//--------------------------------------------------------------
void testApp::keyPressed(int key) {
switch (key) {
case ' ': {
findOrigin();
break;
}
}
}
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;
}
