Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData

src/Bullet3Common/b3Vector3.h

@@ -990,7 +990,12 @@ B3_FORCE_INLINE   long    b3Vector3::maxDot( const b3Vector3 *array, long array_
                 ptIndex = i;
             }
         }
-        
+
+		b3Assert(ptIndex>=0);
+        if (ptIndex<0)
+		{
+			ptIndex = 0;
+		}
         dotOut = maxDot;
         return ptIndex;
     }

src/Bullet3Common/shared/b3Float4.h

@@ -68,5 +68,30 @@ inline bool b3IsAlmostZero(b3Float4ConstArg v)
 }
 
 
+inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )
+{
+    float maxDot = -B3_INFINITY;
+    int i = 0;
+    int ptIndex = -1;
+    for( i = 0; i < vecLen; i++ )
+    {
+        float dot = b3Dot3F4(vecArray[i],vec);
+            
+        if( dot > maxDot )
+        {
+            maxDot = dot;
+            ptIndex = i;
+        }
+    }
+	b3Assert(ptIndex>=0);
+    if (ptIndex<0)
+	{
+		ptIndex = 0;
+	}
+    *dotOut = maxDot;
+    return ptIndex;
+}
+
+
 
 #endif //B3_FLOAT4_H

src/Bullet3Common/shared/b3PlatformDefinitions.h

@@ -7,6 +7,8 @@ struct MyTest
 };
 
 #ifdef __cplusplus
+//#define b3ConstArray(a) const b3AlignedObjectArray<a>&
+#define b3ConstArray(a) const a*
 #define b3AtomicInc(a) ((*a)++)
 
 inline int b3AtomicAdd (volatile int *p, int val)
@@ -19,6 +21,11 @@ inline int b3AtomicAdd (volatile int *p, int val)
 
 #define __global 
 #else
+//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
+#define B3_LARGE_FLOAT 1e18f
+#define B3_INFINITY 1e18f
+#define b3Assert(a)
+#define b3ConstArray(a) __global const a*
 #define b3AtomicInc atomic_inc
 #define b3AtomicAdd atomic_add
 #define b3Fabs fabs

src/Bullet3Common/shared/b3Quat.h

@@ -38,6 +38,8 @@ inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
 inline b3Quat b3QuatNormalized(b3QuatConstArg in);
 inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
 inline b3Quat b3QuatInvert(b3QuatConstArg q);
+inline b3Quat b3QuatInverse(b3QuatConstArg q);
+
 inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
 {
 	b3Quat ans;
@@ -74,6 +76,13 @@ inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
 	return out;
 }
 
+
+
+inline b3Quat b3QuatInverse(b3QuatConstArg q)
+{
+	return (b3Quat)(-q.xyz, q.w);
+}
+
 inline b3Quat b3QuatInvert(b3QuatConstArg q)
 {
 	return (b3Quat)(-q.xyz, q.w);