From 8d2ce679de7b1e6f1702a7fd633bdf99c89154a1 Mon Sep 17 00:00:00 2001
From: Sebastian Eibl <sebastian.eibl@fau.de>
Date: Tue, 12 Jun 2018 13:59:47 +0200
Subject: [PATCH] removed external dependency libccd
---
src/pe/CMakeLists.txt | 23 -
src/pe/collision/GJKEPAHelper.cpp | 79 --
src/pe/collision/GJKEPAHelper.h | 87 --
src/pe/extern/libccd/.gitignore | 5 -
src/pe/extern/libccd/BSD-LICENSE | 44 -
src/pe/extern/libccd/alloc.h | 50 -
src/pe/extern/libccd/ccd.c | 1001 --------------------
src/pe/extern/libccd/ccd/ccd.h | 154 ---
src/pe/extern/libccd/ccd/compiler.h | 83 --
src/pe/extern/libccd/ccd/config.h.cmake.in | 7 -
src/pe/extern/libccd/ccd/config.h.m4 | 7 -
src/pe/extern/libccd/ccd/quat.h | 239 -----
src/pe/extern/libccd/ccd/vec3.h | 339 -------
src/pe/extern/libccd/dbg.h | 65 --
src/pe/extern/libccd/list.h | 155 ---
src/pe/extern/libccd/mpr.c | 547 -----------
src/pe/extern/libccd/polytope.c | 298 ------
src/pe/extern/libccd/polytope.h | 322 -------
src/pe/extern/libccd/simplex.h | 104 --
src/pe/extern/libccd/support.c | 34 -
src/pe/extern/libccd/support.h | 55 --
src/pe/extern/libccd/vec3.c | 211 -----
tests/pe/Collision.cpp | 38 -
23 files changed, 3947 deletions(-)
delete mode 100644 src/pe/collision/GJKEPAHelper.cpp
delete mode 100644 src/pe/collision/GJKEPAHelper.h
delete mode 100644 src/pe/extern/libccd/.gitignore
delete mode 100644 src/pe/extern/libccd/BSD-LICENSE
delete mode 100644 src/pe/extern/libccd/alloc.h
delete mode 100644 src/pe/extern/libccd/ccd.c
delete mode 100644 src/pe/extern/libccd/ccd/ccd.h
delete mode 100644 src/pe/extern/libccd/ccd/compiler.h
delete mode 100644 src/pe/extern/libccd/ccd/config.h.cmake.in
delete mode 100644 src/pe/extern/libccd/ccd/config.h.m4
delete mode 100644 src/pe/extern/libccd/ccd/quat.h
delete mode 100644 src/pe/extern/libccd/ccd/vec3.h
delete mode 100644 src/pe/extern/libccd/dbg.h
delete mode 100644 src/pe/extern/libccd/list.h
delete mode 100644 src/pe/extern/libccd/mpr.c
delete mode 100644 src/pe/extern/libccd/polytope.c
delete mode 100644 src/pe/extern/libccd/polytope.h
delete mode 100644 src/pe/extern/libccd/simplex.h
delete mode 100644 src/pe/extern/libccd/support.c
delete mode 100644 src/pe/extern/libccd/support.h
delete mode 100644 src/pe/extern/libccd/vec3.c
diff --git a/src/pe/CMakeLists.txt b/src/pe/CMakeLists.txt
index 1dd7edd80..dadbb9186 100644
--- a/src/pe/CMakeLists.txt
+++ b/src/pe/CMakeLists.txt
@@ -5,27 +5,4 @@
#
###################################################################################################
-if(WALBERLA_DOUBLE_ACCURACY)
- set(CCD_DOUBLE ON)
- set(CCD_SINGLE OFF)
-else()
- set(CCD_DOUBLE OFF)
- set(CCD_SINGLE ON)
-endif()
-
-configure_file(extern/libccd/ccd/config.h.cmake.in extern/libccd/ccd/config.h)
-
-include_directories(extern/libccd)
-include_directories("${CMAKE_CURRENT_BINARY_DIR}/extern/libccd")
-
waLBerla_add_module( DEPENDS core blockforest domain_decomposition geometry stencil vtk )
-
-if( WALBERLA_CXX_COMPILER_IS_MSVC )
- SET_SOURCE_FILES_PROPERTIES( extern/libccd/ccd.c
- extern/libccd/mpr.c
- extern/libccd/polytope.c
- extern/libccd/support.c
- extern/libccd/vec3.c
- PROPERTIES LANGUAGE CXX )
-endif()
-
diff --git a/src/pe/collision/GJKEPAHelper.cpp b/src/pe/collision/GJKEPAHelper.cpp
deleted file mode 100644
index d8316cd6d..000000000
--- a/src/pe/collision/GJKEPAHelper.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-//======================================================================================================================
-//
-// This file is part of waLBerla. waLBerla is free software: you can
-// redistribute it and/or modify it under the terms of the GNU General Public
-// License as published by the Free Software Foundation, either version 3 of
-// the License, or (at your option) any later version.
-//
-// waLBerla is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-// for more details.
-//
-// You should have received a copy of the GNU General Public License along
-// with waLBerla (see COPYING.txt). If not, see <http://www.gnu.org/licenses/>.
-//
-//! \file GJKHelper.cpp
-//! \author Sebastian Eibl <sebastian.eibl@fau.de>
-//
-//======================================================================================================================
-
-//*************************************************************************************************
-// Includes
-//*************************************************************************************************
-
-#include "GJKEPAHelper.h"
-
-#include "pe/rigidbody/GeomPrimitive.h"
-
-extern "C" {
- #include "pe/extern/libccd/ccd/ccd.h"
- #include "pe/extern/libccd/ccd/quat.h"
-}
-
-#include "core/logging/Logging.h"
-
-namespace walberla {
-namespace pe {
-
-Vec3 convertVec3(const ccd_vec3_t& vec) { return Vec3(real_c(vec.v[0]), real_c(vec.v[1]), real_c(vec.v[2])); }
-ccd_vec3_t convertVec3(const Vec3& vec) { ccd_vec3_t ret; ret.v[0] = vec[0]; ret.v[1] = vec[1]; ret.v[2] = vec[2]; return ret; }
-
-void support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec)
-{
- ConstGeomID bd = reinterpret_cast<ConstGeomID> (obj);
- Vec3 d = convertVec3(*dir);
- Vec3 sup = bd->support( d );
- *vec = convertVec3(sup);
-}
-
-bool collideGJK( ConstGeomID bd1,
- ConstGeomID bd2,
- Vec3& contactPoint,
- Vec3& contactNormal,
- real_t& penetrationDepth,
- const unsigned long numIterations,
- const real_t epaTol )
-{
- ccd_t ccd;
- CCD_INIT(&ccd); // initialize ccd_t struct
-
- // set up ccd_t struct
- ccd.support1 = support; // support function for first object
- ccd.support2 = support; // support function for second object
- ccd.max_iterations = numIterations; // maximal number of iterations
- ccd.epa_tolerance = epaTol;
-
- ccd_vec3_t dir, pos;
- ccd_real_t penetrationDepthCCD;
- int intersect = ccdGJKPenetration(reinterpret_cast<const void*> (bd1), reinterpret_cast<const void*> (bd2), &ccd, &penetrationDepthCCD, &dir, &pos);
- penetrationDepth = real_c(penetrationDepthCCD);
- contactPoint = convertVec3(pos);
- contactNormal = -convertVec3(dir);
- penetrationDepth *= -1;
-
- return (intersect == 0);
-}
-
-} // namespace pe
-} // namespace walberla
diff --git a/src/pe/collision/GJKEPAHelper.h b/src/pe/collision/GJKEPAHelper.h
deleted file mode 100644
index b1d73b1a1..000000000
--- a/src/pe/collision/GJKEPAHelper.h
+++ /dev/null
@@ -1,87 +0,0 @@
-//======================================================================================================================
-//
-// This file is part of waLBerla. waLBerla is free software: you can
-// redistribute it and/or modify it under the terms of the GNU General Public
-// License as published by the Free Software Foundation, either version 3 of
-// the License, or (at your option) any later version.
-//
-// waLBerla is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-// for more details.
-//
-// You should have received a copy of the GNU General Public License along
-// with waLBerla (see COPYING.txt). If not, see <http://www.gnu.org/licenses/>.
-//
-//! \file GJKHelper.h
-//! \author Sebastian Eibl <sebastian.eibl@fau.de>
-//
-//======================================================================================================================
-
-#pragma once
-
-//*************************************************************************************************
-// Includes
-//*************************************************************************************************
-
-#include "pe/contact/Contact.h"
-#include "pe/Types.h"
-
-#include "core/math/Vector3.h"
-
-namespace walberla {
-namespace pe {
-
-static unsigned long maxGJKIterations = 100ul;
-static real_t epaTolerance = real_t(0.000001);
-
-inline
-void setMaxGJKIterations(const unsigned long& iter)
-{
- maxGJKIterations = iter;
-}
-inline
-unsigned long getMaxGJKIterations()
-{
- return maxGJKIterations;
-}
-
-inline
-void setEPATolerance(const real_t& tol)
-{
- epaTolerance = tol;
-}
-inline
-real_t getEPATolerance()
-{
- return epaTolerance;
-}
-
-bool collideGJK( ConstGeomID bd1,
- ConstGeomID bd2,
- Vec3& contactPoint,
- Vec3& contactNormal,
- real_t& penetrationDepth,
- const unsigned long numIterations = maxGJKIterations,
- const real_t epaTol = epaTolerance );
-
-template <typename Container>
-bool collideGJK( GeomID bd1,
- GeomID bd2,
- Container& container,
- const unsigned long numIterations = maxGJKIterations,
- const real_t epaTol = epaTolerance )
-{
- real_t penetrationDepth;
- Vec3 contactPoint;
- Vec3 contactNormal;
- bool retVal = collideGJK(bd1, bd2, contactPoint, contactNormal, penetrationDepth, numIterations, epaTol);
- if (retVal)
- {
- container.push_back( Contact(bd1, bd2, contactPoint, contactNormal, penetrationDepth) );
- }
- return retVal;
-}
-
-} // namespace pe
-} // namespace walberla
diff --git a/src/pe/extern/libccd/.gitignore b/src/pe/extern/libccd/.gitignore
deleted file mode 100644
index e3fa61345..000000000
--- a/src/pe/extern/libccd/.gitignore
+++ /dev/null
@@ -1,5 +0,0 @@
-*.o
-*.a
-ccd/config.h
-ccd/config.h.in
-
diff --git a/src/pe/extern/libccd/BSD-LICENSE b/src/pe/extern/libccd/BSD-LICENSE
deleted file mode 100644
index 1cb2dc53d..000000000
--- a/src/pe/extern/libccd/BSD-LICENSE
+++ /dev/null
@@ -1,44 +0,0 @@
-libccd
--------
-
-Copyright (c)2010-2012 Daniel Fiser <danfis@danfis.cz>,
-Intelligent and Mobile Robotics Group, Department of Cybernetics,
-Faculty of Electrical Engineering, Czech Technical University in Prague.
-All rights reserved.
-
-
-This work was supported by SYMBRION and REPLICATOR projects.
-The SYMBRION project is funded by European Commission within the work
-"Future and Emergent Technologies Proactive" under grant agreement no.
-216342.
-The REPLICATOR project is funded within the work programme "Cognitive
-Systems, Interaction, Robotics" under grant agreement no. 216240.
-http://www.symbrion.eu/
-http://www.replicators.eu/
-
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
- - Redistributions of source code must retain the above copyright notice,
- this list of conditions and the following disclaimer.
-
- - Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
-
- - Neither the name of the University nor the names of its contributors
- may be used to endorse or promote products derived from this software
- without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/pe/extern/libccd/alloc.h b/src/pe/extern/libccd/alloc.h
deleted file mode 100644
index 7cba3a4d7..000000000
--- a/src/pe/extern/libccd/alloc.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_ALLOC_H__
-#define __CCD_ALLOC_H__
-
-#include <stdlib.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/**
- * Functions and macros required for memory allocation.
- */
-
-/* Memory allocation: */
-#define __CCD_ALLOC_MEMORY(type, ptr_old, size) \
- (type *)realloc((void *)ptr_old, (size))
-
-/** Allocate memory for one element of type. */
-#define CCD_ALLOC(type) \
- __CCD_ALLOC_MEMORY(type, NULL, sizeof(type))
-
-/** Allocate memory for array of elements of type type. */
-#define CCD_ALLOC_ARR(type, num_elements) \
- __CCD_ALLOC_MEMORY(type, NULL, sizeof(type) * (num_elements))
-
-#define CCD_REALLOC_ARR(ptr, type, num_elements) \
- __CCD_ALLOC_MEMORY(type, ptr, sizeof(type) * (num_elements))
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_ALLOC_H__ */
diff --git a/src/pe/extern/libccd/ccd.c b/src/pe/extern/libccd/ccd.c
deleted file mode 100644
index 79b2f42c9..000000000
--- a/src/pe/extern/libccd/ccd.c
+++ /dev/null
@@ -1,1001 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#include <stdio.h>
-#include <float.h>
-#include <ccd/ccd.h>
-#include <ccd/vec3.h>
-#include "simplex.h"
-#include "polytope.h"
-#include "alloc.h"
-#include "dbg.h"
-
-
-/** Performs GJK algorithm. Returns 0 if intersection was found and simplex
- * is filled with resulting polytope. */
-static int __ccdGJK(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_simplex_t *simplex);
-
-/** Performs GJK+EPA algorithm. Returns 0 if intersection was found and
- * pt is filled with resulting polytope and nearest with pointer to
- * nearest element (vertex, edge, face) of polytope to origin. */
-static int __ccdGJKEPA(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- ccd_pt_t *pt, ccd_pt_el_t **nearest);
-
-
-/** Returns true if simplex contains origin.
- * This function also alteres simplex and dir according to further
- * processing of GJK algorithm. */
-static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir);
-static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir);
-static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir);
-static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir);
-
-/** d = a x b x c */
-_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
- const ccd_vec3_t *c, ccd_vec3_t *d);
-
-
-/** Transforms simplex to polytope. It is assumed that simplex has 4
- * vertices. */
-static int simplexToPolytope4(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- ccd_simplex_t *simplex,
- ccd_pt_t *pt, ccd_pt_el_t **nearest);
-
-/** Transforms simplex to polytope, three vertices required */
-static int simplexToPolytope3(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- const ccd_simplex_t *simplex,
- ccd_pt_t *pt, ccd_pt_el_t **nearest);
-
-/** Transforms simplex to polytope, two vertices required */
-static int simplexToPolytope2(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- const ccd_simplex_t *simplex,
- ccd_pt_t *pt, ccd_pt_el_t **nearest);
-
-/** Expands polytope using new vertex v.
- * Return 0 on success, -2 on memory allocation failure.*/
-static int expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el,
- const ccd_support_t *newv);
-
-/** Finds next support point (at stores it in out argument).
- * Returns 0 on success, -1 otherwise */
-static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd,
- const ccd_pt_el_t *el,
- ccd_support_t *out);
-
-
-
-void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir)
-{
- (void)(o1);
- (void)(o2);
-
- ccdVec3Set(dir, CCD_ONE, CCD_ZERO, CCD_ZERO);
-}
-
-int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd)
-{
- ccd_simplex_t simplex;
- return __ccdGJK(obj1, obj2, ccd, &simplex) == 0;
-}
-
-int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_vec3_t *sep)
-{
- ccd_pt_t polytope;
- ccd_pt_el_t *nearest;
- int ret;
-
- ccdPtInit(&polytope);
-
- ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest);
-
- // set separation vector
- if (nearest)
- ccdVec3Copy(sep, &nearest->witness);
-
- ccdPtDestroy(&polytope);
-
- return ret;
-}
-
-
-static int penEPAPosCmp(const void *a, const void *b)
-{
- ccd_pt_vertex_t *v1, *v2;
- v1 = *(ccd_pt_vertex_t **)a;
- v2 = *(ccd_pt_vertex_t **)b;
-
- if (ccdEq(v1->dist, v2->dist)){
- return 0;
- }else if (v1->dist < v2->dist){
- return -1;
- }else{
- return 1;
- }
-}
-
-static int penEPAPos(const ccd_pt_t *pt, const ccd_pt_el_t * nearest,
- ccd_vec3_t *pos)
-{
- (void)(nearest);
-
- ccd_pt_vertex_t *v;
- ccd_pt_vertex_t **vs;
- size_t i, len;
- ccd_real_t scale;
-
- // compute median
- len = 0;
- ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
- len++;
- }
-
- vs = CCD_ALLOC_ARR(ccd_pt_vertex_t *, len);
- if (vs == NULL)
- return -1;
-
- i = 0;
- ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
- vs[i++] = v;
- }
-
- qsort(vs, len, sizeof(ccd_pt_vertex_t *), penEPAPosCmp);
-
- ccdVec3Set(pos, CCD_ZERO, CCD_ZERO, CCD_ZERO);
- scale = CCD_ZERO;
- if (len % 2 == 1)
- len++;
-
- for (i = 0; i < len / 2; i++){
- ccdVec3Add(pos, &vs[i]->v.v1);
- ccdVec3Add(pos, &vs[i]->v.v2);
- scale += CCD_REAL(2.);
- }
- ccdVec3Scale(pos, CCD_ONE / scale);
-
- free(vs);
-
- return 0;
-}
-
-int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
-{
- ccd_pt_t polytope;
- ccd_pt_el_t *nearest;
- int ret;
-
- ccdPtInit(&polytope);
-
- ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest);
-
- // set separation vector
- if (ret == 0 && nearest){
- // compute depth of penetration
- *depth = CCD_SQRT(nearest->dist);
-
- // store normalized direction vector
- ccdVec3Copy(dir, &nearest->witness);
- ccdVec3Normalize(dir);
-
- // compute position
- if (penEPAPos(&polytope, nearest, pos) != 0){
- ccdPtDestroy(&polytope);
- return -2;
- }
- }
-
- ccdPtDestroy(&polytope);
-
- return ret;
-}
-
-
-static int __ccdGJK(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_simplex_t *simplex)
-{
- unsigned long iterations;
- ccd_vec3_t dir; // direction vector
- ccd_support_t last; // last support point
- int do_simplex_res;
-
- // initialize simplex struct
- ccdSimplexInit(simplex);
-
- // get first direction
- ccd->first_dir(obj1, obj2, &dir);
- // get first support point
- __ccdSupport(obj1, obj2, &dir, ccd, &last);
- // and add this point to simplex as last one
- ccdSimplexAdd(simplex, &last);
-
- // set up direction vector to as (O - last) which is exactly -last
- ccdVec3Copy(&dir, &last.v);
- ccdVec3Scale(&dir, -CCD_ONE);
-
- // start iterations
- for (iterations = 0UL; iterations < ccd->max_iterations; ++iterations) {
- // obtain support point
- __ccdSupport(obj1, obj2, &dir, ccd, &last);
-
- // check if farthest point in Minkowski difference in direction dir
- // isn't somewhere before origin (the test on negative dot product)
- // - because if it is, objects are not intersecting at all.
- if (ccdVec3Dot(&last.v, &dir) < CCD_ZERO){
- return -1; // intersection not found
- }
-
- // add last support vector to simplex
- ccdSimplexAdd(simplex, &last);
-
- // if doSimplex returns 1 if objects intersect, -1 if objects don't
- // intersect and 0 if algorithm should continue
- do_simplex_res = doSimplex(simplex, &dir);
- if (do_simplex_res == 1){
- return 0; // intersection found
- }else if (do_simplex_res == -1){
- return -1; // intersection not found
- }
-
- if (ccdIsZero(ccdVec3Len2(&dir))){
- return -1; // intersection not found
- }
- }
-
- // intersection wasn't found
- return -1;
-}
-
-static int __ccdGJKEPA(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- ccd_pt_t *polytope, ccd_pt_el_t **nearest)
-{
- ccd_simplex_t simplex;
- ccd_support_t supp; // support point
- int ret, size;
-
- *nearest = NULL;
-
- // run GJK and obtain terminal simplex
- ret = __ccdGJK(obj1, obj2, ccd, &simplex);
- if (ret != 0)
- return -1;
-
- // transform simplex to polytope - simplex won't be used anymore
- size = ccdSimplexSize(&simplex);
- if (size == 4){
- ret = simplexToPolytope4(obj1, obj2, ccd, &simplex, polytope, nearest);
- }else if (size == 3){
- ret = simplexToPolytope3(obj1, obj2, ccd, &simplex, polytope, nearest);
- }else{ // size == 2
- ret = simplexToPolytope2(obj1, obj2, ccd, &simplex, polytope, nearest);
- }
-
- if (ret == -1){
- // touching contact
- return 0;
- }else if (ret == -2){
- // failed memory allocation
- return -2;
- }
-
-
- while (1){
- // get triangle nearest to origin
- *nearest = ccdPtNearest(polytope);
-
- // get next support point
- if (nextSupport(obj1, obj2, ccd, *nearest, &supp) != 0)
- break;
-
- // expand nearest triangle using new point - supp
- if (expandPolytope(polytope, *nearest, &supp) != 0)
- return -2;
- }
-
- return 0;
-}
-
-
-
-static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir)
-{
- const ccd_support_t *A, *B;
- ccd_vec3_t AB, AO, tmp;
- ccd_real_t dot;
-
- // get last added as A
- A = ccdSimplexLast(simplex);
- // get the other point
- B = ccdSimplexPoint(simplex, 0);
- // compute AB oriented segment
- ccdVec3Sub2(&AB, &B->v, &A->v);
- // compute AO vector
- ccdVec3Copy(&AO, &A->v);
- ccdVec3Scale(&AO, -CCD_ONE);
-
- // dot product AB . AO
- dot = ccdVec3Dot(&AB, &AO);
-
- // check if origin doesn't lie on AB segment
- ccdVec3Cross(&tmp, &AB, &AO);
- if (ccdIsZero(ccdVec3Len2(&tmp)) && dot > CCD_ZERO){
- return 1;
- }
-
- // check if origin is in area where AB segment is
- if (ccdIsZero(dot) || dot < CCD_ZERO){
- // origin is in outside are of A
- ccdSimplexSet(simplex, 0, A);
- ccdSimplexSetSize(simplex, 1);
- ccdVec3Copy(dir, &AO);
- }else{
- // origin is in area where AB segment is
-
- // keep simplex untouched and set direction to
- // AB x AO x AB
- tripleCross(&AB, &AO, &AB, dir);
- }
-
- return 0;
-}
-
-static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir)
-{
- const ccd_support_t *A, *B, *C;
- ccd_vec3_t AO, AB, AC, ABC, tmp;
- ccd_real_t dot, dist;
-
- // get last added as A
- A = ccdSimplexLast(simplex);
- // get the other points
- B = ccdSimplexPoint(simplex, 1);
- C = ccdSimplexPoint(simplex, 0);
-
- // check touching contact
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL);
- if (ccdIsZero(dist)){
- return 1;
- }
-
- // check if triangle is really triangle (has area > 0)
- // if not simplex can't be expanded and thus no itersection is found
- if (ccdVec3Eq(&A->v, &B->v) || ccdVec3Eq(&A->v, &C->v)){
- return -1;
- }
-
- // compute AO vector
- ccdVec3Copy(&AO, &A->v);
- ccdVec3Scale(&AO, -CCD_ONE);
-
- // compute AB and AC segments and ABC vector (perpendircular to triangle)
- ccdVec3Sub2(&AB, &B->v, &A->v);
- ccdVec3Sub2(&AC, &C->v, &A->v);
- ccdVec3Cross(&ABC, &AB, &AC);
-
- ccdVec3Cross(&tmp, &ABC, &AC);
- dot = ccdVec3Dot(&tmp, &AO);
- if (ccdIsZero(dot) || dot > CCD_ZERO){
- dot = ccdVec3Dot(&AC, &AO);
- if (ccdIsZero(dot) || dot > CCD_ZERO){
- // C is already in place
- ccdSimplexSet(simplex, 1, A);
- ccdSimplexSetSize(simplex, 2);
- tripleCross(&AC, &AO, &AC, dir);
- }else{
-ccd_do_simplex3_45:
- dot = ccdVec3Dot(&AB, &AO);
- if (ccdIsZero(dot) || dot > CCD_ZERO){
- ccdSimplexSet(simplex, 0, B);
- ccdSimplexSet(simplex, 1, A);
- ccdSimplexSetSize(simplex, 2);
- tripleCross(&AB, &AO, &AB, dir);
- }else{
- ccdSimplexSet(simplex, 0, A);
- ccdSimplexSetSize(simplex, 1);
- ccdVec3Copy(dir, &AO);
- }
- }
- }else{
- ccdVec3Cross(&tmp, &AB, &ABC);
- dot = ccdVec3Dot(&tmp, &AO);
- if (ccdIsZero(dot) || dot > CCD_ZERO){
- goto ccd_do_simplex3_45;
- }else{
- dot = ccdVec3Dot(&ABC, &AO);
- if (ccdIsZero(dot) || dot > CCD_ZERO){
- ccdVec3Copy(dir, &ABC);
- }else{
- ccd_support_t Ctmp;
- ccdSupportCopy(&Ctmp, C);
- ccdSimplexSet(simplex, 0, B);
- ccdSimplexSet(simplex, 1, &Ctmp);
-
- ccdVec3Copy(dir, &ABC);
- ccdVec3Scale(dir, -CCD_ONE);
- }
- }
- }
-
- return 0;
-}
-
-static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir)
-{
- const ccd_support_t *A, *B, *C, *D;
- ccd_vec3_t AO, AB, AC, AD, ABC, ACD, ADB;
- int B_on_ACD, C_on_ADB, D_on_ABC;
- int AB_O, AC_O, AD_O;
- ccd_real_t dist;
-
- // get last added as A
- A = ccdSimplexLast(simplex);
- // get the other points
- B = ccdSimplexPoint(simplex, 2);
- C = ccdSimplexPoint(simplex, 1);
- D = ccdSimplexPoint(simplex, 0);
-
- // check if tetrahedron is really tetrahedron (has volume > 0)
- // if it is not simplex can't be expanded and thus no intersection is
- // found
- dist = ccdVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, NULL);
- if (ccdIsZero(dist)){
- return -1;
- }
-
- // check if origin lies on some of tetrahedron's face - if so objects
- // intersect
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL);
- if (ccdIsZero(dist))
- return 1;
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &C->v, &D->v, NULL);
- if (ccdIsZero(dist))
- return 1;
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &D->v, NULL);
- if (ccdIsZero(dist))
- return 1;
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &B->v, &C->v, &D->v, NULL);
- if (ccdIsZero(dist))
- return 1;
-
- // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors
- ccdVec3Copy(&AO, &A->v);
- ccdVec3Scale(&AO, -CCD_ONE);
- ccdVec3Sub2(&AB, &B->v, &A->v);
- ccdVec3Sub2(&AC, &C->v, &A->v);
- ccdVec3Sub2(&AD, &D->v, &A->v);
- ccdVec3Cross(&ABC, &AB, &AC);
- ccdVec3Cross(&ACD, &AC, &AD);
- ccdVec3Cross(&ADB, &AD, &AB);
-
- // side (positive or negative) of B, C, D relative to planes ACD, ADB
- // and ABC respectively
- B_on_ACD = ccdSign(ccdVec3Dot(&ACD, &AB));
- C_on_ADB = ccdSign(ccdVec3Dot(&ADB, &AC));
- D_on_ABC = ccdSign(ccdVec3Dot(&ABC, &AD));
-
- // whether origin is on same side of ACD, ADB, ABC as B, C, D
- // respectively
- AB_O = ccdSign(ccdVec3Dot(&ACD, &AO)) == B_on_ACD;
- AC_O = ccdSign(ccdVec3Dot(&ADB, &AO)) == C_on_ADB;
- AD_O = ccdSign(ccdVec3Dot(&ABC, &AO)) == D_on_ABC;
-
- if (AB_O && AC_O && AD_O){
- // origin is in tetrahedron
- return 1;
-
- // rearrange simplex to triangle and call doSimplex3()
- }else if (!AB_O){
- // B is farthest from the origin among all of the tetrahedron's
- // points, so remove it from the list and go on with the triangle
- // case
-
- // D and C are in place
- ccdSimplexSet(simplex, 2, A);
- ccdSimplexSetSize(simplex, 3);
- }else if (!AC_O){
- // C is farthest
- ccdSimplexSet(simplex, 1, D);
- ccdSimplexSet(simplex, 0, B);
- ccdSimplexSet(simplex, 2, A);
- ccdSimplexSetSize(simplex, 3);
- }else{ // (!AD_O)
- ccdSimplexSet(simplex, 0, C);
- ccdSimplexSet(simplex, 1, B);
- ccdSimplexSet(simplex, 2, A);
- ccdSimplexSetSize(simplex, 3);
- }
-
- return doSimplex3(simplex, dir);
-}
-
-static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir)
-{
- if (ccdSimplexSize(simplex) == 2){
- // simplex contains segment only one segment
- return doSimplex2(simplex, dir);
- }else if (ccdSimplexSize(simplex) == 3){
- // simplex contains triangle
- return doSimplex3(simplex, dir);
- }else{ // ccdSimplexSize(simplex) == 4
- // tetrahedron - this is the only shape which can encapsule origin
- // so doSimplex4() also contains test on it
- return doSimplex4(simplex, dir);
- }
-}
-
-
-_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
- const ccd_vec3_t *c, ccd_vec3_t *d)
-{
- ccd_vec3_t e;
- ccdVec3Cross(&e, a, b);
- ccdVec3Cross(d, &e, c);
-}
-
-
-
-/** Transforms simplex to polytope. It is assumed that simplex has 4
- * vertices! */
-static int simplexToPolytope4(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- ccd_simplex_t *simplex,
- ccd_pt_t *pt, ccd_pt_el_t **nearest)
-{
- const ccd_support_t *a, *b, *c, *d;
- int use_polytope3;
- ccd_real_t dist;
- ccd_pt_vertex_t *v[4];
- ccd_pt_edge_t *e[6];
- size_t i;
-
- a = ccdSimplexPoint(simplex, 0);
- b = ccdSimplexPoint(simplex, 1);
- c = ccdSimplexPoint(simplex, 2);
- d = ccdSimplexPoint(simplex, 3);
-
- // check if origin lies on some of tetrahedron's face - if so use
- // simplexToPolytope3()
- use_polytope3 = 0;
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &c->v, NULL);
- if (ccdIsZero(dist)){
- use_polytope3 = 1;
- }
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &c->v, &d->v, NULL);
- if (ccdIsZero(dist)){
- use_polytope3 = 1;
- ccdSimplexSet(simplex, 1, c);
- ccdSimplexSet(simplex, 2, d);
- }
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &d->v, NULL);
- if (ccdIsZero(dist)){
- use_polytope3 = 1;
- ccdSimplexSet(simplex, 2, d);
- }
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, &b->v, &c->v, &d->v, NULL);
- if (ccdIsZero(dist)){
- use_polytope3 = 1;
- ccdSimplexSet(simplex, 0, b);
- ccdSimplexSet(simplex, 1, c);
- ccdSimplexSet(simplex, 2, d);
- }
-
- if (use_polytope3){
- ccdSimplexSetSize(simplex, 3);
- return simplexToPolytope3(obj1, obj2, ccd, simplex, pt, nearest);
- }
-
- // no touching contact - simply create tetrahedron
- for (i = 0; i < 4; i++){
- v[i] = ccdPtAddVertex(pt, ccdSimplexPoint(simplex, (int)i));
- }
-
- e[0] = ccdPtAddEdge(pt, v[0], v[1]);
- e[1] = ccdPtAddEdge(pt, v[1], v[2]);
- e[2] = ccdPtAddEdge(pt, v[2], v[0]);
- e[3] = ccdPtAddEdge(pt, v[3], v[0]);
- e[4] = ccdPtAddEdge(pt, v[3], v[1]);
- e[5] = ccdPtAddEdge(pt, v[3], v[2]);
-
- // ccdPtAdd*() functions return NULL either if the memory allocation
- // failed of if any of the input pointers are NULL, so the bad
- // allocation can be checked by the last calls of ccdPtAddFace()
- // because the rest of the bad allocations eventually "bubble up" here
- if (ccdPtAddFace(pt, e[0], e[1], e[2]) == NULL
- || ccdPtAddFace(pt, e[3], e[4], e[0]) == NULL
- || ccdPtAddFace(pt, e[4], e[5], e[1]) == NULL
- || ccdPtAddFace(pt, e[5], e[3], e[2]) == NULL){
- return -2;
- }
-
- return 0;
-}
-
-/** Transforms simplex to polytope, three vertices required */
-static int simplexToPolytope3(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- const ccd_simplex_t *simplex,
- ccd_pt_t *pt, ccd_pt_el_t **nearest)
-{
- const ccd_support_t *a, *b, *c;
- ccd_support_t d, d2;
- ccd_vec3_t ab, ac, dir;
- ccd_pt_vertex_t *v[5];
- ccd_pt_edge_t *e[9];
- ccd_real_t dist, dist2;
-
- *nearest = NULL;
-
- a = ccdSimplexPoint(simplex, 0);
- b = ccdSimplexPoint(simplex, 1);
- c = ccdSimplexPoint(simplex, 2);
-
- // If only one triangle left from previous GJK run origin lies on this
- // triangle. So it is necessary to expand triangle into two
- // tetrahedrons connected with base (which is exactly abc triangle).
-
- // get next support point in direction of normal of triangle
- ccdVec3Sub2(&ab, &b->v, &a->v);
- ccdVec3Sub2(&ac, &c->v, &a->v);
- ccdVec3Cross(&dir, &ab, &ac);
- __ccdSupport(obj1, obj2, &dir, ccd, &d);
- dist = ccdVec3PointTriDist2(&d.v, &a->v, &b->v, &c->v, NULL);
-
- // and second one take in opposite direction
- ccdVec3Scale(&dir, -CCD_ONE);
- __ccdSupport(obj1, obj2, &dir, ccd, &d2);
- dist2 = ccdVec3PointTriDist2(&d2.v, &a->v, &b->v, &c->v, NULL);
-
- // check if face isn't already on edge of minkowski sum and thus we
- // have touching contact
- if (ccdIsZero(dist) || ccdIsZero(dist2)){
- v[0] = ccdPtAddVertex(pt, a);
- v[1] = ccdPtAddVertex(pt, b);
- v[2] = ccdPtAddVertex(pt, c);
- e[0] = ccdPtAddEdge(pt, v[0], v[1]);
- e[1] = ccdPtAddEdge(pt, v[1], v[2]);
- e[2] = ccdPtAddEdge(pt, v[2], v[0]);
- *nearest = (ccd_pt_el_t *)ccdPtAddFace(pt, e[0], e[1], e[2]);
- if (*nearest == NULL)
- return -2;
-
- return -1;
- }
-
- // form polyhedron
- v[0] = ccdPtAddVertex(pt, a);
- v[1] = ccdPtAddVertex(pt, b);
- v[2] = ccdPtAddVertex(pt, c);
- v[3] = ccdPtAddVertex(pt, &d);
- v[4] = ccdPtAddVertex(pt, &d2);
-
- e[0] = ccdPtAddEdge(pt, v[0], v[1]);
- e[1] = ccdPtAddEdge(pt, v[1], v[2]);
- e[2] = ccdPtAddEdge(pt, v[2], v[0]);
-
- e[3] = ccdPtAddEdge(pt, v[3], v[0]);
- e[4] = ccdPtAddEdge(pt, v[3], v[1]);
- e[5] = ccdPtAddEdge(pt, v[3], v[2]);
-
- e[6] = ccdPtAddEdge(pt, v[4], v[0]);
- e[7] = ccdPtAddEdge(pt, v[4], v[1]);
- e[8] = ccdPtAddEdge(pt, v[4], v[2]);
-
- if (ccdPtAddFace(pt, e[3], e[4], e[0]) == NULL
- || ccdPtAddFace(pt, e[4], e[5], e[1]) == NULL
- || ccdPtAddFace(pt, e[5], e[3], e[2]) == NULL
-
- || ccdPtAddFace(pt, e[6], e[7], e[0]) == NULL
- || ccdPtAddFace(pt, e[7], e[8], e[1]) == NULL
- || ccdPtAddFace(pt, e[8], e[6], e[2]) == NULL){
- return -2;
- }
-
- return 0;
-}
-
-/** Transforms simplex to polytope, two vertices required */
-static int simplexToPolytope2(const void *obj1, const void *obj2,
- const ccd_t *ccd,
- const ccd_simplex_t *simplex,
- ccd_pt_t *pt, ccd_pt_el_t **nearest)
-{
- const ccd_support_t *a, *b;
- ccd_vec3_t ab, ac, dir;
- ccd_support_t supp[4];
- ccd_pt_vertex_t *v[6];
- ccd_pt_edge_t *e[12];
- size_t i;
- int found;
-
- a = ccdSimplexPoint(simplex, 0);
- b = ccdSimplexPoint(simplex, 1);
-
- // This situation is a bit tricky. If only one segment comes from
- // previous run of GJK - it means that either this segment is on
- // minkowski edge (and thus we have touch contact) or it it isn't and
- // therefore segment is somewhere *inside* minkowski sum and it *must*
- // be possible to fully enclose this segment with polyhedron formed by
- // at least 8 triangle faces.
-
- // get first support point (any)
- found = 0;
- for (i = 0; i < ccd_points_on_sphere_len; i++){
- __ccdSupport(obj1, obj2, &ccd_points_on_sphere[i], ccd, &supp[0]);
- if (!ccdVec3Eq(&a->v, &supp[0].v) && !ccdVec3Eq(&b->v, &supp[0].v)){
- found = 1;
- break;
- }
- }
- if (!found)
- goto simplexToPolytope2_touching_contact;
-
- // get second support point in opposite direction than supp[0]
- ccdVec3Copy(&dir, &supp[0].v);
- ccdVec3Scale(&dir, -CCD_ONE);
- __ccdSupport(obj1, obj2, &dir, ccd, &supp[1]);
- if (ccdVec3Eq(&a->v, &supp[1].v) || ccdVec3Eq(&b->v, &supp[1].v))
- goto simplexToPolytope2_touching_contact;
-
- // next will be in direction of normal of triangle a,supp[0],supp[1]
- ccdVec3Sub2(&ab, &supp[0].v, &a->v);
- ccdVec3Sub2(&ac, &supp[1].v, &a->v);
- ccdVec3Cross(&dir, &ab, &ac);
- __ccdSupport(obj1, obj2, &dir, ccd, &supp[2]);
- if (ccdVec3Eq(&a->v, &supp[2].v) || ccdVec3Eq(&b->v, &supp[2].v))
- goto simplexToPolytope2_touching_contact;
-
- // and last one will be in opposite direction
- ccdVec3Scale(&dir, -CCD_ONE);
- __ccdSupport(obj1, obj2, &dir, ccd, &supp[3]);
- if (ccdVec3Eq(&a->v, &supp[3].v) || ccdVec3Eq(&b->v, &supp[3].v))
- goto simplexToPolytope2_touching_contact;
-
- goto simplexToPolytope2_not_touching_contact;
-simplexToPolytope2_touching_contact:
- v[0] = ccdPtAddVertex(pt, a);
- v[1] = ccdPtAddVertex(pt, b);
- *nearest = (ccd_pt_el_t *)ccdPtAddEdge(pt, v[0], v[1]);
- if (*nearest == NULL)
- return -2;
-
- return -1;
-
-simplexToPolytope2_not_touching_contact:
- // form polyhedron
- v[0] = ccdPtAddVertex(pt, a);
- v[1] = ccdPtAddVertex(pt, &supp[0]);
- v[2] = ccdPtAddVertex(pt, b);
- v[3] = ccdPtAddVertex(pt, &supp[1]);
- v[4] = ccdPtAddVertex(pt, &supp[2]);
- v[5] = ccdPtAddVertex(pt, &supp[3]);
-
- e[0] = ccdPtAddEdge(pt, v[0], v[1]);
- e[1] = ccdPtAddEdge(pt, v[1], v[2]);
- e[2] = ccdPtAddEdge(pt, v[2], v[3]);
- e[3] = ccdPtAddEdge(pt, v[3], v[0]);
-
- e[4] = ccdPtAddEdge(pt, v[4], v[0]);
- e[5] = ccdPtAddEdge(pt, v[4], v[1]);
- e[6] = ccdPtAddEdge(pt, v[4], v[2]);
- e[7] = ccdPtAddEdge(pt, v[4], v[3]);
-
- e[8] = ccdPtAddEdge(pt, v[5], v[0]);
- e[9] = ccdPtAddEdge(pt, v[5], v[1]);
- e[10] = ccdPtAddEdge(pt, v[5], v[2]);
- e[11] = ccdPtAddEdge(pt, v[5], v[3]);
-
- if (ccdPtAddFace(pt, e[4], e[5], e[0]) == NULL
- || ccdPtAddFace(pt, e[5], e[6], e[1]) == NULL
- || ccdPtAddFace(pt, e[6], e[7], e[2]) == NULL
- || ccdPtAddFace(pt, e[7], e[4], e[3]) == NULL
-
- || ccdPtAddFace(pt, e[8], e[9], e[0]) == NULL
- || ccdPtAddFace(pt, e[9], e[10], e[1]) == NULL
- || ccdPtAddFace(pt, e[10], e[11], e[2]) == NULL
- || ccdPtAddFace(pt, e[11], e[8], e[3]) == NULL){
- return -2;
- }
-
- return 0;
-}
-
-/** Expands polytope's tri by new vertex v. Triangle tri is replaced by
- * three triangles each with one vertex in v. */
-static int expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el,
- const ccd_support_t *newv)
-{
- ccd_pt_vertex_t *v[5];
- ccd_pt_edge_t *e[8];
- ccd_pt_face_t *f[2];
-
-
- // element can be either segment or triangle
- if (el->type == CCD_PT_EDGE){
- // In this case, segment should be replaced by new point.
- // Simpliest case is when segment stands alone and in this case
- // this segment is replaced by two other segments both connected to
- // newv.
- // Segment can be also connected to max two faces and in that case
- // each face must be replaced by two other faces. To do this
- // correctly it is necessary to have correctly ordered edges and
- // vertices which is exactly what is done in following code.
- //
-
- ccdPtEdgeVertices((const ccd_pt_edge_t *)el, &v[0], &v[2]);
-
- ccdPtEdgeFaces((ccd_pt_edge_t *)el, &f[0], &f[1]);
-
- if (f[0]){
- ccdPtFaceEdges(f[0], &e[0], &e[1], &e[2]);
- if (e[0] == (ccd_pt_edge_t *)el){
- e[0] = e[2];
- }else if (e[1] == (ccd_pt_edge_t *)el){
- e[1] = e[2];
- }
- ccdPtEdgeVertices(e[0], &v[1], &v[3]);
- if (v[1] != v[0] && v[3] != v[0]){
- e[2] = e[0];
- e[0] = e[1];
- e[1] = e[2];
- if (v[1] == v[2])
- v[1] = v[3];
- }else{
- if (v[1] == v[0])
- v[1] = v[3];
- }
-
- if (f[1]){
- ccdPtFaceEdges(f[1], &e[2], &e[3], &e[4]);
- if (e[2] == (ccd_pt_edge_t *)el){
- e[2] = e[4];
- }else if (e[3] == (ccd_pt_edge_t *)el){
- e[3] = e[4];
- }
- ccdPtEdgeVertices(e[2], &v[3], &v[4]);
- if (v[3] != v[2] && v[4] != v[2]){
- e[4] = e[2];
- e[2] = e[3];
- e[3] = e[4];
- if (v[3] == v[0])
- v[3] = v[4];
- }else{
- if (v[3] == v[2])
- v[3] = v[4];
- }
- }
-
-
- v[4] = ccdPtAddVertex(pt, newv);
-
- ccdPtDelFace(pt, f[0]);
- if (f[1]){
- ccdPtDelFace(pt, f[1]);
- ccdPtDelEdge(pt, (ccd_pt_edge_t *)el);
- }
-
- e[4] = ccdPtAddEdge(pt, v[4], v[2]);
- e[5] = ccdPtAddEdge(pt, v[4], v[0]);
- e[6] = ccdPtAddEdge(pt, v[4], v[1]);
- if (f[1])
- e[7] = ccdPtAddEdge(pt, v[4], v[3]);
-
-
- if (ccdPtAddFace(pt, e[1], e[4], e[6]) == NULL
- || ccdPtAddFace(pt, e[0], e[6], e[5]) == NULL){
- return -2;
- }
-
- if (f[1]){
- if (ccdPtAddFace(pt, e[3], e[5], e[7]) == NULL
- || ccdPtAddFace(pt, e[4], e[7], e[2]) == NULL){
- return -2;
- }
- }else{
- if (ccdPtAddFace(pt, e[4], e[5], (ccd_pt_edge_t *)el) == NULL)
- return -2;
- }
- }
- }else{ // el->type == CCD_PT_FACE
- // replace triangle by tetrahedron without base (base would be the
- // triangle that will be removed)
-
- // get triplet of surrounding edges and vertices of triangle face
- ccdPtFaceEdges((const ccd_pt_face_t *)el, &e[0], &e[1], &e[2]);
- ccdPtEdgeVertices(e[0], &v[0], &v[1]);
- ccdPtEdgeVertices(e[1], &v[2], &v[3]);
-
- // following code sorts edges to have e[0] between vertices 0-1,
- // e[1] between 1-2 and e[2] between 2-0
- if (v[2] != v[1] && v[3] != v[1]){
- // swap e[1] and e[2]
- e[3] = e[1];
- e[1] = e[2];
- e[2] = e[3];
- }
- if (v[3] != v[0] && v[3] != v[1])
- v[2] = v[3];
-
- // remove triangle face
- ccdPtDelFace(pt, (ccd_pt_face_t *)el);
-
- // expand triangle to tetrahedron
- v[3] = ccdPtAddVertex(pt, newv);
- e[3] = ccdPtAddEdge(pt, v[3], v[0]);
- e[4] = ccdPtAddEdge(pt, v[3], v[1]);
- e[5] = ccdPtAddEdge(pt, v[3], v[2]);
-
- if (ccdPtAddFace(pt, e[3], e[4], e[0]) == NULL
- || ccdPtAddFace(pt, e[4], e[5], e[1]) == NULL
- || ccdPtAddFace(pt, e[5], e[3], e[2]) == NULL){
- return -2;
- }
- }
-
- return 0;
-}
-
-/** Finds next support point (and stores it in out argument).
- * Returns 0 on success, -1 otherwise */
-static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd,
- const ccd_pt_el_t *el,
- ccd_support_t *out)
-{
- ccd_vec3_t *a, *b, *c;
- ccd_real_t dist;
-
- if (el->type == CCD_PT_VERTEX)
- return -1;
-
- // touch contact
- if (ccdIsZero(el->dist))
- return -1;
-
- __ccdSupport(obj1, obj2, &el->witness, ccd, out);
-
- // Compute dist of support point along element witness point direction
- // so we can determine whether we expanded a polytope surrounding the
- // origin a bit.
- dist = ccdVec3Dot(&out->v, &el->witness);
-
- if (dist - el->dist < ccd->epa_tolerance)
- return -1;
-
- if (el->type == CCD_PT_EDGE){
- // fetch end points of edge
- ccdPtEdgeVec3((ccd_pt_edge_t *)el, &a, &b);
-
- // get distance from segment
- dist = ccdVec3PointSegmentDist2(&out->v, a, b, NULL);
- }else{ // el->type == CCD_PT_FACE
- // fetch vertices of triangle face
- ccdPtFaceVec3((ccd_pt_face_t *)el, &a, &b, &c);
-
- // check if new point can significantly expand polytope
- dist = ccdVec3PointTriDist2(&out->v, a, b, c, NULL);
- }
-
- if (dist < ccd->epa_tolerance)
- return -1;
-
- return 0;
-}
diff --git a/src/pe/extern/libccd/ccd/ccd.h b/src/pe/extern/libccd/ccd/ccd.h
deleted file mode 100644
index fb8df75a0..000000000
--- a/src/pe/extern/libccd/ccd/ccd.h
+++ /dev/null
@@ -1,154 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_H__
-#define __CCD_H__
-
-#include <ccd/vec3.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-/**
- * Type of *support* function that takes pointer to 3D object and direction
- * and returns (via vec argument) furthest point from object in specified
- * direction.
- */
-typedef void (*ccd_support_fn)(const void *obj, const ccd_vec3_t *dir,
- ccd_vec3_t *vec);
-
-/**
- * Returns (via dir argument) first direction vector that will be used in
- * initialization of algorithm.
- */
-typedef void (*ccd_first_dir_fn)(const void *obj1, const void *obj2,
- ccd_vec3_t *dir);
-
-
-/**
- * Returns (via center argument) geometric center (some point near center)
- * of given object.
- */
-typedef void (*ccd_center_fn)(const void *obj1, ccd_vec3_t *center);
-
-/**
- * Main structure of CCD algorithm.
- */
-struct _ccd_t {
- ccd_first_dir_fn first_dir; //!< Returns initial direction where first
- //!< support point will be searched
- ccd_support_fn support1; //!< Function that returns support point of
- //!< first object
- ccd_support_fn support2; //!< Function that returns support point of
- //!< second object
-
- ccd_center_fn center1; //!< Function that returns geometric center of
- //!< first object
- ccd_center_fn center2; //!< Function that returns geometric center of
- //!< second object
-
- unsigned long max_iterations; //!< Maximal number of iterations
- ccd_real_t epa_tolerance;
- ccd_real_t mpr_tolerance; //!< Boundary tolerance for MPR algorithm
- ccd_real_t dist_tolerance;
-};
-typedef struct _ccd_t ccd_t;
-
-/**
- * Default first direction.
- */
-_ccd_export void ccdFirstDirDefault(const void *o1, const void *o2,
- ccd_vec3_t *dir);
-
-#define CCD_INIT(ccd) \
- do { \
- (ccd)->first_dir = ccdFirstDirDefault; \
- (ccd)->support1 = NULL; \
- (ccd)->support2 = NULL; \
- (ccd)->center1 = NULL; \
- (ccd)->center2 = NULL; \
- \
- (ccd)->max_iterations = (unsigned long)-1; \
- (ccd)->epa_tolerance = CCD_REAL(0.0001); \
- (ccd)->mpr_tolerance = CCD_REAL(0.0001); \
- (ccd)->dist_tolerance = CCD_REAL(1E-6); \
- } while(0)
-
-
-/**
- * Returns true if two given objects interest.
- */
-_ccd_export int ccdGJKIntersect(const void *obj1, const void *obj2,
- const ccd_t *ccd);
-
-/**
- * This function computes separation vector of two objects. Separation
- * vector is minimal translation of obj2 to get obj1 and obj2 speparated
- * (without intersection).
- * Returns 0 if obj1 and obj2 intersect and sep is filled with translation
- * vector. If obj1 and obj2 don't intersect -1 is returned.
- * If memory allocation fails -2 is returned.
- */
-_ccd_export int ccdGJKSeparate(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_vec3_t *sep);
-
-/**
- * Computes penetration of obj2 into obj1.
- * Depth of penetration, direction and position is returned. It means that
- * if obj2 is translated by distance depth in direction dir objects will
- * have touching contact, pos should be position in global coordinates
- * where force should take a place.
- *
- * CCD+EPA algorithm is used.
- *
- * Returns 0 if obj1 and obj2 intersect and depth, dir and pos are filled
- * if given non-NULL pointers.
- * If obj1 and obj2 don't intersect -1 is returned.
- * If memory allocation fails -2 is returned.
- */
-_ccd_export int ccdGJKPenetration(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_real_t *depth,
- ccd_vec3_t *dir, ccd_vec3_t *pos);
-
-/**
- * Returns true if two given objects intersect - MPR algorithm is used.
- */
-_ccd_export int ccdMPRIntersect(const void *obj1, const void *obj2,
- const ccd_t *ccd);
-
-/**
- * Computes penetration of obj2 into obj1.
- * Depth of penetration, direction and position is returned, i.e. if obj2
- * is translated by computed depth in resulting direction obj1 and obj2
- * would have touching contact. Position is point in global coordinates
- * where force should be take a place.
- *
- * Minkowski Portal Refinement algorithm is used (MPR, a.k.a. XenoCollide,
- * see Game Programming Gem 7).
- *
- * Returns 0 if obj1 and obj2 intersect, otherwise -1 is returned.
- */
-_ccd_export int ccdMPRPenetration(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_real_t *depth,
- ccd_vec3_t *dir, ccd_vec3_t *pos);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_H__ */
diff --git a/src/pe/extern/libccd/ccd/compiler.h b/src/pe/extern/libccd/ccd/compiler.h
deleted file mode 100644
index b022e26e4..000000000
--- a/src/pe/extern/libccd/ccd/compiler.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_COMPILER_H__
-#define __CCD_COMPILER_H__
-
-#include <stddef.h>
-
-#define ccd_offsetof(TYPE, MEMBER) offsetof(TYPE, MEMBER)
-
-#define ccd_container_of(ptr, type, member) \
- (type *)( (char *)ptr - ccd_offsetof(type, member))
-
-
-/**
- * Marks exported function.
- */
-//#ifdef _WIN32
-//# ifdef libccd_EXPORTS
-//# define _ccd_export __declspec(dllexport)
-//# else /* libccd_EXPORTS */
-//# define _ccd_export __declspec(dllimport)
-//# endif /* libccd_EXPORTS */
-//#else /* _WIN32 */
-//# define _ccd_export
-//#endif /* _WIN32 */
-
-#define _ccd_export
-
-
-/**
- * Marks inline function.
- */
-#ifdef __GNUC__
-# define _ccd_inline static inline __attribute__((always_inline))
-#else /* __GNUC__ */
-# define _ccd_inline static __inline
-#endif /* __GNUC__ */
-
-
-/**
- * __prefetch(x) - prefetches the cacheline at "x" for read
- * __prefetchw(x) - prefetches the cacheline at "x" for write
- */
-#ifdef __GNUC__
-# define _ccd_prefetch(x) __builtin_prefetch(x)
-# define _ccd_prefetchw(x) __builtin_prefetch(x,1)
-#else /* __GNUC__ */
-# define _ccd_prefetch(x) ((void)0)
-# define _ccd_prefetchw(x) ((void)0)
-#endif /* __GNUC__ */
-
-
-#ifdef __ICC
-// disable unused parameter warning
-# pragma warning(disable:869)
-// disable annoying "operands are evaluated in unspecified order" warning
-# pragma warning(disable:981)
-#endif /* __ICC */
-
-#ifdef _MSC_VER
-// disable unsafe function warning
-# ifndef _CRT_SECURE_NO_WARNINGS
-# define _CRT_SECURE_NO_WARNINGS
-# endif
-#endif /* _MSC_VER */
-
-#endif /* __CCD_COMPILER_H__ */
-
diff --git a/src/pe/extern/libccd/ccd/config.h.cmake.in b/src/pe/extern/libccd/ccd/config.h.cmake.in
deleted file mode 100644
index 051500916..000000000
--- a/src/pe/extern/libccd/ccd/config.h.cmake.in
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef __CCD_CONFIG_H__
-#define __CCD_CONFIG_H__
-
-#cmakedefine CCD_SINGLE
-#cmakedefine CCD_DOUBLE
-
-#endif /* __CCD_CONFIG_H__ */
diff --git a/src/pe/extern/libccd/ccd/config.h.m4 b/src/pe/extern/libccd/ccd/config.h.m4
deleted file mode 100644
index 4c11fbab0..000000000
--- a/src/pe/extern/libccd/ccd/config.h.m4
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef __CCD_CONFIG_H__
-#define __CCD_CONFIG_H__
-
-ifdef(`USE_SINGLE', `#define CCD_SINGLE')
-ifdef(`USE_DOUBLE', `#define CCD_DOUBLE')
-
-#endif /* __CCD_CONFIG_H__ */
diff --git a/src/pe/extern/libccd/ccd/quat.h b/src/pe/extern/libccd/ccd/quat.h
deleted file mode 100644
index fc6753210..000000000
--- a/src/pe/extern/libccd/ccd/quat.h
+++ /dev/null
@@ -1,239 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_QUAT_H__
-#define __CCD_QUAT_H__
-
-#include <ccd/compiler.h>
-#include <ccd/vec3.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-struct _ccd_quat_t {
- ccd_real_t q[4]; //!< x, y, z, w
-};
-typedef struct _ccd_quat_t ccd_quat_t;
-
-#define CCD_QUAT(name, x, y, z, w) \
- ccd_quat_t name = { {x, y, z, w} }
-
-_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q);
-_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q);
-
-_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w);
-_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src);
-
-_ccd_inline int ccdQuatNormalize(ccd_quat_t *q);
-
-_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q,
- ccd_real_t angle, const ccd_vec3_t *axis);
-
-_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k);
-
-/**
- * q = q * q2
- */
-_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2);
-
-/**
- * q = a * b
- */
-_ccd_inline void ccdQuatMul2(ccd_quat_t *q,
- const ccd_quat_t *a, const ccd_quat_t *b);
-
-/**
- * Inverts quaternion.
- * Returns 0 on success.
- */
-_ccd_inline int ccdQuatInvert(ccd_quat_t *q);
-_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src);
-
-
-/**
- * Rotate vector v by quaternion q.
- */
-_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q);
-
-
-/**** INLINES ****/
-_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q)
-{
- ccd_real_t len;
-
- len = q->q[0] * q->q[0];
- len += q->q[1] * q->q[1];
- len += q->q[2] * q->q[2];
- len += q->q[3] * q->q[3];
-
- return len;
-}
-
-_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q)
-{
- return CCD_SQRT(ccdQuatLen2(q));
-}
-
-_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w)
-{
- q->q[0] = x;
- q->q[1] = y;
- q->q[2] = z;
- q->q[3] = w;
-}
-
-_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src)
-{
- *dest = *src;
-}
-
-
-_ccd_inline int ccdQuatNormalize(ccd_quat_t *q)
-{
- ccd_real_t len = ccdQuatLen(q);
- if (len < CCD_EPS)
- return 0;
-
- ccdQuatScale(q, CCD_ONE / len);
- return 1;
-}
-
-_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q,
- ccd_real_t angle, const ccd_vec3_t *axis)
-{
- ccd_real_t a, x, y, z, n, s;
-
- a = angle/2;
- x = ccdVec3X(axis);
- y = ccdVec3Y(axis);
- z = ccdVec3Z(axis);
- n = CCD_SQRT(x*x + y*y + z*z);
-
- // axis==0? (treat this the same as angle==0 with an arbitrary axis)
- if (n < CCD_EPS){
- q->q[0] = q->q[1] = q->q[2] = CCD_ZERO;
- q->q[3] = CCD_ONE;
- }else{
-#ifdef CCD_DOUBLE
- s = sin(a)/n;
-#else
- s = sinf(a)/n;
-#endif
-
-#ifdef CCD_DOUBLE
- q->q[3] = cos(a);
-#else
- q->q[3] = cosf(a);
-#endif
- q->q[0] = x*s;
- q->q[1] = y*s;
- q->q[2] = z*s;
-
- ccdQuatNormalize(q);
- }
-}
-
-
-_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k)
-{
- size_t i;
- for (i = 0; i < 4; i++)
- q->q[i] *= k;
-}
-
-_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2)
-{
- ccd_quat_t a;
- ccdQuatCopy(&a, q);
- ccdQuatMul2(q, &a, q2);
-}
-
-_ccd_inline void ccdQuatMul2(ccd_quat_t *q,
- const ccd_quat_t *a, const ccd_quat_t *b)
-{
- q->q[0] = a->q[3] * b->q[0]
- + a->q[0] * b->q[3]
- + a->q[1] * b->q[2]
- - a->q[2] * b->q[1];
- q->q[1] = a->q[3] * b->q[1]
- + a->q[1] * b->q[3]
- - a->q[0] * b->q[2]
- + a->q[2] * b->q[0];
- q->q[2] = a->q[3] * b->q[2]
- + a->q[2] * b->q[3]
- + a->q[0] * b->q[1]
- - a->q[1] * b->q[0];
- q->q[3] = a->q[3] * b->q[3]
- - a->q[0] * b->q[0]
- - a->q[1] * b->q[1]
- - a->q[2] * b->q[2];
-}
-
-_ccd_inline int ccdQuatInvert(ccd_quat_t *q)
-{
- ccd_real_t len2 = ccdQuatLen2(q);
- if (len2 < CCD_EPS)
- return -1;
-
- len2 = CCD_ONE / len2;
-
- q->q[0] = -q->q[0] * len2;
- q->q[1] = -q->q[1] * len2;
- q->q[2] = -q->q[2] * len2;
- q->q[3] = q->q[3] * len2;
-
- return 0;
-}
-_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src)
-{
- ccdQuatCopy(dest, src);
- return ccdQuatInvert(dest);
-}
-
-_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q)
-{
- // original version: 31 mul + 21 add
- // optimized version: 18 mul + 12 add
- // formula: v = v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)
- ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
- ccd_real_t x, y, z, w;
- ccd_real_t vx, vy, vz;
-
- vx = ccdVec3X(v);
- vy = ccdVec3Y(v);
- vz = ccdVec3Z(v);
-
- w = q->q[3];
- x = q->q[0];
- y = q->q[1];
- z = q->q[2];
-
- cross1_x = y * vz - z * vy + w * vx;
- cross1_y = z * vx - x * vz + w * vy;
- cross1_z = x * vy - y * vx + w * vz;
- cross2_x = y * cross1_z - z * cross1_y;
- cross2_y = z * cross1_x - x * cross1_z;
- cross2_z = x * cross1_y - y * cross1_x;
- ccdVec3Set(v, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
-}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_QUAT_H__ */
diff --git a/src/pe/extern/libccd/ccd/vec3.h b/src/pe/extern/libccd/ccd/vec3.h
deleted file mode 100644
index b0c1b338f..000000000
--- a/src/pe/extern/libccd/ccd/vec3.h
+++ /dev/null
@@ -1,339 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010-2013 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_VEC3_H__
-#define __CCD_VEC3_H__
-
-#include <math.h>
-#include <float.h>
-#include <stdlib.h>
-#include <ccd/compiler.h>
-#include <ccd/config.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-
-#ifndef CCD_SINGLE
-# ifndef CCD_DOUBLE
-# error You must define CCD_SINGLE or CCD_DOUBLE
-# endif /* CCD_DOUBLE */
-#endif /* CCD_SINGLE */
-
-#ifdef WIN32
-# define CCD_FMIN(x, y) ((x) < (y) ? (x) : (y))
-#endif /* WIN32 */
-
-#ifdef CCD_SINGLE
-# ifdef CCD_DOUBLE
-# error You can define either CCD_SINGLE or CCD_DOUBLE, not both!
-# endif /* CCD_DOUBLE */
-
-typedef float ccd_real_t;
-
-//# define CCD_EPS 1E-6
-# define CCD_EPS FLT_EPSILON
-
-# define CCD_REAL_MAX FLT_MAX
-
-# define CCD_REAL(x) (x ## f) /*!< form a constant */
-# define CCD_SQRT(x) (sqrtf(x)) /*!< square root */
-# define CCD_FABS(x) (fabsf(x)) /*!< absolute value */
-# define CCD_FMAX(x, y) (fmaxf((x), (y))) /*!< maximum of two floats */
-
-# ifndef CCD_FMIN
-# define CCD_FMIN(x, y) (fminf((x), (y))) /*!< minimum of two floats */
-# endif /* CCD_FMIN */
-
-#endif /* CCD_SINGLE */
-
-#ifdef CCD_DOUBLE
-typedef double ccd_real_t;
-
-//# define CCD_EPS 1E-10
-# define CCD_EPS DBL_EPSILON
-
-# define CCD_REAL_MAX DBL_MAX
-
-# define CCD_REAL(x) (x) /*!< form a constant */
-# define CCD_SQRT(x) (sqrt(x)) /*!< square root */
-# define CCD_FABS(x) (fabs(x)) /*!< absolute value */
-# define CCD_FMAX(x, y) (fmax((x), (y))) /*!< maximum of two floats */
-
-# ifndef CCD_FMIN
-# define CCD_FMIN(x, y) (fmin((x), (y))) /*!< minimum of two floats */
-# endif /* CCD_FMIN */
-
-#endif /* CCD_DOUBLE */
-
-#define CCD_ONE CCD_REAL(1.)
-#define CCD_ZERO CCD_REAL(0.)
-
-struct _ccd_vec3_t {
- ccd_real_t v[3];
-};
-typedef struct _ccd_vec3_t ccd_vec3_t;
-
-
-/**
- * Holds origin (0,0,0) - this variable is meant to be read-only!
- */
-extern ccd_vec3_t *ccd_vec3_origin;
-
-/**
- * Array of points uniformly distributed on unit sphere.
- */
-extern ccd_vec3_t *ccd_points_on_sphere;
-extern size_t ccd_points_on_sphere_len;
-
-/** Returns sign of value. */
-_ccd_inline int ccdSign(ccd_real_t val);
-/** Returns true if val is zero. **/
-_ccd_inline int ccdIsZero(ccd_real_t val);
-/** Returns true if a and b equal. **/
-_ccd_inline int ccdEq(ccd_real_t a, ccd_real_t b);
-
-
-#define CCD_VEC3_STATIC(x, y, z) \
- { { (x), (y), (z) } }
-
-#define CCD_VEC3(name, x, y, z) \
- ccd_vec3_t name = CCD_VEC3_STATIC((x), (y), (z))
-
-_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v);
-_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v);
-_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v);
-
-/**
- * Returns true if a and b equal.
- */
-_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b);
-
-/**
- * Returns squared length of vector.
- */
-_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v);
-
-/**
- * Returns distance between a and b.
- */
-_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b);
-
-
-_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z);
-
-/**
- * v = w
- */
-_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w);
-
-/**
- * Substracts coordinates of vector w from vector v. v = v - w
- */
-_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w);
-
-/**
- * Adds coordinates of vector w to vector v. v = v + w
- */
-_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w);
-
-/**
- * d = v - w
- */
-_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w);
-
-/**
- * d = d * k;
- */
-_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k);
-
-/**
- * Normalizes given vector to unit length.
- */
-_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d);
-
-
-/**
- * Dot product of two vectors.
- */
-_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b);
-
-/**
- * Cross product: d = a x b.
- */
-_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b);
-
-
-/**
- * Returns distance^2 of point P to segment ab.
- * If witness is non-NULL it is filled with coordinates of point from which
- * was computed distance to point P.
- */
-_ccd_export ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
- const ccd_vec3_t *a,
- const ccd_vec3_t *b,
- ccd_vec3_t *witness);
-
-/**
- * Returns distance^2 of point P from triangle formed by triplet a, b, c.
- * If witness vector is provided it is filled with coordinates of point
- * from which was computed distance to point P.
- */
-_ccd_export ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P,
- const ccd_vec3_t *a,
- const ccd_vec3_t *b,
- const ccd_vec3_t *c,
- ccd_vec3_t *witness);
-
-
-/**** INLINES ****/
-_ccd_inline int ccdSign(ccd_real_t val)
-{
- if (ccdIsZero(val)){
- return 0;
- }else if (val < CCD_ZERO){
- return -1;
- }
- return 1;
-}
-
-_ccd_inline int ccdIsZero(ccd_real_t val)
-{
- return CCD_FABS(val) < CCD_EPS;
-}
-
-_ccd_inline int ccdEq(ccd_real_t _a, ccd_real_t _b)
-{
- ccd_real_t ab;
- ccd_real_t a, b;
-
- ab = CCD_FABS(_a - _b);
- if (CCD_FABS(ab) < CCD_EPS)
- return 1;
-
- a = CCD_FABS(_a);
- b = CCD_FABS(_b);
- if (b > a){
- return ab < CCD_EPS * b;
- }else{
- return ab < CCD_EPS * a;
- }
-}
-
-
-_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v)
-{
- return v->v[0];
-}
-
-_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v)
-{
- return v->v[1];
-}
-
-_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v)
-{
- return v->v[2];
-}
-
-_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b)
-{
- return ccdEq(ccdVec3X(a), ccdVec3X(b))
- && ccdEq(ccdVec3Y(a), ccdVec3Y(b))
- && ccdEq(ccdVec3Z(a), ccdVec3Z(b));
-}
-
-_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v)
-{
- return ccdVec3Dot(v, v);
-}
-
-_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b)
-{
- ccd_vec3_t ab;
- ccdVec3Sub2(&ab, a, b);
- return ccdVec3Len2(&ab);
-}
-
-_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z)
-{
- v->v[0] = x;
- v->v[1] = y;
- v->v[2] = z;
-}
-
-_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w)
-{
- *v = *w;
-}
-
-_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w)
-{
- v->v[0] -= w->v[0];
- v->v[1] -= w->v[1];
- v->v[2] -= w->v[2];
-}
-_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w)
-{
- d->v[0] = v->v[0] - w->v[0];
- d->v[1] = v->v[1] - w->v[1];
- d->v[2] = v->v[2] - w->v[2];
-}
-
-_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w)
-{
- v->v[0] += w->v[0];
- v->v[1] += w->v[1];
- v->v[2] += w->v[2];
-}
-
-_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k)
-{
- d->v[0] *= k;
- d->v[1] *= k;
- d->v[2] *= k;
-}
-
-_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d)
-{
- ccd_real_t k = CCD_ONE / CCD_SQRT(ccdVec3Len2(d));
- ccdVec3Scale(d, k);
-}
-
-_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b)
-{
- ccd_real_t dot;
-
- dot = a->v[0] * b->v[0];
- dot += a->v[1] * b->v[1];
- dot += a->v[2] * b->v[2];
- return dot;
-}
-
-_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b)
-{
- d->v[0] = (a->v[1] * b->v[2]) - (a->v[2] * b->v[1]);
- d->v[1] = (a->v[2] * b->v[0]) - (a->v[0] * b->v[2]);
- d->v[2] = (a->v[0] * b->v[1]) - (a->v[1] * b->v[0]);
-}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_VEC3_H__ */
diff --git a/src/pe/extern/libccd/dbg.h b/src/pe/extern/libccd/dbg.h
deleted file mode 100644
index f4852c1a0..000000000
--- a/src/pe/extern/libccd/dbg.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_DBG_H__
-#define __CCD_DBG_H__
-
-/**
- * Some macros which can be used for printing debug info to stderr if macro
- * NDEBUG not defined.
- *
- * DBG_PROLOGUE can be specified as string and this string will be
- * prepended to output text
- */
-#ifndef NDEBUG
-
-#include <stdio.h>
-
-#ifndef DBG_PROLOGUE
-# define DBG_PROLOGUE
-#endif
-
-# define DBG(format, ...) do { \
- fprintf(stderr, DBG_PROLOGUE "%s :: " format "\n", __func__, ## __VA_ARGS__); \
- fflush(stderr); \
- } while (0)
-
-# define DBG2(str) do { \
- fprintf(stderr, DBG_PROLOGUE "%s :: " str "\n", __func__); \
- fflush(stderr); \
- } while (0)
-
-# define DBG_VEC3(vec, prefix) do {\
- fprintf(stderr, DBG_PROLOGUE "%s :: %s[%lf %lf %lf]\n", \
- __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \
- fflush(stderr); \
- } while (0)
-/*
-# define DBG_VEC3(vec, prefix) do {\
- fprintf(stderr, DBG_PROLOGUE "%s :: %s[%.20lf %.20lf %.20lf]\n", \
- __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \
- fflush(stderr); \
- } while (0)
-*/
-
-#else
-# define DBG(format, ...)
-# define DBG2(str)
-# define DBG_VEC3(v, prefix)
-#endif
-
-#endif /* __CCD_DBG_H__ */
diff --git a/src/pe/extern/libccd/list.h b/src/pe/extern/libccd/list.h
deleted file mode 100644
index 40ea6328f..000000000
--- a/src/pe/extern/libccd/list.h
+++ /dev/null
@@ -1,155 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_LIST_H__
-#define __CCD_LIST_H__
-
-#include <string.h>
-#include <ccd/compiler.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-struct _ccd_list_t {
- struct _ccd_list_t *next, *prev;
-};
-typedef struct _ccd_list_t ccd_list_t;
-
-
-
-/**
- * Get the struct for this entry.
- * @ptr: the &ccd_list_t pointer.
- * @type: the type of the struct this is embedded in.
- * @member: the name of the list_struct within the struct.
- */
-#define ccdListEntry(ptr, type, member) \
- ccd_container_of(ptr, type, member)
-
-/**
- * Iterates over list.
- */
-#define ccdListForEach(list, item) \
- for (item = (list)->next; \
- _ccd_prefetch((item)->next), item != (list); \
- item = (item)->next)
-
-/**
- * Iterates over list safe against remove of list entry
- */
-#define ccdListForEachSafe(list, item, tmp) \
- for (item = (list)->next, tmp = (item)->next; \
- item != (list); \
- item = tmp, tmp = (item)->next)
-
-/**
- * Iterates over list of given type.
- * @pos: the type * to use as a loop cursor.
- * @head: the head for your list.
- * @member: the name of the list_struct within the struct.
- */
-#define ccdListForEachEntry(head, pos, postype, member) \
- for (pos = ccdListEntry((head)->next, postype, member); \
- _ccd_prefetch(pos->member.next), &pos->member != (head); \
- pos = ccdListEntry(pos->member.next, postype, member))
-
-/**
- * Iterates over list of given type safe against removal of list entry
- * @pos: the type * to use as a loop cursor.
- * @n: another type * to use as temporary storage
- * @head: the head for your list.
- * @member: the name of the list_struct within the struct.
- */
-#define ccdListForEachEntrySafe(head, pos, postype, n, ntype, member) \
- for (pos = ccdListEntry((head)->next, postype, member), \
- n = ccdListEntry(pos->member.next, postype, member); \
- &pos->member != (head); \
- pos = n, n = ccdListEntry(n->member.next, ntype, member))
-
-
-/**
- * Initialize list.
- */
-_ccd_inline void ccdListInit(ccd_list_t *l);
-
-_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l);
-_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l);
-
-/**
- * Returns true if list is empty.
- */
-_ccd_inline int ccdListEmpty(const ccd_list_t *head);
-
-/**
- * Appends item to end of the list l.
- */
-_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *item);
-
-/**
- * Removes item from list.
- */
-_ccd_inline void ccdListDel(ccd_list_t *item);
-
-
-
-///
-/// INLINES:
-///
-
-_ccd_inline void ccdListInit(ccd_list_t *l)
-{
- l->next = l;
- l->prev = l;
-}
-
-_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l)
-{
- return l->next;
-}
-
-_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l)
-{
- return l->prev;
-}
-
-_ccd_inline int ccdListEmpty(const ccd_list_t *head)
-{
- return head->next == head;
-}
-
-_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *new_element)
-{
- new_element->prev = l->prev;
- new_element->next = l;
- l->prev->next = new_element;
- l->prev = new_element;
-}
-
-_ccd_inline void ccdListDel(ccd_list_t *item)
-{
- item->next->prev = item->prev;
- item->prev->next = item->next;
- item->next = item;
- item->prev = item;
-}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_LIST_H__ */
diff --git a/src/pe/extern/libccd/mpr.c b/src/pe/extern/libccd/mpr.c
deleted file mode 100644
index 5f5533a5b..000000000
--- a/src/pe/extern/libccd/mpr.c
+++ /dev/null
@@ -1,547 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#include <stdlib.h>
-#include <ccd/ccd.h>
-#include "simplex.h"
-#include "dbg.h"
-
-/** Finds origin (center) of Minkowski difference (actually it can be any
- * interior point of Minkowski difference. */
-_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_support_t *center);
-
-/** Discovers initial portal - that is tetrahedron that intersects with
- * origin ray (ray from center of Minkowski diff to (0,0,0).
- *
- * Returns -1 if already recognized that origin is outside Minkowski
- * portal.
- * Returns 1 if origin lies on v1 of simplex (only v0 and v1 are present
- * in simplex).
- * Returns 2 if origin lies on v0-v1 segment.
- * Returns 0 if portal was built.
- */
-static int discoverPortal(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_simplex_t *portal);
-
-
-/** Expands portal towards origin and determine if objects intersect.
- * Already established portal must be given as argument.
- * If intersection is found 0 is returned, -1 otherwise */
-static int refinePortal(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_simplex_t *portal);
-
-/** Finds penetration info by expanding provided portal. */
-static void findPenetr(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_simplex_t *portal,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
-
-/** Finds penetration info if origin lies on portal's v1 */
-static void findPenetrTouch(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_simplex_t *portal,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
-
-/** Find penetration info if origin lies on portal's segment v0-v1 */
-static void findPenetrSegment(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_simplex_t *portal,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
-
-/** Finds position vector from fully established portal */
-static void findPos(const void *obj1, const void *obj2, const ccd_t *ccd,
- const ccd_simplex_t *portal, ccd_vec3_t *pos);
-
-/** Extends portal with new support point.
- * Portal must have face v1-v2-v3 arranged to face outside portal. */
-_ccd_inline void expandPortal(ccd_simplex_t *portal,
- const ccd_support_t *v4);
-
-/** Fill dir with direction outside portal. Portal's v1-v2-v3 face must be
- * arranged in correct order! */
-_ccd_inline void portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir);
-
-/** Returns true if portal encapsules origin (0,0,0), dir is direction of
- * v1-v2-v3 face. */
-_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal,
- const ccd_vec3_t *dir);
-
-/** Returns true if portal with new point v4 would reach specified
- * tolerance (i.e. returns true if portal can _not_ significantly expand
- * within Minkowski difference).
- *
- * v4 is candidate for new point in portal, dir is direction in which v4
- * was obtained. */
-_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal,
- const ccd_support_t *v4,
- const ccd_vec3_t *dir,
- const ccd_t *ccd);
-
-/** Returns true if portal expanded by new point v4 could possibly contain
- * origin, dir is direction in which v4 was obtained. */
-_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal,
- const ccd_support_t *v4,
- const ccd_vec3_t *dir);
-
-
-int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd)
-{
- ccd_simplex_t portal;
- int res;
-
- // Phase 1: Portal discovery - find portal that intersects with origin
- // ray (ray from center of Minkowski diff to origin of coordinates)
- res = discoverPortal(obj1, obj2, ccd, &portal);
- if (res < 0)
- return 0;
- if (res > 0)
- return 1;
-
- // Phase 2: Portal refinement
- res = refinePortal(obj1, obj2, ccd, &portal);
- return (res == 0 ? 1 : 0);
-}
-
-int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
-{
- ccd_simplex_t portal;
- int res;
-
- // Phase 1: Portal discovery
- res = discoverPortal(obj1, obj2, ccd, &portal);
- if (res < 0){
- // Origin isn't inside portal - no collision.
- return -1;
-
- }else if (res == 1){
- // Touching contact on portal's v1.
- findPenetrTouch(obj1, obj2, ccd, &portal, depth, dir, pos);
-
- }else if (res == 2){
- // Origin lies on v0-v1 segment.
- findPenetrSegment(obj1, obj2, ccd, &portal, depth, dir, pos);
-
- }else if (res == 0){
- // Phase 2: Portal refinement
- res = refinePortal(obj1, obj2, ccd, &portal);
- if (res < 0)
- return -1;
-
- // Phase 3. Penetration info
- findPenetr(obj1, obj2, ccd, &portal, depth, dir, pos);
- }
-
- return 0;
-}
-
-
-
-_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_support_t *center)
-{
- ccd->center1(obj1, ¢er->v1);
- ccd->center2(obj2, ¢er->v2);
- ccdVec3Sub2(¢er->v, ¢er->v1, ¢er->v2);
-}
-
-static int discoverPortal(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_simplex_t *portal)
-{
- ccd_vec3_t dir, va, vb;
- ccd_real_t dot;
- int cont;
-
- // vertex 0 is center of portal
- findOrigin(obj1, obj2, ccd, ccdSimplexPointW(portal, 0));
- ccdSimplexSetSize(portal, 1);
-
- if (ccdVec3Eq(&ccdSimplexPoint(portal, 0)->v, ccd_vec3_origin)){
- // Portal's center lies on origin (0,0,0) => we know that objects
- // intersect but we would need to know penetration info.
- // So move center little bit...
- ccdVec3Set(&va, CCD_EPS * CCD_REAL(10.), CCD_ZERO, CCD_ZERO);
- ccdVec3Add(&ccdSimplexPointW(portal, 0)->v, &va);
- }
-
-
- // vertex 1 = support in direction of origin
- ccdVec3Copy(&dir, &ccdSimplexPoint(portal, 0)->v);
- ccdVec3Scale(&dir, CCD_REAL(-1.));
- ccdVec3Normalize(&dir);
- __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 1));
- ccdSimplexSetSize(portal, 2);
-
- // test if origin isn't outside of v1
- dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &dir);
- if (ccdIsZero(dot) || dot < CCD_ZERO)
- return -1;
-
-
- // vertex 2
- ccdVec3Cross(&dir, &ccdSimplexPoint(portal, 0)->v,
- &ccdSimplexPoint(portal, 1)->v);
- if (ccdIsZero(ccdVec3Len2(&dir))){
- if (ccdVec3Eq(&ccdSimplexPoint(portal, 1)->v, ccd_vec3_origin)){
- // origin lies on v1
- return 1;
- }else{
- // origin lies on v0-v1 segment
- return 2;
- }
- }
-
- ccdVec3Normalize(&dir);
- __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 2));
- dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &dir);
- if (ccdIsZero(dot) || dot < CCD_ZERO)
- return -1;
-
- ccdSimplexSetSize(portal, 3);
-
- // vertex 3 direction
- ccdVec3Sub2(&va, &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 0)->v);
- ccdVec3Sub2(&vb, &ccdSimplexPoint(portal, 2)->v,
- &ccdSimplexPoint(portal, 0)->v);
- ccdVec3Cross(&dir, &va, &vb);
- ccdVec3Normalize(&dir);
-
- // it is better to form portal faces to be oriented "outside" origin
- dot = ccdVec3Dot(&dir, &ccdSimplexPoint(portal, 0)->v);
- if (dot > CCD_ZERO){
- ccdSimplexSwap(portal, 1, 2);
- ccdVec3Scale(&dir, CCD_REAL(-1.));
- }
-
- while (ccdSimplexSize(portal) < 4){
- __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 3));
- dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &dir);
- if (ccdIsZero(dot) || dot < CCD_ZERO)
- return -1;
-
- cont = 0;
-
- // test if origin is outside (v1, v0, v3) - set v2 as v3 and
- // continue
- ccdVec3Cross(&va, &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 3)->v);
- dot = ccdVec3Dot(&va, &ccdSimplexPoint(portal, 0)->v);
- if (dot < CCD_ZERO && !ccdIsZero(dot)){
- ccdSimplexSet(portal, 2, ccdSimplexPoint(portal, 3));
- cont = 1;
- }
-
- if (!cont){
- // test if origin is outside (v3, v0, v2) - set v1 as v3 and
- // continue
- ccdVec3Cross(&va, &ccdSimplexPoint(portal, 3)->v,
- &ccdSimplexPoint(portal, 2)->v);
- dot = ccdVec3Dot(&va, &ccdSimplexPoint(portal, 0)->v);
- if (dot < CCD_ZERO && !ccdIsZero(dot)){
- ccdSimplexSet(portal, 1, ccdSimplexPoint(portal, 3));
- cont = 1;
- }
- }
-
- if (cont){
- ccdVec3Sub2(&va, &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 0)->v);
- ccdVec3Sub2(&vb, &ccdSimplexPoint(portal, 2)->v,
- &ccdSimplexPoint(portal, 0)->v);
- ccdVec3Cross(&dir, &va, &vb);
- ccdVec3Normalize(&dir);
- }else{
- ccdSimplexSetSize(portal, 4);
- }
- }
-
- return 0;
-}
-
-static int refinePortal(const void *obj1, const void *obj2,
- const ccd_t *ccd, ccd_simplex_t *portal)
-{
- ccd_vec3_t dir;
- ccd_support_t v4;
-
- while (1){
- // compute direction outside the portal (from v0 throught v1,v2,v3
- // face)
- portalDir(portal, &dir);
-
- // test if origin is inside the portal
- if (portalEncapsulesOrigin(portal, &dir))
- return 0;
-
- // get next support point
- __ccdSupport(obj1, obj2, &dir, ccd, &v4);
-
- // test if v4 can expand portal to contain origin and if portal
- // expanding doesn't reach given tolerance
- if (!portalCanEncapsuleOrigin(portal, &v4, &dir)
- || portalReachTolerance(portal, &v4, &dir, ccd)){
- return -1;
- }
-
- // v1-v2-v3 triangle must be rearranged to face outside Minkowski
- // difference (direction from v0).
- expandPortal(portal, &v4);
- }
-
- return -1;
-}
-
-
-static void findPenetr(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_simplex_t *portal,
- ccd_real_t *depth, ccd_vec3_t *pdir, ccd_vec3_t *pos)
-{
- ccd_vec3_t dir;
- ccd_support_t v4;
- unsigned long iterations;
-
- iterations = 0UL;
- while (1){
- // compute portal direction and obtain next support point
- portalDir(portal, &dir);
- __ccdSupport(obj1, obj2, &dir, ccd, &v4);
-
- // reached tolerance -> find penetration info
- if (portalReachTolerance(portal, &v4, &dir, ccd)
- || iterations > ccd->max_iterations){
- *depth = ccdVec3PointTriDist2(ccd_vec3_origin,
- &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 2)->v,
- &ccdSimplexPoint(portal, 3)->v,
- pdir);
- *depth = CCD_SQRT(*depth);
- ccdVec3Normalize(pdir);
-
- // barycentric coordinates:
- findPos(obj1, obj2, ccd, portal, pos);
-
- return;
- }
-
- expandPortal(portal, &v4);
-
- iterations++;
- }
-}
-
-static void findPenetrTouch(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_simplex_t *portal,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
-{
- (void)(obj1);
- (void)(obj2);
- (void)(ccd);
- // Touching contact on portal's v1 - so depth is zero and direction
- // is unimportant and pos can be guessed
- *depth = CCD_REAL(0.);
- ccdVec3Copy(dir, ccd_vec3_origin);
-
- ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1);
- ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2);
- ccdVec3Scale(pos, 0.5);
-}
-
-static void findPenetrSegment(const void *obj1, const void *obj2, const ccd_t *ccd,
- ccd_simplex_t *portal,
- ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
-{
- (void)(obj1);
- (void)(obj2);
- (void)(ccd);
-
- /*
- ccd_vec3_t vec;
- ccd_real_t k;
- */
-
- // Origin lies on v0-v1 segment.
- // Depth is distance to v1, direction also and position must be
- // computed
-
- ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1);
- ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2);
- ccdVec3Scale(pos, CCD_REAL(0.5));
-
- /*
- ccdVec3Sub2(&vec, &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 0)->v);
- k = CCD_SQRT(ccdVec3Len2(&ccdSimplexPoint(portal, 0)->v));
- k /= CCD_SQRT(ccdVec3Len2(&vec));
- ccdVec3Scale(&vec, -k);
- ccdVec3Add(pos, &vec);
- */
-
- ccdVec3Copy(dir, &ccdSimplexPoint(portal, 1)->v);
- *depth = CCD_SQRT(ccdVec3Len2(dir));
- ccdVec3Normalize(dir);
-}
-
-
-static void findPos(const void *obj1, const void *obj2, const ccd_t *ccd,
- const ccd_simplex_t *portal, ccd_vec3_t *pos)
-{
- (void)(obj1);
- (void)(obj2);
- (void)(ccd);
-
- ccd_vec3_t dir;
- size_t i;
- ccd_real_t b[4], sum, inv;
- ccd_vec3_t vec, p1, p2;
-
- portalDir(portal, &dir);
-
- // use barycentric coordinates of tetrahedron to find origin
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 2)->v);
- b[0] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v);
-
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v,
- &ccdSimplexPoint(portal, 2)->v);
- b[1] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v);
-
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 0)->v,
- &ccdSimplexPoint(portal, 1)->v);
- b[2] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v);
-
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v,
- &ccdSimplexPoint(portal, 1)->v);
- b[3] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v);
-
- sum = b[0] + b[1] + b[2] + b[3];
-
- if (ccdIsZero(sum) || sum < CCD_ZERO){
- b[0] = CCD_REAL(0.);
-
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v,
- &ccdSimplexPoint(portal, 3)->v);
- b[1] = ccdVec3Dot(&vec, &dir);
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v,
- &ccdSimplexPoint(portal, 1)->v);
- b[2] = ccdVec3Dot(&vec, &dir);
- ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v,
- &ccdSimplexPoint(portal, 2)->v);
- b[3] = ccdVec3Dot(&vec, &dir);
-
- sum = b[1] + b[2] + b[3];
- }
-
- inv = CCD_REAL(1.) / sum;
-
- ccdVec3Copy(&p1, ccd_vec3_origin);
- ccdVec3Copy(&p2, ccd_vec3_origin);
- for (i = 0; i < 4; i++){
- ccdVec3Copy(&vec, &ccdSimplexPoint(portal, (int)i)->v1);
- ccdVec3Scale(&vec, b[i]);
- ccdVec3Add(&p1, &vec);
-
- ccdVec3Copy(&vec, &ccdSimplexPoint(portal, (int)i)->v2);
- ccdVec3Scale(&vec, b[i]);
- ccdVec3Add(&p2, &vec);
- }
- ccdVec3Scale(&p1, inv);
- ccdVec3Scale(&p2, inv);
-
- ccdVec3Copy(pos, &p1);
- ccdVec3Add(pos, &p2);
- ccdVec3Scale(pos, 0.5);
-}
-
-_ccd_inline void expandPortal(ccd_simplex_t *portal,
- const ccd_support_t *v4)
-{
- ccd_real_t dot;
- ccd_vec3_t v4v0;
-
- ccdVec3Cross(&v4v0, &v4->v, &ccdSimplexPoint(portal, 0)->v);
- dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &v4v0);
- if (dot > CCD_ZERO){
- dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &v4v0);
- if (dot > CCD_ZERO){
- ccdSimplexSet(portal, 1, v4);
- }else{
- ccdSimplexSet(portal, 3, v4);
- }
- }else{
- dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &v4v0);
- if (dot > CCD_ZERO){
- ccdSimplexSet(portal, 2, v4);
- }else{
- ccdSimplexSet(portal, 1, v4);
- }
- }
-}
-
-_ccd_inline void portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir)
-{
- ccd_vec3_t v2v1, v3v1;
-
- ccdVec3Sub2(&v2v1, &ccdSimplexPoint(portal, 2)->v,
- &ccdSimplexPoint(portal, 1)->v);
- ccdVec3Sub2(&v3v1, &ccdSimplexPoint(portal, 3)->v,
- &ccdSimplexPoint(portal, 1)->v);
- ccdVec3Cross(dir, &v2v1, &v3v1);
- ccdVec3Normalize(dir);
-}
-
-_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal,
- const ccd_vec3_t *dir)
-{
- ccd_real_t dot;
- dot = ccdVec3Dot(dir, &ccdSimplexPoint(portal, 1)->v);
- return ccdIsZero(dot) || dot > CCD_ZERO;
-}
-
-_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal,
- const ccd_support_t *v4,
- const ccd_vec3_t *dir,
- const ccd_t *ccd)
-{
- ccd_real_t dv1, dv2, dv3, dv4;
- ccd_real_t dot1, dot2, dot3;
-
- // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
-
- dv1 = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, dir);
- dv2 = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, dir);
- dv3 = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, dir);
- dv4 = ccdVec3Dot(&v4->v, dir);
-
- dot1 = dv4 - dv1;
- dot2 = dv4 - dv2;
- dot3 = dv4 - dv3;
-
- dot1 = CCD_FMIN(dot1, dot2);
- dot1 = CCD_FMIN(dot1, dot3);
-
- return ccdEq(dot1, ccd->mpr_tolerance) || dot1 < ccd->mpr_tolerance;
-}
-
-_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal,
- const ccd_support_t *v4,
- const ccd_vec3_t *dir)
-{
- (void)(portal);
-
- ccd_real_t dot;
- dot = ccdVec3Dot(&v4->v, dir);
- return ccdIsZero(dot) || dot > CCD_ZERO;
-}
diff --git a/src/pe/extern/libccd/polytope.c b/src/pe/extern/libccd/polytope.c
deleted file mode 100644
index 527016cde..000000000
--- a/src/pe/extern/libccd/polytope.c
+++ /dev/null
@@ -1,298 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#include <stdio.h>
-#include <float.h>
-#include "polytope.h"
-#include "alloc.h"
-
-_ccd_inline void _ccdPtNearestUpdate(ccd_pt_t *pt, ccd_pt_el_t *el)
-{
- if (ccdEq(pt->nearest_dist, el->dist)){
- if (el->type < pt->nearest_type){
- pt->nearest = el;
- pt->nearest_dist = el->dist;
- pt->nearest_type = el->type;
- }
- }else if (el->dist < pt->nearest_dist){
- pt->nearest = el;
- pt->nearest_dist = el->dist;
- pt->nearest_type = el->type;
- }
-}
-
-static void _ccdPtNearestRenew(ccd_pt_t *pt)
-{
- ccd_pt_vertex_t *v;
- ccd_pt_edge_t *e;
- ccd_pt_face_t *f;
-
- pt->nearest_dist = CCD_REAL_MAX;
- pt->nearest_type = 3;
- pt->nearest = NULL;
-
- ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
- _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)v);
- }
-
- ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){
- _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)e);
- }
-
- ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){
- _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)f);
- }
-}
-
-
-
-void ccdPtInit(ccd_pt_t *pt)
-{
- ccdListInit(&pt->vertices);
- ccdListInit(&pt->edges);
- ccdListInit(&pt->faces);
-
- pt->nearest = NULL;
- pt->nearest_dist = CCD_REAL_MAX;
- pt->nearest_type = 3;
-}
-
-void ccdPtDestroy(ccd_pt_t *pt)
-{
- ccd_pt_face_t *f, *f2;
- ccd_pt_edge_t *e, *e2;
- ccd_pt_vertex_t *v, *v2;
-
- // first delete all faces
- ccdListForEachEntrySafe(&pt->faces, f, ccd_pt_face_t, f2, ccd_pt_face_t, list){
- ccdPtDelFace(pt, f);
- }
-
- // delete all edges
- ccdListForEachEntrySafe(&pt->edges, e, ccd_pt_edge_t, e2, ccd_pt_edge_t, list){
- ccdPtDelEdge(pt, e);
- }
-
- // delete all vertices
- ccdListForEachEntrySafe(&pt->vertices, v, ccd_pt_vertex_t, v2, ccd_pt_vertex_t, list){
- ccdPtDelVertex(pt, v);
- }
-}
-
-
-ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v)
-{
- ccd_pt_vertex_t *vert;
-
- vert = CCD_ALLOC(ccd_pt_vertex_t);
- if (vert == NULL)
- return NULL;
-
- vert->type = CCD_PT_VERTEX;
- ccdSupportCopy(&vert->v, v);
-
- vert->dist = ccdVec3Len2(&vert->v.v);
- ccdVec3Copy(&vert->witness, &vert->v.v);
-
- ccdListInit(&vert->edges);
-
- // add vertex to list
- ccdListAppend(&pt->vertices, &vert->list);
-
- // update position in .nearest array
- _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)vert);
-
- return vert;
-}
-
-ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1,
- ccd_pt_vertex_t *v2)
-{
- const ccd_vec3_t *a, *b;
- ccd_pt_edge_t *edge;
-
- if (v1 == NULL || v2 == NULL)
- return NULL;
-
- edge = CCD_ALLOC(ccd_pt_edge_t);
- if (edge == NULL)
- return NULL;
-
- edge->type = CCD_PT_EDGE;
- edge->vertex[0] = v1;
- edge->vertex[1] = v2;
- edge->faces[0] = edge->faces[1] = NULL;
-
- a = &edge->vertex[0]->v.v;
- b = &edge->vertex[1]->v.v;
- edge->dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &edge->witness);
-
- ccdListAppend(&edge->vertex[0]->edges, &edge->vertex_list[0]);
- ccdListAppend(&edge->vertex[1]->edges, &edge->vertex_list[1]);
-
- ccdListAppend(&pt->edges, &edge->list);
-
- // update position in .nearest array
- _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)edge);
-
- return edge;
-}
-
-ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1,
- ccd_pt_edge_t *e2,
- ccd_pt_edge_t *e3)
-{
- const ccd_vec3_t *a, *b, *c;
- ccd_pt_face_t *face;
- ccd_pt_edge_t *e;
- size_t i;
-
- if (e1 == NULL || e2 == NULL || e3 == NULL)
- return NULL;
-
- face = CCD_ALLOC(ccd_pt_face_t);
- if (face == NULL)
- return NULL;
-
- face->type = CCD_PT_FACE;
- face->edge[0] = e1;
- face->edge[1] = e2;
- face->edge[2] = e3;
-
- // obtain triplet of vertices
- a = &face->edge[0]->vertex[0]->v.v;
- b = &face->edge[0]->vertex[1]->v.v;
- e = face->edge[1];
- if (e->vertex[0] != face->edge[0]->vertex[0]
- && e->vertex[0] != face->edge[0]->vertex[1]){
- c = &e->vertex[0]->v.v;
- }else{
- c = &e->vertex[1]->v.v;
- }
- face->dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &face->witness);
-
-
- for (i = 0; i < 3; i++){
- if (face->edge[i]->faces[0] == NULL){
- face->edge[i]->faces[0] = face;
- }else{
- face->edge[i]->faces[1] = face;
- }
- }
-
- ccdListAppend(&pt->faces, &face->list);
-
- // update position in .nearest array
- _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)face);
-
- return face;
-}
-
-
-void ccdPtRecomputeDistances(ccd_pt_t *pt)
-{
- ccd_pt_vertex_t *v;
- ccd_pt_edge_t *e;
- ccd_pt_face_t *f;
- const ccd_vec3_t *a, *b, *c;
- ccd_real_t dist;
-
- ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
- dist = ccdVec3Len2(&v->v.v);
- v->dist = dist;
- ccdVec3Copy(&v->witness, &v->v.v);
- }
-
- ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){
- a = &e->vertex[0]->v.v;
- b = &e->vertex[1]->v.v;
- dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &e->witness);
- e->dist = dist;
- }
-
- ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){
- // obtain triplet of vertices
- a = &f->edge[0]->vertex[0]->v.v;
- b = &f->edge[0]->vertex[1]->v.v;
- e = f->edge[1];
- if (e->vertex[0] != f->edge[0]->vertex[0]
- && e->vertex[0] != f->edge[0]->vertex[1]){
- c = &e->vertex[0]->v.v;
- }else{
- c = &e->vertex[1]->v.v;
- }
-
- dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &f->witness);
- f->dist = dist;
- }
-}
-
-ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt)
-{
- if (!pt->nearest){
- _ccdPtNearestRenew(pt);
- }
- return pt->nearest;
-}
-
-
-void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn)
-{
- FILE *fout;
-
- fout = fopen(fn, "a");
- if (fout == NULL)
- return;
-
- ccdPtDumpSVT2(pt, fout);
-
- fclose(fout);
-}
-
-void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *fout)
-{
- ccd_pt_vertex_t *v, *a, *b, *c;
- ccd_pt_edge_t *e;
- ccd_pt_face_t *f;
- size_t i;
-
- fprintf(fout, "-----\n");
-
- fprintf(fout, "Points:\n");
- i = 0;
- ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
- v->id = (int)(i++);
- fprintf(fout, "%lf %lf %lf\n",
- ccdVec3X(&v->v.v), ccdVec3Y(&v->v.v), ccdVec3Z(&v->v.v));
- }
-
- fprintf(fout, "Edges:\n");
- ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){
- fprintf(fout, "%d %d\n", e->vertex[0]->id, e->vertex[1]->id);
- }
-
- fprintf(fout, "Faces:\n");
- ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){
- a = f->edge[0]->vertex[0];
- b = f->edge[0]->vertex[1];
- c = f->edge[1]->vertex[0];
- if (c == a || c == b){
- c = f->edge[1]->vertex[1];
- }
- fprintf(fout, "%d %d %d\n", a->id, b->id, c->id);
- }
-}
diff --git a/src/pe/extern/libccd/polytope.h b/src/pe/extern/libccd/polytope.h
deleted file mode 100644
index b671224eb..000000000
--- a/src/pe/extern/libccd/polytope.h
+++ /dev/null
@@ -1,322 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_POLYTOPE_H__
-#define __CCD_POLYTOPE_H__
-
-#include <stdlib.h>
-#include <stdio.h>
-#include "support.h"
-#include "list.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-#define CCD_PT_VERTEX 1
-#define CCD_PT_EDGE 2
-#define CCD_PT_FACE 3
-
-
-#define __CCD_PT_EL \
- int type; /*! type of element */ \
- ccd_real_t dist; /*! distance from origin */ \
- ccd_vec3_t witness; /*! witness point of projection of origin */ \
- ccd_list_t list; /*! list of elements of same type */
-
-/**
- * General polytope element.
- * Could be vertex, edge or triangle.
- */
-struct _ccd_pt_el_t {
- __CCD_PT_EL
-};
-typedef struct _ccd_pt_el_t ccd_pt_el_t;
-
-struct _ccd_pt_edge_t;
-struct _ccd_pt_face_t;
-
-/**
- * Polytope's vertex.
- */
-struct _ccd_pt_vertex_t {
- __CCD_PT_EL
-
- int id;
- ccd_support_t v;
- ccd_list_t edges; //!< List of edges
-};
-typedef struct _ccd_pt_vertex_t ccd_pt_vertex_t;
-
-/**
- * Polytope's edge.
- */
-struct _ccd_pt_edge_t {
- __CCD_PT_EL
-
- ccd_pt_vertex_t *vertex[2]; //!< Reference to vertices
- struct _ccd_pt_face_t *faces[2]; //!< Reference to faces
-
- ccd_list_t vertex_list[2]; //!< List items in vertices' lists
-};
-typedef struct _ccd_pt_edge_t ccd_pt_edge_t;
-
-/**
- * Polytope's triangle faces.
- */
-struct _ccd_pt_face_t {
- __CCD_PT_EL
-
- ccd_pt_edge_t *edge[3]; //!< Reference to surrounding edges
-};
-typedef struct _ccd_pt_face_t ccd_pt_face_t;
-
-
-/**
- * Struct containing polytope.
- */
-struct _ccd_pt_t {
- ccd_list_t vertices; //!< List of vertices
- ccd_list_t edges; //!< List of edges
- ccd_list_t faces; //!< List of faces
-
- ccd_pt_el_t *nearest;
- ccd_real_t nearest_dist;
- int nearest_type;
-};
-typedef struct _ccd_pt_t ccd_pt_t;
-
-
-void ccdPtInit(ccd_pt_t *pt);
-void ccdPtDestroy(ccd_pt_t *pt);
-
-/**
- * Returns vertices surrounding given triangle face.
- */
-_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
- ccd_vec3_t **a,
- ccd_vec3_t **b,
- ccd_vec3_t **c);
-_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
- ccd_pt_vertex_t **a,
- ccd_pt_vertex_t **b,
- ccd_pt_vertex_t **c);
-_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
- ccd_pt_edge_t **a,
- ccd_pt_edge_t **b,
- ccd_pt_edge_t **c);
-
-_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
- ccd_vec3_t **a,
- ccd_vec3_t **b);
-_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
- ccd_pt_vertex_t **a,
- ccd_pt_vertex_t **b);
-_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
- ccd_pt_face_t **f1,
- ccd_pt_face_t **f2);
-
-
-/**
- * Adds vertex to polytope and returns pointer to newly created vertex.
- */
-ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v);
-_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
- ccd_real_t x, ccd_real_t y, ccd_real_t z);
-
-/**
- * Adds edge to polytope.
- */
-ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1,
- ccd_pt_vertex_t *v2);
-
-/**
- * Adds face to polytope.
- */
-ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1,
- ccd_pt_edge_t *e2,
- ccd_pt_edge_t *e3);
-
-/**
- * Deletes vertex from polytope.
- * Returns 0 on success, -1 otherwise.
- */
-_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *);
-_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *);
-_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *);
-
-
-/**
- * Recompute distances from origin for all elements in pt.
- */
-void ccdPtRecomputeDistances(ccd_pt_t *pt);
-
-/**
- * Returns nearest element to origin.
- */
-ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt);
-
-
-void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn);
-void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *);
-
-
-/**** INLINES ****/
-_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
- ccd_real_t x, ccd_real_t y, ccd_real_t z)
-{
- ccd_support_t s;
- ccdVec3Set(&s.v, x, y, z);
- return ccdPtAddVertex(pt, &s);
-}
-
-_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *v)
-{
- // test if any edge is connected to this vertex
- if (!ccdListEmpty(&v->edges))
- return -1;
-
- // delete vertex from main list
- ccdListDel(&v->list);
-
- if ((void *)pt->nearest == (void *)v){
- pt->nearest = NULL;
- }
-
- free(v);
- return 0;
-}
-
-_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *e)
-{
- // text if any face is connected to this edge (faces[] is always
- // aligned to lower indices)
- if (e->faces[0] != NULL)
- return -1;
-
- // disconnect edge from lists of edges in vertex struct
- ccdListDel(&e->vertex_list[0]);
- ccdListDel(&e->vertex_list[1]);
-
- // disconnect edge from main list
- ccdListDel(&e->list);
-
- if ((void *)pt->nearest == (void *)e){
- pt->nearest = NULL;
- }
-
- free(e);
- return 0;
-}
-
-_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *f)
-{
- ccd_pt_edge_t *e;
- size_t i;
-
- // remove face from edges' recerence lists
- for (i = 0; i < 3; i++){
- e = f->edge[i];
- if (e->faces[0] == f){
- e->faces[0] = e->faces[1];
- }
- e->faces[1] = NULL;
- }
-
- // remove face from list of all faces
- ccdListDel(&f->list);
-
- if ((void *)pt->nearest == (void *)f){
- pt->nearest = NULL;
- }
-
- free(f);
- return 0;
-}
-
-_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
- ccd_vec3_t **a,
- ccd_vec3_t **b,
- ccd_vec3_t **c)
-{
- *a = &face->edge[0]->vertex[0]->v.v;
- *b = &face->edge[0]->vertex[1]->v.v;
-
- if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
- && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
- *c = &face->edge[1]->vertex[0]->v.v;
- }else{
- *c = &face->edge[1]->vertex[1]->v.v;
- }
-}
-
-_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
- ccd_pt_vertex_t **a,
- ccd_pt_vertex_t **b,
- ccd_pt_vertex_t **c)
-{
- *a = face->edge[0]->vertex[0];
- *b = face->edge[0]->vertex[1];
-
- if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
- && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
- *c = face->edge[1]->vertex[0];
- }else{
- *c = face->edge[1]->vertex[1];
- }
-}
-
-_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
- ccd_pt_edge_t **a,
- ccd_pt_edge_t **b,
- ccd_pt_edge_t **c)
-{
- *a = f->edge[0];
- *b = f->edge[1];
- *c = f->edge[2];
-}
-
-_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
- ccd_vec3_t **a,
- ccd_vec3_t **b)
-{
- *a = &e->vertex[0]->v.v;
- *b = &e->vertex[1]->v.v;
-}
-
-_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
- ccd_pt_vertex_t **a,
- ccd_pt_vertex_t **b)
-{
- *a = e->vertex[0];
- *b = e->vertex[1];
-}
-
-_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
- ccd_pt_face_t **f1,
- ccd_pt_face_t **f2)
-{
- *f1 = e->faces[0];
- *f2 = e->faces[1];
-}
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_POLYTOPE_H__ */
diff --git a/src/pe/extern/libccd/simplex.h b/src/pe/extern/libccd/simplex.h
deleted file mode 100644
index 8ae09c712..000000000
--- a/src/pe/extern/libccd/simplex.h
+++ /dev/null
@@ -1,104 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_SIMPLEX_H__
-#define __CCD_SIMPLEX_H__
-
-#include <ccd/compiler.h>
-#include "support.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-struct _ccd_simplex_t {
- ccd_support_t ps[4];
- int last; //!< index of last added point
-};
-typedef struct _ccd_simplex_t ccd_simplex_t;
-
-
-_ccd_inline void ccdSimplexInit(ccd_simplex_t *s);
-_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s);
-_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s);
-_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx);
-_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx);
-
-_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v);
-_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a);
-_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size);
-_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2);
-
-
-/**** INLINES ****/
-
-_ccd_inline void ccdSimplexInit(ccd_simplex_t *s)
-{
- s->last = -1;
-}
-
-_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s)
-{
- return s->last + 1;
-}
-
-_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s)
-{
- return ccdSimplexPoint(s, s->last);
-}
-
-_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx)
-{
- // here is no check on boundaries
- return &s->ps[idx];
-}
-_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx)
-{
- return &s->ps[idx];
-}
-
-_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v)
-{
- // here is no check on boundaries in sake of speed
- ++s->last;
- ccdSupportCopy(s->ps + s->last, v);
-}
-
-_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a)
-{
- ccdSupportCopy(s->ps + pos, a);
-}
-
-_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size)
-{
- s->last = size - 1;
-}
-
-_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2)
-{
- ccd_support_t supp;
-
- ccdSupportCopy(&supp, &s->ps[pos1]);
- ccdSupportCopy(&s->ps[pos1], &s->ps[pos2]);
- ccdSupportCopy(&s->ps[pos2], &supp);
-}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_SIMPLEX_H__ */
diff --git a/src/pe/extern/libccd/support.c b/src/pe/extern/libccd/support.c
deleted file mode 100644
index 6c7f1cc65..000000000
--- a/src/pe/extern/libccd/support.c
+++ /dev/null
@@ -1,34 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#include "support.h"
-
-void __ccdSupport(const void *obj1, const void *obj2,
- const ccd_vec3_t *_dir, const ccd_t *ccd,
- ccd_support_t *supp)
-{
- ccd_vec3_t dir;
-
- ccdVec3Copy(&dir, _dir);
-
- ccd->support1(obj1, &dir, &supp->v1);
-
- ccdVec3Scale(&dir, -CCD_ONE);
- ccd->support2(obj2, &dir, &supp->v2);
-
- ccdVec3Sub2(&supp->v, &supp->v1, &supp->v2);
-}
diff --git a/src/pe/extern/libccd/support.h b/src/pe/extern/libccd/support.h
deleted file mode 100644
index 3372f5ef2..000000000
--- a/src/pe/extern/libccd/support.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#ifndef __CCD_SUPPORT_H__
-#define __CCD_SUPPORT_H__
-
-#include <ccd/ccd.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-
-struct _ccd_support_t {
- ccd_vec3_t v; //!< Support point in minkowski sum
- ccd_vec3_t v1; //!< Support point in obj1
- ccd_vec3_t v2; //!< Support point in obj2
-};
-typedef struct _ccd_support_t ccd_support_t;
-
-_ccd_inline void ccdSupportCopy(ccd_support_t *, const ccd_support_t *s);
-
-/**
- * Computes support point of obj1 and obj2 in direction dir.
- * Support point is returned via supp.
- */
-void __ccdSupport(const void *obj1, const void *obj2,
- const ccd_vec3_t *dir, const ccd_t *ccd,
- ccd_support_t *supp);
-
-
-/**** INLINES ****/
-_ccd_inline void ccdSupportCopy(ccd_support_t *d, const ccd_support_t *s)
-{
- *d = *s;
-}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-
-#endif /* __CCD_SUPPORT_H__ */
diff --git a/src/pe/extern/libccd/vec3.c b/src/pe/extern/libccd/vec3.c
deleted file mode 100644
index f0a331f4f..000000000
--- a/src/pe/extern/libccd/vec3.c
+++ /dev/null
@@ -1,211 +0,0 @@
-/***
- * libccd
- * ---------------------------------
- * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
- *
- *
- * This file is part of libccd.
- *
- * Distributed under the OSI-approved BSD License (the "License");
- * see accompanying file BDS-LICENSE for details or see
- * <http://www.opensource.org/licenses/bsd-license.php>.
- *
- * This software is distributed WITHOUT ANY WARRANTY; without even the
- * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the License for more information.
- */
-
-#include <stdio.h>
-#include <ccd/vec3.h>
-#include "dbg.h"
-
-static CCD_VEC3(__ccd_vec3_origin, CCD_ZERO, CCD_ZERO, CCD_ZERO);
-ccd_vec3_t *ccd_vec3_origin = &__ccd_vec3_origin;
-
-static ccd_vec3_t points_on_sphere[] = {
- CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-0.000000), CCD_REAL(-1.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL(-0.525725), CCD_REAL(-0.447219)),
- CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL(-0.850649), CCD_REAL(-0.447219)),
- CCD_VEC3_STATIC(CCD_REAL(-0.894426), CCD_REAL(-0.000000), CCD_REAL(-0.447216)),
- CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL( 0.850649), CCD_REAL(-0.447220)),
- CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL( 0.525725), CCD_REAL(-0.447219)),
- CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL(-0.850649), CCD_REAL( 0.447220)),
- CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL(-0.525725), CCD_REAL( 0.447219)),
- CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL( 0.525725), CCD_REAL( 0.447219)),
- CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL( 0.850649), CCD_REAL( 0.447219)),
- CCD_VEC3_STATIC(CCD_REAL( 0.894426), CCD_REAL( 0.000000), CCD_REAL( 0.447216)),
- CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 0.000000), CCD_REAL( 1.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL(-0.309011), CCD_REAL(-0.850654)),
- CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL(-0.499995), CCD_REAL(-0.850654)),
- CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL(-0.809012), CCD_REAL(-0.525738)),
- CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL( 0.309011), CCD_REAL(-0.850654)),
- CCD_VEC3_STATIC(CCD_REAL( 0.850648), CCD_REAL(-0.000000), CCD_REAL(-0.525736)),
- CCD_VEC3_STATIC(CCD_REAL(-0.525730), CCD_REAL(-0.000000), CCD_REAL(-0.850652)),
- CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL(-0.499997), CCD_REAL(-0.525736)),
- CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL( 0.499995), CCD_REAL(-0.850654)),
- CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL( 0.499997), CCD_REAL(-0.525736)),
- CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL( 0.809012), CCD_REAL(-0.525738)),
- CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL( 0.309013), CCD_REAL( 0.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL(-0.309013), CCD_REAL( 0.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-1.000000), CCD_REAL( 0.000000)),
- CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)),
- CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL(-0.309013), CCD_REAL(-0.000000)),
- CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL( 0.309013), CCD_REAL(-0.000000)),
- CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)),
- CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 1.000000), CCD_REAL(-0.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)),
- CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL(-0.499997), CCD_REAL( 0.525736)),
- CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL(-0.809012), CCD_REAL( 0.525738)),
- CCD_VEC3_STATIC(CCD_REAL(-0.850648), CCD_REAL( 0.000000), CCD_REAL( 0.525736)),
- CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL( 0.809012), CCD_REAL( 0.525738)),
- CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL( 0.499997), CCD_REAL( 0.525736)),
- CCD_VEC3_STATIC(CCD_REAL( 0.525730), CCD_REAL( 0.000000), CCD_REAL( 0.850652)),
- CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL(-0.499995), CCD_REAL( 0.850654)),
- CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL(-0.309011), CCD_REAL( 0.850654)),
- CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL( 0.309011), CCD_REAL( 0.850654)),
- CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL( 0.499995), CCD_REAL( 0.850654))
-};
-ccd_vec3_t *ccd_points_on_sphere = points_on_sphere;
-size_t ccd_points_on_sphere_len = sizeof(points_on_sphere) / sizeof(ccd_vec3_t);
-
-
-_ccd_inline ccd_real_t __ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
- const ccd_vec3_t *x0,
- const ccd_vec3_t *b,
- ccd_vec3_t *witness)
-{
- // The computation comes from solving equation of segment:
- // S(t) = x0 + t.d
- // where - x0 is initial point of segment
- // - d is direction of segment from x0 (|d| > 0)
- // - t belongs to <0, 1> interval
- //
- // Than, distance from a segment to some point P can be expressed:
- // D(t) = |x0 + t.d - P|^2
- // which is distance from any point on segment. Minimization
- // of this function brings distance from P to segment.
- // Minimization of D(t) leads to simple quadratic equation that's
- // solving is straightforward.
- //
- // Bonus of this method is witness point for free.
-
- ccd_real_t dist, t;
- ccd_vec3_t d, a;
-
- // direction of segment
- ccdVec3Sub2(&d, b, x0);
-
- // precompute vector from P to x0
- ccdVec3Sub2(&a, x0, P);
-
- t = -CCD_REAL(1.) * ccdVec3Dot(&a, &d);
- t /= ccdVec3Len2(&d);
-
- if (t < CCD_ZERO || ccdIsZero(t)){
- dist = ccdVec3Dist2(x0, P);
- if (witness)
- ccdVec3Copy(witness, x0);
- }else if (t > CCD_ONE || ccdEq(t, CCD_ONE)){
- dist = ccdVec3Dist2(b, P);
- if (witness)
- ccdVec3Copy(witness, b);
- }else{
- if (witness){
- ccdVec3Copy(witness, &d);
- ccdVec3Scale(witness, t);
- ccdVec3Add(witness, x0);
- dist = ccdVec3Dist2(witness, P);
- }else{
- // recycling variables
- ccdVec3Scale(&d, t);
- ccdVec3Add(&d, &a);
- dist = ccdVec3Len2(&d);
- }
- }
-
- return dist;
-}
-
-ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
- const ccd_vec3_t *x0, const ccd_vec3_t *b,
- ccd_vec3_t *witness)
-{
- return __ccdVec3PointSegmentDist2(P, x0, b, witness);
-}
-
-ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P,
- const ccd_vec3_t *x0, const ccd_vec3_t *B,
- const ccd_vec3_t *C,
- ccd_vec3_t *witness)
-{
- // Computation comes from analytic expression for triangle (x0, B, C)
- // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
- // Then equation for distance is:
- // D(s, t) = | T(s, t) - P |^2
- // This leads to minimization of quadratic function of two variables.
- // The solution from is taken only if s is between 0 and 1, t is
- // between 0 and 1 and t + s < 1, otherwise distance from segment is
- // computed.
-
- ccd_vec3_t d1, d2, a;
- ccd_real_t u, v, w, p, q, r;
- ccd_real_t s, t, dist, dist2;
- ccd_vec3_t witness2;
-
- ccdVec3Sub2(&d1, B, x0);
- ccdVec3Sub2(&d2, C, x0);
- ccdVec3Sub2(&a, x0, P);
-
- u = ccdVec3Dot(&a, &a);
- v = ccdVec3Dot(&d1, &d1);
- w = ccdVec3Dot(&d2, &d2);
- p = ccdVec3Dot(&a, &d1);
- q = ccdVec3Dot(&a, &d2);
- r = ccdVec3Dot(&d1, &d2);
-
- s = (q * r - w * p) / (w * v - r * r);
- t = (-s * r - q) / w;
-
- if ((ccdIsZero(s) || s > CCD_ZERO)
- && (ccdEq(s, CCD_ONE) || s < CCD_ONE)
- && (ccdIsZero(t) || t > CCD_ZERO)
- && (ccdEq(t, CCD_ONE) || t < CCD_ONE)
- && (ccdEq(t + s, CCD_ONE) || t + s < CCD_ONE)){
-
- if (witness){
- ccdVec3Scale(&d1, s);
- ccdVec3Scale(&d2, t);
- ccdVec3Copy(witness, x0);
- ccdVec3Add(witness, &d1);
- ccdVec3Add(witness, &d2);
-
- dist = ccdVec3Dist2(witness, P);
- }else{
- dist = s * s * v;
- dist += t * t * w;
- dist += CCD_REAL(2.) * s * t * r;
- dist += CCD_REAL(2.) * s * p;
- dist += CCD_REAL(2.) * t * q;
- dist += u;
- }
- }else{
- dist = __ccdVec3PointSegmentDist2(P, x0, B, witness);
-
- dist2 = __ccdVec3PointSegmentDist2(P, x0, C, &witness2);
- if (dist2 < dist){
- dist = dist2;
- if (witness)
- ccdVec3Copy(witness, &witness2);
- }
-
- dist2 = __ccdVec3PointSegmentDist2(P, B, C, &witness2);
- if (dist2 < dist){
- dist = dist2;
- if (witness)
- ccdVec3Copy(witness, &witness2);
- }
- }
-
- return dist;
-}
diff --git a/tests/pe/Collision.cpp b/tests/pe/Collision.cpp
index 54d4f1125..bd77d39c0 100644
--- a/tests/pe/Collision.cpp
+++ b/tests/pe/Collision.cpp
@@ -18,7 +18,6 @@
//
//======================================================================================================================
-#include "pe/collision/GJKEPAHelper.h"
#include "pe/fcd/AnalyticCollisionDetection.h"
#include "pe/utility/BodyCast.h"
@@ -126,20 +125,14 @@ void BoxTest()
std::vector<Contact> contacts;
fcd::AnalyticCollideFunctor< std::vector<Contact> > collideFunc(contacts);
- real_t penetrationDepth = real_t(0);
- Vec3 contactPoint = Vec3();
- Vec3 contactNormal = Vec3();
-
// std::vector<Contact> contacts;
// BOX <-> BOX
WALBERLA_LOG_INFO("BOX <-> BOX");
- WALBERLA_CHECK( !collideGJK(&b1, &b3, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( !collideFunc(&b1, &b3) );
// WALBERLA_LOG_WARNING("contactPoint : " << contactPoint);
// WALBERLA_LOG_WARNING("contactNormal : " << contactNormal);
// WALBERLA_LOG_WARNING("penetrationDepth: " << penetrationDepth);
- WALBERLA_CHECK( collideGJK(&b1, &b2, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( collideFunc(&b1, &b2) );
// WALBERLA_LOG_WARNING("contactPoint : " << contactPoint);
// WALBERLA_LOG_WARNING("contactNormal : " << contactNormal);
@@ -147,29 +140,24 @@ void BoxTest()
b4.setPosition( (Vec3(0,0,1) * real_t(sqrt(3)) + Vec3(0,0,1)) * 0.999);
- WALBERLA_CHECK( collideGJK(&b1, &b4, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( collideFunc(&b1, &b4) );
// WALBERLA_LOG_WARNING("contactPoint : " << contacts.back().getPosition());
// WALBERLA_LOG_WARNING("contactNormal : " << contacts.back().getNormal());
// WALBERLA_LOG_WARNING("penetrationDepth: " << contacts.back().getDistance());
b4.setPosition( (Vec3(0,0,1) * real_t(sqrt(3)) + Vec3(0,0,1)) * 1.001);
- WALBERLA_CHECK( !collideGJK(&b1, &b4, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( !collideFunc(&b1, &b4) );
b5.setPosition( (Vec3(0,0,1) * real_t(sqrt(3)) + Vec3(0,0,1)) * 0.99);
- WALBERLA_CHECK( collideGJK(&b1, &b5, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( collideFunc(&b1, &b5) );
// WALBERLA_LOG_WARNING("contactPoint : " << contacts.back().getPosition());
// WALBERLA_LOG_WARNING("contactNormal : " << contacts.back().getNormal());
// WALBERLA_LOG_WARNING("penetrationDepth: " << contacts.back().getDistance());
b5.setPosition( (Vec3(0,0,1) * real_t(sqrt(3)) + Vec3(0,0,1)) * 1.01);
- WALBERLA_CHECK( !collideGJK(&b1, &b5, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( !collideFunc(&b1, &b5) );
Sphere s1(126, 0, Vec3(real_t(1.5), real_t(1.5), real_t(1.5)), Vec3(0,0,0), Quat(), 1, iron, false, true, false);
- WALBERLA_CHECK( collideGJK(&b1, &s1, contactPoint, contactNormal, penetrationDepth) );
WALBERLA_CHECK( collideFunc(&b1, &s1) );
// WALBERLA_LOG_WARNING("contactPoint : " << contactPoint);
// WALBERLA_LOG_WARNING("contactNormal : " << contactNormal);
@@ -187,13 +175,6 @@ void CapsuleTest()
// CAPSULE <-> SPHERE
WALBERLA_LOG_INFO("CAPSULE <-> SPHERE");
- sp1.setPosition(real_t(2.9), 0, 0);
- WALBERLA_CHECK( collideGJK(&c1, &sp1, contacts) );
-// WALBERLA_LOG_WARNING("contactPoint : " << contacts.at(0).getPosition());
-// WALBERLA_LOG_WARNING("contactNormal : " << contacts.at(0).getNormal());
-// WALBERLA_LOG_WARNING("penetrationDepth: " << contacts.at(0).getDistance());
- sp1.setPosition(real_t(3.1), 0, 0);
- WALBERLA_CHECK( !collideGJK(&c1, &sp1, contacts) );
sp1.setPosition(0, real_t(1.9), 0);
WALBERLA_CHECK( collideFunc(&c1, &sp1) );
@@ -225,8 +206,6 @@ void CapsuleTest()
void CapsuleTest2()
{
- setMaxGJKIterations(10000);
- setEPATolerance(real_t(0.00000001));
const real_t static_cof ( real_t(0.1) / 2 ); // Coefficient of static friction. Roughly 0.85 with high variation depending on surface roughness for low stresses. Note: pe doubles the input coefficient of friction for material-material contacts.
const real_t dynamic_cof ( static_cof ); // Coefficient of dynamic friction. Similar to static friction for low speed friction.
MaterialID material = createMaterial( "granular", real_t( 1.0 ), 0, static_cof, dynamic_cof, real_t( 0.5 ), 1, 1, 0, 0 );
@@ -240,10 +219,6 @@ void CapsuleTest2()
WALBERLA_LOG_DEVEL( c1 );
WALBERLA_LOG_DEVEL( sp1 );
- real_t penetrationDepth = real_t(0);
- Vec3 contactPoint = Vec3();
- Vec3 contactNormal = Vec3();
-
WALBERLA_LOG_INFO("CAPSULE TEST");
Vec2 distance;
distance[0] = (sp1.getPosition() - c1.getPosition())[0];
@@ -251,24 +226,11 @@ void CapsuleTest2()
std::cout << std::setprecision(10);
WALBERLA_LOG_DEVEL("DISTANCE: " << distance.length());
- WALBERLA_LOG_DEVEL("GJK: " << getMaxGJKIterations());
- WALBERLA_LOG_DEVEL("EPA: " << getEPATolerance() );
- WALBERLA_LOG_DEVEL(" CAPSULE <-> SPHERE (GJK) ");
- WALBERLA_LOG_DEVEL( collideGJK(&c1, &sp1, contactPoint, contactNormal, penetrationDepth) );
- WALBERLA_LOG_WARNING("contactPoint : " << contactPoint);
- WALBERLA_LOG_WARNING("contactNormal : " << contactNormal);
- WALBERLA_LOG_WARNING("penetrationDepth: " << penetrationDepth);
- WALBERLA_LOG_DEVEL(" SPHERE <-> CAPSULE (GJK) ");
- WALBERLA_LOG_DEVEL( collideGJK(&sp1, &c1, contactPoint, contactNormal, penetrationDepth) );
- WALBERLA_LOG_WARNING("contactPoint : " << contactPoint);
- WALBERLA_LOG_WARNING("contactNormal : " << contactNormal);
- WALBERLA_LOG_WARNING("penetrationDepth: " << penetrationDepth);
WALBERLA_LOG_DEVEL(" SPHERE <-> CAPSULE (ANALYTICAL) ");
WALBERLA_LOG_DEVEL( collide(&sp1, &c1, contacts) );
WALBERLA_LOG_WARNING("contactPoint : " << contacts.at(0).getPosition());
WALBERLA_LOG_WARNING("contactNormal : " << contacts.at(0).getNormal());
WALBERLA_LOG_WARNING("penetrationDepth: " << contacts.at(0).getDistance());
-
}
void UnionTest()
--
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