@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/InternalEdgeRemovingCollector.h

@@ -0,0 +1,279 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Core/QuickSort.h>
+#include <Jolt/Core/STLLocalAllocator.h>
+#include <Jolt/Physics/Collision/CollisionDispatch.h>
+
+//#define JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+
+#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+
+JPH_NAMESPACE_BEGIN
+
+/// Removes internal edges from collision results. Can be used to filter out 'ghost collisions'.
+/// Based on: Contact generation for meshes - Pierre Terdiman (https://www.codercorner.com/MeshContacts.pdf)
+///
+/// Note that this class requires that CollideSettingsBase::mActiveEdgeMode == EActiveEdgeMode::CollideWithAll
+/// and CollideSettingsBase::mCollectFacesMode == ECollectFacesMode::CollectFaces.
+class InternalEdgeRemovingCollector : public CollideShapeCollector
+{
+	static constexpr uint cMaxLocalDelayedResults = 32;
+	static constexpr uint cMaxLocalVoidedFeatures = 128;
+
+	/// Check if a vertex is voided
+	inline bool				IsVoided(const SubShapeID &inSubShapeID, Vec3 inV) const
+	{
+		for (const Voided &vf : mVoidedFeatures)
+			if (vf.mSubShapeID == inSubShapeID
+				&& inV.IsClose(Vec3::sLoadFloat3Unsafe(vf.mFeature), 1.0e-8f))
+				return true;
+		return false;
+	}
+
+	/// Add all vertices of a face to the voided features
+	inline void				VoidFeatures(const CollideShapeResult &inResult)
+	{
+		for (const Vec3 &v : inResult.mShape2Face)
+			if (!IsVoided(inResult.mSubShapeID1, v))
+			{
+				Voided vf;
+				v.StoreFloat3(&vf.mFeature);
+				vf.mSubShapeID = inResult.mSubShapeID1;
+				mVoidedFeatures.push_back(vf);
+			}
+	}
+
+	/// Call the chained collector
+	inline void				Chain(const CollideShapeResult &inResult)
+	{
+		// Make sure the chained collector has the same context as we do
+		mChainedCollector.SetContext(GetContext());
+
+		// Forward the hit
+		mChainedCollector.AddHit(inResult);
+
+		// If our chained collector updated its early out fraction, we need to follow
+		UpdateEarlyOutFraction(mChainedCollector.GetEarlyOutFraction());
+	}
+
+	/// Call the chained collector and void all features of inResult
+	inline void				ChainAndVoid(const CollideShapeResult &inResult)
+	{
+		Chain(inResult);
+		VoidFeatures(inResult);
+
+	#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+		DebugRenderer::sInstance->DrawWirePolygon(RMat44::sTranslation(mBaseOffset), inResult.mShape2Face, Color::sGreen);
+		DebugRenderer::sInstance->DrawArrow(mBaseOffset + inResult.mContactPointOn2, mBaseOffset + inResult.mContactPointOn2 + inResult.mPenetrationAxis.NormalizedOr(Vec3::sZero()), Color::sGreen, 0.1f);
+	#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+	}
+
+public:
+	/// Constructor, configures a collector to be called with all the results that do not hit internal edges
+	explicit				InternalEdgeRemovingCollector(CollideShapeCollector &inChainedCollector
+		#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+			, RVec3Arg inBaseOffset
+		#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+		) :
+		CollideShapeCollector(inChainedCollector),
+		mChainedCollector(inChainedCollector)
+		#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+			, mBaseOffset(inBaseOffset)
+		#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+	{
+		// Initialize arrays to full capacity to avoid needless reallocation calls
+		mVoidedFeatures.reserve(cMaxLocalVoidedFeatures);
+		mDelayedResults.reserve(cMaxLocalDelayedResults);
+	}
+
+	// See: CollideShapeCollector::Reset
+	virtual void			Reset() override
+	{
+		CollideShapeCollector::Reset();
+
+		mChainedCollector.Reset();
+
+		mVoidedFeatures.clear();
+		mDelayedResults.clear();
+	}
+
+	// See: CollideShapeCollector::OnBody
+	virtual void			OnBody(const Body &inBody) override
+	{
+		// Just forward the call to our chained collector
+		mChainedCollector.OnBody(inBody);
+	}
+
+	// See: CollideShapeCollector::AddHit
+	virtual void			AddHit(const CollideShapeResult &inResult) override
+	{
+		// We only support welding when the shape is a triangle or has more vertices so that we can calculate a normal
+		if (inResult.mShape2Face.size() < 3)
+			return ChainAndVoid(inResult);
+
+		// Get the triangle normal of shape 2 face
+		Vec3 triangle_normal = (inResult.mShape2Face[1] - inResult.mShape2Face[0]).Cross(inResult.mShape2Face[2] - inResult.mShape2Face[0]);
+		float triangle_normal_len = triangle_normal.Length();
+		if (triangle_normal_len < 1e-6f)
+			return ChainAndVoid(inResult);
+
+		// If the triangle normal matches the contact normal within 1 degree, we can process the contact immediately
+		// We make the assumption here that if the contact normal and the triangle normal align that the we're dealing with a 'face contact'
+		Vec3 contact_normal = -inResult.mPenetrationAxis;
+		float contact_normal_len = inResult.mPenetrationAxis.Length();
+		if (triangle_normal.Dot(contact_normal) > 0.999848f * contact_normal_len * triangle_normal_len) // cos(1 degree)
+			return ChainAndVoid(inResult);
+
+		// Delayed processing
+		mDelayedResults.push_back(inResult);
+	}
+
+	/// After all hits have been added, call this function to process the delayed results
+	void					Flush()
+	{
+		// Sort on biggest penetration depth first
+		Array<uint, STLLocalAllocator<uint, cMaxLocalDelayedResults>> sorted_indices;
+		sorted_indices.resize(mDelayedResults.size());
+		for (uint i = 0; i < uint(mDelayedResults.size()); ++i)
+			sorted_indices[i] = i;
+		QuickSort(sorted_indices.begin(), sorted_indices.end(), [this](uint inLHS, uint inRHS) { return mDelayedResults[inLHS].mPenetrationDepth > mDelayedResults[inRHS].mPenetrationDepth; });
+
+		// Loop over all results
+		for (uint i = 0; i < uint(mDelayedResults.size()); ++i)
+		{
+			const CollideShapeResult &r = mDelayedResults[sorted_indices[i]];
+
+			// Determine which vertex or which edge is the closest to the contact point
+			float best_dist_sq = FLT_MAX;
+			uint best_v1_idx = 0;
+			uint best_v2_idx = 0;
+			uint num_v = uint(r.mShape2Face.size());
+			uint v1_idx = num_v - 1;
+			Vec3 v1 = r.mShape2Face[v1_idx] - r.mContactPointOn2;
+			for (uint v2_idx = 0; v2_idx < num_v; ++v2_idx)
+			{
+				Vec3 v2 = r.mShape2Face[v2_idx] - r.mContactPointOn2;
+				Vec3 v1_v2 = v2 - v1;
+				float denominator = v1_v2.LengthSq();
+				if (denominator < Square(FLT_EPSILON))
+				{
+					// Degenerate, assume v1 is closest, v2 will be tested in a later iteration
+					float v1_len_sq = v1.LengthSq();
+					if (v1_len_sq < best_dist_sq)
+					{
+						best_dist_sq = v1_len_sq;
+						best_v1_idx = v1_idx;
+						best_v2_idx = v1_idx;
+					}
+				}
+				else
+				{
+					// Taken from ClosestPoint::GetBaryCentricCoordinates
+					float fraction = -v1.Dot(v1_v2) / denominator;
+					if (fraction < 1.0e-6f)
+					{
+						// Closest lies on v1
+						float v1_len_sq = v1.LengthSq();
+						if (v1_len_sq < best_dist_sq)
+						{
+							best_dist_sq = v1_len_sq;
+							best_v1_idx = v1_idx;
+							best_v2_idx = v1_idx;
+						}
+					}
+					else if (fraction < 1.0f - 1.0e-6f)
+					{
+						// Closest lies on the line segment v1, v2
+						Vec3 closest = v1 + fraction * v1_v2;
+						float closest_len_sq = closest.LengthSq();
+						if (closest_len_sq < best_dist_sq)
+						{
+							best_dist_sq = closest_len_sq;
+							best_v1_idx = v1_idx;
+							best_v2_idx = v2_idx;
+						}
+					}
+					// else closest is v2, but v2 will be tested in a later iteration
+				}
+
+				v1_idx = v2_idx;
+				v1 = v2;
+			}
+
+			// Check if this vertex/edge is voided
+			bool voided = IsVoided(r.mSubShapeID1, r.mShape2Face[best_v1_idx])
+				&& (best_v1_idx == best_v2_idx || IsVoided(r.mSubShapeID1, r.mShape2Face[best_v2_idx]));
+
+		#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+			Color color = voided? Color::sRed : Color::sYellow;
+			DebugRenderer::sInstance->DrawText3D(mBaseOffset + r.mContactPointOn2, StringFormat("%d: %g", i, r.mPenetrationDepth), color, 0.1f);
+			DebugRenderer::sInstance->DrawWirePolygon(RMat44::sTranslation(mBaseOffset), r.mShape2Face, color);
+			DebugRenderer::sInstance->DrawArrow(mBaseOffset + r.mContactPointOn2, mBaseOffset + r.mContactPointOn2 + r.mPenetrationAxis.NormalizedOr(Vec3::sZero()), color, 0.1f);
+			DebugRenderer::sInstance->DrawMarker(mBaseOffset + r.mShape2Face[best_v1_idx], IsVoided(r.mSubShapeID1, r.mShape2Face[best_v1_idx])? Color::sRed : Color::sYellow, 0.1f);
+			DebugRenderer::sInstance->DrawMarker(mBaseOffset + r.mShape2Face[best_v2_idx], IsVoided(r.mSubShapeID1, r.mShape2Face[best_v2_idx])? Color::sRed : Color::sYellow, 0.1f);
+		#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+
+			// No voided features, accept the contact
+			if (!voided)
+				Chain(r);
+
+			// Void the features of this face
+			VoidFeatures(r);
+		}
+
+		// All delayed results have been processed
+		mVoidedFeatures.clear();
+		mDelayedResults.clear();
+	}
+
+	// See: CollideShapeCollector::OnBodyEnd
+	virtual void			OnBodyEnd() override
+	{
+		Flush();
+		mChainedCollector.OnBodyEnd();
+	}
+
+	/// Version of CollisionDispatch::sCollideShapeVsShape that removes internal edges
+	static void				sCollideShapeVsShape(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter = { }
+#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+		, RVec3Arg inBaseOffset = RVec3::sZero()
+#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+		)
+	{
+		JPH_ASSERT(inCollideShapeSettings.mActiveEdgeMode == EActiveEdgeMode::CollideWithAll); // Won't work without colliding with all edges
+		JPH_ASSERT(inCollideShapeSettings.mCollectFacesMode == ECollectFacesMode::CollectFaces); // Won't work without collecting faces
+
+		InternalEdgeRemovingCollector wrapper(ioCollector
+		#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+			, inBaseOffset
+		#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+		);
+		CollisionDispatch::sCollideShapeVsShape(inShape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, wrapper, inShapeFilter);
+		wrapper.Flush();
+	}
+
+private:
+	// This algorithm tests a convex shape (shape 1) against a set of polygons (shape 2).
+	// This assumption doesn't hold if the shape we're testing is a compound shape, so we must also
+	// store the sub shape ID and ignore voided features that belong to another sub shape ID.
+	struct Voided
+	{
+		Float3				mFeature;				// Feature that is voided (of shape 2). Read with Vec3::sLoadFloat3Unsafe so must not be the last member.
+		SubShapeID			mSubShapeID;			// Sub shape ID of the shape that is colliding against the feature (of shape 1).
+	};
+
+	CollideShapeCollector &	mChainedCollector;
+	Array<Voided, STLLocalAllocator<Voided, cMaxLocalVoidedFeatures>> mVoidedFeatures;
+	Array<CollideShapeResult, STLLocalAllocator<CollideShapeResult, cMaxLocalDelayedResults>> mDelayedResults;
+#ifdef JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+	RVec3					mBaseOffset; 			// Base offset for the query, used to draw the results in the right place
+#endif // JPH_INTERNAL_EDGE_REMOVING_COLLECTOR_DEBUG
+};
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/ManifoldBetweenTwoFaces.cpp

@@ -0,0 +1,271 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Physics/Collision/ManifoldBetweenTwoFaces.h>
+#include <Jolt/Physics/Constraints/ContactConstraintManager.h>
+#include <Jolt/Geometry/ClipPoly.h>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+void PruneContactPoints(Vec3Arg inPenetrationAxis, ContactPoints &ioContactPointsOn1, ContactPoints &ioContactPointsOn2 JPH_IF_DEBUG_RENDERER(, RVec3Arg inCenterOfMass))
+{
+	// Makes no sense to call this with 4 or less points
+	JPH_ASSERT(ioContactPointsOn1.size() > 4);
+
+	// Both arrays should have the same size
+	JPH_ASSERT(ioContactPointsOn1.size() == ioContactPointsOn2.size());
+
+	// Penetration axis must be normalized
+	JPH_ASSERT(inPenetrationAxis.IsNormalized());
+
+	// We use a heuristic of (distance to center of mass) * (penetration depth) to find the contact point that we should keep
+	// Neither of those two terms should ever become zero, so we clamp against this minimum value
+	constexpr float cMinDistanceSq = 1.0e-6f; // 1 mm
+
+	ContactPoints projected;
+	StaticArray<float, 64> penetration_depth_sq;
+	for (ContactPoints::size_type i = 0; i < ioContactPointsOn1.size(); ++i)
+	{
+		// Project contact points on the plane through inCenterOfMass with normal inPenetrationAxis and center around the center of mass of body 1
+		// (note that since all points are relative to inCenterOfMass we can project onto the plane through the origin)
+		Vec3 v1 = ioContactPointsOn1[i];
+		projected.push_back(v1 - v1.Dot(inPenetrationAxis) * inPenetrationAxis);
+
+		// Calculate penetration depth^2 of each point and clamp against the minimal distance
+		Vec3 v2 = ioContactPointsOn2[i];
+		penetration_depth_sq.push_back(max(cMinDistanceSq, (v2 - v1).LengthSq()));
+	}
+
+	// Find the point that is furthest away from the center of mass (its torque will have the biggest influence)
+	// and the point that has the deepest penetration depth. Use the heuristic (distance to center of mass) * (penetration depth) for this.
+	uint point1 = 0;
+	float val = max(cMinDistanceSq, projected[0].LengthSq()) * penetration_depth_sq[0];
+	for (uint i = 0; i < projected.size(); ++i)
+	{
+		float v = max(cMinDistanceSq, projected[i].LengthSq()) * penetration_depth_sq[i];
+		if (v > val)
+		{
+			val = v;
+			point1 = i;
+		}
+	}
+	Vec3 point1v = projected[point1];
+
+	// Find point furthest from the first point forming a line segment with point1. Again combine this with the heuristic
+	// for deepest point as per above.
+	uint point2 = uint(-1);
+	val = -FLT_MAX;
+	for (uint i = 0; i < projected.size(); ++i)
+		if (i != point1)
+		{
+			float v = max(cMinDistanceSq, (projected[i] - point1v).LengthSq()) * penetration_depth_sq[i];
+			if (v > val)
+			{
+				val = v;
+				point2 = i;
+			}
+		}
+	JPH_ASSERT(point2 != uint(-1));
+	Vec3 point2v = projected[point2];
+
+	// Find furthest points on both sides of the line segment in order to maximize the area
+	uint point3 = uint(-1);
+	uint point4 = uint(-1);
+	float min_val = 0.0f;
+	float max_val = 0.0f;
+	Vec3 perp = (point2v - point1v).Cross(inPenetrationAxis);
+	for (uint i = 0; i < projected.size(); ++i)
+		if (i != point1 && i != point2)
+		{
+			float v = perp.Dot(projected[i] - point1v);
+			if (v < min_val)
+			{
+				min_val = v;
+				point3 = i;
+			}
+			else if (v > max_val)
+			{
+				max_val = v;
+				point4 = i;
+			}
+		}
+
+	// Add points to array (in order so they form a polygon)
+	StaticArray<Vec3, 4> points_to_keep_on_1, points_to_keep_on_2;
+	points_to_keep_on_1.push_back(ioContactPointsOn1[point1]);
+	points_to_keep_on_2.push_back(ioContactPointsOn2[point1]);
+	if (point3 != uint(-1))
+	{
+		points_to_keep_on_1.push_back(ioContactPointsOn1[point3]);
+		points_to_keep_on_2.push_back(ioContactPointsOn2[point3]);
+	}
+	points_to_keep_on_1.push_back(ioContactPointsOn1[point2]);
+	points_to_keep_on_2.push_back(ioContactPointsOn2[point2]);
+	if (point4 != uint(-1))
+	{
+		JPH_ASSERT(point3 != point4);
+		points_to_keep_on_1.push_back(ioContactPointsOn1[point4]);
+		points_to_keep_on_2.push_back(ioContactPointsOn2[point4]);
+	}
+
+#ifdef JPH_DEBUG_RENDERER
+	if (ContactConstraintManager::sDrawContactPointReduction)
+	{
+		// Draw input polygon
+		DebugRenderer::sInstance->DrawWirePolygon(RMat44::sTranslation(inCenterOfMass), ioContactPointsOn1, Color::sOrange, 0.05f);
+
+		// Draw primary axis
+		DebugRenderer::sInstance->DrawArrow(inCenterOfMass + ioContactPointsOn1[point1], inCenterOfMass + ioContactPointsOn1[point2], Color::sRed, 0.05f);
+
+		// Draw contact points we kept
+		for (Vec3 p : points_to_keep_on_1)
+			DebugRenderer::sInstance->DrawMarker(inCenterOfMass + p, Color::sGreen, 0.1f);
+	}
+#endif // JPH_DEBUG_RENDERER
+
+	// Copy the points back to the input buffer
+	ioContactPointsOn1 = points_to_keep_on_1;
+	ioContactPointsOn2 = points_to_keep_on_2;
+}
+
+void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inMaxContactDistance, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2 JPH_IF_DEBUG_RENDERER(, RVec3Arg inCenterOfMass))
+{
+	JPH_ASSERT(inMaxContactDistance > 0.0f);
+
+#ifdef JPH_DEBUG_RENDERER
+	if (ContactConstraintManager::sDrawContactPoint)
+	{
+		RVec3 cp1 = inCenterOfMass + inContactPoint1;
+		RVec3 cp2 = inCenterOfMass + inContactPoint2;
+
+		// Draw contact points
+		DebugRenderer::sInstance->DrawMarker(cp1, Color::sRed, 0.1f);
+		DebugRenderer::sInstance->DrawMarker(cp2, Color::sGreen, 0.1f);
+
+		// Draw contact normal
+		DebugRenderer::sInstance->DrawArrow(cp1, cp1 + inPenetrationAxis.Normalized(), Color::sRed, 0.05f);
+	}
+#endif // JPH_DEBUG_RENDERER
+
+	// Remember size before adding new points, to check at the end if we added some
+	ContactPoints::size_type old_size = outContactPoints1.size();
+
+	// Both faces need to have at least 2 points or else there can never be more than 1 contact point
+	// At least one face needs to have at least 3 points (in the case that it has 2 points only if the edges match exactly you can have 2 contact points, but this situation is unstable anyhow)
+	if (min(inShape1Face.size(), inShape2Face.size()) >= 2
+		&& max(inShape1Face.size(), inShape2Face.size()) >= 3)
+	{
+		// Swap the shapes if the 2nd face doesn't have enough vertices
+		const ConvexShape::SupportingFace *shape1_face, *shape2_face;
+		ContactPoints *contact_points1, *contact_points2;
+		Vec3 penetration_axis;
+		if (inShape2Face.size() >= 3)
+		{
+			shape1_face = &inShape1Face;
+			shape2_face = &inShape2Face;
+			contact_points1 = &outContactPoints1;
+			contact_points2 = &outContactPoints2;
+			penetration_axis = inPenetrationAxis;
+		}
+		else
+		{
+			shape1_face = &inShape2Face;
+			shape2_face = &inShape1Face;
+			contact_points1 = &outContactPoints2;
+			contact_points2 = &outContactPoints1;
+			penetration_axis = -inPenetrationAxis;
+		}
+
+		// Determine plane origin and first edge direction
+		Vec3 plane_origin = shape1_face->at(0);
+		Vec3 first_edge = shape1_face->at(1) - plane_origin;
+
+		Vec3 plane_normal;
+		ConvexShape::SupportingFace clipped_face;
+		if (shape1_face->size() >= 3)
+		{
+			// Clip the polygon of face 2 against that of 1
+			ClipPolyVsPoly(*shape2_face, *shape1_face, penetration_axis, clipped_face);
+
+			// Three vertices, can just calculate the normal
+			plane_normal = first_edge.Cross(shape1_face->at(2) - plane_origin);
+		}
+		else
+		{
+			// Clip the polygon of face 2 against edge of 1
+			ClipPolyVsEdge(*shape2_face, shape1_face->at(0), shape1_face->at(1), penetration_axis, clipped_face);
+
+			// Two vertices, first find a perpendicular to the edge and penetration axis and then use the perpendicular together with the edge to form a normal
+			plane_normal = first_edge.Cross(penetration_axis).Cross(first_edge);
+		}
+
+		// If penetration axis and plane normal are perpendicular, fall back to the contact points
+		float penetration_axis_dot_plane_normal = penetration_axis.Dot(plane_normal);
+		if (penetration_axis_dot_plane_normal != 0.0f)
+		{
+			float penetration_axis_len = penetration_axis.Length();
+
+			for (Vec3 p2 : clipped_face)
+			{
+				// Project clipped face back onto the plane of face 1, we do this by solving:
+				// p1 = p2 + distance * penetration_axis / |penetration_axis|
+				// (p1 - plane_origin) . plane_normal = 0
+				// This gives us:
+				// distance = -|penetration_axis| * (p2 - plane_origin) . plane_normal / penetration_axis . plane_normal
+				float distance = (p2 - plane_origin).Dot(plane_normal) / penetration_axis_dot_plane_normal; // note left out -|penetration_axis| term
+
+				// If the point is less than inMaxContactDistance in front of the plane of face 2, add it as a contact point
+				if (distance * penetration_axis_len < inMaxContactDistance)
+				{
+					Vec3 p1 = p2 - distance * penetration_axis;
+					contact_points1->push_back(p1);
+					contact_points2->push_back(p2);
+				}
+			}
+		}
+
+	#ifdef JPH_DEBUG_RENDERER
+		if (ContactConstraintManager::sDrawSupportingFaces)
+		{
+			RMat44 com = RMat44::sTranslation(inCenterOfMass);
+
+			// Draw clipped poly
+			DebugRenderer::sInstance->DrawWirePolygon(com, clipped_face, Color::sOrange);
+
+			// Draw supporting faces
+			DebugRenderer::sInstance->DrawWirePolygon(com, inShape1Face, Color::sRed, 0.05f);
+			DebugRenderer::sInstance->DrawWirePolygon(com, inShape2Face, Color::sGreen, 0.05f);
+
+			// Draw normal
+			float plane_normal_len = plane_normal.Length();
+			if (plane_normal_len > 0.0f)
+			{
+				RVec3 plane_origin_ws = inCenterOfMass + plane_origin;
+				DebugRenderer::sInstance->DrawArrow(plane_origin_ws, plane_origin_ws + plane_normal / plane_normal_len, Color::sYellow, 0.05f);
+			}
+
+			// Draw contact points that remain after distance check
+			for (ContactPoints::size_type p = old_size; p < outContactPoints1.size(); ++p)
+			{
+				DebugRenderer::sInstance->DrawMarker(inCenterOfMass + outContactPoints1[p], Color::sYellow, 0.1f);
+				DebugRenderer::sInstance->DrawMarker(inCenterOfMass + outContactPoints2[p], Color::sOrange, 0.1f);
+			}
+		}
+	#endif // JPH_DEBUG_RENDERER
+	}
+
+	// If the clipping result is empty, use the contact point itself
+	if (outContactPoints1.size() == old_size)
+	{
+		outContactPoints1.push_back(inContactPoint1);
+		outContactPoints2.push_back(inContactPoint2);
+	}
+}
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/ManifoldBetweenTwoFaces.h

@@ -0,0 +1,44 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
+#include <Jolt/Physics/Collision/ContactListener.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Remove contact points if there are > 4 (no more than 4 are needed for a stable solution)
+/// @param inPenetrationAxis is the world space penetration axis (must be normalized)
+/// @param ioContactPointsOn1 The contact points on shape 1 relative to inCenterOfMass
+/// @param ioContactPointsOn2 The contact points on shape 2 relative to inCenterOfMass
+/// On output ioContactPointsOn1/2 are reduced to 4 or less points
+#ifdef JPH_DEBUG_RENDERER
+/// @param inCenterOfMass Center of mass position of body 1
+#endif
+JPH_EXPORT void PruneContactPoints(Vec3Arg inPenetrationAxis, ContactPoints &ioContactPointsOn1, ContactPoints &ioContactPointsOn2
+#ifdef JPH_DEBUG_RENDERER
+	, RVec3Arg inCenterOfMass
+#endif
+	);
+
+/// Determine contact points between 2 faces of 2 shapes and return them in outContactPoints 1 & 2
+/// @param inContactPoint1 The contact point on shape 1 relative to inCenterOfMass
+/// @param inContactPoint2 The contact point on shape 2 relative to inCenterOfMass
+/// @param inPenetrationAxis The local space penetration axis in world space
+/// @param inMaxContactDistance After face 2 is clipped against face 1, each remaining point on face 2 is tested against the plane of face 1. If the distance on the positive side of the plane is larger than this distance, the point will be discarded as a contact point.
+/// @param inShape1Face The supporting faces on shape 1 relative to inCenterOfMass
+/// @param inShape2Face The supporting faces on shape 2 relative to inCenterOfMass
+/// @param outContactPoints1 Returns the contact points between the two shapes for shape 1 relative to inCenterOfMass (any existing points in the output array are left as is)
+/// @param outContactPoints2 Returns the contact points between the two shapes for shape 2 relative to inCenterOfMass (any existing points in the output array are left as is)
+#ifdef JPH_DEBUG_RENDERER
+/// @param inCenterOfMass Center of mass position of body 1
+#endif
+JPH_EXPORT void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inMaxContactDistance, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2
+#ifdef JPH_DEBUG_RENDERER
+	, RVec3Arg inCenterOfMass
+#endif
+	);
+
+JPH_NAMESPACE_END