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bullet3/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.cpp

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#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "SpuCollisionShapes.h"
#include "SpuGjkEpa2.h"
#if defined(DEBUG) || defined (_DEBUG)
#include <stdio.h> //for debug printf
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
#endif //__SPU__
#endif
namespace gjkepa2_spu_impl
{
// Config
/* GJK */
#define GJK_MAX_ITERATIONS 128
#define GJK_ACCURARY ((btScalar)0.0001)
#define GJK_MIN_DISTANCE ((btScalar)0.0001)
#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
/* EPA */
#define EPA_MAX_VERTICES 64
#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
#define EPA_MAX_ITERATIONS 255
#define EPA_ACCURACY ((btScalar)0.0001)
#define EPA_FALLBACK (10*EPA_ACCURACY)
#define EPA_PLANE_EPS ((btScalar)0.00001)
#define EPA_INSIDE_EPS ((btScalar)0.01)
// Shorthands
typedef unsigned int U;
typedef unsigned char U1;
struct convexShape
{
void* shape;
SpuConvexPolyhedronVertexData* convexData;
int shapeType;
float margin;
};
// MinkowskiDiff
struct MinkowskiDiff
{
convexShape m_shapes[2];
btMatrix3x3 m_toshape1;
btTransform m_toshape0;
btVector3 (btConvexShape::*Ls)(const btVector3&) const;
void EnableMargin(bool enable)
{
#if 0
if(enable)
Ls=&btConvexShape::localGetSupportingVertex;
else
Ls=&btConvexShape::localGetSupportingVertexWithoutMargin;
#endif
}
inline btVector3 Support0(const btVector3& d) const
{
btVector3 sp = localGetSupportingVertexWithoutMargin (m_shapes[0].shapeType, m_shapes[0].shape, d, m_shapes[0].convexData);
btVector3 ud = d;
ud.normalize();
sp += ud * m_shapes[0].margin;
return sp;
// return(((m_shapes[0])->*(Ls))(d));
}
inline btVector3 Support1(const btVector3& d) const
{
btVector3 nd = m_toshape1*d;
btVector3 ud = nd;
ud.normalize ();
btVector3 sp = localGetSupportingVertexWithoutMargin (m_shapes[1].shapeType, m_shapes[1].shape, nd, m_shapes[1].convexData);
sp += ud * m_shapes[1].margin;
return m_toshape0 * sp;
// return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
}
inline btVector3 Support(const btVector3& d) const
{
return(Support0(d)-Support1(-d));
}
btVector3 Support(const btVector3& d,U index) const
{
if(index)
return(Support1(d));
else
return(Support0(d));
}
};
typedef MinkowskiDiff tShape;
// GJK
struct GJK
{
/* Types */
struct sSV
{
btVector3 d,w;
};
struct sSimplex
{
sSV* c[4];
btScalar p[4];
U rank;
};
struct eStatus { enum _ {
Valid,
Inside,
Failed };};
/* Fields */
tShape m_shape;
btVector3 m_ray;
btScalar m_distance;
sSimplex m_simplices[2];
sSV m_store[4];
sSV* m_free[4];
U m_nfree;
U m_current;
sSimplex* m_simplex;
eStatus::_ m_status;
/* Methods */
GJK()
{
Initialize();
}
void Initialize()
{
m_ray = btVector3(0,0,0);
m_nfree = 0;
m_status = eStatus::Failed;
m_current = 0;
m_distance = 0;
}
eStatus::_ Evaluate(const tShape& shapearg,const btVector3& guess)
{
U iterations=0;
btScalar sqdist=0;
btScalar alpha=0;
btVector3 lastw[4];
U 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 = eStatus::Valid;
m_shape = shapearg;
m_distance = 0;
/* Initialize simplex */
m_simplices[0].rank = 0;
m_ray = guess;
const btScalar sqrl= m_ray.length2();
appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0));
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 {
const U next=1-m_current;
sSimplex& cs=m_simplices[m_current];
sSimplex& ns=m_simplices[next];
/* Check zero */
const btScalar rl=m_ray.length();
if(rl<GJK_MIN_DISTANCE)
{/* Touching or inside */
m_status=eStatus::Inside;
break;
}
/* Append new vertice in -'v' direction */
appendvertice(cs,-m_ray);
const btVector3& w=cs.c[cs.rank-1]->w;
bool found=false;
for(U i=0;i<4;++i)
{
if((w-lastw[i]).length2()<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 */
const btScalar omega=dot(m_ray,w)/rl;
alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
}
/* Reduce simplex */
btScalar weights[4];
U mask=0;
switch(cs.rank)
{
case 2: sqdist=projectorigin( cs.c[0]->w,
cs.c[1]->w,
weights,mask);break;
case 3: sqdist=projectorigin( cs.c[0]->w,
cs.c[1]->w,
cs.c[2]->w,
weights,mask);break;
case 4: sqdist=projectorigin( cs.c[0]->w,
cs.c[1]->w,
cs.c[2]->w,
cs.c[3]->w,
weights,mask);break;
}
if(sqdist>=0)
{/* Valid */
ns.rank = 0;
m_ray = btVector3(0,0,0);
m_current = next;
for(U i=0,ni=cs.rank;i<ni;++i)
{
if(mask&(1<<i))
{
ns.c[ns.rank] = cs.c[i];
ns.p[ns.rank++] = weights[i];
m_ray += cs.c[i]->w*weights[i];
}
else
{
m_free[m_nfree++] = cs.c[i];
}
}
if(mask==15) m_status=eStatus::Inside;
}
else
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
}
m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
} while(m_status==eStatus::Valid);
m_simplex=&m_simplices[m_current];
switch(m_status)
{
case eStatus::Valid: m_distance=m_ray.length();break;
case eStatus::Inside: m_distance=0;break;
}
return(m_status);
}
bool EncloseOrigin()
{
switch(m_simplex->rank)
{
case 1:
{
for(U i=0;i<3;++i)
{
btVector3 axis=btVector3(0,0,0);
axis[i]=1;
appendvertice(*m_simplex, axis);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
appendvertice(*m_simplex,-axis);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
}
}
break;
case 2:
{
const btVector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w;
for(U i=0;i<3;++i)
{
btVector3 axis=btVector3(0,0,0);
axis[i]=1;
if(btFabs(dot(axis,d))>0)
{
const btVector3 p=cross(d,axis);
appendvertice(*m_simplex, p);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
appendvertice(*m_simplex,-p);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
}
}
}
break;
case 3:
{
const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
m_simplex->c[2]->w-m_simplex->c[0]->w);
const btScalar l=n.length();
if(l>0)
{
appendvertice(*m_simplex,n);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
appendvertice(*m_simplex,-n);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
}
}
break;
case 4:
{
if(btFabs(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;
}
return(false);
}
/* Internals */
void getsupport(const btVector3& d,sSV& sv) const
{
sv.d = d/d.length();
sv.w = m_shape.Support(sv.d);
}
void removevertice(sSimplex& simplex)
{
m_free[m_nfree++]=simplex.c[--simplex.rank];
}
void appendvertice(sSimplex& simplex,const btVector3& v)
{
simplex.p[simplex.rank]=0;
simplex.c[simplex.rank]=m_free[--m_nfree];
getsupport(v,*simplex.c[simplex.rank++]);
}
static btScalar det(const btVector3& a,const btVector3& b,const btVector3& c)
{
return( a.y()*b.z()*c.x()+a.z()*b.x()*c.y()-
a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+
a.x()*b.y()*c.z()-a.z()*b.y()*c.x());
}
static btScalar projectorigin( const btVector3& a,
const btVector3& b,
btScalar* w,U& m)
{
const btVector3 d=b-a;
const btScalar l=d.length2();
if(l>GJK_SIMPLEX2_EPS)
{
const btScalar t(l>0?-dot(a,d)/l:0);
if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); }
else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); }
else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
}
return(-1);
}
static btScalar projectorigin( const btVector3& a,
const btVector3& b,
const btVector3& c,
btScalar* w,U& m)
{
static const U imd3[]={1,2,0};
const btVector3* vt[]={&a,&b,&c};
const btVector3 dl[]={a-b,b-c,c-a};
const btVector3 n=cross(dl[0],dl[1]);
const btScalar l=n.length2();
if(l>GJK_SIMPLEX3_EPS)
{
btScalar mindist=-1;
btScalar subw[2] = { btScalar(0.0f), btScalar(0.0f) };
U subm;
for(U i=0;i<3;++i)
{
if(dot(*vt[i],cross(dl[i],n))>0)
{
const U j=imd3[i];
const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm));
if((mindist<0)||(subd<mindist))
{
mindist = subd;
m = ((subm&1)?1<<i:0)+((subm&2)?1<<j:0);
w[i] = subw[0];
w[j] = subw[1];
w[imd3[j]] = 0;
}
}
}
if(mindist<0)
{
const btScalar d=dot(a,n);
const btScalar s=btSqrt(l);
const btVector3 p=n*(d/l);
mindist = p.length2();
m = 7;
w[0] = (cross(dl[1],b-p)).length()/s;
w[1] = (cross(dl[2],c-p)).length()/s;
w[2] = 1-(w[0]+w[1]);
}
return(mindist);
}
return(-1);
}
static btScalar projectorigin( const btVector3& a,
const btVector3& b,
const btVector3& c,
const btVector3& d,
btScalar* w,U& m)
{
static const U imd3[]={1,2,0};
const btVector3* vt[]={&a,&b,&c,&d};
const btVector3 dl[]={a-d,b-d,c-d};
const btScalar vl=det(dl[0],dl[1],dl[2]);
const bool ng=(vl*dot(a,cross(b-c,a-b)))<=0;
if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
{
btScalar mindist=-1;
btScalar subw[3];
U subm;
for(U i=0;i<3;++i)
{
const U j=imd3[i];
const btScalar s=vl*dot(d,cross(dl[i],dl[j]));
if(s>0)
{
const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
if((mindist<0)||(subd<mindist))
{
mindist = subd;
m = (subm&1?1<<i:0)+
(subm&2?1<<j:0)+
(subm&4?8:0);
w[i] = subw[0];
w[j] = subw[1];
w[imd3[j]] = 0;
w[3] = subw[2];
}
}
}
if(mindist<0)
{
mindist = 0;
m = 15;
w[0] = det(c,b,d)/vl;
w[1] = det(a,c,d)/vl;
w[2] = det(b,a,d)/vl;
w[3] = 1-(w[0]+w[1]+w[2]);
}
return(mindist);
}
return(-1);
}
};
// EPA
struct EPA
{
/* Types */
typedef GJK::sSV sSV;
struct sFace
{
btVector3 n;
btScalar d;
btScalar p;
sSV* c[3];
sFace* f[3];
sFace* l[2];
U1 e[3];
U1 pass;
};
struct sList
{
sFace* root;
U count;
sList() : root(0),count(0) {}
};
struct sHorizon
{
sFace* cf;
sFace* ff;
U nf;
sHorizon() : cf(0),ff(0),nf(0) {}
};
struct eStatus { enum _ {
Valid,
Touching,
Degenerated,
NonConvex,
InvalidHull,
OutOfFaces,
OutOfVertices,
AccuraryReached,
FallBack,
Failed, };};
/* Fields */
eStatus::_ m_status;
GJK::sSimplex m_result;
btVector3 m_normal;
btScalar m_depth;
sSV m_sv_store[EPA_MAX_VERTICES];
sFace m_fc_store[EPA_MAX_FACES];
U m_nextsv;
sList m_hull;
sList m_stock;
/* Methods */
EPA()
{
Initialize();
}
void Initialize()
{
m_status = eStatus::Failed;
m_normal = btVector3(0,0,0);
m_depth = 0;
m_nextsv = 0;
for(U i=0;i<EPA_MAX_FACES;++i)
{
append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
}
}
eStatus::_ Evaluate(GJK& gjk,const btVector3& guess)
{
GJK::sSimplex& simplex=*gjk.m_simplex;
if((simplex.rank>1)&&gjk.EncloseOrigin())
{
/* Clean up */
while(m_hull.root)
{
sFace* f(m_hull.root);
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)
{
btSwap(simplex.c[0],simplex.c[1]);
btSwap(simplex.p[0],simplex.p[1]);
}
/* Build initial hull */
sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
if(m_hull.count==4)
{
sFace* best=findbest();
sFace outer=*best;
U pass=0;
U 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<EPA_MAX_ITERATIONS;++iterations)
{
if(m_nextsv<EPA_MAX_VERTICES)
{
sHorizon horizon;
sSV* w=&m_sv_store[m_nextsv++];
bool valid=true;
best->pass = (U1)(++pass);
gjk.getsupport(best->n,*w);
const btScalar wdist=dot(best->n,w->w)-best->d;
if(wdist>EPA_ACCURACY)
{
for(U j=0;(j<3)&&valid;++j)
{
valid&=expand( pass,w,
best->f[j],best->e[j],
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; }
}
const btVector3 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] = cross( outer.c[1]->w-projection,
outer.c[2]->w-projection).length();
m_result.p[1] = cross( outer.c[2]->w-projection,
outer.c[0]->w-projection).length();
m_result.p[2] = cross( outer.c[0]->w-projection,
outer.c[1]->w-projection).length();
const btScalar 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;
const btScalar nl=m_normal.length();
if(nl>0)
m_normal = m_normal/nl;
else
m_normal = btVector3(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);
}
sFace* newface(sSV* a,sSV* b,sSV* c,bool forced)
{
if(m_stock.root)
{
sFace* face=m_stock.root;
remove(m_stock,face);
append(m_hull,face);
face->pass = 0;
face->c[0] = a;
face->c[1] = b;
face->c[2] = c;
face->n = cross(b->w-a->w,c->w-a->w);
const btScalar l=face->n.length();
const bool v=l>EPA_ACCURACY;
face->p = btMin(btMin(
dot(a->w,cross(face->n,a->w-b->w)),
dot(b->w,cross(face->n,b->w-c->w))),
dot(c->w,cross(face->n,c->w-a->w))) /
(v?l:1);
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
if(v)
{
face->d = dot(a->w,face->n)/l;
face->n /= l;
if(forced||(face->d>=-EPA_PLANE_EPS))
{
return(face);
} else m_status=eStatus::NonConvex;
} else m_status=eStatus::Degenerated;
remove(m_hull,face);
append(m_stock,face);
return(0);
}
m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
return(0);
}
sFace* findbest()
{
sFace* minf=m_hull.root;
btScalar mind=minf->d*minf->d;
btScalar maxp=minf->p;
for(sFace* f=minf->l[1];f;f=f->l[1])
{
const btScalar sqd=f->d*f->d;
if((f->p>=maxp)&&(sqd<mind))
{
minf=f;
mind=sqd;
maxp=f->p;
}
}
return(minf);
}
bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
{
static const U i1m3[]={1,2,0};
static const U i2m3[]={2,0,1};
if(f->pass!=pass)
{
const U e1=i1m3[e];
if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
{
sFace* nf=newface(f->c[e1],f->c[e],w,false);
if(nf)
{
bind(nf,0,f,e);
if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
horizon.cf=nf;
++horizon.nf;
return(true);
}
}
else
{
const U e2=i2m3[e];
f->pass = (U1)pass;
if( expand(pass,w,f->f[e1],f->e[e1],horizon)&&
expand(pass,w,f->f[e2],f->e[e2],horizon))
{
remove(m_hull,f);
append(m_stock,f);
return(true);
}
}
}
return(false);
}
static inline void bind(sFace* fa,U ea,sFace* fb,U eb)
{
fa->e[ea]=(U1)eb;fa->f[ea]=fb;
fb->e[eb]=(U1)ea;fb->f[eb]=fa;
}
static inline void append(sList& list,sFace* face)
{
face->l[0] = 0;
face->l[1] = list.root;
if(list.root) list.root->l[0]=face;
list.root = face;
++list.count;
}
static inline void remove(sList& list,sFace* face)
{
if(face->l[1]) face->l[1]->l[0]=face->l[0];
if(face->l[0]) face->l[0]->l[1]=face->l[1];
if(face==list.root) list.root=face->l[1];
--list.count;
}
};
//
static void Initialize(void* shapeA,
SpuConvexPolyhedronVertexData* convexDataA,
int shapeTypeA,
float marginA,
const btTransform& wtrs0,
void* shapeB,
SpuConvexPolyhedronVertexData* convexDataB,
int shapeTypeB,
float marginB,
const btTransform& wtrs1,
SpuGjkEpaSolver2::sResults& results,
tShape& shape,
bool withmargins)
{
/* Results */
results.witnesses[0] =
results.witnesses[1] = btVector3(0,0,0);
results.status = SpuGjkEpaSolver2::sResults::Separated;
/* Shape */
shape.m_shapes[0].margin = marginA;
shape.m_shapes[0].shape = shapeA;
shape.m_shapes[0].shapeType = shapeTypeA;
shape.m_shapes[0].convexData = convexDataA;
shape.m_shapes[1].margin = marginB;
shape.m_shapes[1].shape = shapeB;
shape.m_shapes[1].shapeType = shapeTypeB;
shape.m_shapes[1].convexData = convexDataB;
shape.m_toshape1 = wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
shape.m_toshape0 = wtrs0.inverseTimes(wtrs1);
shape.EnableMargin(withmargins);
}
}
//
// Api
//
using namespace gjkepa2_spu_impl;
//
int SpuGjkEpaSolver2::StackSizeRequirement()
{
return(sizeof(GJK)+sizeof(EPA));
}
//
bool SpuGjkEpaSolver2::Penetration(void* shapeA,
SpuConvexPolyhedronVertexData* convexDataA,
int shapeTypeA,
float marginA,
const btTransform& wtrs0,
void* shapeB,
SpuConvexPolyhedronVertexData* convexDataB,
int shapeTypeB,
float marginB,
const btTransform& wtrs1,
const btVector3& guess,
sResults& results)
{
tShape shape;
Initialize(shapeA, convexDataA, shapeTypeA, marginA, wtrs0, shapeB, convexDataB, shapeTypeB, marginB, wtrs1, results,shape,true);
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
switch(gjk_status)
{
case GJK::eStatus::Inside:
{
EPA epa;
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=EPA::eStatus::Failed)
{
btVector3 w0=btVector3(0,0,0);
for(U i=0;i<epa.m_result.rank;++i)
{
w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
}
results.status = sResults::Penetrating;
results.witnesses[0] = wtrs0*w0;
results.witnesses[1] = wtrs0*(w0-epa.m_normal*epa.m_depth);
return(true);
} else results.status=sResults::EPA_Failed;
}
break;
case GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
}
return(false);
}
/* Symbols cleanup */
#undef GJK_MAX_ITERATIONS
#undef GJK_ACCURARY
#undef GJK_MIN_DISTANCE
#undef GJK_DUPLICATED_EPS
#undef GJK_SIMPLEX2_EPS
#undef GJK_SIMPLEX3_EPS
#undef GJK_SIMPLEX4_EPS
#undef EPA_MAX_VERTICES
#undef EPA_MAX_FACES
#undef EPA_MAX_ITERATIONS
#undef EPA_ACCURACY
#undef EPA_FALLBACK
#undef EPA_PLANE_EPS
#undef EPA_INSIDE_EPS
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