static int ccdCollide(dGeomID o1, dGeomID o2, int flags,
dContactGeom *contact, int /*skip*/,
void *obj1, ccd_support_fn supp1, ccd_center_fn cen1,
void *obj2, ccd_support_fn supp2, ccd_center_fn cen2)
{
ccd_t ccd;
int res;
ccd_real_t depth;
ccd_vec3_t dir, pos;
int max_contacts = (flags & 0xffff);
if (max_contacts < 1)
return 0;
CCD_INIT(&ccd);
ccd.support1 = supp1;
ccd.support2 = supp2;
ccd.center1 = cen1;
ccd.center2 = cen2;
ccd.max_iterations = 500;
ccd.mpr_tolerance = 1E-6;
if (flags & CONTACTS_UNIMPORTANT){
if (ccdMPRIntersect(obj1, obj2, &ccd)){
return 1;
}else{
return 0;
}
}
res = ccdMPRPenetration(obj1, obj2, &ccd, &depth, &dir, &pos);
if (res == 0){
contact->g1 = o1;
contact->g2 = o2;
contact->side1 = contact->side2 = -1;
contact->depth = depth;
contact->pos[0] = ccdVec3X(&pos);
contact->pos[1] = ccdVec3Y(&pos);
contact->pos[2] = ccdVec3Z(&pos);
ccdVec3Scale(&dir, -1.);
contact->normal[0] = ccdVec3X(&dir);
contact->normal[1] = ccdVec3Y(&dir);
contact->normal[2] = ccdVec3Z(&dir);
return 1;
}
return 0;
}
static void runBench(const void *o1, const void *o2, const ccd_t *ccd)
{
ccd_real_t depth;
ccd_vec3_t dir, pos;
size_t i;
const struct timespec *timer;
cuTimerStart();
for (i = 0; i < cycles; i++){
ccdMPRPenetration(o1, o2, ccd, &depth, &dir, &pos);
}
timer = cuTimerStop();
fprintf(stdout, "%02d: %ld %ld\n", bench_num,
(long)timer->tv_sec, (long)timer->tv_nsec);
fflush(stdout);
bench_num++;
}
bool GJKCollide(void* obj1, ccd_support_fn supp1, ccd_center_fn cen1,
void* obj2, ccd_support_fn supp2, ccd_center_fn cen2,
unsigned int max_iterations, FCL_REAL tolerance,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal)
{
ccd_t ccd;
int res;
ccd_real_t depth;
ccd_vec3_t dir, pos;
CCD_INIT(&ccd);
ccd.support1 = supp1;
ccd.support2 = supp2;
ccd.center1 = cen1;
ccd.center2 = cen2;
ccd.max_iterations = max_iterations;
ccd.mpr_tolerance = tolerance;
if(!contact_points)
{
return ccdMPRIntersect(obj1, obj2, &ccd);
}
res = ccdMPRPenetration(obj1, obj2, &ccd, &depth, &dir, &pos);
if(res == 0)
{
contact_points->setValue(ccdVec3X(&pos), ccdVec3Y(&pos), ccdVec3Z(&pos));
*penetration_depth = depth;
normal->setValue(-ccdVec3X(&dir), -ccdVec3Y(&dir), -ccdVec3Z(&dir));
return true;
}
return false;
}
