullLocalTriangleOrientation);
Matrix3x3Wide.TransformByTransposedWithoutOverlap(offsetB, hullOrientation, out var localOffsetB);
Vector3Wide.Negate(localOffsetB, out var localOffsetA);
TriangleWide triangle;
Matrix3x3Wide.TransformWithoutOverlap(a.A, hullLocalTriangleOrientation, out triangle.A);
Matrix3x3Wide.TransformWithoutOverlap(a.B, hullLocalTriangleOrientation, out triangle.B);
Matrix3x3Wide.TransformWithoutOverlap(a.C, hullLocalTriangleOrientation, out triangle.C);
Vector3Wide.Add(triangle.A, triangle.B, out var centroid);
Vector3Wide.Add(triangle.C, centroid, out centroid);
Vector3Wide.Scale(centroid, new Vector <float>(1f / 3f), out centroid);
Vector3Wide.Subtract(triangle.A, centroid, out triangle.A);
Vector3Wide.Subtract(triangle.B, centroid, out triangle.B);
Vector3Wide.Subtract(triangle.C, centroid, out triangle.C);
Vector3Wide.Subtract(centroid, localOffsetB, out var localTriangleCenter);
Vector3Wide.Subtract(triangle.B, triangle.A, out var triangleAB);
Vector3Wide.Subtract(triangle.C, triangle.B, out var triangleBC);
Vector3Wide.Subtract(triangle.A, triangle.C, out var triangleCA);
//We'll be using B-local triangle vertices quite a bit, so cache them.
Vector3Wide.Add(triangle.A, localTriangleCenter, out var triangleA);
Vector3Wide.Add(triangle.B, localTriangleCenter, out var triangleB);
Vector3Wide.Add(triangle.C, localTriangleCenter, out var triangleC);
Vector3Wide.CrossWithoutOverlap(triangleAB, triangleCA, out var triangleNormal);
Vector3Wide.Length(triangleNormal, out var triangleNormalLength);
Vector3Wide.Scale(triangleNormal, Vector <float> .One / triangleNormalLength, out triangleNormal);
//Check if the hull's position is within the triangle and below the triangle plane. If so, we can ignore it.
Vector3Wide.Dot(triangleNormal, localTriangleCenter, out var hullToTriangleCenterDot);
var hullBelowPlane = Vector.GreaterThanOrEqual(hullToTriangleCenterDot, Vector <float> .Zero);
Vector <int> hullInsideAndBelowTriangle;
Vector3Wide.CrossWithoutOverlap(triangleAB, triangleNormal, out var edgePlaneAB);
Vector3Wide.CrossWithoutOverlap(triangleBC, triangleNormal, out var edgePlaneBC);
Vector3Wide.CrossWithoutOverlap(triangleCA, triangleNormal, out var edgePlaneCA);
if (Vector.LessThanAny(hullBelowPlane, Vector <int> .Zero))
{
//Is the hull position within the triangle bounds?
Vector3Wide.Dot(edgePlaneAB, triangleA, out var abPlaneTest);
Vector3Wide.Dot(edgePlaneBC, triangleB, out var bcPlaneTest);
Vector3Wide.Dot(edgePlaneCA, triangleC, out var caPlaneTest);
hullInsideAndBelowTriangle = Vector.BitwiseAnd(
Vector.BitwiseAnd(hullBelowPlane, Vector.LessThanOrEqual(abPlaneTest, Vector <float> .Zero)),
Vector.BitwiseAnd(Vector.LessThanOrEqual(bcPlaneTest, Vector <float> .Zero), Vector.LessThanOrEqual(caPlaneTest, Vector <float> .Zero)));
}
else
{
hullInsideAndBelowTriangle = Vector <int> .Zero;
}
ManifoldCandidateHelper.CreateInactiveMask(pairCount, out var inactiveLanes);
a.EstimateEpsilonScale(out var triangleEpsilonScale);
b.EstimateEpsilonScale(inactiveLanes, out var hullEpsilonScale);
var epsilonScale = Vector.Min(triangleEpsilonScale, hullEpsilonScale);
inactiveLanes = Vector.BitwiseOr(inactiveLanes, Vector.LessThan(triangleNormalLength, epsilonScale * 1e-6f));
inactiveLanes = Vector.BitwiseOr(inactiveLanes, hullInsideAndBelowTriangle);
//Not every lane will generate contacts. Rather than requiring every lane to carefully clear all contactExists states, just clear them up front.
manifold.Contact0Exists = default;
manifold.Contact1Exists = default;
manifold.Contact2Exists = default;
manifold.Contact3Exists = default;
if (Vector.LessThanAll(inactiveLanes, Vector <int> .Zero))
{
//No contacts generated.
return;
}
//Note the use of the triangle center as the initial normal rather than the localOffsetA.
//Triangles are not guaranteed to be centered on their center of mass, and the DepthRefiner
//will converge to a depth which does not oppose the so-far best normal- which, on the early iterations,
//could be the initial normal.
Vector3Wide.Length(localTriangleCenter, out var centerDistance);
Vector3Wide.Scale(localTriangleCenter, Vector <float> .One / centerDistance, out var initialNormal);
var useInitialFallback = Vector.LessThan(centerDistance, new Vector <float>(1e-10f));
initialNormal.X = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.X);
initialNormal.Y = Vector.ConditionalSelect(useInitialFallback, Vector <float> .One, initialNormal.Y);
initialNormal.Z = Vector.ConditionalSelect(useInitialFallback, Vector <float> .Zero, initialNormal.Z);
//Check if the extreme point of the hull toward the triangle along its face normal lies inside the triangle.
//If it is, then there's no need for depth refinement.
Vector <int> triangleNormalIsMinimal;
var hullSupportFinder = default(ConvexHullSupportFinder);
DepthRefiner.SimplexWithWitness simplex;
var triangleSupportFinder = default(PretransformedTriangleSupportFinder);
//Create a simplex entry for the direction from the hull center to triangle center.
DepthRefiner.FindSupport(b, triangle, localTriangleCenter, hullLocalTriangleOrientation, ref hullSupportFinder, ref triangleSupportFinder, initialNormal, inactiveLanes, out simplex.A.Support, out simplex.A.SupportOnA);
Vector3Wide.Dot(simplex.A.Support, initialNormal, out var depth);
simplex.A.Exists = Vector.OnesComplement(inactiveLanes);
//Create a simplex entry for the triangle face normal.
Vector3Wide.Negate(triangleNormal, out var negatedTriangleNormal);
hullSupportFinder.ComputeLocalSupport(b, negatedTriangleNormal, inactiveLanes, out var hullSupportAlongTriangleNormal);
simplex.B.SupportOnA = hullSupportAlongTriangleNormal;
Vector3Wide.Subtract(simplex.B.SupportOnA, localTriangleCenter, out simplex.B.Support);
Vector3Wide.Dot(simplex.B.Support, negatedTriangleNormal, out var triangleFaceDepth);
var useTriangleFace = Vector.LessThan(triangleFaceDepth, depth);
Vector3Wide.ConditionalSelect(useTriangleFace, negatedTriangleNormal, initialNormal, out initialNormal);
depth = Vector.ConditionalSelect(useTriangleFace, triangleFaceDepth, depth);
simplex.B.Exists = simplex.A.Exists;
simplex.C.Exists = default;
//Check if the extreme point on the hull is contained within the bounds of the triangle face. If it is, there is no need for a full depth refinement.
Vector3Wide.Subtract(triangleA, hullSupportAlongTriangleNormal, out var closestToA);
Vector3Wide.Subtract(triangleB, hullSupportAlongTriangleNormal, out var closestToB);
Vector3Wide.Subtract(triangleC, hullSupportAlongTriangleNormal, out var closestToC);
Vector3Wide.Dot(edgePlaneAB, closestToA, out var extremeABPlaneTest);
Vector3Wide.Dot(edgePlaneBC, closestToB, out var extremeBCPlaneTest);
Vector3Wide.Dot(edgePlaneCA, closestToC, out var extremeCAPlaneTest);
triangleNormalIsMinimal = Vector.BitwiseAnd(Vector.LessThanOrEqual(extremeABPlaneTest, Vector <float> .Zero), Vector.BitwiseAnd(Vector.LessThanOrEqual(extremeBCPlaneTest, Vector <float> .Zero), Vector.LessThanOrEqual(extremeCAPlaneTest, Vector <float> .Zero)));
var depthThreshold = -speculativeMargin;
var skipDepthRefine = Vector.BitwiseOr(triangleNormalIsMinimal, inactiveLanes);
Vector3Wide localNormal, closestOnHull;
if (Vector.EqualsAny(skipDepthRefine, Vector <int> .Zero))
{
DepthRefiner.FindMinimumDepth(
b, triangle, localTriangleCenter, hullLocalTriangleOrientation, ref hullSupportFinder, ref triangleSupportFinder, ref simplex, initialNormal, depth, skipDepthRefine, 1e-5f * epsilonScale, depthThreshold,
out var refinedDepth, out var refinedNormal, out var refinedClosestOnHull);
Vector3Wide.ConditionalSelect(skipDepthRefine, hullSupportAlongTriangleNormal, refinedClosestOnHull, out closestOnHull);
Vector3Wide.ConditionalSelect(skipDepthRefine, initialNormal, refinedNormal, out localNormal);
depth = Vector.ConditionalSelect(skipDepthRefine, depth, refinedDepth);
}
else
{
//No depth refine ran; the extreme point prepass did everything we needed. Just use the initial normal.
localNormal = initialNormal;
closestOnHull = hullSupportAlongTriangleNormal;
}
Vector3Wide.Dot(triangleNormal, localNormal, out var triangleNormalDotLocalNormal);
inactiveLanes = Vector.BitwiseOr(inactiveLanes, Vector.BitwiseOr(Vector.GreaterThanOrEqual(triangleNormalDotLocalNormal, Vector <float> .Zero), Vector.LessThan(depth, depthThreshold)));
if (Vector.LessThanAll(inactiveLanes, Vector <int> .Zero))
{
//No contacts generated.
return;
}
//To find the contact manifold, we'll clip the triangle edges against the hull face as usual, but we're dealing with potentially
//distinct convex hulls. Rather than vectorizing over the different hulls, we vectorize within each hull.
Helpers.FillVectorWithLaneIndices(out var slotOffsetIndices);
var boundingPlaneEpsilon = 1e-3f * epsilonScale;
//There can be no more than 6 contacts (provided there are no numerical errors); 2 per triangle edge.
var candidates = stackalloc ManifoldCandidateScalar[6];
for (int slotIndex = 0; slotIndex < pairCount; ++slotIndex)
{
if (inactiveLanes[slotIndex] < 0)
{
continue;
}
ref var hull = ref b.Hulls[slotIndex];
ConvexHullTestHelper.PickRepresentativeFace(ref hull, slotIndex, ref localNormal, closestOnHull, slotOffsetIndices, ref boundingPlaneEpsilon, out var slotFaceNormal, out var slotLocalNormal, out var bestFaceIndex);
//Test each triangle edge against the hull face.
//Note that we do not use the faceNormal x edgeOffset edge plane, but rather edgeOffset x localNormal.
//The faces are wound counterclockwise.
//Note that the triangle edges are packed into a Vector4. Historically, there were some minor codegen issues with Vector3.
//May not matter anymore, but it costs ~nothing to use a dead slot.
ref var aSlot = ref GatherScatter.GetOffsetInstance(ref triangleA, slotIndex);