Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 587 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleConvex.cpp
new file mode 100644
index 00000000..981b76ea
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+++ b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleConvex.cpp
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and 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.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "GuConvexMesh.h"
+#include "GuConvexHelper.h"
+#include "GuContactBuffer.h"
+#include "GuContactMethodImpl.h"
+#include "GuVecConvexHull.h"
+#include "GuVecCapsule.h"
+#include "GuInternal.h"
+#include "GuGJK.h"
+#include "GuGeometryUnion.h"
+
+using namespace physx;
+using namespace Gu;
+
+///////////
+//	#include "CmRenderOutput.h"
+//	#include "PxsContext.h"
+//	static void gVisualizeLine(const PxVec3& a, const PxVec3& b, PxcNpThreadContext& context, PxU32 color=0xffffff)
+//	{
+//		PxMat44 m = PxMat44::identity();
+//
+//		Cm::RenderOutput& out = context.mRenderOutput;
+//		out << color << m << Cm::RenderOutput::LINES << a << b;
+//	}
+///////////
+
+static const PxReal fatConvexEdgeCoeff = 0.01f;
+
+static bool intersectEdgeEdgePreca(const PxVec3& p1, const PxVec3& p2, const PxVec3& v1, const PxPlane& plane, PxU32 i, PxU32 j, float coeff, const PxVec3& dir, const PxVec3& p3, const PxVec3& p4, PxReal& dist, PxVec3& ip, float limit)
+{
+	// if colliding edge (p3,p4) does not cross plane return no collision
+	// same as if p3 and p4 on same side of plane return 0
+	//
+	// Derivation:
+	// d3 = d(p3, P) = (p3 | plane.n) - plane.d;		Reversed sign compared to Plane::Distance() because plane.d is negated.
+	// d4 = d(p4, P) = (p4 | plane.n) - plane.d;		Reversed sign compared to Plane::Distance() because plane.d is negated.
+	// if d3 and d4 have the same sign, they're on the same side of the plane => no collision
+	// We test both sides at the same time by only testing Sign(d3 * d4).
+	// ### put that in the Plane class
+	// ### also check that code in the triangle class that might be similar
+	const PxReal d3 = plane.distance(p3);
+	PxReal temp = d3 * plane.distance(p4);
+	if(temp>0.0f)
+		return false;
+
+	// if colliding edge (p3,p4) and plane are parallel return no collision
+	PxVec3 v2 = p4 - p3;
+
+	temp = plane.n.dot(v2);
+	if(temp==0.0f)
+		return false;	// ### epsilon would be better
+
+	// compute intersection point of plane and colliding edge (p3,p4)
+	ip = p3-v2*(d3/temp);
+
+	// compute distance of intersection from line (ip, -dir) to line (p1,p2)
+	dist =	(v1[i]*(ip[j]-p1[j])-v1[j]*(ip[i]-p1[i]))*coeff;
+	if(dist<limit)
+		return false;
+
+	// compute intersection point on edge (p1,p2) line
+	ip -= dist*dir;
+
+	// check if intersection point (ip) is between edge (p1,p2) vertices
+	temp = (p1.x-ip.x)*(p2.x-ip.x)+(p1.y-ip.y)*(p2.y-ip.y)+(p1.z-ip.z)*(p2.z-ip.z);
+	if(temp<0.0f)
+		return true;	// collision found
+
+	return false;	// no collision
+}
+
+static bool GuTestAxis(const PxVec3& axis, const Gu::Segment& segment, PxReal radius,
+						const PolygonalData& polyData, const Cm::FastVertex2ShapeScaling& scaling,
+						const Cm::Matrix34& worldTM,
+						PxReal& depth)
+{
+	// Project capsule
+	PxReal min0 = segment.p0.dot(axis);
+	PxReal max0 = segment.p1.dot(axis);
+	if(min0>max0) Ps::swap(min0, max0);
+	min0 -= radius;
+	max0 += radius;
+
+	// Project convex
+	PxReal Min1, Max1;
+	(polyData.mProjectHull)(polyData, axis, worldTM, scaling, Min1, Max1);
+
+	// Test projections
+	if(max0<Min1 || Max1<min0)
+		return false;
+
+	const PxReal d0 = max0 - Min1;
+	PX_ASSERT(d0>=0.0f);
+	const PxReal d1 = Max1 - min0;
+	PX_ASSERT(d1>=0.0f);
+	depth = physx::intrinsics::selectMin(d0, d1);
+	return true;
+}
+
+static bool GuCapsuleConvexOverlap(const Gu::Segment& segment, PxReal radius,
+									const PolygonalData& polyData,
+									const Cm::FastVertex2ShapeScaling& scaling,
+									const PxTransform& transform,
+									PxReal* t, PxVec3* pp, bool isSphere)
+{
+	// TODO:
+	// - test normal & edge in same loop
+	// - local space
+	// - use precomputed face value
+	// - optimize projection
+
+	PxVec3 Sep(0,0,0);
+	PxReal PenDepth = PX_MAX_REAL;
+
+	PxU32 nbPolys = polyData.mNbPolygons;
+	const Gu::HullPolygonData* polys = polyData.mPolygons;
+
+	const Cm::Matrix34 worldTM(transform);
+
+	// Test normals
+	for(PxU32 i=0;i<nbPolys;i++)
+	{
+		const Gu::HullPolygonData& poly = polys[i];
+		const PxPlane& vertSpacePlane = poly.mPlane;
+
+		const PxVec3 worldNormal = worldTM.rotate(vertSpacePlane.n);
+
+		PxReal d;
+		if(!GuTestAxis(worldNormal, segment, radius, polyData, scaling, worldTM, d))
+			return false;
+
+		if(d<PenDepth)
+		{
+			PenDepth = d;
+			Sep = worldNormal;
+		}
+	}
+
+	// Test edges
+	if(!isSphere)
+	{
+		PxVec3 CapsuleAxis(segment.p1 - segment.p0);
+		CapsuleAxis = CapsuleAxis.getNormalized();
+		for(PxU32 i=0;i<nbPolys;i++)
+		{
+			const Gu::HullPolygonData& poly = polys[i];
+			const PxPlane& vertSpacePlane = poly.mPlane;
+
+			const PxVec3 worldNormal = worldTM.rotate(vertSpacePlane.n);
+
+			PxVec3 Cross = CapsuleAxis.cross(worldNormal);
+			if(!Ps::isAlmostZero(Cross))
+			{
+				Cross = Cross.getNormalized();
+				PxReal d;
+				if(!GuTestAxis(Cross, segment, radius, polyData, scaling, worldTM, d))
+					return false;
+
+				if(d<PenDepth)
+				{
+					PenDepth = d;
+					Sep = Cross;
+				}
+			}
+		}
+	}
+
+	const PxVec3 Witness = segment.computeCenter() - transform.transform(polyData.mCenter);
+
+	if(Sep.dot(Witness) < 0.0f)
+		Sep = -Sep;
+
+	if(t)	*t = PenDepth;
+	if(pp)	*pp = Sep;
+
+	return true;
+}
+
+
+
+
+
+static bool raycast_convexMesh2(	const PolygonalData& polyData,
+									const PxVec3& vrayOrig, const PxVec3& vrayDir,
+									PxReal maxDist, PxF32& t)
+{ 
+	PxU32 nPolys = polyData.mNbPolygons;
+	const Gu::HullPolygonData* PX_RESTRICT polys = polyData.mPolygons;
+
+	/*
+	Purely convex planes based algorithm
+	Iterate all planes of convex, with following rules:
+	* determine of ray origin is inside them all or not.  
+	* planes parallel to ray direction are immediate early out if we're on the outside side (plane normal is sep axis)
+	* else 
+		- for all planes the ray direction "enters" from the front side, track the one furthest along the ray direction (A)
+		- for all planes the ray direction "exits" from the back side, track the one furthest along the negative ray direction (B)
+	if the ray origin is outside the convex and if along the ray, A comes before B, the directed line stabs the convex at A
+	*/
+	PxReal latestEntry = -FLT_MAX;
+	PxReal earliestExit = FLT_MAX;
+
+	while(nPolys--)
+	{
+		const Gu::HullPolygonData& poly = *polys++;
+		const PxPlane& vertSpacePlane = poly.mPlane;
+
+		const PxReal distToPlane = vertSpacePlane.distance(vrayOrig);
+		const PxReal dn = vertSpacePlane.n.dot(vrayDir);
+		const PxReal distAlongRay = -distToPlane/dn;
+
+		if (dn > 1E-7f)	//the ray direction "exits" from the back side
+		{
+			earliestExit = physx::intrinsics::selectMin(earliestExit, distAlongRay);
+		}
+		else if (dn < -1E-7f)	//the ray direction "enters" from the front side
+		{
+/*			if (distAlongRay > latestEntry)
+			{
+				latestEntry = distAlongRay;
+			}*/
+			latestEntry = physx::intrinsics::selectMax(latestEntry, distAlongRay);
+		}
+		else
+		{
+			//plane normal and ray dir are orthogonal
+			if(distToPlane > 0.0f)	
+				return false;	//a plane is parallel with ray -- and we're outside the ray -- we definitely miss the entire convex!
+		}
+	}
+
+	if(latestEntry < earliestExit && latestEntry != -FLT_MAX && latestEntry < maxDist-1e-5f)
+	{
+		t = latestEntry;
+		return true;
+	}
+	return false;
+}
+
+// PT: version based on Gu::raycast_convexMesh to handle scaling, but modified to make sure it works when ray starts inside the convex
+static void GuGenerateVFContacts2(ContactBuffer& contactBuffer,
+									//
+									const PxTransform& convexPose,
+									const PolygonalData& polyData,	// Convex data
+									const PxMeshScale& scale,
+									//
+									PxU32 nbPts,
+									const PxVec3* PX_RESTRICT points,
+									const PxReal radius,		// Capsule's radius
+									//
+									const PxVec3& normal,
+									const PxReal contactDistance)
+{
+	PX_ASSERT(PxAbs(normal.magnitudeSquared()-1)<1e-4f);
+
+	//scaling: transform the ray to vertex space
+	const Cm::Matrix34 world2vertexSkew = scale.getInverse() * convexPose.getInverse();	
+
+	const PxVec3 vrayDir = world2vertexSkew.rotate( -normal );	
+
+	const PxReal maxDist = contactDistance + radius;
+
+	for(PxU32 i=0;i<nbPts;i++)
+	{
+		const PxVec3& rayOrigin = points[i];
+
+		const PxVec3 vrayOrig = world2vertexSkew.transform( rayOrigin );
+		PxF32 t;
+		if(raycast_convexMesh2(polyData, vrayOrig, vrayDir, maxDist, t))
+		{
+			contactBuffer.contact(rayOrigin - t * normal, normal, t - radius);
+		}
+	}
+}
+
+static void GuGenerateEEContacts(	ContactBuffer& contactBuffer,
+									//
+									const Gu::Segment& segment,
+									const PxReal radius,
+									const PxReal contactDistance,
+									//
+									const PolygonalData& polyData,
+									const PxTransform& transform,
+									const Cm::FastVertex2ShapeScaling& scaling,
+									//
+									const PxVec3& normal)
+{
+	PxU32 numPolygons = polyData.mNbPolygons;
+	const Gu::HullPolygonData* PX_RESTRICT polygons = polyData.mPolygons;
+	const PxU8* PX_RESTRICT vertexData = polyData.mPolygonVertexRefs;
+
+	ConvexEdge edges[512];
+	PxU32 nbEdges = findUniqueConvexEdges(512, edges, numPolygons, polygons, vertexData);
+
+	//
+	PxVec3 s0 = segment.p0;
+	PxVec3 s1 = segment.p1;
+	Ps::makeFatEdge(s0, s1, fatConvexEdgeCoeff);
+
+	// PT: precomputed part of edge-edge intersection test
+//		const PxVec3 v1 = segment.p1 - segment.p0;
+		const PxVec3 v1 = s1 - s0;
+		PxPlane plane;
+		plane.n = v1.cross(normal);
+//		plane.d = -(plane.normal|segment.p0);
+		plane.d = -(plane.n.dot(s0));
+
+		PxU32 ii,jj;
+		Ps::closestAxis(plane.n, ii, jj);
+
+		const float coeff = 1.0f /(v1[ii]*normal[jj]-v1[jj]*normal[ii]);
+
+	//
+
+	const PxVec3* PX_RESTRICT verts = polyData.mVerts;
+	for(PxU32 i=0;i<nbEdges;i++)
+	{
+		const PxU8 vi0 = edges[i].vref0;
+		const PxU8 vi1 = edges[i].vref1;
+
+//		PxVec3 p1 = transform.transform(verts[vi0]);
+//		PxVec3 p2 = transform.transform(verts[vi1]);
+//		Ps::makeFatEdge(p1, p2, fatConvexEdgeCoeff);	// PT: TODO: make fat segment instead
+		const PxVec3 p1 = transform.transform(scaling * verts[vi0]);
+		const PxVec3 p2 = transform.transform(scaling * verts[vi1]);
+
+		PxReal dist;
+		PxVec3 ip;
+//		if(intersectEdgeEdgePreca(segment.p0, segment.p1, v1, plane, ii, jj, coeff, normal, p1, p2, dist, ip))
+//		if(intersectEdgeEdgePreca(s0, s1, v1, plane, ii, jj, coeff, normal, p1, p2, dist, ip, -FLT_MAX))
+		if(intersectEdgeEdgePreca(s0, s1, v1, plane, ii, jj, coeff, normal, p1, p2, dist, ip, -radius-contactDistance))
+//		if(intersectEdgeEdgePreca(s0, s1, v1, plane, ii, jj, coeff, normal, p1, p2, dist, ip, 0))
+		{
+			contactBuffer.contact(ip-normal*dist, normal, - (radius + dist));
+//			if(contactBuffer.count==2)	// PT: we only need 2 contacts to be stable
+//				return;
+		}
+	}
+}
+
+static void GuGenerateEEContacts2b(ContactBuffer& contactBuffer,
+									//
+									const Gu::Segment& segment, 
+									const PxReal radius, 
+									//
+									const Cm::Matrix34& transform,
+									const PolygonalData& polyData,
+									const Cm::FastVertex2ShapeScaling& scaling,
+									//
+									const PxVec3& normal,
+									const PxReal contactDistance)
+{
+	// TODO:
+	// - local space
+
+	const PxVec3 localDir = transform.rotateTranspose(normal);
+	PxU32 polyIndex = (polyData.mSelectClosestEdgeCB)(polyData, scaling, localDir);
+
+	PxVec3 s0 = segment.p0;
+	PxVec3 s1 = segment.p1;
+	Ps::makeFatEdge(s0, s1, fatConvexEdgeCoeff);
+
+	// PT: precomputed part of edge-edge intersection test
+//		const PxVec3 v1 = segment.p1 - segment.p0;
+		const PxVec3 v1 = s1 - s0;
+		PxPlane plane;
+		plane.n = -(v1.cross(normal));
+//		plane.d = -(plane.normal|segment.p0);
+		plane.d = -(plane.n.dot(s0));
+
+		PxU32 ii,jj;
+		Ps::closestAxis(plane.n, ii, jj);
+
+		const float coeff = 1.0f /(v1[jj]*normal[ii]-v1[ii]*normal[jj]);
+	//
+
+	const PxVec3* PX_RESTRICT verts = polyData.mVerts;
+
+	const Gu::HullPolygonData& polygon = polyData.mPolygons[polyIndex];
+	const PxU8* PX_RESTRICT vRefBase = polyData.mPolygonVertexRefs + polygon.mVRef8;
+	PxU32 numEdges = polygon.mNbVerts;
+
+	PxU32 a = numEdges - 1;
+	PxU32 b = 0;
+	while(numEdges--)
+	{
+//		const PxVec3 p1 = transform.transform(verts[vRefBase[a]]);
+//		const PxVec3 p2 = transform.transform(verts[vRefBase[b]]);
+		const PxVec3 p1 = transform.transform(scaling * verts[vRefBase[a]]);
+		const PxVec3 p2 = transform.transform(scaling * verts[vRefBase[b]]);
+
+		PxReal dist;
+		PxVec3 ip;
+//		bool contact = intersectEdgeEdgePreca(segment.p0, segment.p1, v1, plane, ii, jj, coeff, -normal, p1, p2, dist, ip);
+		bool contact = intersectEdgeEdgePreca(s0, s1, v1, plane, ii, jj, coeff, -normal, p1, p2, dist, ip, 0.0f);
+		if(contact && dist < radius + contactDistance)
+		{
+			contactBuffer.contact(ip-normal*dist, normal, dist - radius);
+//			if(contactBuffer.count==2)	// PT: we only need 2 contacts to be stable
+//				return;
+		}
+
+		a = b;
+		b++;
+	}
+}
+
+namespace physx
+{
+namespace Gu
+{
+bool contactCapsuleConvex(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	// Get actual shape data
+	const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
+	const PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
+
+	PxVec3 onSegment, onConvex;
+	PxReal distance;
+	PxVec3 normal_;
+	{
+		Gu::ConvexMesh* cm = static_cast<Gu::ConvexMesh*>(shapeConvex.convexMesh);
+
+		using namespace Ps::aos;
+		Vec3V closA, closB, normalV;
+		GjkStatus status;
+		FloatV dist;
+		{
+	
+			const Vec3V zeroV = V3Zero();
+			const Gu::ConvexHullData* hullData = &cm->getHull();
+
+			const FloatV capsuleHalfHeight = FLoad(shapeCapsule.halfHeight);
+
+			const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+			const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
+
+			const PsMatTransformV aToB(transform1.transformInv(transform0));
+
+			Gu::ConvexHullV convexHull(hullData, zeroV, vScale, vQuat, shapeConvex.scale.isIdentity());
+
+			//transform capsule(a) into the local space of convexHull(b), treat capsule as segment
+			Gu::CapsuleV capsule(aToB.p, aToB.rotate(V3Scale(V3UnitX(), capsuleHalfHeight)), FZero());
+
+
+			LocalConvex<CapsuleV> convexA(capsule);
+			LocalConvex<ConvexHullV> convexB(convexHull);
+			const Vec3V initialSearchDir = V3Sub(convexA.getCenter(), convexB.getCenter());
+			
+			status = gjk<LocalConvex<CapsuleV>, LocalConvex<ConvexHullV> >(convexA, convexB, initialSearchDir, FMax(),closA, closB, normalV, dist);
+		}
+	
+
+		if(status == GJK_CONTACT)
+			distance = 0.f;
+		else
+		{
+			//const FloatV sqDist = FMul(dist, dist);
+			V3StoreU(closB, onConvex);
+			FStore(dist, &distance);
+			V3StoreU(normalV, normal_);
+			onConvex = transform1.transform(onConvex);
+			normal_ = transform1.rotate(normal_);
+		}
+	}
+
+	const PxReal inflatedRadius = shapeCapsule.radius + params.mContactDistance;
+
+	if(distance >= inflatedRadius)  
+		return false;
+
+	Gu::Segment worldSegment;
+	getCapsuleSegment(transform0, shapeCapsule, worldSegment);
+
+	const bool isSphere = worldSegment.p0 == worldSegment.p1;
+	const PxU32 nbPts = PxU32(isSphere ? 1 : 2);
+
+	PX_ASSERT(contactBuffer.count==0);
+
+	Cm::FastVertex2ShapeScaling convexScaling;
+	const bool idtConvexScale = shapeConvex.scale.isIdentity();
+	if(!idtConvexScale)
+		convexScaling.init(shapeConvex.scale);
+
+	PolygonalData polyData;
+	getPolygonalData_Convex(&polyData, shapeConvex.hullData, convexScaling);
+
+//	if(0)
+	if(distance > 0.f)
+	{
+		// PT: the capsule segment doesn't intersect the convex => distance-based version
+		PxVec3 normal = -normal_;
+
+		// PT: generate VF contacts for segment's vertices vs convex
+		GuGenerateVFContacts2(	contactBuffer,
+								transform1, polyData, shapeConvex.scale,
+								nbPts, &worldSegment.p0, shapeCapsule.radius,
+								normal, params.mContactDistance);
+
+		// PT: early exit if we already have 2 stable contacts
+		if(contactBuffer.count==2)
+			return true;
+
+		// PT: else generate slower EE contacts
+		if(!isSphere)
+		{
+			const Cm::Matrix34 worldTM(transform1);
+			GuGenerateEEContacts2b(contactBuffer, worldSegment, shapeCapsule.radius,
+									worldTM, polyData, convexScaling,
+									normal, params.mContactDistance);
+		}
+
+		// PT: run VF case for convex-vertex-vs-capsule only if we don't have any contact yet
+		if(!contactBuffer.count)
+		{
+//			gVisualizeLine(onConvex, onConvex + normal, context, PxDebugColor::eARGB_RED);
+			//PxReal distance = PxSqrt(sqDistance);
+			contactBuffer.contact(onConvex, normal, distance - shapeCapsule.radius);
+		}
+	}
+	else
+	{
+		// PT: the capsule segment intersects the convex => penetration-based version
+//printf("Penetration-based:\n");
+
+		// PT: compute penetration vector (MTD)
+		PxVec3 SepAxis;
+		if(!GuCapsuleConvexOverlap(worldSegment, shapeCapsule.radius, polyData, convexScaling, transform1, NULL, &SepAxis, isSphere))
+		{
+//printf("- no overlap\n");
+			return false;
+		}
+
+		// PT: generate VF contacts for segment's vertices vs convex
+		GuGenerateVFContacts2(	contactBuffer,
+								transform1, polyData, shapeConvex.scale,
+								nbPts, &worldSegment.p0, shapeCapsule.radius,
+								SepAxis, params.mContactDistance);
+
+		// PT: early exit if we already have 2 stable contacts
+//printf("- %d VF contacts\n", contactBuffer.count);
+		if(contactBuffer.count==2)
+			return true;
+
+		// PT: else generate slower EE contacts
+		if(!isSphere)
+		{
+			GuGenerateEEContacts(contactBuffer, worldSegment, shapeCapsule.radius, params.mContactDistance, polyData, transform1, convexScaling, SepAxis);
+//printf("- %d total contacts\n", contactBuffer.count);
+		}
+	}
+	return true;
+}
+
+}
+}