static bool circumCircle(const float* p1, const float* p2, const float* p3,
float* c, float& r)
{
static const float EPS = 1e-6f;
// Calculate the circle relative to p1, to avoid some precision issues.
const float v1[3] = {0,0,0};
float v2[3], v3[3];
rcVsub(v2, p2,p1);
rcVsub(v3, p3,p1);
const float cp = vcross2(v1, v2, v3);
if (fabsf(cp) > EPS)
{
const float v1Sq = vdot2(v1,v1);
const float v2Sq = vdot2(v2,v2);
const float v3Sq = vdot2(v3,v3);
c[0] = (v1Sq*(v2[2]-v3[2]) + v2Sq*(v3[2]-v1[2]) + v3Sq*(v1[2]-v2[2])) / (2*cp);
c[1] = 0;
c[2] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
r = vdist2(c, v1);
rcVadd(c, c, p1);
return true;
}
rcVcopy(c, p1);
r = 0;
return false;
}
bool rcIsOverlapBounds2D( const dtCoordinates& vertexPoint, const dtCoordinates& bmin, const dtCoordinates& bmax )
{
const dtCoordinates extend( 0.4f, 0.0f, 0.4f );
dtCoordinates amin, amax;
rcVsub( amin, vertexPoint, extend );
rcVadd( amax, vertexPoint, extend );
bool overlap = true;
overlap = (amin.X() > bmax.X() || amax.X() < bmin.X()) ? false : overlap;
overlap = (amin.Z() > bmax.Z() || amax.Z() < bmin.Z()) ? false : overlap;
return overlap;
}