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This commit is contained in:
Irlan 2017-03-25 10:28:05 -03:00
parent d3455d6a17
commit eec596fe95
4 changed files with 80 additions and 58 deletions
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12
include/bounce/dynamics/contacts/collide/collide.h
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@ -59,14 +59,14 @@ struct b3FeatureCache
{ {
// Read the current state of the cache. // Read the current state of the cache.
// Return e_unkown if neither a separation or penetration was detected. // Return e_unkown if neither a separation or penetration was detected.
b3SATCacheType ReadState(const b3Transform& xf1, float32 r1, const b3Hull* hull1, b3SATCacheType ReadState(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2); const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATCacheType ReadEdge(const b3Transform& xf1, float32 r1, const b3Hull* hull1, b3SATCacheType ReadEdge(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2); const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATCacheType ReadFace(const b3Transform& xf1, float32 r1, const b3Hull* hull1, b3SATCacheType ReadFace(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2); const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
// We could increase the cache size (e.g. a feature pair of the last two frames). // We could increase the cache size (e.g. a feature pair of the last two frames).
b3SATFeaturePair m_featurePair; b3SATFeaturePair m_featurePair;

35
src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
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@ -27,16 +27,17 @@
#include <bounce/collision/shapes/hull.h> #include <bounce/collision/shapes/hull.h>
static void b3BuildEdgeContact(b3Manifold& manifold, static void b3BuildEdgeContact(b3Manifold& manifold,
const b3Transform& xf1, const b3Segment* hull1, const b3Transform& xf1, const b3CapsuleShape* s1,
const b3Transform& xf2, u32 index2, const b3Hull* hull2) const b3Transform& xf2, u32 index2, const b3HullShape* s2)
{ {
b3Vec3 P1 = xf1 * hull1->GetVertex(0); b3Vec3 P1 = xf1 * s1->m_centers[0];
b3Vec3 Q1 = xf1 * hull1->GetVertex(1); b3Vec3 Q1 = xf1 * s1->m_centers[1];
b3Vec3 E1 = Q1 - P1; b3Vec3 E1 = Q1 - P1;
b3Vec3 N1 = E1; b3Vec3 N1 = E1;
float32 L1 = N1.Normalize(); float32 L1 = N1.Normalize();
B3_ASSERT(L1 > 0.0f); B3_ASSERT(L1 > 0.0f);
const b3Hull* hull2 = s2->m_hull;
const b3HalfEdge* edge2 = hull2->GetEdge(index2); const b3HalfEdge* edge2 = hull2->GetEdge(index2);
const b3HalfEdge* twin2 = hull2->GetEdge(index2 + 1); const b3HalfEdge* twin2 = hull2->GetEdge(index2 + 1);
@ -88,16 +89,20 @@ static void b3BuildEdgeContact(b3Manifold& manifold,
} }
static void b3BuildFaceContact(b3Manifold& manifold, static void b3BuildFaceContact(b3Manifold& manifold,
const b3Transform& xf1, float32 r1, const b3Segment* hull1, const b3Transform& xf1, const b3CapsuleShape* s1,
const b3Transform& xf2, float32 r2, u32 index2, const b3Hull* hull2) const b3Transform& xf2, u32 index2, const b3HullShape* s2)
{ {
// Clip edge 1 against the side planes of the face 2. // Clip edge 1 against the side planes of the face 2.
b3Segment tempEdge1; b3Segment segment1;
tempEdge1.vertices[0] = xf1 * hull1->vertices[0]; segment1.vertices[0] = xf1 * s1->m_centers[0];
tempEdge1.vertices[1] = xf1 * hull1->vertices[1]; segment1.vertices[1] = xf1 * s1->m_centers[1];
float32 r1 = s1->m_radius;
b3ClipVertex edge1[2]; b3ClipVertex edge1[2];
b3BuildEdge(edge1, &tempEdge1); b3BuildEdge(edge1, &segment1);
const b3Hull* hull2 = s2->m_hull;
float32 r2 = s2->m_radius;
b3ClipVertex clipEdge1[2]; b3ClipVertex clipEdge1[2];
u32 clipCount = b3ClipEdgeToFace(clipEdge1, edge1, xf2, r2, index2, hull2); u32 clipCount = b3ClipEdgeToFace(clipEdge1, edge1, xf2, r2, index2, hull2);
@ -109,6 +114,7 @@ static void b3BuildFaceContact(b3Manifold& manifold,
const b3HalfEdge* edge2 = hull2->GetEdge(face2->edge); const b3HalfEdge* edge2 = hull2->GetEdge(face2->edge);
b3Vec3 localPoint2 = hull2->GetVertex(edge2->origin); b3Vec3 localPoint2 = hull2->GetVertex(edge2->origin);
// Ensure normal orientation to hull 2.
b3Vec3 n1 = -plane2.normal; b3Vec3 n1 = -plane2.normal;
float32 totalRadius = r1 + r2; float32 totalRadius = r1 + r2;
@ -145,7 +151,8 @@ void b3CollideCapsuleAndHull(b3Manifold& manifold,
b3GJKOutput gjk = b3GJK(xf1, proxy1, xf2, proxy2); b3GJKOutput gjk = b3GJK(xf1, proxy1, xf2, proxy2);
float32 r1 = s1->m_radius, r2 = s2->m_radius; float32 r1 = s1->m_radius;
float32 r2 = s2->m_radius;
float32 totalRadius = r1 + r2; float32 totalRadius = r1 + r2;
@ -179,7 +186,7 @@ void b3CollideCapsuleAndHull(b3Manifold& manifold,
{ {
// Reference face found. // Reference face found.
// Try to build a face contact. // Try to build a face contact.
b3BuildFaceContact(manifold, xf1, r1, &hull1, xf2, r2, index2, hull2); b3BuildFaceContact(manifold, xf1, s1, xf2, index2, s2);
if (manifold.pointCount == 2) if (manifold.pointCount == 2)
{ {
return; return;
@ -211,10 +218,10 @@ void b3CollideCapsuleAndHull(b3Manifold& manifold,
const float32 kTol = 0.1f * B3_LINEAR_SLOP; const float32 kTol = 0.1f * B3_LINEAR_SLOP;
if (edgeQuery.separation > faceQuery2.separation + kTol) if (edgeQuery.separation > faceQuery2.separation + kTol)
{ {
b3BuildEdgeContact(manifold, xf1, &hull1, xf2, edgeQuery.index2, hull2); b3BuildEdgeContact(manifold, xf1, s1, xf2, edgeQuery.index2, s2);
} }
else else
{ {
b3BuildFaceContact(manifold, xf1, r1, &hull1, xf2, r2, faceQuery2.index, hull2); b3BuildFaceContact(manifold, xf1, s1, xf2, faceQuery2.index, s2);
} }
} }

35
src/bounce/dynamics/contacts/collide/collide_hulls.cpp
View File

@ -24,9 +24,10 @@
#include <bounce/collision/shapes/hull.h> #include <bounce/collision/shapes/hull.h>
void b3BuildEdgeContact(b3Manifold& manifold, void b3BuildEdgeContact(b3Manifold& manifold,
const b3Transform& xf1, u32 index1, const b3Hull* hull1, const b3Transform& xf1, u32 index1, const b3HullShape* s1,
const b3Transform& xf2, u32 index2, const b3Hull* hull2) const b3Transform& xf2, u32 index2, const b3HullShape* s2)
{ {
const b3Hull* hull1 = s1->m_hull;
const b3HalfEdge* edge1 = hull1->GetEdge(index1); const b3HalfEdge* edge1 = hull1->GetEdge(index1);
const b3HalfEdge* twin1 = hull1->GetEdge(index1 + 1); const b3HalfEdge* twin1 = hull1->GetEdge(index1 + 1);
@ -38,6 +39,7 @@ void b3BuildEdgeContact(b3Manifold& manifold,
float32 L1 = N1.Normalize(); float32 L1 = N1.Normalize();
B3_ASSERT(L1 > B3_LINEAR_SLOP); B3_ASSERT(L1 > B3_LINEAR_SLOP);
const b3Hull* hull2 = s2->m_hull;
const b3HalfEdge* edge2 = hull2->GetEdge(index2); const b3HalfEdge* edge2 = hull2->GetEdge(index2);
const b3HalfEdge* twin2 = hull2->GetEdge(index2 + 1); const b3HalfEdge* twin2 = hull2->GetEdge(index2 + 1);
@ -70,6 +72,7 @@ void b3BuildEdgeContact(b3Manifold& manifold,
b3Vec3 c1 = P1 + s * N1; b3Vec3 c1 = P1 + s * N1;
b3Vec3 c2 = P2 + t * N2; b3Vec3 c2 = P2 + t * N2;
// Ensure normal orientation to hull 2.
b3Vec3 N = b3Cross(E1, E2); b3Vec3 N = b3Cross(E1, E2);
float32 LN = N.Normalize(); float32 LN = N.Normalize();
B3_ASSERT(LN > 0.0f); B3_ASSERT(LN > 0.0f);
@ -89,10 +92,18 @@ void b3BuildEdgeContact(b3Manifold& manifold,
} }
void b3BuildFaceContact(b3Manifold& manifold, void b3BuildFaceContact(b3Manifold& manifold,
const b3Transform& xf1, float32 r1, u32 index1, const b3Hull* hull1, const b3Transform& xf1, u32 index1, const b3HullShape* s1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2, const b3Transform& xf2, const b3HullShape* s2,
bool flipNormal) bool flipNormal)
{ {
const b3Hull* hull1 = s1->m_hull;
float32 r1 = s1->m_radius;
const b3Hull* hull2 = s2->m_hull;
float32 r2 = s2->m_radius;
float32 totalRadius = r1 + r2;
// 1. Define the reference face plane (1). // 1. Define the reference face plane (1).
const b3Face* face1 = hull1->GetFace(index1); const b3Face* face1 = hull1->GetFace(index1);
const b3HalfEdge* edge1 = hull1->GetEdge(face1->edge); const b3HalfEdge* edge1 = hull1->GetEdge(face1->edge);
@ -112,8 +123,6 @@ void b3BuildFaceContact(b3Manifold& manifold,
b3BuildPolygon(polygon2, xf2, index2, hull2); b3BuildPolygon(polygon2, xf2, index2, hull2);
// 3. Clip incident face polygon (2) against the reference face (1) side planes. // 3. Clip incident face polygon (2) against the reference face (1) side planes.
float32 totalRadius = r1 + r2;
b3StackArray<b3ClipVertex, 32> clipPolygon2; b3StackArray<b3ClipVertex, 32> clipPolygon2;
b3ClipPolygonToFace(clipPolygon2, polygon2, xf1, totalRadius, index1, hull1); b3ClipPolygonToFace(clipPolygon2, polygon2, xf1, totalRadius, index1, hull1);
if (clipPolygon2.IsEmpty()) if (clipPolygon2.IsEmpty())
@ -155,6 +164,8 @@ void b3BuildFaceContact(b3Manifold& manifold,
// 5. Reduce. // 5. Reduce.
b3Vec3 normal = plane1.normal; b3Vec3 normal = plane1.normal;
// Ensure normal orientation to hull 2.
b3Vec3 s_normal = flipNormal ? -normal : normal; b3Vec3 s_normal = flipNormal ? -normal : normal;
b3StackArray<b3ClusterVertex, 32> reducedPolygon1; b3StackArray<b3ClusterVertex, 32> reducedPolygon1;
@ -173,6 +184,7 @@ void b3BuildFaceContact(b3Manifold& manifold,
if (flipNormal) if (flipNormal)
{ {
// Swap the feature pairs.
b3FeaturePair pair = b3MakePair(v2.pair.inEdge2, v2.pair.inEdge1, v2.pair.outEdge2, v2.pair.outEdge1); b3FeaturePair pair = b3MakePair(v2.pair.inEdge2, v2.pair.inEdge1, v2.pair.outEdge2, v2.pair.outEdge1);
mp->localNormal1 = b3MulT(xf2.rotation, s_normal); mp->localNormal1 = b3MulT(xf2.rotation, s_normal);
@ -199,10 +211,11 @@ void b3CollideHulls(b3Manifold& manifold,
const b3Transform& xf2, const b3HullShape* s2) const b3Transform& xf2, const b3HullShape* s2)
{ {
const b3Hull* hull1 = s1->m_hull; const b3Hull* hull1 = s1->m_hull;
const b3Hull* hull2 = s2->m_hull;
float32 r1 = s1->m_radius; float32 r1 = s1->m_radius;
const b3Hull* hull2 = s2->m_hull;
float32 r2 = s2->m_radius; float32 r2 = s2->m_radius;
float32 totalRadius = r1 + r2; float32 totalRadius = r1 + r2;
b3FaceQuery faceQuery1 = b3QueryFaceSeparation(xf1, hull1, xf2, hull2); b3FaceQuery faceQuery1 = b3QueryFaceSeparation(xf1, hull1, xf2, hull2);
@ -226,17 +239,17 @@ void b3CollideHulls(b3Manifold& manifold,
const float32 kTol = 0.1f * B3_LINEAR_SLOP; const float32 kTol = 0.1f * B3_LINEAR_SLOP;
if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation) + kTol) if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation) + kTol)
{ {
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, hull1, xf2, edgeQuery.index2, hull2); b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
} }
else else
{ {
if (faceQuery1.separation + kTol > faceQuery2.separation) if (faceQuery1.separation + kTol > faceQuery2.separation)
{ {
b3BuildFaceContact(manifold, xf1, r1, faceQuery1.index, hull1, xf2, r2, hull2, false); b3BuildFaceContact(manifold, xf1, faceQuery1.index, s1, xf2, s2, false);
} }
else else
{ {
b3BuildFaceContact(manifold, xf2, r2, faceQuery2.index, hull2, xf1, r1, hull1, true); b3BuildFaceContact(manifold, xf2, faceQuery2.index, s2, xf1, s1, true);
} }
} }
} }

50
src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
View File

@ -24,12 +24,12 @@
#include <bounce/collision/shapes/hull.h> #include <bounce/collision/shapes/hull.h>
void b3BuildEdgeContact(b3Manifold& manifold, void b3BuildEdgeContact(b3Manifold& manifold,
const b3Transform& xf1, u32 index1, const b3Hull* hull1, const b3Transform& xf1, u32 index1, const b3HullShape* s1,
const b3Transform& xf2, u32 index2, const b3Hull* hull2); const b3Transform& xf2, u32 index2, const b3HullShape* s2);
void b3BuildFaceContact(b3Manifold& manifold, void b3BuildFaceContact(b3Manifold& manifold,
const b3Transform& xf1, float32 r1, u32 index1, const b3Hull* hull1, const b3Transform& xf1, u32 index1, const b3HullShape* s1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2, const b3Transform& xf2, const b3HullShape* s2,
bool flipNormal); bool flipNormal);
static void b3RebuildEdgeContact(b3Manifold& manifold, static void b3RebuildEdgeContact(b3Manifold& manifold,
@ -37,8 +37,6 @@ static void b3RebuildEdgeContact(b3Manifold& manifold,
const b3Transform& xf2, u32 index2, const b3HullShape* s2) const b3Transform& xf2, u32 index2, const b3HullShape* s2)
{ {
const b3Hull* hull1 = s1->m_hull; const b3Hull* hull1 = s1->m_hull;
const b3Hull* hull2 = s2->m_hull;
const b3HalfEdge* edge1 = hull1->GetEdge(index1); const b3HalfEdge* edge1 = hull1->GetEdge(index1);
const b3HalfEdge* twin1 = hull1->GetEdge(index1 + 1); const b3HalfEdge* twin1 = hull1->GetEdge(index1 + 1);
@ -50,6 +48,7 @@ static void b3RebuildEdgeContact(b3Manifold& manifold,
float32 L1 = N1.Normalize(); float32 L1 = N1.Normalize();
B3_ASSERT(L1 > 0.0f); B3_ASSERT(L1 > 0.0f);
const b3Hull* hull2 = s2->m_hull;
const b3HalfEdge* edge2 = hull2->GetEdge(index2); const b3HalfEdge* edge2 = hull2->GetEdge(index2);
const b3HalfEdge* twin2 = hull2->GetEdge(index2 + 1); const b3HalfEdge* twin2 = hull2->GetEdge(index2 + 1);
@ -155,7 +154,7 @@ static void b3RebuildFaceContact(b3Manifold& manifold,
const float32 kTol = 0.995f; const float32 kTol = 0.995f;
if (b3Abs(q.w) > kTol) if (b3Abs(q.w) > kTol)
{ {
b3BuildFaceContact(manifold, xf1, r1, index1, hull1, xf2, r2, hull2, flipNormal); b3BuildFaceContact(manifold, xf1, index1, s1, xf2, s2, flipNormal);
} }
} }
@ -167,10 +166,11 @@ void b3CollideCache(b3Manifold& manifold,
B3_ASSERT(cache->m_featurePair.state == b3SATCacheType::e_empty); B3_ASSERT(cache->m_featurePair.state == b3SATCacheType::e_empty);
const b3Hull* hull1 = s1->m_hull; const b3Hull* hull1 = s1->m_hull;
const b3Hull* hull2 = s2->m_hull;
float32 r1 = s1->m_radius; float32 r1 = s1->m_radius;
const b3Hull* hull2 = s2->m_hull;
float32 r2 = s2->m_radius; float32 r2 = s2->m_radius;
float32 totalRadius = r1 + r2; float32 totalRadius = r1 + r2;
b3FaceQuery faceQuery1 = b3QueryFaceSeparation(xf1, hull1, xf2, hull2); b3FaceQuery faceQuery1 = b3QueryFaceSeparation(xf1, hull1, xf2, hull2);
@ -210,7 +210,7 @@ void b3CollideCache(b3Manifold& manifold,
if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation) + kTol) if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation) + kTol)
{ {
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, hull1, xf2, edgeQuery.index2, hull2); b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
if(manifold.pointCount > 0) if(manifold.pointCount > 0)
{ {
// Write an overlap cache. // Write an overlap cache.
@ -224,7 +224,7 @@ void b3CollideCache(b3Manifold& manifold,
{ {
if (faceQuery1.separation + kTol > faceQuery2.separation) if (faceQuery1.separation + kTol > faceQuery2.separation)
{ {
b3BuildFaceContact(manifold, xf1, r1, faceQuery1.index, hull1, xf2, r2, hull2, false); b3BuildFaceContact(manifold, xf1, faceQuery1.index, s1, xf2, s2, false);
if(manifold.pointCount > 0) if(manifold.pointCount > 0)
{ {
// Write an overlap cache. // Write an overlap cache.
@ -236,7 +236,7 @@ void b3CollideCache(b3Manifold& manifold,
} }
else else
{ {
b3BuildFaceContact(manifold, xf2, r2, faceQuery2.index, hull2, xf1, r1, hull1, true); b3BuildFaceContact(manifold, xf2, faceQuery2.index, s2, xf1, s1, true);
if(manifold.pointCount > 0) if(manifold.pointCount > 0)
{ {
// Write an overlap cache. // Write an overlap cache.
@ -250,8 +250,8 @@ void b3CollideCache(b3Manifold& manifold,
} }
b3SATCacheType b3FeatureCache::ReadState( b3SATCacheType b3FeatureCache::ReadState(
const b3Transform& xf1, float32 r1, const b3Hull* hull1, const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2) const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius)
{ {
// If the cache was empty or flushed choose an arbitrary feature pair. // If the cache was empty or flushed choose an arbitrary feature pair.
if (m_featurePair.state == b3SATCacheType::e_empty) if (m_featurePair.state == b3SATCacheType::e_empty)
@ -266,15 +266,15 @@ b3SATCacheType b3FeatureCache::ReadState(
{ {
case b3SATFeaturePair::e_edge1: case b3SATFeaturePair::e_edge1:
{ {
return ReadEdge(xf1, r1, hull1, xf2, r2, hull2); return ReadEdge(xf1, hull1, xf2, hull2, totalRadius);
} }
case b3SATFeaturePair::e_face1: case b3SATFeaturePair::e_face1:
{ {
return ReadFace(xf1, r1, hull1, xf2, r2, hull2); return ReadFace(xf1, hull1, xf2, hull2, totalRadius);
} }
case b3SATFeaturePair::e_face2: case b3SATFeaturePair::e_face2:
{ {
return ReadFace(xf2, r2, hull2, xf1, r1, hull1); return ReadFace(xf2, hull2, xf1, hull1, totalRadius);
} }
default: default:
{ {
@ -284,14 +284,14 @@ b3SATCacheType b3FeatureCache::ReadState(
} }
b3SATCacheType b3FeatureCache::ReadFace( b3SATCacheType b3FeatureCache::ReadFace(
const b3Transform& xf1, float32 r1, const b3Hull* hull1, const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2) const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius)
{ {
// Perform computations in the local space of the second hull. // Perform computations in the local space of the second hull.
b3Transform xf = b3MulT(xf2, xf1); b3Transform xf = b3MulT(xf2, xf1);
b3Plane plane = xf * hull1->GetPlane(m_featurePair.index1); b3Plane plane = xf * hull1->GetPlane(m_featurePair.index1);
float32 separation = b3Project(hull2, plane); float32 separation = b3Project(hull2, plane);
if (separation > r1 + r2) if (separation > totalRadius)
{ {
return e_separation; return e_separation;
} }
@ -299,8 +299,8 @@ b3SATCacheType b3FeatureCache::ReadFace(
} }
b3SATCacheType b3FeatureCache::ReadEdge( b3SATCacheType b3FeatureCache::ReadEdge(
const b3Transform& xf1, float32 r1, const b3Hull* hull1, const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, float32 r2, const b3Hull* hull2) const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius)
{ {
u32 i = m_featurePair.index1; u32 i = m_featurePair.index1;
u32 j = m_featurePair.index2; u32 j = m_featurePair.index2;
@ -340,7 +340,7 @@ b3SATCacheType b3FeatureCache::ReadEdge(
if (b3IsMinkowskiFace(U1, V1, -E1, -U2, -V2, -E2)) if (b3IsMinkowskiFace(U1, V1, -E1, -U2, -V2, -E2))
{ {
float32 separation = b3Project(P1, E1, P2, E2, C1); float32 separation = b3Project(P1, E1, P2, E2, C1);
if (separation > r1 + r2) if (separation > totalRadius)
{ {
return b3SATCacheType::e_separation; return b3SATCacheType::e_separation;
} }
@ -368,9 +368,11 @@ void b3CollideHulls(b3Manifold& manifold,
const b3Hull* hull2 = s2->m_hull; const b3Hull* hull2 = s2->m_hull;
float32 r2 = s2->m_radius; float32 r2 = s2->m_radius;
float32 totalRadius = r1 + r2;
// Read cache // Read cache
b3SATCacheType state0 = cache->m_featurePair.state; b3SATCacheType state0 = cache->m_featurePair.state;
b3SATCacheType state1 = cache->ReadState(xf1, r1, hull1, xf2, r2, hull2); b3SATCacheType state1 = cache->ReadState(xf1, hull1, xf2, hull2, totalRadius);
if (state0 == b3SATCacheType::e_separation && if (state0 == b3SATCacheType::e_separation &&
state1 == b3SATCacheType::e_separation) state1 == b3SATCacheType::e_separation)