tesseract_convex_convex_algorithm.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If
you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not
required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original
software.
3. This notice may not be removed or altered from any source distribution.
*/
 
//#define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
//#define ZERO_MARGIN
 
#include <tesseract_collision/bullet/tesseract_convex_convex_algorithm.h>
#include <tesseract_collision/bullet/tesseract_gjk_pair_detector.h>
 
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h>
#include <BulletCollision/BroadphaseCollision/btBroadphaseInterface.h>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include <BulletCollision/CollisionShapes/btConvexShape.h>
#include <BulletCollision/CollisionShapes/btCapsuleShape.h>
#include <BulletCollision/CollisionShapes/btTriangleShape.h>
#include <BulletCollision/CollisionShapes/btConvexPolyhedron.h>
 
//#include <BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h>
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <BulletCollision/CollisionDispatch/btCollisionDispatcher.h>
#include <BulletCollision/CollisionShapes/btBoxShape.h>
#include <BulletCollision/CollisionDispatch/btManifoldResult.h>
 
#include <BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h>
#include <BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h>
#include <BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h>
#include <BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h>
 
#include <BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h>
#include <BulletCollision/CollisionShapes/btSphereShape.h>
 
#include <BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h>
 
#include <BulletCollision/NarrowPhaseCollision/btGjkEpa2.h>
#include <BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h>
#include <BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h>
#include <BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
extern btScalar gContactBreakingThreshold;  // NOLINT
 
// LCOV_EXCL_START
namespace tesseract_collision::tesseract_collision_bullet
{
static SIMD_FORCE_INLINE void segmentsClosestPoints(btVector3& ptsVector,
                                                    btVector3& offsetA,
                                                    btVector3& offsetB,
                                                    btScalar& tA,
                                                    btScalar& tB,
                                                    const btVector3& translation,
                                                    const btVector3& dirA,
                                                    btScalar hlenA,
                                                    const btVector3& dirB,
                                                    btScalar hlenB)
{
  // compute the parameters of the closest points on each line segment
 
  btScalar dirA_dot_dirB = btDot(dirA, dirB);
  btScalar dirA_dot_trans = btDot(dirA, translation);
  btScalar dirB_dot_trans = btDot(dirB, translation);
 
  btScalar denom = btScalar(1.0) - (dirA_dot_dirB * dirA_dot_dirB);
 
  if (denom == btScalar(0.0))
  {
    tA = btScalar(0.0);
  }
  else
  {
    tA = (dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB) / denom;
    if (tA < -hlenA)
      tA = -hlenA;
    else if (tA > hlenA)
      tA = hlenA;
  }
 
  tB = tA * dirA_dot_dirB - dirB_dot_trans;
 
  if (tB < -hlenB)
  {
    tB = -hlenB;
    tA = tB * dirA_dot_dirB + dirA_dot_trans;
 
    if (tA < -hlenA)
      tA = -hlenA;
    else if (tA > hlenA)
      tA = hlenA;
  }
  else if (tB > hlenB)
  {
    tB = hlenB;
    tA = tB * dirA_dot_dirB + dirA_dot_trans;
 
    if (tA < -hlenA)
      tA = -hlenA;
    else if (tA > hlenA)
      tA = hlenA;
  }
 
  // compute the closest points relative to segment centers.
 
  offsetA = dirA * tA;
  offsetB = dirB * tB;
 
  ptsVector = translation - offsetA + offsetB;
}
 
static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(btVector3& normalOnB,
                                                         btVector3& pointOnB,
                                                         btScalar capsuleLengthA,
                                                         btScalar capsuleRadiusA,
                                                         btScalar capsuleLengthB,
                                                         btScalar capsuleRadiusB,
                                                         int capsuleAxisA,
                                                         int capsuleAxisB,
                                                         const btTransform& transformA,
                                                         const btTransform& transformB,
                                                         btScalar distanceThreshold)
{
  btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
  btVector3 translationA = transformA.getOrigin();
  btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
  btVector3 translationB = transformB.getOrigin();
 
  // translation between centers
 
  btVector3 translation = translationB - translationA;
 
  // compute the closest points of the capsule line segments
 
  btVector3 ptsVector;  // the vector between the closest points
 
  btVector3 offsetA, offsetB;  // offsets from segment centers to their closest points
  btScalar tA{ std::numeric_limits<btScalar>::max() },
      tB{ std::numeric_limits<btScalar>::max() };  // parameters on line segment
 
  segmentsClosestPoints(
      ptsVector, offsetA, offsetB, tA, tB, translation, directionA, capsuleLengthA, directionB, capsuleLengthB);
 
  btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
 
  if (distance > distanceThreshold)
    return distance;
 
  btScalar lenSqr = ptsVector.length2();
  if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
  {
    // degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
    btVector3 q;
    btPlaneSpace1(directionA, normalOnB, q);
  }
  else
  {
    // compute the contact normal
    normalOnB = ptsVector * -btRecipSqrt(lenSqr);
  }
  pointOnB = transformB.getOrigin() + offsetB + normalOnB * capsuleRadiusB;
 
  return distance;
}
 
 
TesseractConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver) : m_pdSolver(pdSolver)
{
}
 
TesseractConvexConvexAlgorithm::TesseractConvexConvexAlgorithm(btPersistentManifold* mf,
                                                               const btCollisionAlgorithmConstructionInfo& ci,
                                                               const btCollisionObjectWrapper* body0Wrap,
                                                               const btCollisionObjectWrapper* body1Wrap,
                                                               btConvexPenetrationDepthSolver* pdSolver,
                                                               int numPerturbationIterations,
                                                               int minimumPointsPerturbationThreshold)
  : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap)
  , m_pdSolver(pdSolver)
  , m_manifoldPtr(mf)
  ,
#ifdef USE_SEPDISTANCE_UTIL2
  m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
                (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc())
  ,
#endif
  m_numPerturbationIterations(numPerturbationIterations)
  , m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
  , m_cdata(static_cast<ContactTestData*>(body0Wrap->m_collisionObject->getUserPointer()))
{
  (void)body0Wrap;
  (void)body1Wrap;
  assert(m_cdata != nullptr);
}
 
TesseractConvexConvexAlgorithm::~TesseractConvexConvexAlgorithm()
{
  if (m_ownManifold)
  {
    if (m_manifoldPtr != nullptr)
      m_dispatcher->releaseManifold(m_manifoldPtr);
  }
}
 
void TesseractConvexConvexAlgorithm::setLowLevelOfDetail(bool useLowLevel) { m_lowLevelOfDetail = useLowLevel; }
 
struct btPerturbedContactResult : public btManifoldResult  // NOLINT
{
  btManifoldResult* m_originalManifoldResult;
  btTransform m_transformA;
  btTransform m_transformB;
  btTransform m_unPerturbedTransform;
  bool m_perturbA;
  btIDebugDraw* m_debugDrawer;
 
  btPerturbedContactResult(btManifoldResult* originalResult,
                           const btTransform& transformA,
                           const btTransform& transformB,
                           const btTransform& unPerturbedTransform,
                           bool perturbA,
                           btIDebugDraw* debugDrawer)
    : m_originalManifoldResult(originalResult)
    , m_transformA(transformA)
    , m_transformB(transformB)
    , m_unPerturbedTransform(unPerturbedTransform)
    , m_perturbA(perturbA)
    , m_debugDrawer(debugDrawer)
  {
  }
  ~btPerturbedContactResult() override = default;
 
  void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar orgDepth) override
  {
    btVector3 endPt, startPt;
    btScalar newDepth{ std::numeric_limits<btScalar>::max() };
    btVector3 newNormal;
 
    if (m_perturbA)
    {
      btVector3 endPtOrg = pointInWorld + normalOnBInWorld * orgDepth;
      endPt = (m_unPerturbedTransform * m_transformA.inverse())(endPtOrg);
      newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
      startPt = endPt - normalOnBInWorld * newDepth;
    }
    else
    {
      endPt = pointInWorld + normalOnBInWorld * orgDepth;
      startPt = (m_unPerturbedTransform * m_transformB.inverse())(pointInWorld);
      newDepth = (endPt - startPt).dot(normalOnBInWorld);
    }
 
//#define DEBUG_CONTACTS 1
#ifdef DEBUG_CONTACTS
    m_debugDrawer->drawLine(startPt, endPt, btVector3(1, 0, 0));
    m_debugDrawer->drawSphere(startPt, 0.05, btVector3(0, 1, 0));
    m_debugDrawer->drawSphere(endPt, 0.05, btVector3(0, 0, 1));
#endif  // DEBUG_CONTACTS
 
    m_originalManifoldResult->addContactPoint(normalOnBInWorld, startPt, newDepth);
  }
};
 
//
// Convex-Convex collision algorithm
//
void TesseractConvexConvexAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap,
                                                      const btCollisionObjectWrapper* body1Wrap,
                                                      const btDispatcherInfo& dispatchInfo,
                                                      btManifoldResult* resultOut)
{
  if (m_manifoldPtr == nullptr)
  {
    // swapped?
    m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
    m_ownManifold = true;
  }
  resultOut->setPersistentManifold(m_manifoldPtr);
 
  // comment-out next line to test multi-contact generation
  // resultOut->getPersistentManifold()->clearManifold();
 
  const auto* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
  const auto* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
  btVector3 normalOnB;
  btVector3 pointOnBWorld;
#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
  if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
  {
    // m_manifoldPtr->clearManifold();
 
    auto* capsuleA = (btCapsuleShape*)min0;  // NOLINT
    auto* capsuleB = (btCapsuleShape*)min1;  // NOLINT
 
    btScalar threshold = m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
 
    btScalar dist = capsuleCapsuleDistance(normalOnB,
                                           pointOnBWorld,
                                           capsuleA->getHalfHeight(),
                                           capsuleA->getRadius(),
                                           capsuleB->getHalfHeight(),
                                           capsuleB->getRadius(),
                                           capsuleA->getUpAxis(),
                                           capsuleB->getUpAxis(),
                                           body0Wrap->getWorldTransform(),
                                           body1Wrap->getWorldTransform(),
                                           threshold);
 
    if (dist < threshold)
    {
      btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
      resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
    }
    resultOut->refreshContactPoints();
    return;
  }
 
  if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == SPHERE_SHAPE_PROXYTYPE))
  {
    // m_manifoldPtr->clearManifold();
 
    auto* capsuleA = (btCapsuleShape*)min0;  // NOLINT
    auto* capsuleB = (btSphereShape*)min1;   // NOLINT
 
    btScalar threshold = m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
 
    btScalar dist = capsuleCapsuleDistance(normalOnB,
                                           pointOnBWorld,
                                           capsuleA->getHalfHeight(),
                                           capsuleA->getRadius(),
                                           0.,
                                           capsuleB->getRadius(),
                                           capsuleA->getUpAxis(),
                                           1,
                                           body0Wrap->getWorldTransform(),
                                           body1Wrap->getWorldTransform(),
                                           threshold);
 
    if (dist < threshold)
    {
      btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
      resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
    }
    resultOut->refreshContactPoints();
    return;
  }
 
  if ((min0->getShapeType() == SPHERE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
  {
    // m_manifoldPtr->clearManifold();
 
    auto* capsuleA = (btSphereShape*)min0;   // NOLINT
    auto* capsuleB = (btCapsuleShape*)min1;  // NOLINT
 
    btScalar threshold = m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
 
    btScalar dist = capsuleCapsuleDistance(normalOnB,
                                           pointOnBWorld,
                                           0.,
                                           capsuleA->getRadius(),
                                           capsuleB->getHalfHeight(),
                                           capsuleB->getRadius(),
                                           1,
                                           capsuleB->getUpAxis(),
                                           body0Wrap->getWorldTransform(),
                                           body1Wrap->getWorldTransform(),
                                           threshold);
 
    if (dist < threshold)
    {
      btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
      resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
    }
    resultOut->refreshContactPoints();
    return;
  }
#endif  // BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
 
#ifdef USE_SEPDISTANCE_UTIL2
  if (dispatchInfo.m_useConvexConservativeDistanceUtil)
  {
    m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(), body1->getWorldTransform());
  }
 
  if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance() <= 0.f)
#endif  // USE_SEPDISTANCE_UTIL2
 
  {
    //    btGjkPairDetector::ClosestPointInput input;
    //    btVoronoiSimplexSolver simplexSolver;
    //    btGjkPairDetector gjkPairDetector(min0, min1, &simplexSolver, nullptr); // m_pdSolver);
    TesseractGjkPairDetector::ClosestPointInput input;
    btVoronoiSimplexSolver simplexSolver;
    TesseractGjkPairDetector gjkPairDetector(min0, min1, &simplexSolver, m_pdSolver, m_cdata);
    // TODO: if (dispatchInfo.m_useContinuous)
    gjkPairDetector.setMinkowskiA(min0);
    gjkPairDetector.setMinkowskiB(min1);
 
#ifdef USE_SEPDISTANCE_UTIL2
    if (dispatchInfo.m_useConvexConservativeDistanceUtil)
    {
      input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
    }
    else
#endif  // USE_SEPDISTANCE_UTIL2
    {
      // if (dispatchInfo.m_convexMaxDistanceUseCPT)
      //{
      //        input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() +
      // m_manifoldPtr->getContactProcessingThreshold(); } else
      //{
      input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() +
                                       m_manifoldPtr->getContactBreakingThreshold() +
                                       resultOut->m_closestPointDistanceThreshold;
      //                }
 
      input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
    }
 
    input.m_transformA = body0Wrap->getWorldTransform();
    input.m_transformB = body1Wrap->getWorldTransform();
 
#ifdef USE_SEPDISTANCE_UTIL2
    btScalar sepDist = 0.f;
    if (dispatchInfo.m_useConvexConservativeDistanceUtil)
    {
      sepDist = gjkPairDetector.getCachedSeparatingDistance();
      if (sepDist > SIMD_EPSILON)
      {
        sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
        // now perturbe directions to get multiple contact points
      }
    }
#endif  // USE_SEPDISTANCE_UTIL2
 
    if (min0->isPolyhedral() && min1->isPolyhedral())
    {
      struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
      {
        btVector3 m_normalOnBInWorld;
        btVector3 m_pointInWorld;
        btScalar m_depth{ std::numeric_limits<btScalar>::max() };
        bool m_hasContact{ false };
 
        btDummyResult() = default;
 
        void setShapeIdentifiersA(int /*partId0*/, int /*index0*/) override {}
        void setShapeIdentifiersB(int /*partId1*/, int /*index1*/) override {}
        void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) override
        {
          m_hasContact = true;
          m_normalOnBInWorld = normalOnBInWorld;
          m_pointInWorld = pointInWorld;
          m_depth = depth;
        }
      };
 
      struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
      {
        btDiscreteCollisionDetectorInterface::Result* m_originalResult;
        btVector3 m_reportedNormalOnWorld;
        btScalar m_marginOnA;
        btScalar m_marginOnB;
        btScalar m_reportedDistance{ 0 };
 
        bool m_foundResult{ false };
        btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result,
                              btScalar marginOnA,
                              btScalar marginOnB)
          : m_originalResult(result), m_marginOnA(marginOnA), m_marginOnB(marginOnB)
        {
        }
 
        void setShapeIdentifiersA(int /*partId0*/, int /*index0*/) override {}
        void setShapeIdentifiersB(int /*partId1*/, int /*index1*/) override {}
        void addContactPoint(const btVector3& normalOnBInWorld,
                             const btVector3& pointInWorldOrg,
                             btScalar depthOrg) override
        {
          m_reportedDistance = depthOrg;
          m_reportedNormalOnWorld = normalOnBInWorld;
 
          btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld * m_marginOnB;
          m_reportedDistance = depthOrg + (m_marginOnA + m_marginOnB);
          if (m_reportedDistance < btScalar(0.))
          {
            m_foundResult = true;
          }
          m_originalResult->addContactPoint(normalOnBInWorld, adjustedPointB, m_reportedDistance);
        }
      };
 
      btDummyResult dummy;
 
 
      btScalar min0Margin = min0->getShapeType() == BOX_SHAPE_PROXYTYPE ? btScalar(0.) : min0->getMargin();
      btScalar min1Margin = min1->getShapeType() == BOX_SHAPE_PROXYTYPE ? btScalar(0.) : min1->getMargin();
 
      btWithoutMarginResult withoutMargin(resultOut, min0Margin, min1Margin);
 
      auto* polyhedronA = (btPolyhedralConvexShape*)min0;  // NOLINT
      auto* polyhedronB = (btPolyhedralConvexShape*)min1;  // NOLINT
 
      if (polyhedronA->getConvexPolyhedron() != nullptr && polyhedronB->getConvexPolyhedron() != nullptr)
      {
        btScalar threshold = m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
 
        auto minDist = btScalar(-1e30);
        btVector3 sepNormalWorldSpace;
        bool foundSepAxis = true;
 
        if (dispatchInfo.m_enableSatConvex)
        {
          foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(*polyhedronA->getConvexPolyhedron(),
                                                                         *polyhedronB->getConvexPolyhedron(),
                                                                         body0Wrap->getWorldTransform(),
                                                                         body1Wrap->getWorldTransform(),
                                                                         sepNormalWorldSpace,
                                                                         *resultOut);
        }
        else
        {
#ifdef ZERO_MARGIN
          gjkPairDetector.setIgnoreMargin(true);
          gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
#else
 
          gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
          // gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif  // ZERO_MARGIN
        // btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
        // if (l2>SIMD_EPSILON)
          {
            sepNormalWorldSpace =
                withoutMargin.m_reportedNormalOnWorld;  // gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
            // minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
            minDist =
                withoutMargin
                    .m_reportedDistance;  // gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
 
#ifdef ZERO_MARGIN
            foundSepAxis = true;  // gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
            foundSepAxis = withoutMargin.m_foundResult && minDist < 0;  //-(min0->getMargin()+min1->getMargin());
#endif
          }
        }
        if (foundSepAxis)
        {
          //                            printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
          worldVertsB1.resize(0);
          btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace,
                                                           *polyhedronA->getConvexPolyhedron(),
                                                           *polyhedronB->getConvexPolyhedron(),
                                                           body0Wrap->getWorldTransform(),
                                                           body1Wrap->getWorldTransform(),
                                                           minDist - threshold,
                                                           threshold,
                                                           worldVertsB1,
                                                           worldVertsB2,
                                                           *resultOut);
        }
        if (m_ownManifold)
        {
          resultOut->refreshContactPoints();
        }
        return;
      }
      else  // NOLINT
      {
        // we can also deal with convex versus triangle (without connectivity data)
        if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() != nullptr &&
            polyhedronB->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
        {
          btVertexArray worldSpaceVertices;
          auto* tri = (btTriangleShape*)polyhedronB;  // NOLINT
          worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[0]);
          worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[1]);
          worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[2]);
 
          // tri->initializePolyhedralFeatures();
 
          btScalar threshold =
              m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
 
          btVector3 sepNormalWorldSpace;
          auto minDist = btScalar(-1e30);
          btScalar maxDist = threshold;
 
          bool foundSepAxis = false;
          bool useSatSepNormal = true;
 
          if (useSatSepNormal)
          {
#if 0  // NOLINT
          if (0)
          {
            //initializePolyhedralFeatures performs a convex hull computation, not needed for a single triangle
            polyhedronB->initializePolyhedralFeatures();
          } else
#endif
            {
              btVector3 uniqueEdges[3] = { tri->m_vertices1[1] - tri->m_vertices1[0],  // NOLINT
                                           tri->m_vertices1[2] - tri->m_vertices1[1],
                                           tri->m_vertices1[0] - tri->m_vertices1[2] };
 
              uniqueEdges[0].normalize();
              uniqueEdges[1].normalize();
              uniqueEdges[2].normalize();
 
              btConvexPolyhedron polyhedron;
              polyhedron.m_vertices.push_back(tri->m_vertices1[2]);
              polyhedron.m_vertices.push_back(tri->m_vertices1[0]);
              polyhedron.m_vertices.push_back(tri->m_vertices1[1]);
 
              {
                btFace combinedFaceA;
                combinedFaceA.m_indices.push_back(0);
                combinedFaceA.m_indices.push_back(1);
                combinedFaceA.m_indices.push_back(2);
                btVector3 faceNormal = uniqueEdges[0].cross(uniqueEdges[1]);
                faceNormal.normalize();
                auto planeEq = btScalar(1e30);
                for (int v = 0; v < combinedFaceA.m_indices.size(); v++)
                {
                  btScalar eq = tri->m_vertices1[combinedFaceA.m_indices[v]].dot(faceNormal);
                  planeEq = std::min(planeEq, eq);
                }
                combinedFaceA.m_plane[0] = faceNormal[0];
                combinedFaceA.m_plane[1] = faceNormal[1];
                combinedFaceA.m_plane[2] = faceNormal[2];
                combinedFaceA.m_plane[3] = -planeEq;
                polyhedron.m_faces.push_back(combinedFaceA);
              }
              {
                btFace combinedFaceB;
                combinedFaceB.m_indices.push_back(0);
                combinedFaceB.m_indices.push_back(2);
                combinedFaceB.m_indices.push_back(1);
                btVector3 faceNormal = -uniqueEdges[0].cross(uniqueEdges[1]);
                faceNormal.normalize();
                auto planeEq = btScalar(1e30);
                for (int v = 0; v < combinedFaceB.m_indices.size(); v++)
                {
                  btScalar eq = tri->m_vertices1[combinedFaceB.m_indices[v]].dot(faceNormal);
                  planeEq = std::min(planeEq, eq);
                }
 
                combinedFaceB.m_plane[0] = faceNormal[0];
                combinedFaceB.m_plane[1] = faceNormal[1];
                combinedFaceB.m_plane[2] = faceNormal[2];
                combinedFaceB.m_plane[3] = -planeEq;
                polyhedron.m_faces.push_back(combinedFaceB);
              }
 
              polyhedron.m_uniqueEdges.push_back(uniqueEdges[0]);
              polyhedron.m_uniqueEdges.push_back(uniqueEdges[1]);
              polyhedron.m_uniqueEdges.push_back(uniqueEdges[2]);
              polyhedron.initialize2();
 
              polyhedronB->setPolyhedralFeatures(polyhedron);
            }
 
            foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(*polyhedronA->getConvexPolyhedron(),
                                                                           *polyhedronB->getConvexPolyhedron(),
                                                                           body0Wrap->getWorldTransform(),
                                                                           body1Wrap->getWorldTransform(),
                                                                           sepNormalWorldSpace,
                                                                           *resultOut);
            //   printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
          }
          else
          {
#ifdef ZERO_MARGIN
            gjkPairDetector.setIgnoreMargin(true);
            gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
#else
            gjkPairDetector.getClosestPoints(input, dummy, dispatchInfo.m_debugDraw);
#endif  // ZERO_MARGIN
 
            if (dummy.m_hasContact && dummy.m_depth < 0)
            {
              if (foundSepAxis)
              {
                if (dummy.m_normalOnBInWorld.dot(sepNormalWorldSpace) < 0.99)
                {
                  printf("?\n");
                }
              }
              else
              {
                printf("!\n");
              }
              sepNormalWorldSpace.setValue(0, 0, 1);  // = dummy.m_normalOnBInWorld;
              // minDist = dummy.m_depth;
              foundSepAxis = true;
            }
#if 0  // NOLINT
          btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
          if (l2>SIMD_EPSILON)
          {
            sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
            //minDist = gjkPairDetector.getCachedSeparatingDistance();
            //maxDist = threshold;
            minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
            foundSepAxis = true;
          }
#endif
          }
 
          if (foundSepAxis)
          {
            worldVertsB2.resize(0);
            btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace,
                                                             *polyhedronA->getConvexPolyhedron(),
                                                             body0Wrap->getWorldTransform(),
                                                             worldSpaceVertices,
                                                             worldVertsB2,
                                                             minDist - threshold,
                                                             maxDist,
                                                             *resultOut);
          }
 
          if (m_ownManifold)
          {
            resultOut->refreshContactPoints();
          }
 
          return;
        }
      }
    }
 
    gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
 
    // now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 
    // perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
    if (m_numPerturbationIterations != 0 &&
        resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
    {
      btVector3 v0, v1;
      btVector3 sepNormalWorldSpace;
      btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
 
      if (l2 > SIMD_EPSILON)
      {
        sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis() * (btScalar(1.) / l2);
 
        btPlaneSpace1(sepNormalWorldSpace, v0, v1);
 
        bool perturbeA = true;
        const btScalar angleLimit = btScalar(0.125) * SIMD_PI;
        btScalar perturbeAngle{ std::numeric_limits<btScalar>::max() };
        btScalar radiusA = min0->getAngularMotionDisc();
        btScalar radiusB = min1->getAngularMotionDisc();
        if (radiusA < radiusB)
        {
          perturbeAngle = gContactBreakingThreshold / radiusA;
          perturbeA = true;
        }
        else
        {
          perturbeAngle = gContactBreakingThreshold / radiusB;
          perturbeA = false;
        }
        perturbeAngle = std::min(perturbeAngle, angleLimit);
 
        btTransform unPerturbedTransform;
        if (perturbeA)
        {
          unPerturbedTransform = input.m_transformA;
        }
        else
        {
          unPerturbedTransform = input.m_transformB;
        }
 
        for (int i = 0; i < m_numPerturbationIterations; i++)
        {
          if (v0.length2() > SIMD_EPSILON)
          {
            btQuaternion perturbeRot(v0, perturbeAngle);
            btScalar iterationAngle = (btScalar(i) * (SIMD_2_PI / btScalar(m_numPerturbationIterations)));
            btQuaternion rotq(sepNormalWorldSpace, iterationAngle);
 
            if (perturbeA)
            {
              input.m_transformA.setBasis(btMatrix3x3(rotq.inverse() * perturbeRot * rotq) *
                                          body0Wrap->getWorldTransform().getBasis());
              input.m_transformB = body1Wrap->getWorldTransform();
#ifdef DEBUG_CONTACTS
              dispatchInfo.m_debugDraw->drawTransform(input.m_transformA, 10.0);
#endif  // DEBUG_CONTACTS
            }
            else
            {
              input.m_transformA = body0Wrap->getWorldTransform();
              input.m_transformB.setBasis(btMatrix3x3(rotq.inverse() * perturbeRot * rotq) *
                                          body1Wrap->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
              dispatchInfo.m_debugDraw->drawTransform(input.m_transformB, 10.0);
#endif
            }
 
            btPerturbedContactResult perturbedResultOut(resultOut,
                                                        input.m_transformA,
                                                        input.m_transformB,
                                                        unPerturbedTransform,
                                                        perturbeA,
                                                        dispatchInfo.m_debugDraw);
            gjkPairDetector.getClosestPoints(input, perturbedResultOut, dispatchInfo.m_debugDraw);
          }
        }
      }
    }
 
#ifdef USE_SEPDISTANCE_UTIL2
    if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > SIMD_EPSILON))
    {
      m_sepDistance.initSeparatingDistance(
          gjkPairDetector.getCachedSeparatingAxis(), sepDist, body0->getWorldTransform(), body1->getWorldTransform());
    }
#endif  // USE_SEPDISTANCE_UTIL2
  }
 
  if (m_ownManifold)
  {
    resultOut->refreshContactPoints();
  }
}
 
static const bool disableCcd = false;
btScalar TesseractConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,
                                                               btCollisionObject* body1,
                                                               const btDispatcherInfo& dispatchInfo,
                                                               btManifoldResult* resultOut)
{
  (void)resultOut;
  (void)dispatchInfo;
 
  auto resultFraction = btScalar(1.);
 
  btScalar squareMot0 =
      (body0->getInterpolationWorldTransform().getOrigin() - body0->getWorldTransform().getOrigin()).length2();
  btScalar squareMot1 =
      (body1->getInterpolationWorldTransform().getOrigin() - body1->getWorldTransform().getOrigin()).length2();
 
  if (squareMot0 < body0->getCcdSquareMotionThreshold() && squareMot1 < body1->getCcdSquareMotionThreshold())
    return resultFraction;
 
  if (disableCcd)
    return btScalar(1.);
 
  // An adhoc way of testing the Continuous Collision Detection algorithms
  // One object is approximated as a sphere, to simplify things
  // Starting in penetration should report no time of impact
  // For proper CCD, better accuracy and handling of 'allowed' penetration should be added
  // also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of
  // Timewarp for Rigidbodies)
 
  {
    auto* convex0 = static_cast<btConvexShape*>(body0->getCollisionShape());
 
    btSphereShape sphere1(body1->getCcdSweptSphereRadius());  // todo: allow non-zero sphere sizes, for better
                                                              // approximation
    btConvexCast::CastResult result;
    btVoronoiSimplexSolver voronoiSimplex;
    // SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
    btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
    // ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
    if (ccd1.calcTimeOfImpact(body0->getWorldTransform(),
                              body0->getInterpolationWorldTransform(),
                              body1->getWorldTransform(),
                              body1->getInterpolationWorldTransform(),
                              result))
    {
      // store result.m_fraction in both bodies
 
      if (body0->getHitFraction() > result.m_fraction)
        body0->setHitFraction(result.m_fraction);
 
      if (body1->getHitFraction() > result.m_fraction)
        body1->setHitFraction(result.m_fraction);
 
      resultFraction = std::min(resultFraction, result.m_fraction);
    }
  }
 
  {
    auto* convex1 = static_cast<btConvexShape*>(body1->getCollisionShape());
 
    btSphereShape sphere0(body0->getCcdSweptSphereRadius());  // todo: allow non-zero sphere sizes, for better
                                                              // approximation
    btConvexCast::CastResult result;
    btVoronoiSimplexSolver voronoiSimplex;
    // SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
    btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
    // ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
    if (ccd1.calcTimeOfImpact(body0->getWorldTransform(),
                              body0->getInterpolationWorldTransform(),
                              body1->getWorldTransform(),
                              body1->getInterpolationWorldTransform(),
                              result))
    {
      // store result.m_fraction in both bodies
 
      if (body0->getHitFraction() > result.m_fraction)
        body0->setHitFraction(result.m_fraction);
 
      if (body1->getHitFraction() > result.m_fraction)
        body1->setHitFraction(result.m_fraction);
 
      resultFraction = std::min(resultFraction, result.m_fraction);
    }
  }
 
  return resultFraction;
}
}  // namespace tesseract_collision::tesseract_collision_bullet
// LCOV_EXCL_STOP