polycode-engine/include/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h

#ifndef B3_FIND_CONCAVE_SEPARATING_AXIS_H
#define B3_FIND_CONCAVE_SEPARATING_AXIS_H

#define B3_TRIANGLE_NUM_CONVEX_FACES 5


#include "Bullet3Common/shared/b3Int4.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"


inline void b3Project(__global const b3ConvexPolyhedronData* hull,  b3Float4ConstArg pos, b3QuatConstArg orn, 
const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
{
	min[0] = FLT_MAX;
	max[0] = -FLT_MAX;
	int numVerts = hull->m_numVertices;

	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),*dir);
	float offset = b3Dot(pos,*dir);
	for(int i=0;i<numVerts;i++)
	{
		float dp = b3Dot(vertices[hull->m_vertexOffset+i],localDir);
		if(dp < min[0])	
			min[0] = dp;
		if(dp > max[0])	
			max[0] = dp;
	}
	if(min[0]>max[0])
	{
		float tmp = min[0];
		min[0] = max[0];
		max[0] = tmp;
	}
	min[0] += offset;
	max[0] += offset;
}


inline bool b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
	b3Float4ConstArg posA,b3QuatConstArg ornA,
	b3Float4ConstArg posB,b3QuatConstArg ornB,
	b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB,float* depth)
{
	float Min0,Max0;
	float Min1,Max1;
	b3Project(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
	b3Project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);

	if(Max0<Min1 || Max1<Min0)
		return false;

	float d0 = Max0 - Min1;
	float d1 = Max1 - Min0;
	*depth = d0<d1 ? d0:d1;
	return true;
}


bool b3FindSeparatingAxis(	const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
	b3Float4ConstArg posA1,
	b3QuatConstArg ornA,
	b3Float4ConstArg posB1,
	b3QuatConstArg ornB,
	b3Float4ConstArg DeltaC2,
	
	const b3Float4* verticesA, 
	const b3Float4* uniqueEdgesA, 
	const b3GpuFace* facesA,
	const int*  indicesA,

	__global const b3Float4* verticesB, 
	__global const b3Float4* uniqueEdgesB, 
	__global const b3GpuFace* facesB,
	__global const int*  indicesB,
	b3Float4* sep,
	float* dmin)
{
	

	b3Float4 posA = posA1;
	posA.w = 0.f;
	b3Float4 posB = posB1;
	posB.w = 0.f;
/*
	static int maxFaceVertex = 0;

	int curFaceVertexAB = hullA->m_numFaces*hullB->m_numVertices;
	curFaceVertexAB+= hullB->m_numFaces*hullA->m_numVertices;

	if (curFaceVertexAB>maxFaceVertex)
	{
		maxFaceVertex = curFaceVertexAB;
		printf("curFaceVertexAB = %d\n",curFaceVertexAB);
		printf("hullA->m_numFaces = %d\n",hullA->m_numFaces);
		printf("hullA->m_numVertices = %d\n",hullA->m_numVertices);
		printf("hullB->m_numVertices = %d\n",hullB->m_numVertices);
	}
*/

	int curPlaneTests=0;
	{
		int numFacesA = hullA->m_numFaces;
		// Test normals from hullA
		for(int i=0;i<numFacesA;i++)
		{
			const b3Float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
			b3Float4 faceANormalWS = b3QuatRotate(ornA,normal);
			if (b3Dot(DeltaC2,faceANormalWS)<0)
				faceANormalWS*=-1.f;
			curPlaneTests++;
			float d;
			if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
				return false;
			if(d<*dmin)
			{
				*dmin = d;
				*sep = faceANormalWS;
			}
		}
	}
	if((b3Dot(-DeltaC2,*sep))>0.0f)
	{
		*sep = -(*sep);
	}
	return true;
}


b3Vector3 unitSphere162[]=
{
	b3MakeVector3(0.000000,-1.000000,0.000000),
b3MakeVector3(0.203181,-0.967950,0.147618),
b3MakeVector3(-0.077607,-0.967950,0.238853),
b3MakeVector3(0.723607,-0.447220,0.525725),
b3MakeVector3(0.609547,-0.657519,0.442856),
b3MakeVector3(0.812729,-0.502301,0.295238),
b3MakeVector3(-0.251147,-0.967949,0.000000),
b3MakeVector3(-0.077607,-0.967950,-0.238853),
b3MakeVector3(0.203181,-0.967950,-0.147618),
b3MakeVector3(0.860698,-0.251151,0.442858),
b3MakeVector3(-0.276388,-0.447220,0.850649),
b3MakeVector3(-0.029639,-0.502302,0.864184),
b3MakeVector3(-0.155215,-0.251152,0.955422),
b3MakeVector3(-0.894426,-0.447216,0.000000),
b3MakeVector3(-0.831051,-0.502299,0.238853),
b3MakeVector3(-0.956626,-0.251149,0.147618),
b3MakeVector3(-0.276388,-0.447220,-0.850649),
b3MakeVector3(-0.483971,-0.502302,-0.716565),
b3MakeVector3(-0.436007,-0.251152,-0.864188),
b3MakeVector3(0.723607,-0.447220,-0.525725),
b3MakeVector3(0.531941,-0.502302,-0.681712),
b3MakeVector3(0.687159,-0.251152,-0.681715),
b3MakeVector3(0.687159,-0.251152,0.681715),
b3MakeVector3(-0.436007,-0.251152,0.864188),
b3MakeVector3(-0.956626,-0.251149,-0.147618),
b3MakeVector3(-0.155215,-0.251152,-0.955422),
b3MakeVector3(0.860698,-0.251151,-0.442858),
b3MakeVector3(0.276388,0.447220,0.850649),
b3MakeVector3(0.483971,0.502302,0.716565),
b3MakeVector3(0.232822,0.657519,0.716563),
b3MakeVector3(-0.723607,0.447220,0.525725),
b3MakeVector3(-0.531941,0.502302,0.681712),
b3MakeVector3(-0.609547,0.657519,0.442856),
b3MakeVector3(-0.723607,0.447220,-0.525725),
b3MakeVector3(-0.812729,0.502301,-0.295238),
b3MakeVector3(-0.609547,0.657519,-0.442856),
b3MakeVector3(0.276388,0.447220,-0.850649),
b3MakeVector3(0.029639,0.502302,-0.864184),
b3MakeVector3(0.232822,0.657519,-0.716563),
b3MakeVector3(0.894426,0.447216,0.000000),
b3MakeVector3(0.831051,0.502299,-0.238853),
b3MakeVector3(0.753442,0.657515,0.000000),
b3MakeVector3(-0.232822,-0.657519,0.716563),
b3MakeVector3(-0.162456,-0.850654,0.499995),
b3MakeVector3(0.052790,-0.723612,0.688185),
b3MakeVector3(0.138199,-0.894429,0.425321),
b3MakeVector3(0.262869,-0.525738,0.809012),
b3MakeVector3(0.361805,-0.723611,0.587779),
b3MakeVector3(0.531941,-0.502302,0.681712),
b3MakeVector3(0.425323,-0.850654,0.309011),
b3MakeVector3(0.812729,-0.502301,-0.295238),
b3MakeVector3(0.609547,-0.657519,-0.442856),
b3MakeVector3(0.850648,-0.525736,0.000000),
b3MakeVector3(0.670817,-0.723611,-0.162457),
b3MakeVector3(0.670817,-0.723610,0.162458),
b3MakeVector3(0.425323,-0.850654,-0.309011),
b3MakeVector3(0.447211,-0.894428,0.000001),
b3MakeVector3(-0.753442,-0.657515,0.000000),
b3MakeVector3(-0.525730,-0.850652,0.000000),
b3MakeVector3(-0.638195,-0.723609,0.262864),
b3MakeVector3(-0.361801,-0.894428,0.262864),
b3MakeVector3(-0.688189,-0.525736,0.499997),
b3MakeVector3(-0.447211,-0.723610,0.525729),
b3MakeVector3(-0.483971,-0.502302,0.716565),
b3MakeVector3(-0.232822,-0.657519,-0.716563),
b3MakeVector3(-0.162456,-0.850654,-0.499995),
b3MakeVector3(-0.447211,-0.723611,-0.525727),
b3MakeVector3(-0.361801,-0.894429,-0.262863),
b3MakeVector3(-0.688189,-0.525736,-0.499997),
b3MakeVector3(-0.638195,-0.723609,-0.262863),
b3MakeVector3(-0.831051,-0.502299,-0.238853),
b3MakeVector3(0.361804,-0.723612,-0.587779),
b3MakeVector3(0.138197,-0.894429,-0.425321),
b3MakeVector3(0.262869,-0.525738,-0.809012),
b3MakeVector3(0.052789,-0.723611,-0.688186),
b3MakeVector3(-0.029639,-0.502302,-0.864184),
b3MakeVector3(0.956626,0.251149,0.147618),
b3MakeVector3(0.956626,0.251149,-0.147618),
b3MakeVector3(0.951058,-0.000000,0.309013),
b3MakeVector3(1.000000,0.000000,0.000000),
b3MakeVector3(0.947213,-0.276396,0.162458),
b3MakeVector3(0.951058,0.000000,-0.309013),
b3MakeVector3(0.947213,-0.276396,-0.162458),
b3MakeVector3(0.155215,0.251152,0.955422),
b3MakeVector3(0.436007,0.251152,0.864188),
b3MakeVector3(-0.000000,-0.000000,1.000000),
b3MakeVector3(0.309017,0.000000,0.951056),
b3MakeVector3(0.138199,-0.276398,0.951055),
b3MakeVector3(0.587786,0.000000,0.809017),
b3MakeVector3(0.447216,-0.276398,0.850648),
b3MakeVector3(-0.860698,0.251151,0.442858),
b3MakeVector3(-0.687159,0.251152,0.681715),
b3MakeVector3(-0.951058,-0.000000,0.309013),
b3MakeVector3(-0.809018,0.000000,0.587783),
b3MakeVector3(-0.861803,-0.276396,0.425324),
b3MakeVector3(-0.587786,0.000000,0.809017),
b3MakeVector3(-0.670819,-0.276397,0.688191),
b3MakeVector3(-0.687159,0.251152,-0.681715),
b3MakeVector3(-0.860698,0.251151,-0.442858),
b3MakeVector3(-0.587786,-0.000000,-0.809017),
b3MakeVector3(-0.809018,-0.000000,-0.587783),
b3MakeVector3(-0.670819,-0.276397,-0.688191),
b3MakeVector3(-0.951058,0.000000,-0.309013),
b3MakeVector3(-0.861803,-0.276396,-0.425324),
b3MakeVector3(0.436007,0.251152,-0.864188),
b3MakeVector3(0.155215,0.251152,-0.955422),
b3MakeVector3(0.587786,-0.000000,-0.809017),
b3MakeVector3(0.309017,-0.000000,-0.951056),
b3MakeVector3(0.447216,-0.276398,-0.850648),
b3MakeVector3(0.000000,0.000000,-1.000000),
b3MakeVector3(0.138199,-0.276398,-0.951055),
b3MakeVector3(0.670820,0.276396,0.688190),
b3MakeVector3(0.809019,-0.000002,0.587783),
b3MakeVector3(0.688189,0.525736,0.499997),
b3MakeVector3(0.861804,0.276394,0.425323),
b3MakeVector3(0.831051,0.502299,0.238853),
b3MakeVector3(-0.447216,0.276397,0.850649),
b3MakeVector3(-0.309017,-0.000001,0.951056),
b3MakeVector3(-0.262869,0.525738,0.809012),
b3MakeVector3(-0.138199,0.276397,0.951055),
b3MakeVector3(0.029639,0.502302,0.864184),
b3MakeVector3(-0.947213,0.276396,-0.162458),
b3MakeVector3(-1.000000,0.000001,0.000000),
b3MakeVector3(-0.850648,0.525736,-0.000000),
b3MakeVector3(-0.947213,0.276397,0.162458),
b3MakeVector3(-0.812729,0.502301,0.295238),
b3MakeVector3(-0.138199,0.276397,-0.951055),
b3MakeVector3(-0.309016,-0.000000,-0.951057),
b3MakeVector3(-0.262869,0.525738,-0.809012),
b3MakeVector3(-0.447215,0.276397,-0.850649),
b3MakeVector3(-0.531941,0.502302,-0.681712),
b3MakeVector3(0.861804,0.276396,-0.425322),
b3MakeVector3(0.809019,0.000000,-0.587782),
b3MakeVector3(0.688189,0.525736,-0.499997),
b3MakeVector3(0.670821,0.276397,-0.688189),
b3MakeVector3(0.483971,0.502302,-0.716565),
b3MakeVector3(0.077607,0.967950,0.238853),
b3MakeVector3(0.251147,0.967949,0.000000),
b3MakeVector3(0.000000,1.000000,0.000000),
b3MakeVector3(0.162456,0.850654,0.499995),
b3MakeVector3(0.361800,0.894429,0.262863),
b3MakeVector3(0.447209,0.723612,0.525728),
b3MakeVector3(0.525730,0.850652,0.000000),
b3MakeVector3(0.638194,0.723610,0.262864),
b3MakeVector3(-0.203181,0.967950,0.147618),
b3MakeVector3(-0.425323,0.850654,0.309011),
b3MakeVector3(-0.138197,0.894430,0.425320),
b3MakeVector3(-0.361804,0.723612,0.587778),
b3MakeVector3(-0.052790,0.723612,0.688185),
b3MakeVector3(-0.203181,0.967950,-0.147618),
b3MakeVector3(-0.425323,0.850654,-0.309011),
b3MakeVector3(-0.447210,0.894429,0.000000),
b3MakeVector3(-0.670817,0.723611,-0.162457),
b3MakeVector3(-0.670817,0.723611,0.162457),
b3MakeVector3(0.077607,0.967950,-0.238853),
b3MakeVector3(0.162456,0.850654,-0.499995),
b3MakeVector3(-0.138197,0.894430,-0.425320),
b3MakeVector3(-0.052790,0.723612,-0.688185),
b3MakeVector3(-0.361804,0.723612,-0.587778),
b3MakeVector3(0.361800,0.894429,-0.262863),
b3MakeVector3(0.638194,0.723610,-0.262864),
b3MakeVector3(0.447209,0.723612,-0.525728)
};


bool b3FindSeparatingAxisEdgeEdge(	const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
	b3Float4ConstArg posA1,
	b3QuatConstArg ornA,
	b3Float4ConstArg posB1,
	b3QuatConstArg ornB,
	b3Float4ConstArg DeltaC2,
	const b3Float4* verticesA, 
	const b3Float4* uniqueEdgesA, 
	const b3GpuFace* facesA,
	const int*  indicesA,
	__global const b3Float4* verticesB, 
	__global const b3Float4* uniqueEdgesB, 
	__global const b3GpuFace* facesB,
	__global const int*  indicesB,
		b3Float4* sep,
	float* dmin,
	bool searchAllEdgeEdge)
{


	b3Float4 posA = posA1;
	posA.w = 0.f;
	b3Float4 posB = posB1;
	posB.w = 0.f;

	int curPlaneTests=0;

	int curEdgeEdge = 0;
	// Test edges
	static int maxEdgeTests = 0;
	int curEdgeTests = hullA->m_numUniqueEdges * hullB->m_numUniqueEdges;
	if (curEdgeTests >maxEdgeTests )
	{
		maxEdgeTests  = curEdgeTests ;
		printf("maxEdgeTests = %d\n",maxEdgeTests );
		printf("hullA->m_numUniqueEdges = %d\n",hullA->m_numUniqueEdges);
		printf("hullB->m_numUniqueEdges = %d\n",hullB->m_numUniqueEdges);

	}

	
	if (searchAllEdgeEdge)
	{
		for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
		{
			const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
			b3Float4 edge0World = b3QuatRotate(ornA,edge0);

			for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
			{
				const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
				b3Float4 edge1World = b3QuatRotate(ornB,edge1);


				b3Float4 crossje = b3Cross(edge0World,edge1World);

				curEdgeEdge++;
				if(!b3IsAlmostZero(crossje))
				{
					crossje = b3Normalized(crossje);
					if (b3Dot(DeltaC2,crossje)<0)
						crossje *= -1.f;

					float dist;
					bool result = true;
					{
						float Min0,Max0;
						float Min1,Max1;
						b3Project(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
						b3Project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
				
						if(Max0<Min1 || Max1<Min0)
							return false;
                    
						float d0 = Max0 - Min1;
						float d1 = Max1 - Min0;
						dist = d0<d1 ? d0:d1;
						result = true;

					}
				

					if(dist<*dmin)
					{
						*dmin = dist;
						*sep = crossje;
					}
				}
			}

		}
	} else
	{
		int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
		//printf("numDirections =%d\n",numDirections );


		for(int i=0;i<numDirections;i++)
		{
			b3Float4 crossje = unitSphere162[i];
			{
				//if (b3Dot(DeltaC2,crossje)>0)
				{
					float dist;
					bool result = true;
					{
						float Min0,Max0;
						float Min1,Max1;
						b3Project(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
						b3Project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
				
						if(Max0<Min1 || Max1<Min0)
							return false;
                    
						float d0 = Max0 - Min1;
						float d1 = Max1 - Min0;
						dist = d0<d1 ? d0:d1;
						result = true;

					}
				

					if(dist<*dmin)
					{
						*dmin = dist;
						*sep = crossje;
					}
				}
			}
		}

	}

	
	if((b3Dot(-DeltaC2,*sep))>0.0f)
	{
		*sep = -(*sep);
	}
	return true;
}



inline int	b3FindClippingFaces(b3Float4ConstArg separatingNormal,
                      __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
                      b3Float4ConstArg posA, b3QuatConstArg ornA,b3Float4ConstArg posB, b3QuatConstArg ornB,
                       __global b3Float4* worldVertsA1,
                      __global b3Float4* worldNormalsA1,
                      __global b3Float4* worldVertsB1,
                      int capacityWorldVerts,
                      const float minDist, float maxDist,
                      __global const b3Float4* verticesA,
                      __global const b3GpuFace_t* facesA,
                      __global const int* indicesA,
						__global const b3Float4* verticesB,
                      __global const b3GpuFace_t* facesB,
                      __global const int* indicesB,

                      __global b3Int4* clippingFaces, int pairIndex)
{
	int numContactsOut = 0;
	int numWorldVertsB1= 0;
    
    
	int closestFaceB=-1;
	float dmax = -FLT_MAX;
    
	{
		for(int face=0;face<hullB->m_numFaces;face++)
		{
			const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset+face].m_plane.x,
                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
			const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
			float d = b3Dot(WorldNormal,separatingNormal);
			if (d > dmax)
			{
				dmax = d;
				closestFaceB = face;
			}
		}
	}
    
	{
		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];
		const int numVertices = polyB.m_numIndices;
		for(int e0=0;e0<numVertices;e0++)
		{
			const b3Float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
			worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = b3TransformPoint(b,posB,ornB);
		}
	}
    
    int closestFaceA=-1;
	{
		float dmin = FLT_MAX;
		for(int face=0;face<hullA->m_numFaces;face++)
		{
			const b3Float4 Normal = b3MakeFloat4(
                                              facesA[hullA->m_faceOffset+face].m_plane.x,
                                              facesA[hullA->m_faceOffset+face].m_plane.y,
                                              facesA[hullA->m_faceOffset+face].m_plane.z,
                                              0.f);
			const b3Float4 faceANormalWS = b3QuatRotate(ornA,Normal);
            
			float d = b3Dot(faceANormalWS,separatingNormal);
			if (d < dmin)
			{
				dmin = d;
				closestFaceA = face;
                worldNormalsA1[pairIndex] = faceANormalWS;
			}
		}
	}
    
    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
	for(int e0=0;e0<numVerticesA;e0++)
	{
        const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
        worldVertsA1[pairIndex*capacityWorldVerts+e0] = b3TransformPoint(a, posA,ornA);
    }
    
    clippingFaces[pairIndex].x = closestFaceA;
    clippingFaces[pairIndex].y = closestFaceB;
    clippingFaces[pairIndex].z = numVerticesA;
    clippingFaces[pairIndex].w = numWorldVertsB1;
    
    
	return numContactsOut;
}


        

__kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs,
																					__global const b3RigidBodyData* rigidBodies,
																					__global const b3Collidable* collidables,
																					__global const b3ConvexPolyhedronData* convexShapes, 
																					__global const b3Float4* vertices,
																					__global const b3Float4* uniqueEdges,
																					__global const b3GpuFace* faces,
																					__global const int* indices,
																					__global const b3GpuChildShape* gpuChildShapes,
																					__global b3Aabb* aabbs,
																					__global b3Float4* concaveSeparatingNormalsOut,
																					__global b3Int4* clippingFacesOut,
																					__global b3Vector3* worldVertsA1Out,
																					__global b3Vector3* worldNormalsA1Out,
																					__global b3Vector3* worldVertsB1Out,
																					__global int* hasSeparatingNormals,
																					int vertexFaceCapacity,
																					int numConcavePairs,
																					int pairIdx
																					)
{
	int i = pairIdx;
/*	int i = get_global_id(0);
	if (i>=numConcavePairs)
		return;
	int pairIdx = i;
	*/

	int bodyIndexA = concavePairs[i].x;
	int bodyIndexB = concavePairs[i].y;

	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;

	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;

	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
	{
		concavePairs[pairIdx].w = -1;
		return;
	}

	hasSeparatingNormals[i] = 0;

	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
	int numActualConcaveConvexTests = 0;
	
	int f = concavePairs[i].z;
	
	bool overlap = false;
	
	b3ConvexPolyhedronData convexPolyhedronA;

	//add 3 vertices of the triangle
	convexPolyhedronA.m_numVertices = 3;
	convexPolyhedronA.m_vertexOffset = 0;
	b3Float4	localCenter = b3MakeFloat4(0.f,0.f,0.f,0.f);

	b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
	b3Aabb triAabb;
	triAabb.m_minVec = b3MakeFloat4(1e30f,1e30f,1e30f,0.f);
	triAabb.m_maxVec = b3MakeFloat4(-1e30f,-1e30f,-1e30f,0.f);
	
	b3Float4 verticesA[3];
	for (int i=0;i<3;i++)
	{
		int index = indices[face.m_indexOffset+i];
		b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
		verticesA[i] = vert;
		localCenter += vert;
			
		triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec,vert);		
		triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec,vert);		

	}

	overlap = true;
	overlap = (triAabb.m_minVec.x > aabbs[bodyIndexB].m_maxVec.x || triAabb.m_maxVec.x < aabbs[bodyIndexB].m_minVec.x) ? false : overlap;
	overlap = (triAabb.m_minVec.z > aabbs[bodyIndexB].m_maxVec.z || triAabb.m_maxVec.z < aabbs[bodyIndexB].m_minVec.z) ? false : overlap;
	overlap = (triAabb.m_minVec.y > aabbs[bodyIndexB].m_maxVec.y || triAabb.m_maxVec.y < aabbs[bodyIndexB].m_minVec.y) ? false : overlap;
		
	if (overlap)
	{
		float dmin = FLT_MAX;
		int hasSeparatingAxis=5;
		b3Float4 sepAxis=b3MakeFloat4(1,2,3,4);

		int localCC=0;
		numActualConcaveConvexTests++;

		//a triangle has 3 unique edges
		convexPolyhedronA.m_numUniqueEdges = 3;
		convexPolyhedronA.m_uniqueEdgesOffset = 0;
		b3Float4 uniqueEdgesA[3];
		
		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);


		convexPolyhedronA.m_faceOffset = 0;
                                  
		b3Float4 normal = b3MakeFloat4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
                             
		b3GpuFace facesA[B3_TRIANGLE_NUM_CONVEX_FACES];
		int indicesA[3+3+2+2+2];
		int curUsedIndices=0;
		int fidx=0;

		//front size of triangle
		{
			facesA[fidx].m_indexOffset=curUsedIndices;
			indicesA[0] = 0;
			indicesA[1] = 1;
			indicesA[2] = 2;
			curUsedIndices+=3;
			float c = face.m_plane.w;
			facesA[fidx].m_plane.x = normal.x;
			facesA[fidx].m_plane.y = normal.y;
			facesA[fidx].m_plane.z = normal.z;
			facesA[fidx].m_plane.w = c;
			facesA[fidx].m_numIndices=3;
		}
		fidx++;
		//back size of triangle
		{
			facesA[fidx].m_indexOffset=curUsedIndices;
			indicesA[3]=2;
			indicesA[4]=1;
			indicesA[5]=0;
			curUsedIndices+=3;
			float c = b3Dot(normal,verticesA[0]);
			float c1 = -face.m_plane.w;
			facesA[fidx].m_plane.x = -normal.x;
			facesA[fidx].m_plane.y = -normal.y;
			facesA[fidx].m_plane.z = -normal.z;
			facesA[fidx].m_plane.w = c;
			facesA[fidx].m_numIndices=3;
		}
		fidx++;

		bool addEdgePlanes = true;
		if (addEdgePlanes)
		{
			int numVertices=3;
			int prevVertex = numVertices-1;
			for (int i=0;i<numVertices;i++)
			{
				b3Float4 v0 = verticesA[i];
				b3Float4 v1 = verticesA[prevVertex];
                                            
				b3Float4 edgeNormal = b3Normalized(b3Cross(normal,v1-v0));
				float c = -b3Dot(edgeNormal,v0);

				facesA[fidx].m_numIndices = 2;
				facesA[fidx].m_indexOffset=curUsedIndices;
				indicesA[curUsedIndices++]=i;
				indicesA[curUsedIndices++]=prevVertex;
                                            
				facesA[fidx].m_plane.x = edgeNormal.x;
				facesA[fidx].m_plane.y = edgeNormal.y;
				facesA[fidx].m_plane.z = edgeNormal.z;
				facesA[fidx].m_plane.w = c;
				fidx++;
				prevVertex = i;
			}
		}
		convexPolyhedronA.m_numFaces = B3_TRIANGLE_NUM_CONVEX_FACES;
		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);


		b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
		posA.w = 0.f;
		b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
		posB.w = 0.f;

		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
		b3Quaternion ornB =rigidBodies[bodyIndexB].m_quat;

		


		///////////////////
		///compound shape support

		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
		{
			int compoundChild = concavePairs[pairIdx].w;
			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
			b3Float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
			b3Quaternion childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
			b3Float4 newPosB = b3TransformPoint(childPosB,posB,ornB);
			b3Quaternion newOrnB = b3QuatMul(ornB,childOrnB);
			posB = newPosB;
			ornB = newOrnB;
			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
		}
		//////////////////

		b3Float4 c0local = convexPolyhedronA.m_localCenter;
		b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
		b3Float4 c1local = convexShapes[shapeIndexB].m_localCenter;
		b3Float4 c1 = b3TransformPoint(c1local,posB,ornB);
		const b3Float4 DeltaC2 = c0 - c1;


		bool sepA = b3FindSeparatingAxis(	&convexPolyhedronA, &convexShapes[shapeIndexB],
												posA,ornA,
												posB,ornB,
												DeltaC2,
												verticesA,uniqueEdgesA,facesA,indicesA,
												vertices,uniqueEdges,faces,indices,
												&sepAxis,&dmin);
		hasSeparatingAxis = 4;
		if (!sepA)
		{
			hasSeparatingAxis = 0;
		} else
		{
			bool sepB = b3FindSeparatingAxis(	&convexShapes[shapeIndexB],&convexPolyhedronA,
												posB,ornB,
												posA,ornA,
												DeltaC2,
												vertices,uniqueEdges,faces,indices,
												verticesA,uniqueEdgesA,facesA,indicesA,
												&sepAxis,&dmin);

			if (!sepB)
			{
				hasSeparatingAxis = 0;
			} else
			{
				bool sepEE = b3FindSeparatingAxisEdgeEdge(	&convexPolyhedronA, &convexShapes[shapeIndexB],
															posA,ornA,
															posB,ornB,
															DeltaC2,
															verticesA,uniqueEdgesA,facesA,indicesA,
															vertices,uniqueEdges,faces,indices,
															&sepAxis,&dmin,true);
	
				if (!sepEE)
				{
					hasSeparatingAxis = 0;
				} else
				{
					hasSeparatingAxis = 1;
				}
			}
		}	
		
		if (hasSeparatingAxis)
		{
			hasSeparatingNormals[i]=1;
			sepAxis.w = dmin;
			concaveSeparatingNormalsOut[pairIdx]=sepAxis;

			//now compute clipping faces A and B, and world-space clipping vertices A and B...

			float minDist = -1e30f;
			float maxDist = 0.02f;

			b3FindClippingFaces(sepAxis,
                     &convexPolyhedronA,
					 &convexShapes[shapeIndexB],
					 posA,ornA,
					 posB,ornB,
                       worldVertsA1Out,
                      worldNormalsA1Out,
                      worldVertsB1Out,
					  vertexFaceCapacity,
                      minDist, maxDist,
                      verticesA,
                      facesA,
                      indicesA,
 
					  vertices,
                      faces,
                      indices,
                      clippingFacesOut, pairIdx);

		} else
		{	
			//mark this pair as in-active
			concavePairs[pairIdx].w = -1;
		}
	}
	else
	{	
		//mark this pair as in-active
		concavePairs[pairIdx].w = -1;
	}
}


#endif //B3_FIND_CONCAVE_SEPARATING_AXIS_H