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 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);
}
}
_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);
}
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;
}
