add gjk/epa (host only), possibly improve convex-convex with many edge-edge tests

more preparation towards persistent/incremental contact cache

src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h

@@ -0,0 +1,84 @@
+
+
+
+
+#ifndef B3_GJK_PAIR_DETECTOR_H
+#define B3_GJK_PAIR_DETECTOR_H
+
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+struct b3Transform;
+struct b3GjkEpaSolver2;
+class b3VoronoiSimplexSolver;
+struct b3ConvexPolyhedronCL;
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3GjkPairDetector
+{
+	
+
+	b3Vector3	m_cachedSeparatingAxis;
+	b3GjkEpaSolver2*	m_penetrationDepthSolver;
+	b3VoronoiSimplexSolver* m_simplexSolver;
+
+
+	bool		m_ignoreMargin;
+	b3Scalar	m_cachedSeparatingDistance;
+	
+
+public:
+
+	//some debugging to fix degeneracy problems
+	int			m_lastUsedMethod;
+	int			m_curIter;
+	int			m_degenerateSimplex;
+	int			m_catchDegeneracies;
+	int			m_fixContactNormalDirection;
+
+	b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2*	penetrationDepthSolver);
+	
+	virtual ~b3GjkPairDetector() {};
+
+	
+	//void	getClosestPoints(,Result& output);
+	
+	void setCachedSeperatingAxis(const b3Vector3& seperatingAxis)
+	{
+		m_cachedSeparatingAxis = seperatingAxis;
+	}
+
+	const b3Vector3& getCachedSeparatingAxis() const
+	{
+		return m_cachedSeparatingAxis;
+	}
+	b3Scalar	getCachedSeparatingDistance() const
+	{
+		return m_cachedSeparatingDistance;
+	}
+
+	void	setPenetrationDepthSolver(b3GjkEpaSolver2*	penetrationDepthSolver)
+	{
+		m_penetrationDepthSolver = penetrationDepthSolver;
+	}
+
+	///don't use setIgnoreMargin, it's for Bullet's internal use
+	void	setIgnoreMargin(bool ignoreMargin)
+	{
+		m_ignoreMargin = ignoreMargin;
+	}
+
+
+};
+
+
+bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform&	transA, const b3Transform&	transB,
+	const b3ConvexPolyhedronCL& hullA, const b3ConvexPolyhedronCL& hullB, 
+	const b3AlignedObjectArray<b3Vector3>& verticesA,
+	const b3AlignedObjectArray<b3Vector3>& verticesB,
+	b3Scalar maximumDistanceSquared,
+	b3Vector3& resultSepNormal,
+	float& resultSepDistance,
+	b3Vector3& resultPointOnB);
+
+#endif //B3_GJK_PAIR_DETECTOR_H