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+/*
+* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
+*
+* NVIDIA CORPORATION and its licensors retain all intellectual property
+* and proprietary rights in and to this software, related documentation
+* and any modifications thereto.  Any use, reproduction, disclosure or
+* distribution of this software and related documentation without an express
+* license agreement from NVIDIA CORPORATION is strictly prohibited.
+*/
+
+#ifndef NVBLASTEXTAUTHORINGVSA_H
+#define NVBLASTEXTAUTHORINGVSA_H
+
+namespace Nv
+{
+namespace Blast
+{
+
+/*
+	This code copied from APEX GSA
+*/
+
+namespace VSA
+{
+typedef float real;
+
+struct VS3D_Halfspace_Set
+{
+	virtual	real	farthest_halfspace(real plane[4], const real point[4]) = 0;
+};
+
+
+// Simple types and operations for internal calculations
+struct Vec3 { real x, y, z; };	// 3-vector 
+inline Vec3	vec3(real x, real y, real z) { Vec3 r; r.x = x; r.y = y; r.z = z; return r; }	// vector builder
+inline Vec3	operator +	(const Vec3& a, const Vec3& b) { return vec3(a.x + b.x, a.y + b.y, a.z + b.z); }			// vector addition
+inline Vec3	operator *	(real s, const Vec3& v) { return vec3(s*v.x, s*v.y, s*v.z); }				// scalar multiplication
+inline real	operator |	(const Vec3& a, const Vec3& b) { return a.x*b.x + a.y*b.y + a.z*b.z; }				// dot product
+inline Vec3 operator ^	(const Vec3& a, const Vec3& b) { return vec3(a.y*b.z - b.y*a.z, a.z*b.x - b.z*a.x, a.x*b.y - b.x*a.y); }	// cross product
+
+struct Vec4 { Vec3 v; real w; };	// 4-vector split into 3-vector and scalar parts
+inline Vec4	vec4(const Vec3& v, real w) { Vec4 r; r.v = v; r.w = w; return r; }	// vector builder
+inline real	operator | (const Vec4& a, const Vec4& b) { return (a.v | b.v) + a.w*b.w; }			// dot product
+
+// More accurate perpendicular
+inline Vec3	perp(const Vec3& a, const Vec3& b)
+{
+	Vec3 c = a^b;	// Cross-product gives perpendicular
+#if VS3D_HIGH_ACCURACY || REAL_DOUBLE
+	const real c2 = c | c;
+	if (c2 != 0) c = c + (1 / c2)*((a | c)*(c^b) + (b | c)*(a^c));	// Improvement to (a b)^T(c) = (0)
+#endif
+	return c;
+}
+
+// Square
+inline real	sq(real x) { return x*x; }
+
+// Returns index of the extremal element in a three-element set {e0, e1, e2} based upon comparisons c_ij. The extremal index m is such that c_mn is true, or e_m == e_n, for all n.
+inline int	ext_index(int c_10, int c_21, int c_20) { return c_10 << c_21 | (c_21&c_20) << 1; }
+
+// Returns index (0, 1, or 2) of minimum argument
+inline int	index_of_min(real x0, real x1, real x2) { return ext_index((int)(x1 < x0), (int)(x2 < x1), (int)(x2 < x0)); }
+
+// Compare fractions with positive deominators.  Returns a_num*sqrt(a_rden2) > b_num*sqrt(b_rden2)
+inline bool frac_gt(real a_num, real a_rden2, real b_num, real b_rden2)
+{
+	const bool a_num_neg = a_num < 0;
+	const bool b_num_neg = b_num < 0;
+	return a_num_neg != b_num_neg ? b_num_neg : ((a_num*a_num*a_rden2 > b_num*b_num*b_rden2) != a_num_neg);
+}
+
+// Returns index (0, 1, or 2) of maximum fraction with positive deominators
+inline int	index_of_max_frac(real x0_num, real x0_rden2, real x1_num, real x1_rden2, real x2_num, real x2_rden2)
+{
+	return ext_index((int)frac_gt(x1_num, x1_rden2, x0_num, x0_rden2), (int)frac_gt(x2_num, x2_rden2, x1_num, x1_rden2), (int)frac_gt(x2_num, x2_rden2, x0_num, x0_rden2));
+}
+
+// Compare values given their signs and squares.  Returns a > b.  a2 and b2 may have any constant offset applied to them.
+inline bool sgn_sq_gt(real sgn_a, real a2, real sgn_b, real b2) { return sgn_a*sgn_b < 0 ? (sgn_b < 0) : ((a2 > b2) != (sgn_a < 0)); }
+
+// Returns index (0, 1, or 2) of maximum value given their signs and squares.  sq_x0, sq_x1, and sq_x2 may have any constant offset applied to them.
+inline int	index_of_max_sgn_sq(real sgn_x0, real sq_x0, real sgn_x1, real sq_x1, real sgn_x2, real sq_x2)
+{
+	return ext_index((int)sgn_sq_gt(sgn_x1, sq_x1, sgn_x0, sq_x0), (int)sgn_sq_gt(sgn_x2, sq_x2, sgn_x1, sq_x1), (int)sgn_sq_gt(sgn_x2, sq_x2, sgn_x0, sq_x0));
+}
+
+// Project 2D (homogeneous) vector onto 2D half-space boundary
+inline void project2D(Vec3& r, const Vec3& plane, real delta, real recip_n2, real eps2)
+{
+	r = r + (-delta*recip_n2)*vec3(plane.x, plane.y, 0);
+	r = r + (-(r | plane)*recip_n2)*vec3(plane.x, plane.y, 0);	// Second projection for increased accuracy
+	if ((r | r) > eps2) return;
+	r = (-plane.z*recip_n2)*vec3(plane.x, plane.y, 0);
+	r.z = 1;
+}
+
+
+// Update function for vs3d_test
+static bool vs3d_update(Vec4& p, Vec4 S[4], int& plane_count, const Vec4& q, real eps2)
+{
+	// h plane is the last plane
+	const Vec4& h = S[plane_count - 1];
+
+	// Handle plane_count == 1 specially (optimization; this could be commented out)
+	if (plane_count == 1)
+	{
+		// Solution is objective projected onto h plane
+		p = q;
+		p.v = p.v + -(p | h)*h.v;
+		if ((p | p) <= eps2) p = vec4(-h.w*h.v, 1);	// If p == 0 then q is a direction vector, any point in h is a support point
+		return true;
+	}
+
+	// Create basis in the h plane
+	const int min_i = index_of_min(h.v.x*h.v.x, h.v.y*h.v.y, h.v.z*h.v.z);
+	const Vec3 y = h.v^vec3((real)(min_i == 0), (real)(min_i == 1), (real)(min_i == 2));
+	const Vec3 x = y^h.v;
+
+	// Use reduced vector r instead of p
+	Vec3 r = { x | q.v, y | q.v, q.w*(y | y) };	// (x|x) = (y|y) = square of plane basis scale
+
+	// If r == 0 (within epsilon), then it is a direction vector, and we have a bounded solution
+	if ((r | r) <= eps2) r.z = 1;
+
+	// Create plane equations in the h plane.  These will not be normalized in general.
+	int N = 0;			// Plane count in h subspace
+	Vec3 R[3];			// Planes in h subspace
+	real recip_n2[3];	// Plane normal vector reciprocal lengths squared
+	real delta[3];		// Signed distance of objective to the planes
+	int index[3];		// Keep track of original plane indices
+	for (int i = 0; i < plane_count - 1; ++i)
+	{
+		const Vec3& vi = S[i].v;
+		const real cos_theta = h.v | vi;
+		R[N] = vec3(x | vi, y | vi, S[i].w - h.w*cos_theta);
+		index[N] = i;
+		const real n2 = R[N].x*R[N].x + R[N].y*R[N].y;
+		if (n2 >= eps2)
+		{
+			const real lin_norm = (real)1.5 - (real)0.5*n2;	// 1st-order approximation to 1/sqrt(n2) expanded about n2 = 1
+			R[N] = lin_norm*R[N];	// We don't need normalized plane equations, but rescaling (even with an approximate normalization) gives better numerical behavior
+			recip_n2[N] = 1 / (R[N].x*R[N].x + R[N].y*R[N].y);
+			delta[N] = r | R[N];
+			++N;	// Keep this plane
+		}
+		else if (cos_theta < 0) return false;	// Parallel cases are redundant and rejected, anti-parallel cases are 1D voids
+	}
+
+	// Now work with the N-sized R array of half-spaces in the h plane
+	switch (N)
+	{
+	case 1: one_plane :
+		if (delta[0] < 0) N = 0;	// S[0] is redundant, eliminate it
+		else project2D(r, R[0], delta[0], recip_n2[0], eps2);
+		break;
+	case 2: two_planes :
+		if (delta[0] < 0 && delta[1] < 0) N = 0;	// S[0] and S[1] are redundant, eliminate them
+		else
+		{
+			const int max_d_index = (int)frac_gt(delta[1], recip_n2[1], delta[0], recip_n2[0]);
+			project2D(r, R[max_d_index], delta[max_d_index], recip_n2[max_d_index], eps2);
+			const int min_d_index = max_d_index ^ 1;
+			const real new_delta_min = r | R[min_d_index];
+			if (new_delta_min < 0)
+			{
+				index[0] = index[max_d_index];
+				N = 1;	// S[min_d_index] is redundant, eliminate it
+			}
+			else
+			{
+				// Set r to the intersection of R[0] and R[1] and keep both
+				r = perp(R[0], R[1]);
+				if (r.z*r.z*recip_n2[0] * recip_n2[1] < eps2)
+				{
+					if (R[0].x*R[1].x + R[0].y*R[1].y < 0) return false;	// 2D void found
+					goto one_plane;
+				}
+				r = (1 / r.z)*r;	// We could just as well multiply r by sgn(r.z); we just need to ensure r.z > 0
+			}
+		}
+		break;
+	case 3:
+		if (delta[0] < 0 && delta[1] < 0 && delta[2] < 0) N = 0;	// S[0], S[1], and S[2] are redundant, eliminate them
+		else
+		{
+			const Vec3 row_x = { R[0].x, R[1].x, R[2].x };
+			const Vec3 row_y = { R[0].y, R[1].y, R[2].y };
+			const Vec3 row_w = { R[0].z, R[1].z, R[2].z };
+			const Vec3 cof_w = perp(row_x, row_y);
+			const bool detR_pos = (row_w | cof_w) > 0;
+			const int nrw_sgn0 = cof_w.x*cof_w.x*recip_n2[1] * recip_n2[2] < eps2 ? 0 : (((int)((cof_w.x > 0) == detR_pos) << 1) - 1);
+			const int nrw_sgn1 = cof_w.y*cof_w.y*recip_n2[2] * recip_n2[0] < eps2 ? 0 : (((int)((cof_w.y > 0) == detR_pos) << 1) - 1);
+			const int nrw_sgn2 = cof_w.z*cof_w.z*recip_n2[0] * recip_n2[1] < eps2 ? 0 : (((int)((cof_w.z > 0) == detR_pos) << 1) - 1);
+
+			if ((nrw_sgn0 | nrw_sgn1 | nrw_sgn2) >= 0) return false;	// 3D void found
+
+			const int positive_width_count = ((nrw_sgn0 >> 1) & 1) + ((nrw_sgn1 >> 1) & 1) + ((nrw_sgn2 >> 1) & 1);
+			if (positive_width_count == 1)
+			{
+				// A single positive width results from a redundant plane.  Eliminate it and peform N = 2 calculation.
+				const int pos_width_index = ((nrw_sgn1 >> 1) & 1) | (nrw_sgn2 & 2);	// Calculates which index corresponds to the positive-width side
+				R[pos_width_index] = R[2];
+				recip_n2[pos_width_index] = recip_n2[2];
+				delta[pos_width_index] = delta[2];
+				index[pos_width_index] = index[2];
+				N = 2;
+				goto two_planes;
+			}
+
+			// Find the max dot product of r and R[i]/|R_normal[i]|.  For numerical accuracy when the angle between r and the i^{th} plane normal is small, we take some care below:
+			const int max_d_index = r.z != 0
+				? index_of_max_frac(delta[0], recip_n2[0], delta[1], recip_n2[1], delta[2], recip_n2[2])	// displacement term resolves small-angle ambiguity, just use dot product
+				: index_of_max_sgn_sq(delta[0], -sq(r.x*R[0].y - r.y*R[0].x)*recip_n2[0], delta[1], -sq(r.x*R[1].y - r.y*R[1].x)*recip_n2[1], delta[2], -sq(r.x*R[2].y - r.y*R[2].x)*recip_n2[2]);	// No displacement term.  Use wedge product to find the sine of the angle.
+
+			// Project r onto max-d plane
+			project2D(r, R[max_d_index], delta[max_d_index], recip_n2[max_d_index], eps2);
+			N = 1;	// Unless we use a vertex in the loop below
+			const int index_max = index[max_d_index];
+
+			// The number of finite widths should be >= 2.  If not, it should be 0, but in any case it implies three parallel lines in the plane, which we should not have here.
+			// If we do have three parallel lines (# of finite widths < 2), we've picked the line corresponding to the half-plane farthest from r, which is correct.
+			const int finite_width_count = (nrw_sgn0 & 1) + (nrw_sgn1 & 1) + (nrw_sgn2 & 1);
+			if (finite_width_count >= 2)
+			{
+				const int i_remaining[2] = { (1 << max_d_index) & 3, (3 >> max_d_index) ^ 1 };	// = {(max_d_index+1)%3, (max_d_index+2)%3}
+				const int i_select = (int)frac_gt(delta[i_remaining[1]], recip_n2[i_remaining[1]], delta[i_remaining[0]], recip_n2[i_remaining[0]]);	// Select the greater of the remaining dot products
+				for (int i = 0; i < 2; ++i)
+				{
+					const int j = i_remaining[i_select^i];	// i = 0 => the next-greatest, i = 1 => the least
+					if ((r | R[j]) >= 0)
+					{
+						r = perp(R[max_d_index], R[j]);
+						r = (1 / r.z)*r;	// We could just as well multiply r by sgn(r.z); we just need to ensure r.z > 0
+						index[1] = index[j];
+						N = 2;
+						break;
+					}
+				}
+			}
+
+			index[0] = index_max;
+		}
+		break;
+	}
+
+	// Transform r back to 3D space
+	p = vec4(r.x*x + r.y*y + (-r.z*h.w)*h.v, r.z);
+
+	// Pack S array with kept planes
+	if (N < 2 || index[1] != 0) { for (int i = 0; i < N; ++i) S[i] = S[index[i]]; }	// Safe to copy columns in order
+	else { const Vec4 temp = S[0]; S[0] = S[index[0]]; S[1] = temp; }	// Otherwise use temp storage to avoid overwrite
+	S[N] = h;
+	plane_count = N + 1;
+
+	return true;
+}
+
+
+// Performs the VS algorithm for D = 3
+inline int vs3d_test(VS3D_Halfspace_Set& halfspace_set, real* q = nullptr)
+{
+	// Objective = q if it is not NULL, otherwise it is the origin represented in homogeneous coordinates
+	const Vec4 objective = q ? (q[3] != 0 ? vec4((1 / q[3])*vec3(q[0], q[1], q[2]), 1) : *(Vec4*)q) : vec4(vec3(0, 0, 0), 1);
+
+	// Tolerance for 3D void simplex algorithm
+	const real eps_f = (real)1 / (sizeof(real) == 4 ? (1L << 23) : (1LL << 52));	// Floating-point epsilon
+#if VS3D_HIGH_ACCURACY || REAL_DOUBLE
+	const real eps = 8 * eps_f;
+#else
+	const real eps = 80 * eps_f;
+#endif
+	const real eps2 = eps*eps;	// Using epsilon squared
+
+	// Maximum allowed iterations of main loop.  If exceeded, error code is returned
+	const int max_iteration_count = 50;
+
+	// State
+	Vec4 S[4];				// Up to 4 planes
+	int plane_count = 0;	// Number of valid planes
+	Vec4 p = objective;		// Test point, initialized to objective
+
+	// Default result, changed to valid result if found in loop below
+	int result = -1;
+
+	// Iterate until a stopping condition is met or the maximum number of iterations is reached
+	for (int i = 0; result < 0 && i < max_iteration_count; ++i)
+	{
+		Vec4& plane = S[plane_count++];
+		real delta = halfspace_set.farthest_halfspace(&plane.v.x, &p.v.x);
+#if VS3D_UNNORMALIZED_PLANE_HANDLING != 0
+		const real recip_norm = vs3d_recip_sqrt(plane.v | plane.v);
+		plane = vec4(recip_norm*plane.v, recip_norm*plane.w);
+		delta *= recip_norm;
+#endif
+		if (delta <= 0 || delta*delta <= eps2*(p | p)) result = 1;	// Intersection found
+		else if (!vs3d_update(p, S, plane_count, objective, eps2)) result = 0;	// Void simplex found
+	}
+
+	// If q is given, fill it with the solution (normalize p.w if it is not zero)
+	if (q) *(Vec4*)q = (p.w != 0) ? vec4((1 / p.w)*p.v, 1) : p;
+
+	return result;
+}
+
+} // namespace VSA
+
+} // namespace Blast
+} // namespace Nv
+
+
+#endif // ifndef NVBLASTEXTAUTHORINGVSA_H