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;
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)){
*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);
}
}
