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| author | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
|---|---|---|
| committer | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
| commit | c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch) | |
| tree | 277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/libccd/src | |
| parent | 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff) | |
add ode
Diffstat (limited to 'libs/ode-0.16.1/libccd/src')
55 files changed, 11025 insertions, 0 deletions
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+ * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <stdio.h> +#include <ccd/alloc.h> + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +void *ccdRealloc(void *ptr, size_t size) +{ + void *ret = realloc(ptr, size); + if (ret == NULL && size != 0){ + fprintf(stderr, "Fatal error: Allocation of memory failed!\n"); + fflush(stderr); + exit(-1); + } + + return ret; +} + + diff --git a/libs/ode-0.16.1/libccd/src/ccd.c b/libs/ode-0.16.1/libccd/src/ccd.c new file mode 100644 index 0000000..5221b8f --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd.c @@ -0,0 +1,955 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <stdio.h> +#include <float.h> +#include <ccd/ccd.h> +#include <ccdcustom/vec3.h> +#include <ccd/simplex.h> +#include <ccd/polytope.h> +#include <ccd/alloc.h> +#include <ccd/dbg.h> + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +/** Performs GJK algorithm. Returns 0 if intersection was found and simplex + * is filled with resulting polytope. */ +static int __ccdGJK(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *simplex); + +/** Performs GJK+EPA algorithm. Returns 0 if intersection was found and + * pt is filled with resulting polytope and nearest with pointer to + * nearest element (vertex, edge, face) of polytope to origin. */ +static int __ccdGJKEPA(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + + +/** Returns true if simplex contains origin. + * This function also alteres simplex and dir according to further + * processing of GJK algorithm. */ +static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir); +static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir); +static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir); +static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir); + +/** d = a x b x c */ +_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b, + const ccd_vec3_t *c, ccd_vec3_t *d); + + +/** Transforms simplex to polytope. It is assumed that simplex has 4 + * vertices. */ +static int simplexToPolytope4(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + +/** Transforms simplex to polytope, three vertices required */ +static int simplexToPolytope3(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + +/** Transforms simplex to polytope, two vertices required */ +static int simplexToPolytope2(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + +/** Expands polytope using new vertex v. */ +static void expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el, + const ccd_support_t *newv); + +/** Finds next support point (at stores it in out argument). + * Returns 0 on success, -1 otherwise */ +static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_pt_el_t *el, + ccd_support_t *out); + + + +void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir) +{ + ccdVec3Set(dir, CCD_ONE, CCD_ZERO, CCD_ZERO); +} + +int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd) +{ + ccd_simplex_t simplex; + return __ccdGJK(obj1, obj2, ccd, &simplex) == 0; +} + +int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_vec3_t *sep) +{ + ccd_pt_t polytope; + ccd_pt_el_t *nearest; + int ret; + + ccdPtInit(&polytope); + + ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest); + + // set separation vector + if (nearest) + ccdVec3Copy(sep, &nearest->witness); + + ccdPtDestroy(&polytope); + + return ret; +} + + +static int penEPAPosCmp(const void *a, const void *b) +{ + ccd_pt_vertex_t *v1, *v2; + v1 = *(ccd_pt_vertex_t **)a; + v2 = *(ccd_pt_vertex_t **)b; + + if (ccdEq(v1->dist, v2->dist)){ + return 0; + }else if (v1->dist < v2->dist){ + return -1; + }else{ + return 1; + } +} + +static void penEPAPos(const ccd_pt_t *pt, const ccd_pt_el_t *nearest, + ccd_vec3_t *pos) +{ + ccd_pt_vertex_t *v; + ccd_pt_vertex_t **vs; + size_t i, len; + ccd_real_t scale; + + // compute median + len = 0; + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + len++; + } + + vs = CCD_ALLOC_ARR(ccd_pt_vertex_t *, len); + i = 0; + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + vs[i++] = v; + } + + qsort(vs, len, sizeof(ccd_pt_vertex_t *), penEPAPosCmp); + + ccdVec3Set(pos, CCD_ZERO, CCD_ZERO, CCD_ZERO); + scale = CCD_ZERO; + if (len % 2 == 1) + len++; + + for (i = 0; i < len / 2; i++){ + ccdVec3Add(pos, &vs[i]->v.v1); + ccdVec3Add(pos, &vs[i]->v.v2); + scale += CCD_REAL(2.); + } + ccdVec3Scale(pos, CCD_ONE / scale); + + free(vs); +} + +int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos) +{ + ccd_pt_t polytope; + ccd_pt_el_t *nearest; + int ret; + + ccdPtInit(&polytope); + + ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest); + + // set separation vector + if (ret == 0 && nearest){ + // store normalized direction vector + ccdVec3Copy(dir, &nearest->witness); + ret = ccdVec3SafeNormalize(dir); + + if (ret == 0) { + // compute depth of penetration + *depth = CCD_SQRT(nearest->dist); + // compute position + penEPAPos(&polytope, nearest, pos); + } + } + + ccdPtDestroy(&polytope); + + return ret; +} + + + + +static int __ccdGJK(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *simplex) +{ + unsigned long iterations; + ccd_vec3_t dir; // direction vector + ccd_support_t last; // last support point + int do_simplex_res; + + // initialize simplex struct + ccdSimplexInit(simplex); + + // get first direction + ccd->first_dir(obj1, obj2, &dir); + // get first support point + __ccdSupport(obj1, obj2, &dir, ccd, &last); + // and add this point to simplex as last one + ccdSimplexAdd(simplex, &last); + + // set up direction vector to as (O - last) which is exactly -last + ccdVec3Copy(&dir, &last.v); + ccdVec3Scale(&dir, -CCD_ONE); + + // start iterations + for (iterations = 0UL; iterations < ccd->max_iterations; ++iterations) { + // obtain support point + __ccdSupport(obj1, obj2, &dir, ccd, &last); + + // check if farthest point in Minkowski difference in direction dir + // isn't somewhere before origin (the test on negative dot product) + // - because if it is, objects are not intersecting at all. + if (ccdVec3Dot(&last.v, &dir) < CCD_ZERO){ + return -1; // intersection not found + } + + // add last support vector to simplex + ccdSimplexAdd(simplex, &last); + + // if doSimplex returns 1 if objects intersect, -1 if objects don't + // intersect and 0 if algorithm should continue + do_simplex_res = doSimplex(simplex, &dir); + if (do_simplex_res == 1){ + return 0; // intersection found + }else if (do_simplex_res == -1){ + return -1; // intersection not found + } + + if (ccdIsZero(ccdVec3Len2(&dir))){ + return -1; // intersection not found + } + } + + // intersection wasn't found + return -1; +} + +static int __ccdGJKEPA(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_pt_t *polytope, ccd_pt_el_t **nearest) +{ + ccd_simplex_t simplex; + ccd_support_t supp; // support point + int ret, size; + + *nearest = NULL; + + // run GJK and obtain terminal simplex + ret = __ccdGJK(obj1, obj2, ccd, &simplex); + if (ret != 0) + return -1; + + // transform simplex to polytope - simplex won't be used anymore + size = ccdSimplexSize(&simplex); + if (size == 4){ + if (simplexToPolytope4(obj1, obj2, ccd, &simplex, polytope, nearest) != 0){ + return 0;// touch contact + } + }else if (size == 3){ + if (simplexToPolytope3(obj1, obj2, ccd, &simplex, polytope, nearest) != 0){ + return 0; // touch contact + } + }else{ // size == 2 + if (simplexToPolytope2(obj1, obj2, ccd, &simplex, polytope, nearest) != 0){ + return 0; // touch contact + } + } + + while (1){ + // get triangle nearest to origin + *nearest = ccdPtNearest(polytope); + + // get next support point + if (nextSupport(obj1, obj2, ccd, *nearest, &supp) != 0) + break; + + // expand nearest triangle using new point - supp + expandPolytope(polytope, *nearest, &supp); + } + + return 0; +} + + + +static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + const ccd_support_t *A, *B; + ccd_vec3_t AB, AO, tmp; + ccd_real_t dot; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other point + B = ccdSimplexPoint(simplex, 0); + // compute AB oriented segment + ccdVec3Sub2(&AB, &B->v, &A->v); + // compute AO vector + ccdVec3Copy(&AO, &A->v); + ccdVec3Scale(&AO, -CCD_ONE); + + // dot product AB . AO + dot = ccdVec3Dot(&AB, &AO); + + // check if origin doesn't lie on AB segment + ccdVec3Cross(&tmp, &AB, &AO); + if (ccdIsZero(ccdVec3Len2(&tmp)) && dot > CCD_ZERO){ + return 1; + } + + // check if origin is in area where AB segment is + if (ccdIsZero(dot) || dot < CCD_ZERO){ + // origin is in outside are of A + ccdSimplexSet(simplex, 0, A); + ccdSimplexSetSize(simplex, 1); + ccdVec3Copy(dir, &AO); + }else{ + // origin is in area where AB segment is + + // keep simplex untouched and set direction to + // AB x AO x AB + tripleCross(&AB, &AO, &AB, dir); + } + + return 0; +} + +static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + const ccd_support_t *A, *B, *C; + ccd_vec3_t AO, AB, AC, ABC, tmp; + ccd_real_t dot, dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = ccdSimplexPoint(simplex, 1); + C = ccdSimplexPoint(simplex, 0); + + // check touching contact + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL); + if (ccdIsZero(dist)){ + return 1; + } + + // check if triangle is really triangle (has area > 0) + // if not simplex can't be expanded and thus no itersection is found + if (ccdVec3Eq(&A->v, &B->v) || ccdVec3Eq(&A->v, &C->v)){ + return -1; + } + + // compute AO vector + ccdVec3Copy(&AO, &A->v); + ccdVec3Scale(&AO, -CCD_ONE); + + // compute AB and AC segments and ABC vector (perpendircular to triangle) + ccdVec3Sub2(&AB, &B->v, &A->v); + ccdVec3Sub2(&AC, &C->v, &A->v); + ccdVec3Cross(&ABC, &AB, &AC); + + ccdVec3Cross(&tmp, &ABC, &AC); + dot = ccdVec3Dot(&tmp, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + dot = ccdVec3Dot(&AC, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + // C is already in place + ccdSimplexSet(simplex, 1, A); + ccdSimplexSetSize(simplex, 2); + tripleCross(&AC, &AO, &AC, dir); + }else{ +ccd_do_simplex3_45: + dot = ccdVec3Dot(&AB, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + ccdSimplexSet(simplex, 0, B); + ccdSimplexSet(simplex, 1, A); + ccdSimplexSetSize(simplex, 2); + tripleCross(&AB, &AO, &AB, dir); + }else{ + ccdSimplexSet(simplex, 0, A); + ccdSimplexSetSize(simplex, 1); + ccdVec3Copy(dir, &AO); + } + } + }else{ + ccdVec3Cross(&tmp, &AB, &ABC); + dot = ccdVec3Dot(&tmp, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + goto ccd_do_simplex3_45; + }else{ + dot = ccdVec3Dot(&ABC, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + ccdVec3Copy(dir, &ABC); + }else{ + ccd_support_t Ctmp; + ccdSupportCopy(&Ctmp, C); + ccdSimplexSet(simplex, 0, B); + ccdSimplexSet(simplex, 1, &Ctmp); + + ccdVec3Copy(dir, &ABC); + ccdVec3Scale(dir, -CCD_ONE); + } + } + } + + return 0; +} + +static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + const ccd_support_t *A, *B, *C, *D; + ccd_vec3_t AO, AB, AC, AD, ABC, ACD, ADB; + int B_on_ACD, C_on_ADB, D_on_ABC; + int AB_O, AC_O, AD_O; + ccd_real_t dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = ccdSimplexPoint(simplex, 2); + C = ccdSimplexPoint(simplex, 1); + D = ccdSimplexPoint(simplex, 0); + + // check if tetrahedron is really tetrahedron (has volume > 0) + // if it is not simplex can't be expanded and thus no intersection is + // found + dist = ccdVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, NULL); + if (ccdIsZero(dist)){ + return -1; + } + + // check if origin lies on some of tetrahedron's face - if so objects + // intersect + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL); + if (ccdIsZero(dist)) + return 1; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &C->v, &D->v, NULL); + if (ccdIsZero(dist)) + return 1; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &D->v, NULL); + if (ccdIsZero(dist)) + return 1; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &B->v, &C->v, &D->v, NULL); + if (ccdIsZero(dist)) + return 1; + + // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors + ccdVec3Copy(&AO, &A->v); + ccdVec3Scale(&AO, -CCD_ONE); + ccdVec3Sub2(&AB, &B->v, &A->v); + ccdVec3Sub2(&AC, &C->v, &A->v); + ccdVec3Sub2(&AD, &D->v, &A->v); + ccdVec3Cross(&ABC, &AB, &AC); + ccdVec3Cross(&ACD, &AC, &AD); + ccdVec3Cross(&ADB, &AD, &AB); + + // side (positive or negative) of B, C, D relative to planes ACD, ADB + // and ABC respectively + B_on_ACD = ccdSign(ccdVec3Dot(&ACD, &AB)); + C_on_ADB = ccdSign(ccdVec3Dot(&ADB, &AC)); + D_on_ABC = ccdSign(ccdVec3Dot(&ABC, &AD)); + + // whether origin is on same side of ACD, ADB, ABC as B, C, D + // respectively + AB_O = ccdSign(ccdVec3Dot(&ACD, &AO)) == B_on_ACD; + AC_O = ccdSign(ccdVec3Dot(&ADB, &AO)) == C_on_ADB; + AD_O = ccdSign(ccdVec3Dot(&ABC, &AO)) == D_on_ABC; + + if (AB_O && AC_O && AD_O){ + // origin is in tetrahedron + return 1; + + // rearrange simplex to triangle and call doSimplex3() + }else if (!AB_O){ + // B is farthest from the origin among all of the tetrahedron's + // points, so remove it from the list and go on with the triangle + // case + + // D and C are in place + ccdSimplexSet(simplex, 2, A); + ccdSimplexSetSize(simplex, 3); + }else if (!AC_O){ + // C is farthest + ccdSimplexSet(simplex, 1, D); + ccdSimplexSet(simplex, 0, B); + ccdSimplexSet(simplex, 2, A); + ccdSimplexSetSize(simplex, 3); + }else{ // (!AD_O) + ccdSimplexSet(simplex, 0, C); + ccdSimplexSet(simplex, 1, B); + ccdSimplexSet(simplex, 2, A); + ccdSimplexSetSize(simplex, 3); + } + + return doSimplex3(simplex, dir); +} + +static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + if (ccdSimplexSize(simplex) == 2){ + // simplex contains segment only one segment + return doSimplex2(simplex, dir); + }else if (ccdSimplexSize(simplex) == 3){ + // simplex contains triangle + return doSimplex3(simplex, dir); + }else{ // ccdSimplexSize(simplex) == 4 + // tetrahedron - this is the only shape which can encapsule origin + // so doSimplex4() also contains test on it + return doSimplex4(simplex, dir); + } +} + +_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b, + const ccd_vec3_t *c, ccd_vec3_t *d) +{ + ccd_vec3_t e; + ccdVec3Cross(&e, a, b); + ccdVec3Cross(d, &e, c); +} + + + +/** Transforms simplex to polytope. It is assumed that simplex has 4 + * vertices! */ +static int simplexToPolytope4(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest) +{ + const ccd_support_t *a, *b, *c, *d; + int use_polytope3; + ccd_real_t dist; + ccd_pt_vertex_t *v[4]; + ccd_pt_edge_t *e[6]; + size_t i; + + a = ccdSimplexPoint(simplex, 0); + b = ccdSimplexPoint(simplex, 1); + c = ccdSimplexPoint(simplex, 2); + d = ccdSimplexPoint(simplex, 3); + + // check if origin lies on some of tetrahedron's face - if so use + // simplexToPolytope3() + use_polytope3 = 0; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &c->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + } + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &c->v, &d->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + ccdSimplexSet(simplex, 1, c); + ccdSimplexSet(simplex, 2, d); + } + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &d->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + ccdSimplexSet(simplex, 2, d); + } + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &b->v, &c->v, &d->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + ccdSimplexSet(simplex, 0, b); + ccdSimplexSet(simplex, 1, c); + ccdSimplexSet(simplex, 2, d); + } + + if (use_polytope3){ + ccdSimplexSetSize(simplex, 3); + return simplexToPolytope3(obj1, obj2, ccd, simplex, pt, nearest); + } + + // no touching contact - simply create tetrahedron + for (i = 0; i < 4; i++){ + v[i] = ccdPtAddVertex(pt, ccdSimplexPoint(simplex, i)); + } + + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[0]); + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + e[4] = ccdPtAddEdge(pt, v[3], v[1]); + e[5] = ccdPtAddEdge(pt, v[3], v[2]); + + ccdPtAddFace(pt, e[0], e[1], e[2]); + ccdPtAddFace(pt, e[3], e[4], e[0]); + ccdPtAddFace(pt, e[4], e[5], e[1]); + ccdPtAddFace(pt, e[5], e[3], e[2]); + + return 0; +} + +/** Transforms simplex to polytope, three vertices required */ +static int simplexToPolytope3(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest) +{ + const ccd_support_t *a, *b, *c; + ccd_support_t d, d2; + ccd_vec3_t ab, ac, dir; + ccd_pt_vertex_t *v[5]; + ccd_pt_edge_t *e[9]; + ccd_real_t dist, dist2; + + *nearest = NULL; + + a = ccdSimplexPoint(simplex, 0); + b = ccdSimplexPoint(simplex, 1); + c = ccdSimplexPoint(simplex, 2); + + // If only one triangle left from previous GJK run origin lies on this + // triangle. So it is necessary to expand triangle into two + // tetrahedrons connected with base (which is exactly abc triangle). + + // get next support point in direction of normal of triangle + ccdVec3Sub2(&ab, &b->v, &a->v); + ccdVec3Sub2(&ac, &c->v, &a->v); + ccdVec3Cross(&dir, &ab, &ac); + __ccdSupport(obj1, obj2, &dir, ccd, &d); + dist = ccdVec3PointTriDist2(&d.v, &a->v, &b->v, &c->v, NULL); + + // and second one take in opposite direction + ccdVec3Scale(&dir, -CCD_ONE); + __ccdSupport(obj1, obj2, &dir, ccd, &d2); + dist2 = ccdVec3PointTriDist2(&d2.v, &a->v, &b->v, &c->v, NULL); + + // check if face isn't already on edge of minkowski sum and thus we + // have touching contact + if (ccdIsZero(dist) || ccdIsZero(dist2)){ + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, b); + v[2] = ccdPtAddVertex(pt, c); + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[0]); + *nearest = (ccd_pt_el_t *)ccdPtAddFace(pt, e[0], e[1], e[2]); + + return -1; + } + + // form polyhedron + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, b); + v[2] = ccdPtAddVertex(pt, c); + v[3] = ccdPtAddVertex(pt, &d); + v[4] = ccdPtAddVertex(pt, &d2); + + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[0]); + + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + e[4] = ccdPtAddEdge(pt, v[3], v[1]); + e[5] = ccdPtAddEdge(pt, v[3], v[2]); + + e[6] = ccdPtAddEdge(pt, v[4], v[0]); + e[7] = ccdPtAddEdge(pt, v[4], v[1]); + e[8] = ccdPtAddEdge(pt, v[4], v[2]); + + ccdPtAddFace(pt, e[3], e[4], e[0]); + ccdPtAddFace(pt, e[4], e[5], e[1]); + ccdPtAddFace(pt, e[5], e[3], e[2]); + + ccdPtAddFace(pt, e[6], e[7], e[0]); + ccdPtAddFace(pt, e[7], e[8], e[1]); + ccdPtAddFace(pt, e[8], e[6], e[2]); + + return 0; +} + +/** Transforms simplex to polytope, two vertices required */ +static int simplexToPolytope2(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest) +{ + const ccd_support_t *a, *b; + ccd_vec3_t ab, ac, dir; + ccd_support_t supp[4]; + ccd_pt_vertex_t *v[6]; + ccd_pt_edge_t *e[12]; + size_t i; + int found; + + a = ccdSimplexPoint(simplex, 0); + b = ccdSimplexPoint(simplex, 1); + + // This situation is a bit tricky. If only one segment comes from + // previous run of GJK - it means that either this segment is on + // minkowski edge (and thus we have touch contact) or it it isn't and + // therefore segment is somewhere *inside* minkowski sum and it *must* + // be possible to fully enclose this segment with polyhedron formed by + // at least 8 triangle faces. + + // get first support point (any) + found = 0; + for (i = 0; i < ccd_points_on_sphere_len; i++){ + __ccdSupport(obj1, obj2, &ccd_points_on_sphere[i], ccd, &supp[0]); + if (!ccdVec3Eq(&a->v, &supp[0].v) && !ccdVec3Eq(&b->v, &supp[0].v)){ + found = 1; + break; + } + } + if (!found) + goto simplexToPolytope2_touching_contact; + + // get second support point in opposite direction than supp[0] + ccdVec3Copy(&dir, &supp[0].v); + ccdVec3Scale(&dir, -CCD_ONE); + __ccdSupport(obj1, obj2, &dir, ccd, &supp[1]); + if (ccdVec3Eq(&a->v, &supp[1].v) || ccdVec3Eq(&b->v, &supp[1].v)) + goto simplexToPolytope2_touching_contact; + + // next will be in direction of normal of triangle a,supp[0],supp[1] + ccdVec3Sub2(&ab, &supp[0].v, &a->v); + ccdVec3Sub2(&ac, &supp[1].v, &a->v); + ccdVec3Cross(&dir, &ab, &ac); + __ccdSupport(obj1, obj2, &dir, ccd, &supp[2]); + if (ccdVec3Eq(&a->v, &supp[2].v) || ccdVec3Eq(&b->v, &supp[2].v)) + goto simplexToPolytope2_touching_contact; + + // and last one will be in opposite direction + ccdVec3Scale(&dir, -CCD_ONE); + __ccdSupport(obj1, obj2, &dir, ccd, &supp[3]); + if (ccdVec3Eq(&a->v, &supp[3].v) || ccdVec3Eq(&b->v, &supp[3].v)) + goto simplexToPolytope2_touching_contact; + + goto simplexToPolytope2_not_touching_contact; +simplexToPolytope2_touching_contact: + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, b); + *nearest = (ccd_pt_el_t *)ccdPtAddEdge(pt, v[0], v[1]); + return -1; + +simplexToPolytope2_not_touching_contact: + // form polyhedron + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, &supp[0]); + v[2] = ccdPtAddVertex(pt, b); + v[3] = ccdPtAddVertex(pt, &supp[1]); + v[4] = ccdPtAddVertex(pt, &supp[2]); + v[5] = ccdPtAddVertex(pt, &supp[3]); + + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[3]); + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + + e[4] = ccdPtAddEdge(pt, v[4], v[0]); + e[5] = ccdPtAddEdge(pt, v[4], v[1]); + e[6] = ccdPtAddEdge(pt, v[4], v[2]); + e[7] = ccdPtAddEdge(pt, v[4], v[3]); + + e[8] = ccdPtAddEdge(pt, v[5], v[0]); + e[9] = ccdPtAddEdge(pt, v[5], v[1]); + e[10] = ccdPtAddEdge(pt, v[5], v[2]); + e[11] = ccdPtAddEdge(pt, v[5], v[3]); + + ccdPtAddFace(pt, e[4], e[5], e[0]); + ccdPtAddFace(pt, e[5], e[6], e[1]); + ccdPtAddFace(pt, e[6], e[7], e[2]); + ccdPtAddFace(pt, e[7], e[4], e[3]); + + ccdPtAddFace(pt, e[8], e[9], e[0]); + ccdPtAddFace(pt, e[9], e[10], e[1]); + ccdPtAddFace(pt, e[10], e[11], e[2]); + ccdPtAddFace(pt, e[11], e[8], e[3]); + + return 0; +} + +/** Expands polytope's tri by new vertex v. Triangle tri is replaced by + * three triangles each with one vertex in v. */ +static void expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el, + const ccd_support_t *newv) +{ + ccd_pt_vertex_t *v[5]; + ccd_pt_edge_t *e[8] = {0}; + ccd_pt_face_t *f[2]; + + + // element can be either segment or triangle + if (el->type == CCD_PT_EDGE){ + // In this case, segment should be replaced by new point. + // Simpliest case is when segment stands alone and in this case + // this segment is replaced by two other segments both connected to + // newv. + // Segment can be also connected to max two faces and in that case + // each face must be replaced by two other faces. To do this + // correctly it is necessary to have correctly ordered edges and + // vertices which is exactly what is done in following code. + // + + ccdPtEdgeVertices((const ccd_pt_edge_t *)el, &v[0], &v[2]); + + ccdPtEdgeFaces((ccd_pt_edge_t *)el, &f[0], &f[1]); + + if (f[0]){ + ccdPtFaceEdges(f[0], &e[0], &e[1], &e[2]); + if (e[0] == (ccd_pt_edge_t *)el){ + e[0] = e[2]; + }else if (e[1] == (ccd_pt_edge_t *)el){ + e[1] = e[2]; + } + ccdPtEdgeVertices(e[0], &v[1], &v[3]); + if (v[1] != v[0] && v[3] != v[0]){ + e[2] = e[0]; + e[0] = e[1]; + e[1] = e[2]; + if (v[1] == v[2]) + v[1] = v[3]; + }else{ + if (v[1] == v[0]) + v[1] = v[3]; + } + + if (f[1]){ + ccdPtFaceEdges(f[1], &e[2], &e[3], &e[4]); + if (e[2] == (ccd_pt_edge_t *)el){ + e[2] = e[4]; + }else if (e[3] == (ccd_pt_edge_t *)el){ + e[3] = e[4]; + } + ccdPtEdgeVertices(e[2], &v[3], &v[4]); + if (v[3] != v[2] && v[4] != v[2]){ + e[4] = e[2]; + e[2] = e[3]; + e[3] = e[4]; + if (v[3] == v[0]) + v[3] = v[4]; + }else{ + if (v[3] == v[2]) + v[3] = v[4]; + } + } + + + v[4] = ccdPtAddVertex(pt, newv); + + ccdPtDelFace(pt, f[0]); + if (f[1]){ + ccdPtDelFace(pt, f[1]); + ccdPtDelEdge(pt, (ccd_pt_edge_t *)el); + } + + e[4] = ccdPtAddEdge(pt, v[4], v[2]); + e[5] = ccdPtAddEdge(pt, v[4], v[0]); + e[6] = ccdPtAddEdge(pt, v[4], v[1]); + if (f[1]) + e[7] = ccdPtAddEdge(pt, v[4], v[3]); + + ccdPtAddFace(pt, e[1], e[4], e[6]); + ccdPtAddFace(pt, e[0], e[6], e[5]); + if (f[1]){ + ccdPtAddFace(pt, e[3], e[5], e[7]); + ccdPtAddFace(pt, e[4], e[7], e[2]); + }else{ + ccdPtAddFace(pt, e[4], e[5], (ccd_pt_edge_t *)el); + } + } + }else{ // el->type == CCD_PT_FACE + // replace triangle by tetrahedron without base (base would be the + // triangle that will be removed) + + // get triplet of surrounding edges and vertices of triangle face + ccdPtFaceEdges((const ccd_pt_face_t *)el, &e[0], &e[1], &e[2]); + ccdPtEdgeVertices(e[0], &v[0], &v[1]); + ccdPtEdgeVertices(e[1], &v[2], &v[3]); + + // following code sorts edges to have e[0] between vertices 0-1, + // e[1] between 1-2 and e[2] between 2-0 + if (v[2] != v[1] && v[3] != v[1]){ + // swap e[1] and e[2] + e[3] = e[1]; + e[1] = e[2]; + e[2] = e[3]; + } + if (v[3] != v[0] && v[3] != v[1]) + v[2] = v[3]; + + // remove triangle face + ccdPtDelFace(pt, (ccd_pt_face_t *)el); + + // expand triangle to tetrahedron + v[3] = ccdPtAddVertex(pt, newv); + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + e[4] = ccdPtAddEdge(pt, v[3], v[1]); + e[5] = ccdPtAddEdge(pt, v[3], v[2]); + + ccdPtAddFace(pt, e[3], e[4], e[0]); + ccdPtAddFace(pt, e[4], e[5], e[1]); + ccdPtAddFace(pt, e[5], e[3], e[2]); + } +} + +/** Finds next support point (at stores it in out argument). + * Returns 0 on success, -1 otherwise */ +static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_pt_el_t *el, + ccd_support_t *out) +{ + ccd_vec3_t *a, *b, *c; + ccd_real_t dist; + + if (el->type == CCD_PT_VERTEX) + return -1; + + // touch contact + if (ccdIsZero(el->dist)) + return -1; + + __ccdSupport(obj1, obj2, &el->witness, ccd, out); + + if (el->type == CCD_PT_EDGE){ + // fetch end points of edge + ccdPtEdgeVec3((ccd_pt_edge_t *)el, &a, &b); + + // get distance from segment + dist = ccdVec3PointSegmentDist2(&out->v, a, b, NULL); + }else{ // el->type == CCD_PT_FACE + // fetch vertices of triangle face + ccdPtFaceVec3((ccd_pt_face_t *)el, &a, &b, &c); + + // check if new point can significantly expand polytope + dist = ccdVec3PointTriDist2(&out->v, a, b, c, NULL); + } + + if (dist < ccd->epa_tolerance) + return -1; + + return 0; +} diff --git a/libs/ode-0.16.1/libccd/src/ccd/alloc.h b/libs/ode-0.16.1/libccd/src/ccd/alloc.h new file mode 100644 index 0000000..7b92e3e --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/alloc.h @@ -0,0 +1,52 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_ALLOC_H__ +#define __CCD_ALLOC_H__ + +#include <stdlib.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * Functions and macros required for memory allocation. + */ + +/* Memory allocation: */ +#define __CCD_ALLOC_MEMORY(type, ptr_old, size) \ + (type *)ccdRealloc((void *)ptr_old, (size)) + +/** Allocate memory for one element of type. */ +#define CCD_ALLOC(type) \ + __CCD_ALLOC_MEMORY(type, NULL, sizeof(type)) + +/** Allocate memory for array of elements of type type. */ +#define CCD_ALLOC_ARR(type, num_elements) \ + __CCD_ALLOC_MEMORY(type, NULL, sizeof(type) * (num_elements)) + +#define CCD_REALLOC_ARR(ptr, type, num_elements) \ + __CCD_ALLOC_MEMORY(type, ptr, sizeof(type) * (num_elements)) + +void *ccdRealloc(void *ptr, size_t size); + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_ALLOC_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/ccd.h b/libs/ode-0.16.1/libccd/src/ccd/ccd.h new file mode 100644 index 0000000..3aaba8a --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/ccd.h @@ -0,0 +1,148 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_H__ +#define __CCD_H__ + +#include <ccd/precision.h> + +#include <ccd/vec3.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * Type of *support* function that takes pointer to 3D object and direction + * and returns (via vec argument) furthest point from object in specified + * direction. + */ +typedef void (*ccd_support_fn)(const void *obj, const ccd_vec3_t *dir, + ccd_vec3_t *vec); + +/** + * Returns (via dir argument) first direction vector that will be used in + * initialization of algorithm. + */ +typedef void (*ccd_first_dir_fn)(const void *obj1, const void *obj2, + ccd_vec3_t *dir); + + +/** + * Returns (via center argument) geometric center (some point near center) + * of given object. + */ +typedef void (*ccd_center_fn)(const void *obj1, ccd_vec3_t *center); + +/** + * Main structure of CCD algorithm. + */ +struct _ccd_t { + ccd_first_dir_fn first_dir; /*!< Returns initial direction where first + !< support point will be searched*/ + ccd_support_fn support1; /*!< Function that returns support point of + !< first object*/ + ccd_support_fn support2; /*!< Function that returns support point of + !< second object*/ + + ccd_center_fn center1; /*!< Function that returns geometric center of + !< first object*/ + ccd_center_fn center2; /*!< Function that returns geometric center of + !< second object*/ + + unsigned long max_iterations; /*!< Maximal number of iterations*/ + ccd_real_t epa_tolerance; + ccd_real_t mpr_tolerance; /*!< Boundary tolerance for MPR algorithm*/ +}; +typedef struct _ccd_t ccd_t; + +/** + * Default first direction. + */ +void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir); + +#define CCD_INIT(ccd) \ + do { \ + (ccd)->first_dir = ccdFirstDirDefault; \ + (ccd)->support1 = NULL; \ + (ccd)->support2 = NULL; \ + (ccd)->center1 = NULL; \ + (ccd)->center2 = NULL; \ + \ + (ccd)->max_iterations = (unsigned long)-1; \ + (ccd)->epa_tolerance = CCD_REAL(0.0001); \ + (ccd)->mpr_tolerance = CCD_REAL(0.0001); \ + } while(0) + + +/** + * Returns true if two given objects interest. + */ +int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd); + +/** + * This function computes separation vector of two objects. Separation + * vector is minimal translation of obj2 to get obj1 and obj2 speparated + * (without intersection). + * Returns 0 if obj1 and obj2 intersect and sep is filled with translation + * vector. If obj1 and obj2 don't intersect -1 is returned. + */ +int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_vec3_t *sep); + +/** + * Computes penetration of obj2 into obj1. + * Depth of penetration, direction and position is returned. It means that + * if obj2 is translated by distance depth in direction dir objects will + * have touching contact, pos should be position in global coordinates + * where force should take a place. + * + * CCD+EPA algorithm is used. + * + * Returns 0 if obj1 and obj2 intersect and depth, dir and pos are filled + * if given non-NULL pointers. + * If obj1 and obj2 don't intersect -1 is returned. + */ +int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + + +/** + * Returns true if two given objects intersect - MPR algorithm is used. + */ +int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd); + +/** + * Computes penetration of obj2 into obj1. + * Depth of penetration, direction and position is returned, i.e. if obj2 + * is translated by computed depth in resulting direction obj1 and obj2 + * would have touching contact. Position is point in global coordinates + * where force should be take a place. + * + * Minkowski Portal Refinement algorithm is used (MPR, a.k.a. XenoCollide, + * see Game Programming Gem 7). + * + * Returns 0 if obj1 and obj2 intersect, otherwise -1 is returned. + */ +int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/compiler.h b/libs/ode-0.16.1/libccd/src/ccd/compiler.h new file mode 100644 index 0000000..380878f --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/compiler.h @@ -0,0 +1,61 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_COMPILER_H__ +#define __CCD_COMPILER_H__ + +#include <stddef.h> + +#define ccd_offsetof(TYPE, MEMBER) offsetof(TYPE, MEMBER) + +#define ccd_container_of(ptr, type, member) \ + (type *)( (char *)ptr - ccd_offsetof(type, member)) + + +/** + * Marks inline function. + */ +#ifdef __GNUC__ +/*# define _ccd_inline static inline __attribute__((always_inline))*/ +# define _ccd_inline static inline +#else /* __GNUC__ */ +# define _ccd_inline static __inline +#endif /* __GNUC__ */ + + +/** + * __prefetch(x) - prefetches the cacheline at "x" for read + * __prefetchw(x) - prefetches the cacheline at "x" for write + */ +#ifdef __GNUC__ +# define _ccd_prefetch(x) __builtin_prefetch(x) +# define _ccd_prefetchw(x) __builtin_prefetch(x,1) +#else /* __GNUC__ */ +# define _ccd_prefetch(x) ((void)0) +# define _ccd_prefetchw(x) ((void)0) +#endif /* __GNUC__ */ + + +#ifdef __ICC +/* disable unused parameter warning */ +# pragma warning(disable:869) +/* disable annoying "operands are evaluated in unspecified order" warning */ +# pragma warning(disable:981) +#endif /* __ICC */ + +#endif /* __CCD_COMPILER_H__ */ + diff --git a/libs/ode-0.16.1/libccd/src/ccd/dbg.h b/libs/ode-0.16.1/libccd/src/ccd/dbg.h new file mode 100644 index 0000000..f4852c1 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/dbg.h @@ -0,0 +1,65 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_DBG_H__ +#define __CCD_DBG_H__ + +/** + * Some macros which can be used for printing debug info to stderr if macro + * NDEBUG not defined. + * + * DBG_PROLOGUE can be specified as string and this string will be + * prepended to output text + */ +#ifndef NDEBUG + +#include <stdio.h> + +#ifndef DBG_PROLOGUE +# define DBG_PROLOGUE +#endif + +# define DBG(format, ...) do { \ + fprintf(stderr, DBG_PROLOGUE "%s :: " format "\n", __func__, ## __VA_ARGS__); \ + fflush(stderr); \ + } while (0) + +# define DBG2(str) do { \ + fprintf(stderr, DBG_PROLOGUE "%s :: " str "\n", __func__); \ + fflush(stderr); \ + } while (0) + +# define DBG_VEC3(vec, prefix) do {\ + fprintf(stderr, DBG_PROLOGUE "%s :: %s[%lf %lf %lf]\n", \ + __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \ + fflush(stderr); \ + } while (0) +/* +# define DBG_VEC3(vec, prefix) do {\ + fprintf(stderr, DBG_PROLOGUE "%s :: %s[%.20lf %.20lf %.20lf]\n", \ + __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \ + fflush(stderr); \ + } while (0) +*/ + +#else +# define DBG(format, ...) +# define DBG2(str) +# define DBG_VEC3(v, prefix) +#endif + +#endif /* __CCD_DBG_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/list.h b/libs/ode-0.16.1/libccd/src/ccd/list.h new file mode 100644 index 0000000..54391ed --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/list.h @@ -0,0 +1,155 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_LIST_H__ +#define __CCD_LIST_H__ + +#include <string.h> +#include <ccd/compiler.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_list_t { + struct _ccd_list_t *next, *prev; +}; +typedef struct _ccd_list_t ccd_list_t; + + + +/** + * Get the struct for this entry. + * @ptr: the &ccd_list_t pointer. + * @type: the type of the struct this is embedded in. + * @member: the name of the list_struct within the struct. + */ +#define ccdListEntry(ptr, type, member) \ + ccd_container_of(ptr, type, member) + +/** + * Iterates over list. + */ +#define ccdListForEach(list, item) \ + for (item = (list)->next; \ + _ccd_prefetch((item)->next), item != (list); \ + item = (item)->next) + +/** + * Iterates over list safe against remove of list entry + */ +#define ccdListForEachSafe(list, item, tmp) \ + for (item = (list)->next, tmp = (item)->next; \ + item != (list); \ + item = tmp, tmp = (item)->next) + +/** + * Iterates over list of given type. + * @pos: the type * to use as a loop cursor. + * @head: the head for your list. + * @member: the name of the list_struct within the struct. + */ +#define ccdListForEachEntry(head, pos, postype, member) \ + for (pos = ccdListEntry((head)->next, postype, member); \ + _ccd_prefetch(pos->member.next), &pos->member != (head); \ + pos = ccdListEntry(pos->member.next, postype, member)) + +/** + * Iterates over list of given type safe against removal of list entry + * @pos: the type * to use as a loop cursor. + * @n: another type * to use as temporary storage + * @head: the head for your list. + * @member: the name of the list_struct within the struct. + */ +#define ccdListForEachEntrySafe(head, pos, postype, n, ntype, member) \ + for (pos = ccdListEntry((head)->next, postype, member), \ + n = ccdListEntry(pos->member.next, postype, member); \ + &pos->member != (head); \ + pos = n, n = ccdListEntry(n->member.next, ntype, member)) + + +/** + * Initialize list. + */ +_ccd_inline void ccdListInit(ccd_list_t *l); + +_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l); +_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l); + +/** + * Returns true if list is empty. + */ +_ccd_inline int ccdListEmpty(const ccd_list_t *head); + +/** + * Appends item to end of the list l. + */ +_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *item); + +/** + * Removes item from list. + */ +_ccd_inline void ccdListDel(ccd_list_t *item); + + + +/// +/// INLINES: +/// + +_ccd_inline void ccdListInit(ccd_list_t *l) +{ + l->next = l; + l->prev = l; +} + +_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l) +{ + return l->next; +} + +_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l) +{ + return l->prev; +} + +_ccd_inline int ccdListEmpty(const ccd_list_t *head) +{ + return head->next == head; +} + +_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *newccd) +{ + newccd->prev = l->prev; + newccd->next = l; + l->prev->next = newccd; + l->prev = newccd; +} + +_ccd_inline void ccdListDel(ccd_list_t *item) +{ + item->next->prev = item->prev; + item->prev->next = item->next; + item->next = item; + item->prev = item; +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_LIST_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/polytope.h b/libs/ode-0.16.1/libccd/src/ccd/polytope.h new file mode 100644 index 0000000..c9ee2ab --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/polytope.h @@ -0,0 +1,322 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_POLYTOPE_H__ +#define __CCD_POLYTOPE_H__ + +#include <stdlib.h> +#include <stdio.h> +#include <ccd/support.h> +#include <ccd/list.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#define CCD_PT_VERTEX 1 +#define CCD_PT_EDGE 2 +#define CCD_PT_FACE 3 + + +#define __CCD_PT_EL \ + int type; /*! type of element */ \ + ccd_real_t dist; /*! distance from origin */ \ + ccd_vec3_t witness; /*! witness point of projection of origin */ \ + ccd_list_t list; /*! list of elements of same type */ + +/** + * General polytope element. + * Could be vertex, edge or triangle. + */ +struct _ccd_pt_el_t { + __CCD_PT_EL +}; +typedef struct _ccd_pt_el_t ccd_pt_el_t; + +struct _ccd_pt_edge_t; +struct _ccd_pt_face_t; + +/** + * Polytope's vertex. + */ +struct _ccd_pt_vertex_t { + __CCD_PT_EL + + int id; + ccd_support_t v; + ccd_list_t edges; //!< List of edges +}; +typedef struct _ccd_pt_vertex_t ccd_pt_vertex_t; + +/** + * Polytope's edge. + */ +struct _ccd_pt_edge_t { + __CCD_PT_EL + + ccd_pt_vertex_t *vertex[2]; //!< Reference to vertices + struct _ccd_pt_face_t *faces[2]; //!< Reference to faces + + ccd_list_t vertex_list[2]; //!< List items in vertices' lists +}; +typedef struct _ccd_pt_edge_t ccd_pt_edge_t; + +/** + * Polytope's triangle faces. + */ +struct _ccd_pt_face_t { + __CCD_PT_EL + + ccd_pt_edge_t *edge[3]; //!< Reference to surrounding edges +}; +typedef struct _ccd_pt_face_t ccd_pt_face_t; + + +/** + * Struct containing polytope. + */ +struct _ccd_pt_t { + ccd_list_t vertices; //!< List of vertices + ccd_list_t edges; //!< List of edges + ccd_list_t faces; //!< List of faces + + ccd_pt_el_t *nearest; + ccd_real_t nearest_dist; + int nearest_type; +}; +typedef struct _ccd_pt_t ccd_pt_t; + + +void ccdPtInit(ccd_pt_t *pt); +void ccdPtDestroy(ccd_pt_t *pt); + +/** + * Returns vertices surrounding given triangle face. + */ +_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face, + ccd_vec3_t **a, + ccd_vec3_t **b, + ccd_vec3_t **c); +_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b, + ccd_pt_vertex_t **c); +_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f, + ccd_pt_edge_t **a, + ccd_pt_edge_t **b, + ccd_pt_edge_t **c); + +_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e, + ccd_vec3_t **a, + ccd_vec3_t **b); +_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b); +_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e, + ccd_pt_face_t **f1, + ccd_pt_face_t **f2); + + +/** + * Adds vertex to polytope and returns pointer to newly created vertex. + */ +ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v); +_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt, + ccd_real_t x, ccd_real_t y, ccd_real_t z); + +/** + * Adds edge to polytope. + */ +ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1, + ccd_pt_vertex_t *v2); + +/** + * Adds face to polytope. + */ +ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1, + ccd_pt_edge_t *e2, + ccd_pt_edge_t *e3); + +/** + * Deletes vertex from polytope. + * Returns 0 on success, -1 otherwise. + */ +_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *); +_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *); +_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *); + + +/** + * Recompute distances from origin for all elements in pt. + */ +void ccdPtRecomputeDistances(ccd_pt_t *pt); + +/** + * Returns nearest element to origin. + */ +ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt); + + +void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn); +void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *); + + +/**** INLINES ****/ +_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt, + ccd_real_t x, ccd_real_t y, ccd_real_t z) +{ + ccd_support_t s; + ccdVec3Set(&s.v, x, y, z); + return ccdPtAddVertex(pt, &s); +} + +_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *v) +{ + // test if any edge is connected to this vertex + if (!ccdListEmpty(&v->edges)) + return -1; + + // delete vertex from main list + ccdListDel(&v->list); + + if ((void *)pt->nearest == (void *)v){ + pt->nearest = NULL; + } + + free(v); + return 0; +} + +_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *e) +{ + // text if any face is connected to this edge (faces[] is always + // aligned to lower indices) + if (e->faces[0] != NULL) + return -1; + + // disconnect edge from lists of edges in vertex struct + ccdListDel(&e->vertex_list[0]); + ccdListDel(&e->vertex_list[1]); + + // disconnect edge from main list + ccdListDel(&e->list); + + if ((void *)pt->nearest == (void *)e){ + pt->nearest = NULL; + } + + free(e); + return 0; +} + +_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *f) +{ + ccd_pt_edge_t *e; + size_t i; + + // remove face from edges' recerence lists + for (i = 0; i < 3; i++){ + e = f->edge[i]; + if (e->faces[0] == f){ + e->faces[0] = e->faces[1]; + } + e->faces[1] = NULL; + } + + // remove face from list of all faces + ccdListDel(&f->list); + + if ((void *)pt->nearest == (void *)f){ + pt->nearest = NULL; + } + + free(f); + return 0; +} + +_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face, + ccd_vec3_t **a, + ccd_vec3_t **b, + ccd_vec3_t **c) +{ + *a = &face->edge[0]->vertex[0]->v.v; + *b = &face->edge[0]->vertex[1]->v.v; + + if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0] + && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){ + *c = &face->edge[1]->vertex[0]->v.v; + }else{ + *c = &face->edge[1]->vertex[1]->v.v; + } +} + +_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b, + ccd_pt_vertex_t **c) +{ + *a = face->edge[0]->vertex[0]; + *b = face->edge[0]->vertex[1]; + + if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0] + && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){ + *c = face->edge[1]->vertex[0]; + }else{ + *c = face->edge[1]->vertex[1]; + } +} + +_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f, + ccd_pt_edge_t **a, + ccd_pt_edge_t **b, + ccd_pt_edge_t **c) +{ + *a = f->edge[0]; + *b = f->edge[1]; + *c = f->edge[2]; +} + +_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e, + ccd_vec3_t **a, + ccd_vec3_t **b) +{ + *a = &e->vertex[0]->v.v; + *b = &e->vertex[1]->v.v; +} + +_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b) +{ + *a = e->vertex[0]; + *b = e->vertex[1]; +} + +_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e, + ccd_pt_face_t **f1, + ccd_pt_face_t **f2) +{ + *f1 = e->faces[0]; + *f2 = e->faces[1]; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_POLYTOPE_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/precision.h.in b/libs/ode-0.16.1/libccd/src/ccd/precision.h.in new file mode 100644 index 0000000..4f98509 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/precision.h.in @@ -0,0 +1,14 @@ +#ifndef __CCD_PRECISION_H__ +#define __CCD_PRECISION_H__ + +/* define either CCD_SINGLE or CCD_DOUBLE */ + +#if defined(CCD_IDESINGLE) +#define CCD_SINGLE +#elif defined(CCD_IDEDOUBLE) +#define CCD_DOUBLE +#else +#define @CCD_PRECISION@ +#endif + +#endif diff --git a/libs/ode-0.16.1/libccd/src/ccd/quat.h b/libs/ode-0.16.1/libccd/src/ccd/quat.h new file mode 100644 index 0000000..3929671 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/quat.h @@ -0,0 +1,231 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_QUAT_H__ +#define __CCD_QUAT_H__ + +#include <ccd/compiler.h> +#include <ccd/vec3.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_quat_t { + ccd_real_t q[4]; //!< x, y, z, w +}; +typedef struct _ccd_quat_t ccd_quat_t; + +#define CCD_QUAT(name, x, y, z, w) \ + ccd_quat_t name = { {x, y, z, w} } + +_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q); +_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q); + +_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w); +_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src); + +_ccd_inline int ccdQuatNormalize(ccd_quat_t *q); + +_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q, + ccd_real_t angle, const ccd_vec3_t *axis); + +_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k); + +/** + * q = q * q2 + */ +_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2); + +/** + * q = a * b + */ +_ccd_inline void ccdQuatMul2(ccd_quat_t *q, + const ccd_quat_t *a, const ccd_quat_t *b); + +/** + * Inverts quaternion. + * Returns 0 on success. + */ +_ccd_inline int ccdQuatInvert(ccd_quat_t *q); +_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src); + + +/** + * Rotate vector v by quaternion q. + */ +_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q); + + +/**** INLINES ****/ +_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q) +{ + ccd_real_t len; + + len = q->q[0] * q->q[0]; + len += q->q[1] * q->q[1]; + len += q->q[2] * q->q[2]; + len += q->q[3] * q->q[3]; + + return len; +} + +_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q) +{ + return CCD_SQRT(ccdQuatLen2(q)); +} + +_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w) +{ + q->q[0] = x; + q->q[1] = y; + q->q[2] = z; + q->q[3] = w; +} + +_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src) +{ + *dest = *src; +} + + +_ccd_inline int ccdQuatNormalize(ccd_quat_t *q) +{ + ccd_real_t len = ccdQuatLen(q); + if (len < CCD_EPS) + return 0; + + ccdQuatScale(q, CCD_ONE / len); + return 1; +} + +_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q, + ccd_real_t angle, const ccd_vec3_t *axis) +{ + ccd_real_t a, x, y, z, n, s; + + a = angle/2; + x = ccdVec3X(axis); + y = ccdVec3Y(axis); + z = ccdVec3Z(axis); + n = CCD_SQRT(x*x + y*y + z*z); + + // axis==0? (treat this the same as angle==0 with an arbitrary axis) + if (n < CCD_EPS){ + q->q[0] = q->q[1] = q->q[2] = CCD_ZERO; + q->q[3] = CCD_ONE; + }else{ + s = sin(a)/n; + + q->q[3] = cos(a); + q->q[0] = x*s; + q->q[1] = y*s; + q->q[2] = z*s; + + ccdQuatNormalize(q); + } +} + + +_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k) +{ + size_t i; + for (i = 0; i < 4; i++) + q->q[i] *= k; +} + +_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2) +{ + ccd_quat_t a; + ccdQuatCopy(&a, q); + ccdQuatMul2(q, &a, q2); +} + +_ccd_inline void ccdQuatMul2(ccd_quat_t *q, + const ccd_quat_t *a, const ccd_quat_t *b) +{ + q->q[0] = a->q[3] * b->q[0] + + a->q[0] * b->q[3] + + a->q[1] * b->q[2] + - a->q[2] * b->q[1]; + q->q[1] = a->q[3] * b->q[1] + + a->q[1] * b->q[3] + - a->q[0] * b->q[2] + + a->q[2] * b->q[0]; + q->q[2] = a->q[3] * b->q[2] + + a->q[2] * b->q[3] + + a->q[0] * b->q[1] + - a->q[1] * b->q[0]; + q->q[3] = a->q[3] * b->q[3] + - a->q[0] * b->q[0] + - a->q[1] * b->q[1] + - a->q[2] * b->q[2]; +} + +_ccd_inline int ccdQuatInvert(ccd_quat_t *q) +{ + ccd_real_t len2 = ccdQuatLen2(q); + if (len2 < CCD_EPS) + return -1; + + len2 = CCD_ONE / len2; + + q->q[0] = -q->q[0] * len2; + q->q[1] = -q->q[1] * len2; + q->q[2] = -q->q[2] * len2; + q->q[3] = q->q[3] * len2; + + return 0; +} +_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src) +{ + ccdQuatCopy(dest, src); + return ccdQuatInvert(dest); +} + +_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q)
+{
+ // original version: 31 mul + 21 add
+ // optimized version: 18 mul + 12 add
+ // formula: v = v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)
+ ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
+ ccd_real_t x, y, z, w;
+ ccd_real_t vx, vy, vz;
+
+ vx = ccdVec3X(v);
+ vy = ccdVec3Y(v);
+ vz = ccdVec3Z(v);
+
+ w = q->q[3];
+ x = q->q[0];
+ y = q->q[1];
+ z = q->q[2];
+
+ cross1_x = y * vz - z * vy + w * vx;
+ cross1_y = z * vx - x * vz + w * vy;
+ cross1_z = x * vy - y * vx + w * vz;
+ cross2_x = y * cross1_z - z * cross1_y;
+ cross2_y = z * cross1_x - x * cross1_z;
+ cross2_z = x * cross1_y - y * cross1_x;
+ ccdVec3Set(v, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
+}
+ +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_QUAT_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/simplex.h b/libs/ode-0.16.1/libccd/src/ccd/simplex.h new file mode 100644 index 0000000..1d07e39 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/simplex.h @@ -0,0 +1,104 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_SIMPLEX_H__ +#define __CCD_SIMPLEX_H__ + +#include <ccd/support.h> +#include <ccd/compiler.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_simplex_t { + ccd_support_t ps[4]; + int last; /*!< index of last added point*/ +}; +typedef struct _ccd_simplex_t ccd_simplex_t; + + +_ccd_inline void ccdSimplexInit(ccd_simplex_t *s); +_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s); +_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s); +_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx); +_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx); + +_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v); +_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a); +_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size); +_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2); + + +/**** INLINES ****/ + +_ccd_inline void ccdSimplexInit(ccd_simplex_t *s) +{ + s->last = -1; +} + +_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s) +{ + return s->last + 1; +} + +_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s) +{ + return ccdSimplexPoint(s, s->last); +} + +_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx) +{ + /* here is no check on boundaries */ + return &s->ps[idx]; +} +_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx) +{ + return &s->ps[idx]; +} + +_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v) +{ + /* here is no check on boundaries in sake of speed */ + ++s->last; + ccdSupportCopy(s->ps + s->last, v); +} + +_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a) +{ + ccdSupportCopy(s->ps + pos, a); +} + +_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size) +{ + s->last = size - 1; +} + +_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2) +{ + ccd_support_t supp; + + ccdSupportCopy(&supp, &s->ps[pos1]); + ccdSupportCopy(&s->ps[pos1], &s->ps[pos2]); + ccdSupportCopy(&s->ps[pos2], &supp); +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_SIMPLEX_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/support.h b/libs/ode-0.16.1/libccd/src/ccd/support.h new file mode 100644 index 0000000..0a21b3e --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/support.h @@ -0,0 +1,57 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_SUPPORT_H__ +#define __CCD_SUPPORT_H__ + +#include <ccd/compiler.h> +#include <ccd/vec3.h> +#include <ccd/ccd.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_support_t { + ccd_vec3_t v; /*!< Support point in minkowski sum*/ + ccd_vec3_t v1; /*!< Support point in obj1*/ + ccd_vec3_t v2; /*!< Support point in obj2*/ +}; +typedef struct _ccd_support_t ccd_support_t; + +_ccd_inline void ccdSupportCopy(ccd_support_t *, const ccd_support_t *s); + +/** + * Computes support point of obj1 and obj2 in direction dir. + * Support point is returned via supp. + */ +void __ccdSupport(const void *obj1, const void *obj2, + const ccd_vec3_t *dir, const ccd_t *ccd, + ccd_support_t *supp); + + +/**** INLINES ****/ +_ccd_inline void ccdSupportCopy(ccd_support_t *d, const ccd_support_t *s) +{ + *d = *s; +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_SUPPORT_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/ccd/vec3.h b/libs/ode-0.16.1/libccd/src/ccd/vec3.h new file mode 100644 index 0000000..d9175ed --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/ccd/vec3.h @@ -0,0 +1,340 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_VEC3_H__ +#define __CCD_VEC3_H__ + +#include <math.h> +#include <float.h> +#include <stdlib.h> + +#include <ccd/precision.h> +#include <ccd/compiler.h> + + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +#ifndef CCD_SINGLE +# ifndef CCD_DOUBLE +# error You must define CCD_SINGLE or CCD_DOUBLE +# endif /* CCD_DOUBLE */ +#endif /* CCD_SINGLE */ + + +#if defined(_MSC_VER) && _MSC_VER < 1700 +/* Define fmin, fmax, fminf, fmaxf which are missing from MSVC (up to VS2005 at least) */ +static __inline double fmin(double x, double y) { return __min(x, y); } +static __inline double fmax(double x, double y) { return __max(x, y); } +static __inline float fminf(float x, float y) { return __min(x, y); } +static __inline float fmaxf(float x, float y) { return __max(x, y); } + +#endif /* #if defined(_MSC_VER) */ + + +#ifdef CCD_SINGLE +# ifdef CCD_DOUBLE +# error You can define either CCD_SINGLE or CCD_DOUBLE, not both! +# endif /* CCD_DOUBLE */ + +typedef float ccd_real_t; + +/*# define CCD_EPS 1E-6*/ +# define CCD_EPS FLT_EPSILON + +# define CCD_REAL_MAX FLT_MAX + +# define CCD_REAL(x) (x ## f) /*!< form a constant */ +# define CCD_SQRT(x) (sqrtf(x)) /*!< square root */ +# define CCD_FABS(x) (fabsf(x)) /*!< absolute value */ +# define CCD_FMAX(x, y) (fmaxf((x), (y))) /*!< maximum of two floats */ +# define CCD_FMIN(x, y) (fminf((x), (y))) /*!< minimum of two floats */ +#endif /* CCD_SINGLE */ + +#ifdef CCD_DOUBLE +typedef double ccd_real_t; + +/*# define CCD_EPS 1E-10*/ +# define CCD_EPS DBL_EPSILON + +# define CCD_REAL_MAX DBL_MAX + +# define CCD_REAL(x) (x) /*!< form a constant */ +# define CCD_SQRT(x) (sqrt(x)) /*!< square root */ +# define CCD_FABS(x) (fabs(x)) /*!< absolute value */ +# define CCD_FMAX(x, y) (fmax((x), (y))) /*!< maximum of two floats */ +# define CCD_FMIN(x, y) (fmin((x), (y))) /*!< minimum of two floats */ +#endif /* CCD_DOUBLE */ + +#define CCD_ONE CCD_REAL(1.) +#define CCD_ZERO CCD_REAL(0.) + +struct _ccd_vec3_t { + ccd_real_t v[3]; +}; +typedef struct _ccd_vec3_t ccd_vec3_t; + + +/** + * Holds origin (0,0,0) - this variable is meant to be read-only! + */ +extern ccd_vec3_t *ccd_vec3_origin; + +/** + * Array of points uniformly distributed on unit sphere. + */ +extern ccd_vec3_t *ccd_points_on_sphere; +extern size_t ccd_points_on_sphere_len; + +/** Returns sign of value. */ +_ccd_inline int ccdSign(ccd_real_t val); +/** Returns true if val is zero. **/ +_ccd_inline int ccdIsZero(ccd_real_t val); +/** Returns true if a and b equal. **/ +_ccd_inline int ccdEq(ccd_real_t a, ccd_real_t b); + + +#define CCD_VEC3_STATIC(x, y, z) \ + { { (x), (y), (z) } } + +#define CCD_VEC3(name, x, y, z) \ + ccd_vec3_t name = CCD_VEC3_STATIC((x), (y), (z)) + +_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v); +_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v); +_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v); + +/** + * Returns true if a and b equal. + */ +_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b); + +/** + * Returns squared length of vector. + */ +_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v); + +/** + * Returns distance between a and b. + */ +_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b); + + +_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z); + +/** + * v = w + */ +_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * Subtracts coordinates of vector w from vector v. v = v - w + */ +_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * Adds coordinates of vector w to vector v. v = v + w + */ +_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * d = v - w + */ +_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * d = d * k; + */ +_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k); + + +/** + * Normalizes given vector to unit length. + */ +_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d); + + +/** + * Dot product of two vectors. + */ +_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b); + +/** + * Cross product: d = a x b. + */ +_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b); + + +/** + * Returns distance2 of point P to segment ab. + * If witness is non-NULL it is filled with coordinates of point from which + * was computed distance to point P. + */ +ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P, + const ccd_vec3_t *a, const ccd_vec3_t *b, + ccd_vec3_t *witness); + +/** + * Returns distance2 of point P from triangle formed by triplet a, b, c. + * If witness vector is provided it is filled with coordinates of point + * from which was computed distance to point P. + */ +ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P, + const ccd_vec3_t *a, const ccd_vec3_t *b, + const ccd_vec3_t *c, + ccd_vec3_t *witness); + + +/**** INLINES ****/ +_ccd_inline int ccdSign(ccd_real_t val) +{ + if (ccdIsZero(val)){ + return 0; + }else if (val < CCD_ZERO){ + return -1; + } + return 1; +} + +_ccd_inline int ccdIsZero(ccd_real_t val) +{ + return CCD_FABS(val) < CCD_EPS; +} + +_ccd_inline int ccdEq(ccd_real_t _a, ccd_real_t _b) +{ + ccd_real_t ab; + ccd_real_t a, b; + + ab = CCD_FABS(_a - _b); + if (CCD_FABS(ab) < CCD_EPS) + return 1; + + a = CCD_FABS(_a); + b = CCD_FABS(_b); + if (b > a){ + return ab < CCD_EPS * b; + }else{ + return ab < CCD_EPS * a; + } +} + + +_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v) +{ + return v->v[0]; +} + +_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v) +{ + return v->v[1]; +} + +_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v) +{ + return v->v[2]; +} + +_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + return ccdEq(ccdVec3X(a), ccdVec3X(b)) + && ccdEq(ccdVec3Y(a), ccdVec3Y(b)) + && ccdEq(ccdVec3Z(a), ccdVec3Z(b)); +} + +_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v) +{ + return ccdVec3Dot(v, v); +} + +_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + ccd_vec3_t ab; + ccdVec3Sub2(&ab, a, b); + return ccdVec3Len2(&ab); +} + +_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z) +{ + v->v[0] = x; + v->v[1] = y; + v->v[2] = z; +} + +_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w) +{ + *v = *w; +} + +_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w) +{ + v->v[0] -= w->v[0]; + v->v[1] -= w->v[1]; + v->v[2] -= w->v[2]; +} + +_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w) +{ + d->v[0] = v->v[0] - w->v[0]; + d->v[1] = v->v[1] - w->v[1]; + d->v[2] = v->v[2] - w->v[2]; +} + +_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w) +{ + v->v[0] += w->v[0]; + v->v[1] += w->v[1]; + v->v[2] += w->v[2]; +} + +_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k) +{ + d->v[0] *= k; + d->v[1] *= k; + d->v[2] *= k; +} + +_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d) +{ + ccd_real_t k = CCD_ONE / CCD_SQRT(ccdVec3Len2(d)); + ccdVec3Scale(d, k); +} + +_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + ccd_real_t dot; + + dot = a->v[0] * b->v[0]; + dot += a->v[1] * b->v[1]; + dot += a->v[2] * b->v[2]; + return dot; +} + +_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + d->v[0] = (a->v[1] * b->v[2]) - (a->v[2] * b->v[1]); + d->v[1] = (a->v[2] * b->v[0]) - (a->v[0] * b->v[2]); + d->v[2] = (a->v[0] * b->v[1]) - (a->v[1] * b->v[0]); +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_VEC3_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/config.h.in b/libs/ode-0.16.1/libccd/src/config.h.in new file mode 100644 index 0000000..f928422 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/config.h.in @@ -0,0 +1,97 @@ +/* src/config.h.in. Generated from configure.ac by autoheader. */ + +/* Define to 1 if you have the `clock_gettime' function. */ +#undef HAVE_CLOCK_GETTIME + +/* Define to 1 if you have the <dlfcn.h> header file. */ +#undef HAVE_DLFCN_H + +/* Define to 1 if you have the <float.h> header file. */ +#undef HAVE_FLOAT_H + +/* Define to 1 if you have the `fork' function. */ +#undef HAVE_FORK + +/* Define to 1 if you have the <inttypes.h> header file. */ +#undef HAVE_INTTYPES_H + +/* Define to 1 if you have the `m' library (-lm). */ +#undef HAVE_LIBM + +/* Define to 1 if you have the `rt' library (-lrt). */ +#undef HAVE_LIBRT + +/* Define to 1 if you have the <memory.h> header file. */ +#undef HAVE_MEMORY_H + +/* Define to 1 if you have the <stdint.h> header file. */ +#undef HAVE_STDINT_H + +/* Define to 1 if you have the <stdlib.h> header file. */ +#undef HAVE_STDLIB_H + +/* Define to 1 if you have the <strings.h> header file. */ +#undef HAVE_STRINGS_H + +/* Define to 1 if you have the <string.h> header file. */ +#undef HAVE_STRING_H + +/* Define to 1 if you have the <sys/stat.h> header file. */ +#undef HAVE_SYS_STAT_H + +/* Define to 1 if you have the <sys/types.h> header file. */ +#undef HAVE_SYS_TYPES_H + +/* Define to 1 if you have the <unistd.h> header file. */ +#undef HAVE_UNISTD_H + +/* Define to 1 if you have the `vfork' function. */ +#undef HAVE_VFORK + +/* Define to 1 if you have the <vfork.h> header file. */ +#undef HAVE_VFORK_H + +/* Define to 1 if `fork' works. */ +#undef HAVE_WORKING_FORK + +/* Define to 1 if `vfork' works. */ +#undef HAVE_WORKING_VFORK + +/* Define to the sub-directory where libtool stores uninstalled libraries. */ +#undef LT_OBJDIR + +/* Name of package */ +#undef PACKAGE + +/* Define to the address where bug reports for this package should be sent. */ +#undef PACKAGE_BUGREPORT + +/* Define to the full name of this package. */ +#undef PACKAGE_NAME + +/* Define to the full name and version of this package. */ +#undef PACKAGE_STRING + +/* Define to the one symbol short name of this package. */ +#undef PACKAGE_TARNAME + +/* Define to the home page for this package. */ +#undef PACKAGE_URL + +/* Define to the version of this package. */ +#undef PACKAGE_VERSION + +/* Define to 1 if you have the ANSI C header files. */ +#undef STDC_HEADERS + +/* Version number of package */ +#undef VERSION + +/* Define to `int' if <sys/types.h> does not define. */ +#undef pid_t + +/* Define to `unsigned int' if <sys/types.h> does not define. */ +#undef size_t + +/* Define as `fork' if `vfork' does not work. */ +#undef vfork diff --git a/libs/ode-0.16.1/libccd/src/custom/ccdcustom/quat.h b/libs/ode-0.16.1/libccd/src/custom/ccdcustom/quat.h new file mode 100644 index 0000000..157dd85 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/custom/ccdcustom/quat.h @@ -0,0 +1,69 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_CUSTOM_QUAT_H__ +#define __CCD_CUSTOM_QUAT_H__ + +#include <ccd/quat.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * Rotate vector s by quaternion q and put result into d. + */ +_ccd_inline void ccdQuatRotVec2(ccd_vec3_t *d, const ccd_vec3_t *s, const ccd_quat_t *q); + + +_ccd_inline void ccdQuatRotVec2(ccd_vec3_t *d, const ccd_vec3_t *s, const ccd_quat_t *q) +{ +#ifndef dLIBCCD_USE_SYSTEM + // original version: 31 mul + 21 add + // optimized version: 18 mul + 12 add + // formula: d = s + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * s) + ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z; + ccd_real_t x, y, z, w; + ccd_real_t vx, vy, vz; + + vx = ccdVec3X(s); + vy = ccdVec3Y(s); + vz = ccdVec3Z(s); + + w = q->q[3]; + x = q->q[0]; + y = q->q[1]; + z = q->q[2]; + + cross1_x = y * vz - z * vy + w * vx; + cross1_y = z * vx - x * vz + w * vy; + cross1_z = x * vy - y * vx + w * vz; + cross2_x = y * cross1_z - z * cross1_y; + cross2_y = z * cross1_x - x * cross1_z; + cross2_z = x * cross1_y - y * cross1_x; + ccdVec3Set(d, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z); +#else + ccdVec3Copy(d, s); + ccdQuatRotVec(d, q); +#endif +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_QUAT_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/custom/ccdcustom/vec3.h b/libs/ode-0.16.1/libccd/src/custom/ccdcustom/vec3.h new file mode 100644 index 0000000..2ac2f22 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/custom/ccdcustom/vec3.h @@ -0,0 +1,114 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_CUSTOM_VEC3_H__ +#define __CCD_CUSTOM_VEC3_H__ + +#include <ccd/vec3.h> + + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +#ifdef CCD_SINGLE +# define CCD_ATAN2(x, y) (atan2f((x), (y))) /*!< atan2 of two floats */ +#endif /* CCD_SINGLE */ + +#ifdef CCD_DOUBLE +# define CCD_ATAN2(x, y) (atan2((x), (y))) /*!< atan2 of two floats */ +#endif /* CCD_DOUBLE */ + +/** + * d = v + w + */ +_ccd_inline void ccdVec3Add2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * d = s * k; + */ +_ccd_inline void ccdVec3CopyScaled(ccd_vec3_t *d, const ccd_vec3_t *s, ccd_real_t k); + +/** + * d = v + s * k; + */ +_ccd_inline void ccdVec3AddScaled(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *s, ccd_real_t k); + + +/** + * Normalizes given vector to unit length. + */ +_ccd_inline int ccdVec3SafeNormalize(ccd_vec3_t *d); + + +_ccd_inline void ccdVec3Add2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w) +{ +#ifndef dLIBCCD_USE_SYSTEM + d->v[0] = v->v[0] + w->v[0]; + d->v[1] = v->v[1] + w->v[1]; + d->v[2] = v->v[2] + w->v[2]; +#else + ccdVec3Copy(d, v); + ccdVec3Add(d, w); +#endif +} + +_ccd_inline void ccdVec3CopyScaled(ccd_vec3_t *d, const ccd_vec3_t *s, ccd_real_t k) +{ +#ifndef dLIBCCD_USE_SYSTEM + d->v[0] = s->v[0] * k; + d->v[1] = s->v[1] * k; + d->v[2] = s->v[2] * k; +#else + ccdVec3Copy(d, s); + ccdVec3Scale(d, k); +#endif +} + +_ccd_inline void ccdVec3AddScaled(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *s, ccd_real_t k) +{ +#ifndef dLIBCCD_USE_SYSTEM + d->v[0] = v->v[0] + s->v[0] * k; + d->v[1] = v->v[1] + s->v[1] * k; + d->v[2] = v->v[2] + s->v[2] * k; +#else + ccdVec3Copy(d, s); + ccdVec3Scale(d, k); + ccdVec3Add(d, v); +#endif +} + +_ccd_inline int ccdVec3SafeNormalize(ccd_vec3_t *d) +{ + int result = -1; + + ccd_real_t len = CCD_SQRT(ccdVec3Len2(d)); + if (len >= CCD_EPS) { + ccdVec3Scale(d, CCD_ONE / len); + result = 0; + } + + return result; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_CUSTOM_VEC3_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/mpr.c b/libs/ode-0.16.1/libccd/src/mpr.c new file mode 100644 index 0000000..072a99b --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/mpr.c @@ -0,0 +1,572 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <stdlib.h> +#include <ccd/ccd.h> +#include <ccdcustom/vec3.h> +#include <ccd/simplex.h> +#include <ccd/dbg.h> + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +/** Finds origin (center) of Minkowski difference (actually it can be any + * interior point of Minkowski difference. */ +_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_support_t *center); + +/** Discovers initial portal - that is tetrahedron that intersects with + * origin ray (ray from center of Minkowski diff to (0,0,0). + * + * Returns -1 if already recognized that origin is outside Minkowski + * portal. + * Returns 1 if origin lies on v1 of simplex (only v0 and v1 are present + * in simplex). + * Returns 2 if origin lies on v0-v1 segment. + * Returns 0 if portal was built. + */ +static int discoverPortal(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *portal); + + +/** Expands portal towards origin and determine if objects intersect. + * Already established portal must be given as argument. + * If intersection is found 0 is returned, -1 otherwise */ +static int refinePortal(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *portal); + +/** Finds penetration info by expanding provided portal. */ +static int findPenetr(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); + +/** Finds penetration info if origin lies on portal's v1 */ +static void findPenetrTouch(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); + +/** Find penetration info if origin lies on portal's segment v0-v1 */ +static int 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); + +/** Finds position vector from fully established portal */ +static int findPos(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_simplex_t *portal, ccd_vec3_t *pos); + +/** Extends portal with new support point. + * Portal must have face v1-v2-v3 arranged to face outside portal. */ +_ccd_inline void expandPortal(ccd_simplex_t *portal, + const ccd_support_t *v4); + +/** Fill dir with direction outside portal. Portal's v1-v2-v3 face must be + * arranged in correct order! */ +_ccd_inline int portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir); + +/** Returns true if portal encapsules origin (0,0,0), dir is direction of + * v1-v2-v3 face. */ +_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal, + const ccd_vec3_t *dir); + +/** Returns true if portal with new point v4 would reach specified + * tolerance (i.e. returns true if portal can _not_ significantly expand + * within Minkowski difference). + * + * v4 is candidate for new point in portal, dir is direction in which v4 + * was obtained. */ +_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir, + const ccd_t *ccd); + +/** Returns true if portal expanded by new point v4 could possibly contain + * origin, dir is direction in which v4 was obtained. */ +_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir); + + +int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd) +{ + ccd_simplex_t portal; + int res; + + // Phase 1: Portal discovery - find portal that intersects with origin + // ray (ray from center of Minkowski diff to origin of coordinates) + res = discoverPortal(obj1, obj2, ccd, &portal); + if (res < 0) + return 0; + if (res > 0) + return 1; + + // Phase 2: Portal refinement + res = refinePortal(obj1, obj2, ccd, &portal); + return (res == 0 ? 1 : 0); +} + +int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos) +{ + ccd_simplex_t portal; + int res; + + // Phase 1: Portal discovery + res = discoverPortal(obj1, obj2, ccd, &portal); + if (res < 0){ + // Origin isn't inside portal - no collision. + return -1; + + }else if (res == 1){ + // Touching contact on portal's v1. + findPenetrTouch(obj1, obj2, ccd, &portal, depth, dir, pos); + + }else if (res == 2){ + // Origin lies on v0-v1 segment. + if (findPenetrSegment(obj1, obj2, ccd, &portal, depth, dir, pos) != 0) { + return -1; + } + + }else if (res == 0){ + // Phase 2: Portal refinement + res = refinePortal(obj1, obj2, ccd, &portal); + if (res < 0) { + return -1; + } + + // Phase 3. Penetration info + if (findPenetr(obj1, obj2, ccd, &portal, depth, dir, pos) != 0) { + return -1; + } + } + + return 0; +} + + + +_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_support_t *center) +{ + ccd->center1(obj1, ¢er->v1); + ccd->center2(obj2, ¢er->v2); + ccdVec3Sub2(¢er->v, ¢er->v1, ¢er->v2); +} + +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.)); + if (ccdVec3SafeNormalize(&dir) != 0) { + return -1; + } + __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; + } + } + + if (ccdVec3SafeNormalize(&dir) != 0) { + return -1; + } + __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); + if (ccdVec3SafeNormalize(&dir) != 0) { + return -1; + } + + // 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); + if (ccdVec3SafeNormalize(&dir) != 0) { + return -1; + } + }else{ + ccdSimplexSetSize(portal, 4); + } + } + + return 0; +} + +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) + if (portalDir(portal, &dir) != 0) { + return -1; + } + + // 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 int 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; + unsigned long iterations; + + iterations = 0UL; + while (1){ + // compute portal direction and obtain next support point + if (portalDir(portal, &dir) != 0) { + return -1; + } + + __ccdSupport(obj1, obj2, &dir, ccd, &v4); + + // reached tolerance -> find penetration info + if (portalReachTolerance(portal, &v4, &dir, ccd) + || iterations > ccd->max_iterations){ + *depth = ccdVec3PointTriDist2(ccd_vec3_origin, + &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 3)->v, + pdir); + *depth = CCD_SQRT(*depth); + if (ccdVec3SafeNormalize(pdir) != 0) { + return -1; + } + + // barycentric coordinates: + if (findPos(obj1, obj2, ccd, portal, pos) != 0) { + return -1; + } + + return 0; + } + + expandPortal(portal, &v4); + + iterations++; + } +} + +static void findPenetrTouch(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) +{ + // Touching contact on portal's v1 - so depth is zero and direction + // is unimportant and pos can be guessed + *depth = CCD_REAL(0.); + ccdVec3Copy(dir, ccd_vec3_origin); + + ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1); + ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2); + ccdVec3Scale(pos, 0.5); +} + +static int 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) +{ + /* + 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)); + if (ccdVec3SafeNormalize(dir) != 0) { + return -1; + } + return 0; +} + + +static int findPos(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_simplex_t *portal, ccd_vec3_t *pos) +{ + ccd_vec3_t dir; + size_t i; + ccd_real_t b[4], sum, inv; + ccd_vec3_t vec, p1, p2; + + if (portalDir(portal, &dir) != 0) { + return -1; + } + + // use barycentric coordinates of tetrahedron to find origin + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 2)->v); + b[0] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v, + &ccdSimplexPoint(portal, 2)->v); + b[1] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 0)->v, + &ccdSimplexPoint(portal, 1)->v); + b[2] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 1)->v); + b[3] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v); + + sum = b[0] + b[1] + b[2] + b[3]; + + if (ccdIsZero(sum) || sum < CCD_ZERO){ + b[0] = CCD_REAL(0.); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 3)->v); + b[1] = ccdVec3Dot(&vec, &dir); + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v, + &ccdSimplexPoint(portal, 1)->v); + b[2] = ccdVec3Dot(&vec, &dir); + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 2)->v); + b[3] = ccdVec3Dot(&vec, &dir); + + sum = b[1] + b[2] + b[3]; + } + + inv = CCD_REAL(1.) / sum; + + ccdVec3Copy(&p1, ccd_vec3_origin); + ccdVec3Copy(&p2, ccd_vec3_origin); + for (i = 0; i < 4; i++){ + ccdVec3Copy(&vec, &ccdSimplexPoint(portal, i)->v1); + ccdVec3Scale(&vec, b[i]); + ccdVec3Add(&p1, &vec); + + ccdVec3Copy(&vec, &ccdSimplexPoint(portal, i)->v2); + ccdVec3Scale(&vec, b[i]); + ccdVec3Add(&p2, &vec); + } + ccdVec3Scale(&p1, inv); + ccdVec3Scale(&p2, inv); + + ccdVec3Copy(pos, &p1); + ccdVec3Add(pos, &p2); + ccdVec3Scale(pos, 0.5); + return 0; +} + +_ccd_inline void expandPortal(ccd_simplex_t *portal, + const ccd_support_t *v4) +{ + ccd_real_t dot; + ccd_vec3_t v4v0; + + ccdVec3Cross(&v4v0, &v4->v, &ccdSimplexPoint(portal, 0)->v); + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &v4v0); + if (dot > CCD_ZERO){ + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &v4v0); + if (dot > CCD_ZERO){ + ccdSimplexSet(portal, 1, v4); + }else{ + ccdSimplexSet(portal, 3, v4); + } + }else{ + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &v4v0); + if (dot > CCD_ZERO){ + ccdSimplexSet(portal, 2, v4); + }else{ + ccdSimplexSet(portal, 1, v4); + } + } +} + +_ccd_inline int 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); + if (ccdVec3SafeNormalize(dir) != 0) { + return -1; + } + return 0; +} + +_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal, + const ccd_vec3_t *dir) +{ + ccd_real_t dot; + dot = ccdVec3Dot(dir, &ccdSimplexPoint(portal, 1)->v); + return ccdIsZero(dot) || dot > CCD_ZERO; +} + +_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir, + const ccd_t *ccd) +{ + ccd_real_t dv1, dv2, dv3, dv4; + ccd_real_t dot1, dot2, dot3; + + // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4} + + dv1 = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, dir); + dv2 = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, dir); + dv3 = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, dir); + dv4 = ccdVec3Dot(&v4->v, dir); + + dot1 = dv4 - dv1; + dot2 = dv4 - dv2; + dot3 = dv4 - dv3; + + dot1 = CCD_FMIN(dot1, dot2); + dot1 = CCD_FMIN(dot1, dot3); + + return ccdEq(dot1, ccd->mpr_tolerance) || dot1 < ccd->mpr_tolerance; +} + +_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir) +{ + ccd_real_t dot; + dot = ccdVec3Dot(&v4->v, dir); + return ccdIsZero(dot) || dot > CCD_ZERO; +} diff --git a/libs/ode-0.16.1/libccd/src/polytope.c b/libs/ode-0.16.1/libccd/src/polytope.c new file mode 100644 index 0000000..c340b8c --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/polytope.c @@ -0,0 +1,287 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <stdio.h> +#include <float.h> +#include <ccd/polytope.h> +#include <ccd/alloc.h> + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +_ccd_inline void _ccdPtNearestUpdate(ccd_pt_t *pt, ccd_pt_el_t *el) +{ + if (ccdEq(pt->nearest_dist, el->dist)){ + if (el->type < pt->nearest_type){ + pt->nearest = el; + pt->nearest_dist = el->dist; + pt->nearest_type = el->type; + } + }else if (el->dist < pt->nearest_dist){ + pt->nearest = el; + pt->nearest_dist = el->dist; + pt->nearest_type = el->type; + } +} + +static void _ccdPtNearestRenew(ccd_pt_t *pt) +{ + ccd_pt_vertex_t *v; + ccd_pt_edge_t *e; + ccd_pt_face_t *f; + + pt->nearest_dist = CCD_REAL_MAX; + pt->nearest_type = 3; + pt->nearest = NULL; + + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)v); + } + + ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){ + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)e); + } + + ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){ + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)f); + } +} + + + +void ccdPtInit(ccd_pt_t *pt) +{ + ccdListInit(&pt->vertices); + ccdListInit(&pt->edges); + ccdListInit(&pt->faces); + + pt->nearest = NULL; + pt->nearest_dist = CCD_REAL_MAX; + pt->nearest_type = 3; +} + +void ccdPtDestroy(ccd_pt_t *pt) +{ + ccd_pt_face_t *f, *f2; + ccd_pt_edge_t *e, *e2; + ccd_pt_vertex_t *v, *v2; + + // first delete all faces + ccdListForEachEntrySafe(&pt->faces, f, ccd_pt_face_t, f2, ccd_pt_face_t, list){ + ccdPtDelFace(pt, f); + } + + // delete all edges + ccdListForEachEntrySafe(&pt->edges, e, ccd_pt_edge_t, e2, ccd_pt_edge_t, list){ + ccdPtDelEdge(pt, e); + } + + // delete all vertices + ccdListForEachEntrySafe(&pt->vertices, v, ccd_pt_vertex_t, v2, ccd_pt_vertex_t, list){ + ccdPtDelVertex(pt, v); + } +} + + +ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v) +{ + ccd_pt_vertex_t *vert; + + vert = CCD_ALLOC(ccd_pt_vertex_t); + vert->type = CCD_PT_VERTEX; + ccdSupportCopy(&vert->v, v); + + vert->dist = ccdVec3Len2(&vert->v.v); + ccdVec3Copy(&vert->witness, &vert->v.v); + + ccdListInit(&vert->edges); + + // add vertex to list + ccdListAppend(&pt->vertices, &vert->list); + + // update position in .nearest array + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)vert); + + return vert; +} + +ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1, + ccd_pt_vertex_t *v2) +{ + const ccd_vec3_t *a, *b; + ccd_pt_edge_t *edge; + + edge = CCD_ALLOC(ccd_pt_edge_t); + edge->type = CCD_PT_EDGE; + edge->vertex[0] = v1; + edge->vertex[1] = v2; + edge->faces[0] = edge->faces[1] = NULL; + + a = &edge->vertex[0]->v.v; + b = &edge->vertex[1]->v.v; + edge->dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &edge->witness); + + ccdListAppend(&edge->vertex[0]->edges, &edge->vertex_list[0]); + ccdListAppend(&edge->vertex[1]->edges, &edge->vertex_list[1]); + + ccdListAppend(&pt->edges, &edge->list); + + // update position in .nearest array + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)edge); + + return edge; +} + +ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1, + ccd_pt_edge_t *e2, + ccd_pt_edge_t *e3) +{ + const ccd_vec3_t *a, *b, *c; + ccd_pt_face_t *face; + ccd_pt_edge_t *e; + size_t i; + + face = CCD_ALLOC(ccd_pt_face_t); + face->type = CCD_PT_FACE; + face->edge[0] = e1; + face->edge[1] = e2; + face->edge[2] = e3; + + // obtain triplet of vertices + a = &face->edge[0]->vertex[0]->v.v; + b = &face->edge[0]->vertex[1]->v.v; + e = face->edge[1]; + if (e->vertex[0] != face->edge[0]->vertex[0] + && e->vertex[0] != face->edge[0]->vertex[1]){ + c = &e->vertex[0]->v.v; + }else{ + c = &e->vertex[1]->v.v; + } + face->dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &face->witness); + + + for (i = 0; i < 3; i++){ + if (face->edge[i]->faces[0] == NULL){ + face->edge[i]->faces[0] = face; + }else{ + face->edge[i]->faces[1] = face; + } + } + + ccdListAppend(&pt->faces, &face->list); + + // update position in .nearest array + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)face); + + return face; +} + + +void ccdPtRecomputeDistances(ccd_pt_t *pt) +{ + ccd_pt_vertex_t *v; + ccd_pt_edge_t *e; + ccd_pt_face_t *f; + const ccd_vec3_t *a, *b, *c; + ccd_real_t dist; + + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + dist = ccdVec3Len2(&v->v.v); + v->dist = dist; + ccdVec3Copy(&v->witness, &v->v.v); + } + + ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){ + a = &e->vertex[0]->v.v; + b = &e->vertex[1]->v.v; + dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &e->witness); + e->dist = dist; + } + + ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){ + // obtain triplet of vertices + a = &f->edge[0]->vertex[0]->v.v; + b = &f->edge[0]->vertex[1]->v.v; + e = f->edge[1]; + if (e->vertex[0] != f->edge[0]->vertex[0] + && e->vertex[0] != f->edge[0]->vertex[1]){ + c = &e->vertex[0]->v.v; + }else{ + c = &e->vertex[1]->v.v; + } + + dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &f->witness); + f->dist = dist; + } +} + +ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt) +{ + if (!pt->nearest){ + _ccdPtNearestRenew(pt); + } + return pt->nearest; +} + + +void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn) +{ + FILE *fout; + + fout = fopen(fn, "a"); + if (fout == NULL) + return; + + ccdPtDumpSVT2(pt, fout); + + fclose(fout); +} + +void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *fout) +{ + ccd_pt_vertex_t *v, *a, *b, *c; + ccd_pt_edge_t *e; + ccd_pt_face_t *f; + size_t i; + + fprintf(fout, "-----\n"); + + fprintf(fout, "Points:\n"); + i = 0; + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + v->id = i++; + fprintf(fout, "%lf %lf %lf\n", + ccdVec3X(&v->v.v), ccdVec3Y(&v->v.v), ccdVec3Z(&v->v.v)); + } + + fprintf(fout, "Edges:\n"); + ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){ + fprintf(fout, "%d %d\n", e->vertex[0]->id, e->vertex[1]->id); + } + + fprintf(fout, "Faces:\n"); + ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){ + a = f->edge[0]->vertex[0]; + b = f->edge[0]->vertex[1]; + c = f->edge[1]->vertex[0]; + if (c == a || c == b){ + c = f->edge[1]->vertex[1]; + } + fprintf(fout, "%d %d %d\n", a->id, b->id, c->id); + } +} diff --git a/libs/ode-0.16.1/libccd/src/support.c b/libs/ode-0.16.1/libccd/src/support.c new file mode 100644 index 0000000..5ce3586 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/support.c @@ -0,0 +1,39 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <ccd/support.h> + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +void __ccdSupport(const void *obj1, const void *obj2, + const ccd_vec3_t *_dir, const ccd_t *ccd, + ccd_support_t *supp) +{ + ccd_vec3_t dir; + + ccdVec3Copy(&dir, _dir); + + ccd->support1(obj1, &dir, &supp->v1); + + ccdVec3Scale(&dir, -CCD_ONE); + ccd->support2(obj2, &dir, &supp->v2); + + ccdVec3Sub2(&supp->v, &supp->v1, &supp->v2); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/Makefile.am b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.am new file mode 100644 index 0000000..733fed3 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.am @@ -0,0 +1,28 @@ +SUBDIRS = cu + +AM_CPPFLAGS = -I $(srcdir)/.. -I $(builddir)/.. -I $(srcdir)/cu + +LDADD = $(builddir)/cu/libcu.la $(builddir)/../libccd.la + + +check_PROGRAMS = test bench bench2 + +test_SOURCES = main.c \ + common.c common.h \ + support.c support.h \ + vec3.c vec3.h \ + polytope.c polytope.h \ + boxbox.c boxbox.h \ + spheresphere.c spheresphere.h \ + cylcyl.c cylcyl.h \ + boxcyl.c boxcyl.h \ + mpr_boxbox.c mpr_boxbox.h \ + mpr_cylcyl.c mpr_cylcyl.h \ + mpr_boxcyl.c mpr_boxcyl.h + +bench_SOURCES = bench.c \ + support.c support.h + +bench2_SOURCES = bench2.c \ + support.c support.h + diff --git a/libs/ode-0.16.1/libccd/src/testsuites/Makefile.in b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.in new file mode 100644 index 0000000..40ff0ea --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.in @@ -0,0 +1,753 @@ +# Makefile.in generated by automake 1.15 from Makefile.am. +# @configure_input@ + +# Copyright (C) 1994-2014 Free Software Foundation, Inc. + +# This Makefile.in is free software; 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+ +static int bench_num = 1; +static size_t cycles = 10000; + +static void runBench(const void *o1, const void *o2, const ccd_t *ccd) +{ + ccd_real_t depth; + ccd_vec3_t dir, pos; + int res; + size_t i; + const struct timespec *timer; + + cuTimerStart(); + for (i = 0; i < cycles; i++){ + res = ccdGJKPenetration(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++; +} + +static void boxbox(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + ccd_vec3_t axis; + ccd_quat_t rot; + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + bench_num = 1; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + fprintf(stdout, "\n----\n\n"); +} + +void cylcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + ccd_vec3_t axis; + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +void boxcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +int main(int argc, char *argv[]) +{ + if (argc > 1){ + cycles = atol(argv[1]); + } + + fprintf(stdout, "Cycles: %zu\n", cycles); + fprintf(stdout, "\n"); + + boxbox(); + cylcyl(); + boxcyl(); + + return 0; +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/bench2.c b/libs/ode-0.16.1/libccd/src/testsuites/bench2.c new file mode 100644 index 0000000..8fb29df --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/bench2.c @@ -0,0 +1,263 @@ +#define CU_ENABLE_TIMER +#include <cu/cu.h> +#include <stdio.h> +#include <stdlib.h> +#include <ccd/ccd.h> +#include "support.h" + +TEST_SUITES { + TEST_SUITES_CLOSURE +}; + +static int bench_num = 1; +static size_t cycles = 10000; + +static void runBench(const void *o1, const void *o2, const ccd_t *ccd) +{ + ccd_real_t depth; + ccd_vec3_t dir, pos; + int res; + size_t i; + const struct timespec *timer; + + cuTimerStart(); + for (i = 0; i < cycles; i++){ + res = 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++; +} + +static void boxbox(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + ccd_vec3_t axis; + ccd_quat_t rot; + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + bench_num = 1; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + fprintf(stdout, "\n----\n\n"); +} + +void cylcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + ccd_vec3_t axis; + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +void boxcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +int main(int argc, char *argv[]) +{ + if (argc > 1){ + cycles = atol(argv[1]); + } + + fprintf(stdout, "Cycles: %zu\n", cycles); + fprintf(stdout, "\n"); + + boxbox(); + cylcyl(); + boxcyl(); + + return 0; +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxbox.c b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.c new file mode 100644 index 0000000..3dfc965 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.c @@ -0,0 +1,467 @@ +#include <stdio.h> +#include <cu/cu.h> + +#include <ccd/ccd.h> +#include "support.h" +#include <ccd/vec3.h> +#include <ccd/dbg.h> +#include "common.h" + + +TEST(boxboxSetUp) +{ +} + +TEST(boxboxTearDown) +{ +} + +TEST(boxboxAlignedX) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + //ccd.max_iterations = 20; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + + box1.x = 0.1; + box1.y = 0.2; + box1.z = 0.1; + box2.x = 0.2; + box2.y = 0.1; + box2.z = 0.2; + + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.01; + } + + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., -0.1, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } +} + +TEST(boxboxAlignedY) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., -5., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[1] += 0.1; + } +} + +TEST(boxboxAlignedZ) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., 0., -5.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[2] += 0.1; + } +} + + +TEST(boxboxRot) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_real_t angle; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0.5, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 33 || i > 67){ + assertFalse(res); + }else if (i != 33 && i != 67){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + box1.x = 1; + box1.y = 1; + box1.z = 1; + box2.x = 1; + box2.y = 1; + box2.z = 1; + + ccdVec3Set(&box1.pos, -1.01, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + ccdVec3Set(&axis, 0., 1., 0.); + angle = 0.; + for (i = 0; i < 30; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i != 0 && i != 10 && i != 20){ + assertTrue(res); + }else{ + assertFalse(res); + } + + angle += M_PI / 20.; + ccdQuatSetAngleAxis(&box1.quat, angle, &axis); + } + +} + + + +static void pConf(ccd_box_t *box1, ccd_box_t *box2, const ccd_vec3_t *v) +{ + fprintf(stdout, "# box1.pos: [%lf %lf %lf]\n", + ccdVec3X(&box1->pos), ccdVec3Y(&box1->pos), ccdVec3Z(&box1->pos)); + fprintf(stdout, "# box1->quat: [%lf %lf %lf %lf]\n", + box1->quat.q[0], box1->quat.q[1], box1->quat.q[2], box1->quat.q[3]); + fprintf(stdout, "# box2->pos: [%lf %lf %lf]\n", + ccdVec3X(&box2->pos), ccdVec3Y(&box2->pos), ccdVec3Z(&box2->pos)); + fprintf(stdout, "# box2->quat: [%lf %lf %lf %lf]\n", + box2->quat.q[0], box2->quat.q[1], box2->quat.q[2], box2->quat.q[3]); + fprintf(stdout, "# sep: [%lf %lf %lf]\n", + ccdVec3X(v), ccdVec3Y(v), ccdVec3Z(v)); + fprintf(stdout, "#\n"); +} + +TEST(boxboxSeparate) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t sep, expsep, expsep2, axis; + + fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.2); + res = ccdGJKIntersect(&box1, &box2, &ccd); + assertTrue(res); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0.25, 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + ccdVec3Scale(&sep, -1.); + ccdVec3Add(&box1.pos, &sep); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., -0.25); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 1.); + ccdVec3Set(&expsep2, 0., 0., -1.); + assertTrue(ccdVec3Eq(&sep, &expsep) || ccdVec3Eq(&sep, &expsep2)); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); +} + + +#define TOSVT() \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&box2.pos, &dir); \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(boxboxPenetration) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_quat_t rot; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); <<< + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0.1, 0., 0.1); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); <<< + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxbox.h b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.h new file mode 100644 index 0000000..8127c7c --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.h @@ -0,0 +1,32 @@ +#ifndef BOX_BOX +#define BOX_BOX + +#include <cu/cu.h> + +TEST(boxboxSetUp); +TEST(boxboxTearDown); + +TEST(boxboxAlignedX); +TEST(boxboxAlignedY); +TEST(boxboxAlignedZ); + +TEST(boxboxRot); + +TEST(boxboxSeparate); +TEST(boxboxPenetration); + +TEST_SUITE(TSBoxBox) { + TEST_ADD(boxboxSetUp), + + TEST_ADD(boxboxAlignedX), + TEST_ADD(boxboxAlignedY), + TEST_ADD(boxboxAlignedZ), + TEST_ADD(boxboxRot), + TEST_ADD(boxboxSeparate), + TEST_ADD(boxboxPenetration), + + TEST_ADD(boxboxTearDown), + TEST_SUITE_CLOSURE +}; + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c new file mode 100644 index 0000000..4a556cb --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c @@ -0,0 +1,162 @@ +#include <cu/cu.h> +#include "common.h" +#include <ccd/ccd.h> +#include "support.h" + + +#define TOSVT() \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl.pos, &dir); \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos) + + +TEST(boxcylIntersect) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); +} + + +TEST(boxcylPenEPA) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); <<< + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); +} + diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h new file mode 100644 index 0000000..3d348d9 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h @@ -0,0 +1,16 @@ +#ifndef TEST_BOXCYL_H +#define TEST_BOXCYL_H + +#include <cu/cu.h> + +TEST(boxcylIntersect); +TEST(boxcylPenEPA); + +TEST_SUITE(TSBoxCyl){ + TEST_ADD(boxcylIntersect), + TEST_ADD(boxcylPenEPA), + + TEST_SUITE_CLOSURE +}; + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/common.c b/libs/ode-0.16.1/libccd/src/testsuites/common.c new file mode 100644 index 0000000..eca7776 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/common.c @@ -0,0 +1,174 @@ +#include "common.h" +#include <ccd/vec3.h> +#include <ccd/quat.h> +#include "support.h" + +static void svtCyl(ccd_cyl_t *c, FILE *out, const char *color, const char *name) +{ + ccd_vec3_t v[32]; + ccd_quat_t rot; + ccd_vec3_t axis, vpos, vpos2; + ccd_real_t angle, x, y; + unsigned int i; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdVec3Set(&vpos, 0., c->radius, 0.); + angle = 0.; + for (i = 0; i < 16; i++){ + angle = (ccd_real_t)i * (2. * M_PI / 16.); + + ccdQuatSetAngleAxis(&rot, angle, &axis); + ccdVec3Copy(&vpos2, &vpos); + ccdQuatRotVec(&vpos2, &rot); + x = ccdVec3X(&vpos2); + y = ccdVec3Y(&vpos2); + + ccdVec3Set(&v[i], x, y, c->height / 2.); + ccdVec3Set(&v[i + 16], x, y, -c->height / 2.); + } + + for (i = 0; i < 32; i++){ + ccdQuatRotVec(&v[i], &c->quat); + ccdVec3Add(&v[i], &c->pos); + } + + fprintf(out, "-----\n"); + if (name) + fprintf(out, "Name: %s\n", name); + + fprintf(out, "Face color: %s\n", color); + fprintf(out, "Edge color: %s\n", color); + fprintf(out, "Point color: %s\n", color); + fprintf(out, "Points:\n"); + for (i = 0; i < 32; i++){ + fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i])); + } + + fprintf(out, "Edges:\n"); + fprintf(out, "0 16\n"); + fprintf(out, "0 31\n"); + for (i = 1; i < 16; i++){ + fprintf(out, "0 %d\n", i); + fprintf(out, "16 %d\n", i + 16); + if (i != 0){ + fprintf(out, "%d %d\n", i - 1, i); + fprintf(out, "%d %d\n", i + 16 - 1, i + 16); + } + + fprintf(out, "%d %d\n", i, i + 16); + fprintf(out, "%d %d\n", i, i + 16 - 1); + } + + fprintf(out, "Faces:\n"); + for (i = 2; i < 16; i++){ + fprintf(out, "0 %d %d\n", i, i -1); + fprintf(out, "16 %d %d\n", i + 16, i + 16 -1); + + } + fprintf(out, "0 16 31\n"); + fprintf(out, "0 31 15\n"); + for (i = 1; i < 16; i++){ + fprintf(out, "%d %d %d\n", i, i + 16, i + 16 - 1); + fprintf(out, "%d %d %d\n", i, i + 16 - 1, i - 1); + } + fprintf(out, "-----\n"); +} + +static void svtBox(ccd_box_t *b, FILE *out, const char *color, const char *name) +{ + ccd_vec3_t v[8]; + size_t i; + + ccdVec3Set(&v[0], b->x * 0.5, b->y * 0.5, b->z * 0.5); + ccdVec3Set(&v[1], b->x * 0.5, b->y * -0.5, b->z * 0.5); + ccdVec3Set(&v[2], b->x * 0.5, b->y * 0.5, b->z * -0.5); + ccdVec3Set(&v[3], b->x * 0.5, b->y * -0.5, b->z * -0.5); + ccdVec3Set(&v[4], b->x * -0.5, b->y * 0.5, b->z * 0.5); + ccdVec3Set(&v[5], b->x * -0.5, b->y * -0.5, b->z * 0.5); + ccdVec3Set(&v[6], b->x * -0.5, b->y * 0.5, b->z * -0.5); + ccdVec3Set(&v[7], b->x * -0.5, b->y * -0.5, b->z * -0.5); + + for (i = 0; i < 8; i++){ + ccdQuatRotVec(&v[i], &b->quat); + ccdVec3Add(&v[i], &b->pos); + } + + fprintf(out, "-----\n"); + if (name) + fprintf(out, "Name: %s\n", name); + fprintf(out, "Face color: %s\n", color); + fprintf(out, "Edge color: %s\n", color); + fprintf(out, "Point color: %s\n", color); + fprintf(out, "Points:\n"); + for (i = 0; i < 8; i++){ + fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i])); + } + + fprintf(out, "Edges:\n"); + fprintf(out, "0 1\n 0 2\n2 3\n3 1\n1 2\n6 2\n1 7\n1 5\n"); + fprintf(out, "5 0\n0 4\n4 2\n6 4\n6 5\n5 7\n6 7\n7 2\n7 3\n4 5\n"); + + fprintf(out, "Faces:\n"); + fprintf(out, "0 2 1\n1 2 3\n6 2 4\n4 2 0\n4 0 5\n5 0 1\n"); + fprintf(out, "5 1 7\n7 1 3\n6 4 5\n6 5 7\n2 6 7\n2 7 3\n"); + fprintf(out, "-----\n"); +} + + +void svtObj(void *_o, FILE *out, const char *color, const char *name) +{ + ccd_obj_t *o = (ccd_obj_t *)_o; + + if (o->type == CCD_OBJ_CYL){ + svtCyl((ccd_cyl_t *)o, out, color, name); + }else if (o->type == CCD_OBJ_BOX){ + svtBox((ccd_box_t *)o, out, color, name); + } +} + +void svtObjPen(void *o1, void *o2, + FILE *out, const char *name, + ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos) +{ + ccd_vec3_t sep; + char oname[500]; + + ccdVec3Copy(&sep, dir); + ccdVec3Scale(&sep, depth); + ccdVec3Add(&sep, pos); + + fprintf(out, "------\n"); + if (name) + fprintf(out, "Name: %s\n", name); + fprintf(out, "Point color: 0.1 0.1 0.9\n"); + fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos)); + fprintf(out, "------\n"); + fprintf(out, "Point color: 0.1 0.9 0.9\n"); + fprintf(out, "Edge color: 0.1 0.9 0.9\n"); + fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos)); + fprintf(out, "%lf %lf %lf\n", ccdVec3X(&sep), ccdVec3Y(&sep), ccdVec3Z(&sep)); + fprintf(out, "Edges: 0 1\n"); + + oname[0] = 0x0; + if (name) + sprintf(oname, "%s o1", name); + svtObj(o1, out, "0.9 0.1 0.1", oname); + + oname[0] = 0x0; + if (name) + sprintf(oname, "%s o1", name); + svtObj(o2, out, "0.1 0.9 0.1", oname); +} + + +void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos, + FILE *out, const char *note) +{ + if (!note) + note = ""; + + fprintf(out, "# %s: depth: %lf\n", note, depth); + fprintf(out, "# %s: dir: [%lf %lf %lf]\n", note, ccdVec3X(dir), ccdVec3Y(dir), ccdVec3Z(dir)); + fprintf(out, "# %s: pos: [%lf %lf %lf]\n", note, ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos)); + fprintf(out, "#\n"); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/common.h b/libs/ode-0.16.1/libccd/src/testsuites/common.h new file mode 100644 index 0000000..a4de4c2 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/common.h @@ -0,0 +1,14 @@ +#ifndef TEST_COMMON +#define TEST_COMMON + +#include <stdio.h> +#include <ccd/vec3.h> + +void svtObj(void *o, FILE *out, const char *color, const char *name); +void svtObjPen(void *o1, void *o2, + FILE *out, const char *name, + ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos); +void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos, + FILE *out, const char *note); + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation; either version 3 of + * the License, or (at your option) any later version. + * + * CU is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <sys/wait.h> + +#include "cu.h" + +/** Declared here, because I didn't find header file where it is declared */ +char *strsignal(int sig); + +const char *cu_current_test; +const char *cu_current_test_suite; +int cu_success_test_suites = 0; +int cu_fail_test_suites = 0; +int cu_success_tests = 0; +int cu_fail_tests = 0; +int cu_success_checks = 0; +int cu_fail_checks = 0; + +char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1] = ""; + + +/* globally used file descriptor for reading/writing messages */ +int fd; + +/* indicate if test was failed */ +int test_failed; + +/* codes of messages */ +#define CHECK_FAILED '0' +#define CHECK_SUCCEED '1' +#define TEST_FAILED '2' +#define TEST_SUCCEED '3' +#define TEST_SUITE_FAILED '4' +#define TEST_SUITE_SUCCEED '5' +#define END '6' +#define TEST_NAME '7' + +/* predefined messages */ +#define MSG_CHECK_SUCCEED write(fd, "1\n", 2) +#define MSG_TEST_FAILED write(fd, "2\n", 2) +#define MSG_TEST_SUCCEED write(fd, "3\n", 2) +#define MSG_TEST_SUITE_FAILED write(fd, "4\n", 2) +#define MSG_TEST_SUITE_SUCCEED write(fd, "5\n", 2) +#define MSG_END write(fd, "6\n", 2) + +/* length of buffers */ +#define BUF_LEN 1000 +#define MSGBUF_LEN 300 + + +static void redirect_out_err(const char *testName); +static void close_out_err(void); +static void run_test_suite(const char *ts_name, cu_test_suite_t *ts); +static void receive_messages(void); + +static void cu_run_fork(const char *ts_name, cu_test_suite_t *test_suite); +static void cu_print_results(void); + +void cu_run(int argc, char *argv[]) +{ + cu_test_suites_t *tss; + int i; + char found = 0; + + if (argc > 1){ + for (i=1; i < argc; i++){ + tss = cu_test_suites; + while (tss->name != NULL && tss->test_suite != NULL){ + if (strcmp(argv[i], tss->name) == 0){ + found = 1; + cu_run_fork(tss->name, tss->test_suite); + break; + } + tss++; + } + + if (tss->name == NULL || tss->test_suite == NULL){ + fprintf(stderr, "ERROR: Could not find test suite '%s'\n", argv[i]); + } + } + + if (found == 1) + cu_print_results(); + + }else{ + tss = cu_test_suites; + while (tss->name != NULL && tss->test_suite != NULL){ + cu_run_fork(tss->name, tss->test_suite); + tss++; + } + cu_print_results(); + } + + +} + +static void cu_run_fork(const char *ts_name, cu_test_suite_t *ts) +{ + int pipefd[2]; + int pid; + int status; + + if (pipe(pipefd) == -1){ + perror("Pipe error"); + exit(-1); + } + + fprintf(stdout, " -> %s [IN PROGESS]\n", ts_name); + fflush(stdout); + + pid = fork(); + if (pid < 0){ + perror("Fork error"); + exit(-1); + } + + if (pid == 0){ + /* close read end of pipe */ + close(pipefd[0]); + + fd = pipefd[1]; + + /* run testsuite, messages go to fd */ + run_test_suite(ts_name, ts); + + MSG_END; + close(fd); + + /* stop process where running testsuite */ + exit(0); + }else{ + /* close write end of pipe */ + close(pipefd[1]); + + fd = pipefd[0]; + + /* receive and interpret all messages */ + receive_messages(); + + /* wait for children */ + wait(&status); + if (!WIFEXITED(status)){ /* if child process ends up abnormaly */ + if (WIFSIGNALED(status)){ + fprintf(stdout, "Test suite was terminated by signal %d (%s).\n", + WTERMSIG(status), strsignal(WTERMSIG(status))); + }else{ + fprintf(stdout, "Test suite terminated abnormaly!\n"); + } + + /* mark this test suite as failed, because was terminated + * prematurely */ + cu_fail_test_suites++; + } + + close(fd); + + fprintf(stdout, " -> %s [DONE]\n\n", ts_name); + fflush(stdout); + } + +} + +static void run_test_suite(const char *ts_name, cu_test_suite_t *ts) +{ + int test_suite_failed = 0; + char buffer[MSGBUF_LEN]; + int len; + + /* set up current test suite name for later messaging... */ + cu_current_test_suite = ts_name; + + /* redirect stdout and stderr */ + redirect_out_err(cu_current_test_suite); + + while (ts->name != NULL && ts->func != NULL){ + test_failed = 0; + + /* set up name of test for later messaging */ + cu_current_test = ts->name; + + /* send message what test is currently running */ + len = snprintf(buffer, MSGBUF_LEN, "%c --> Running %s...\n", + TEST_NAME, cu_current_test); + write(fd, buffer, len); + + /* run test */ + (*(ts->func))(); + + if (test_failed){ + MSG_TEST_FAILED; + test_suite_failed = 1; + }else{ + MSG_TEST_SUCCEED; + } + + ts++; /* next test in test suite */ + } + + if (test_suite_failed){ + MSG_TEST_SUITE_FAILED; + }else{ + MSG_TEST_SUITE_SUCCEED; + } + + /* close redirected stdout and stderr */ + close_out_err(); +} + + +static void receive_messages(void) +{ + char buf[BUF_LEN]; /* buffer */ + int buf_len; /* how many chars stored in buf */ + char bufout[MSGBUF_LEN]; /* buffer which can be printed out */ + int bufout_len; + int state = 0; /* 0 - waiting for code, 1 - copy msg to stdout */ + int i; + int end = 0; /* end of messages? */ + + bufout_len = 0; + while((buf_len = read(fd, buf, BUF_LEN)) > 0 && !end){ + for (i=0; i < buf_len; i++){ + + /* Prepare message for printing out */ + if (state == 1 || state == 2){ + if (bufout_len < MSGBUF_LEN) + bufout[bufout_len++] = buf[i]; + } + + /* reset state on '\n' in msg */ + if (buf[i] == '\n'){ + /* copy messages out */ + if (state == 1) + write(1, bufout, bufout_len); + if (state == 2) + write(2, bufout, bufout_len); + + state = 0; + bufout_len = 0; + continue; + } + + if (state == 0){ + if (buf[i] == CHECK_FAILED){ + cu_fail_checks++; + state = 2; + }else if (buf[i] == TEST_NAME){ + state = 1; + }else if (buf[i] == CHECK_SUCCEED){ + cu_success_checks++; + }else if (buf[i] == TEST_FAILED){ + cu_fail_tests++; + }else if (buf[i] == TEST_SUCCEED){ + cu_success_tests++; + }else if (buf[i] == TEST_SUITE_FAILED){ + cu_fail_test_suites++; + }else if (buf[i] == TEST_SUITE_SUCCEED){ + cu_success_test_suites++; + }else if (buf[i] == END){ + end = 1; + break; + } + } + } + } +} + +void cu_success_assertation(void) +{ + MSG_CHECK_SUCCEED; +} + +void cu_fail_assertation(const char *file, int line, const char *msg) +{ + char buf[MSGBUF_LEN]; + int len; + + len = snprintf(buf, MSGBUF_LEN, "%c%s:%d (%s::%s) :: %s\n", + CHECK_FAILED, + file, line, cu_current_test_suite, cu_current_test, msg); + write(fd, buf, len); + + /* enable test_failed flag */ + test_failed = 1; +} + +static void cu_print_results(void) +{ + fprintf(stdout, "\n"); + fprintf(stdout, "==================================================\n"); + fprintf(stdout, "| | failed | succeed | total |\n"); + fprintf(stdout, "|------------------------------------------------|\n"); + fprintf(stdout, "| assertations: | %6d | %7d | %5d |\n", + cu_fail_checks, cu_success_checks, + cu_success_checks+cu_fail_checks); + fprintf(stdout, "| tests: | %6d | %7d | %5d |\n", + cu_fail_tests, cu_success_tests, + cu_success_tests+cu_fail_tests); + fprintf(stdout, "| tests suites: | %6d | %7d | %5d |\n", + cu_fail_test_suites, cu_success_test_suites, + cu_success_test_suites+cu_fail_test_suites); + fprintf(stdout, "==================================================\n"); +} + +void cu_set_out_prefix(const char *str) +{ + strncpy(cu_out_prefix, str, CU_OUT_PREFIX_LENGTH); +} + +static void redirect_out_err(const char *test_name) +{ + char buf[100]; + + snprintf(buf, 99, "%stmp.%s.out", cu_out_prefix, test_name); + if (freopen(buf, "w", stdout) == NULL){ + perror("Redirecting of stdout failed"); + exit(-1); + } + + snprintf(buf, 99, "%stmp.%s.err", cu_out_prefix, test_name); + if (freopen(buf, "w", stderr) == NULL){ + perror("Redirecting of stderr failed"); + exit(-1); + } +} + +static void close_out_err(void) +{ + fclose(stdout); + fclose(stderr); +} + + +#ifdef CU_ENABLE_TIMER +/* global variables for timer functions */ +struct timespec __cu_timer; +static struct timespec __cu_timer_start, __cu_timer_stop; + +const struct timespec *cuTimer(void) +{ + return &__cu_timer; +} + +void cuTimerStart(void) +{ + clock_gettime(CLOCK_MONOTONIC, &__cu_timer_start); +} + +const struct timespec *cuTimerStop(void) +{ + clock_gettime(CLOCK_MONOTONIC, &__cu_timer_stop); + + /* store into t difference between time_start and time_end */ + if (__cu_timer_stop.tv_nsec > __cu_timer_start.tv_nsec){ + __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec - __cu_timer_start.tv_nsec; + __cu_timer.tv_sec = __cu_timer_stop.tv_sec - __cu_timer_start.tv_sec; + }else{ + __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec + 1000000000L - __cu_timer_start.tv_nsec; + __cu_timer.tv_sec = __cu_timer_stop.tv_sec - 1 - __cu_timer_start.tv_sec; + } + + return &__cu_timer; +} +#endif /* CU_ENABLE_TIMER */ diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h new file mode 100644 index 0000000..06574cf --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h @@ -0,0 +1,164 @@ +/*** + * CU - C unit testing framework + * --------------------------------- + * Copyright (c)2007,2008,2009 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of CU. + * + * CU is free software; you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation; either version 3 of + * the License, or (at your option) any later version. + * + * CU is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#ifndef _CU_H_ +#define _CU_H_ + +#ifdef CU_ENABLE_TIMER +# include <time.h> +#endif /* CU_ENABLE_TIMER */ + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/***** PUBLIC API *****/ +/** + * Define test + */ +#define TEST(name) \ + void name(void) + +/** + * Define testsuite + */ +#define TEST_SUITE(name) \ + cu_test_suite_t test_suite_##name[] = +/** + * Must be on the end of list of tests. + */ +#define TEST_SUITE_CLOSURE \ + { NULL, NULL } + +#define TEST_SUITES \ + cu_test_suites_t cu_test_suites[] = +#define TEST_SUITES_CLOSURE \ + { NULL, NULL } +#define TEST_SUITE_ADD(name) \ + { #name, test_suite_##name } + +/** + * Add test to testsuite + */ +#define TEST_ADD(name) \ + { #name, name } + +#define CU_RUN(argc, argv) \ + cu_run(argc, argv) + +/** + * Set prefix for files printed out. Must contain trailing /. + */ +#define CU_SET_OUT_PREFIX(str) \ + cu_set_out_prefix(str) + +/** + * Assertations + * Assertations with suffix 'M' (e.g. assertTrueM) is variation of macro + * where is possible to specify error message. + */ +#define assertTrueM(a, message) \ + if (a){ \ + cu_success_assertation(); \ + }else{ \ + cu_fail_assertation(__FILE__, __LINE__, message); \ + } +#define assertTrue(a) \ + assertTrueM((a), #a " is not true") + +#define assertFalseM(a, message) \ + assertTrueM(!(a), message) +#define assertFalse(a) \ + assertFalseM((a), #a " is not false") + +#define assertEqualsM(a,b,message) \ + assertTrueM((a) == (b), message) +#define assertEquals(a,b) \ + assertEqualsM((a), (b), #a " not equals " #b) + +#define assertNotEqualsM(a,b,message) \ + assertTrueM((a) != (b), message) +#define assertNotEquals(a,b) \ + assertNotEqualsM((a), (b), #a " equals " #b) +/***** PUBLIC API END *****/ + + +#include <unistd.h> + +#define CU_MAX_NAME_LENGTH 30 + +typedef void (*cu_test_func_t)(void); +typedef struct _cu_test_suite_t { + const char *name; + cu_test_func_t func; +} cu_test_suite_t; +typedef struct _cu_test_suites_t { + const char *name; + cu_test_suite_t *test_suite; +} cu_test_suites_t; + +extern cu_test_suites_t cu_test_suites[]; + +extern const char *cu_current_test; +extern const char *cu_current_test_suite; + +extern int cu_success_test_suites; +extern int cu_fail_test_suites; +extern int cu_success_tests; +extern int cu_fail_tests; +extern int cu_success_checks; +extern int cu_fail_checks; + +#define CU_OUT_PREFIX_LENGTH 30 +extern char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1]; + +void cu_run(int argc, char *argv[]); +void cu_success_assertation(void); +void cu_fail_assertation(const char *file, int line, const char *msg); +void cu_set_out_prefix(const char *str); + +/** Timer **/ +#ifdef CU_ENABLE_TIMER +extern struct timespec __cu_timer; + +/** + * Returns value of timer. (as timespec struct) + */ +const struct timespec *cuTimer(void); + +/** + * Starts timer. + */ +void cuTimerStart(void); + +/** + * Stops timer and record elapsed time from last call of cuTimerStart(). + * Returns current value of timer. + */ +const struct timespec *cuTimerStop(void); +#endif /* CU_ENABLE_TIMER */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c new file mode 100644 index 0000000..6cd2124 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c @@ -0,0 +1,180 @@ +#include <stdio.h> +#include <cu/cu.h> +#include <ccd/ccd.h> +#include "support.h" +#include "common.h" + + +TEST(cylcylSetUp) +{ +} + +TEST(cylcylTearDown) +{ +} + + +TEST(cylcylAlignedX) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, -5., 0., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[0] += 0.1; + } +} + +TEST(cylcylAlignedY) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., -5., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[1] += 0.1; + } +} + +TEST(cylcylAlignedZ) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., 0., -5.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&c1, &c2, &ccd); + + if (i < 43 || i > 57){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[2] += 0.1; + } +} + +#define TOSVT() \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl2.pos, &dir); \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(cylcylPenetrationEPA) +{ + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- cylcylPenetration ----\n\n\n"); + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&cyl2.pos, 0., 0., 0.3); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); <<< + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h new file mode 100644 index 0000000..8cbbe07 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h @@ -0,0 +1,29 @@ +#ifndef CYL_CYL +#define CYL_CYL + +#include <cu/cu.h> + +TEST(cylcylSetUp); +TEST(cylcylTearDown); + +TEST(cylcylAlignedX); +TEST(cylcylAlignedY); +TEST(cylcylAlignedZ); + +TEST(cylcylPenetrationEPA); + +TEST_SUITE(TSCylCyl) { + TEST_ADD(cylcylSetUp), + + TEST_ADD(cylcylAlignedX), + TEST_ADD(cylcylAlignedY), + TEST_ADD(cylcylAlignedZ), + + TEST_ADD(cylcylPenetrationEPA), + + TEST_ADD(cylcylTearDown), + TEST_SUITE_CLOSURE +}; + +#endif + diff --git a/libs/ode-0.16.1/libccd/src/testsuites/main.c b/libs/ode-0.16.1/libccd/src/testsuites/main.c new file mode 100644 index 0000000..a4585b0 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/main.c @@ -0,0 +1,32 @@ +#include "vec3.h" +#include "polytope.h" +#include "boxbox.h" +#include "spheresphere.h" +#include "cylcyl.h" +#include "boxcyl.h" + +#include "mpr_boxbox.h" +#include "mpr_cylcyl.h" +#include "mpr_boxcyl.h" + +TEST_SUITES { + TEST_SUITE_ADD(TSVec3), + TEST_SUITE_ADD(TSPt), + TEST_SUITE_ADD(TSBoxBox), + TEST_SUITE_ADD(TSSphereSphere), + TEST_SUITE_ADD(TSCylCyl), + TEST_SUITE_ADD(TSBoxCyl), + + TEST_SUITE_ADD(TSMPRBoxBox), + TEST_SUITE_ADD(TSMPRCylCyl), + TEST_SUITE_ADD(TSMPRBoxCyl), + + TEST_SUITES_CLOSURE +}; +int main(int argc, char *argv[]) +{ + CU_SET_OUT_PREFIX("regressions/"); + CU_RUN(argc, argv); + + return 0; +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c new file mode 100644 index 0000000..2342850 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c @@ -0,0 +1,500 @@ +#include <stdio.h> +#include <cu/cu.h> + +#include <ccd/ccd.h> +#include "support.h" +#include <ccd/vec3.h> +#include <ccd/dbg.h> +#include "common.h" + + +TEST(mprBoxboxAlignedX) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + box1.x = 0.1; + box1.y = 0.2; + box1.z = 0.1; + box2.x = 0.2; + box2.y = 0.1; + box2.z = 0.2; + + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.01; + } + + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., -0.1, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } +} + +TEST(mprBoxboxAlignedY) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., -5., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[1] += 0.1; + } +} + +TEST(mprBoxboxAlignedZ) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., 0., -5.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[2] += 0.1; + } +} + + +TEST(mprBoxboxRot) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_real_t angle; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0.5, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 33 || i > 67){ + assertFalse(res); + }else if (i != 33 && i != 67){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + box1.x = 1; + box1.y = 1; + box1.z = 1; + box2.x = 1; + box2.y = 1; + box2.z = 1; + + ccdVec3Set(&box1.pos, -1.01, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + ccdVec3Set(&axis, 0., 1., 0.); + angle = 0.; + for (i = 0; i < 30; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i != 0 && i != 10 && i != 20){ + assertTrue(res); + }else{ + assertFalse(res); + } + + angle += M_PI / 20.; + ccdQuatSetAngleAxis(&box1.quat, angle, &axis); + } + +} + + + +static void pConf(ccd_box_t *box1, ccd_box_t *box2, const ccd_vec3_t *v) +{ + fprintf(stdout, "# box1.pos: [%lf %lf %lf]\n", + ccdVec3X(&box1->pos), ccdVec3Y(&box1->pos), ccdVec3Z(&box1->pos)); + fprintf(stdout, "# box1->quat: [%lf %lf %lf %lf]\n", + box1->quat.q[0], box1->quat.q[1], box1->quat.q[2], box1->quat.q[3]); + fprintf(stdout, "# box2->pos: [%lf %lf %lf]\n", + ccdVec3X(&box2->pos), ccdVec3Y(&box2->pos), ccdVec3Z(&box2->pos)); + fprintf(stdout, "# box2->quat: [%lf %lf %lf %lf]\n", + box2->quat.q[0], box2->quat.q[1], box2->quat.q[2], box2->quat.q[3]); + fprintf(stdout, "# sep: [%lf %lf %lf]\n", + ccdVec3X(v), ccdVec3Y(v), ccdVec3Z(v)); + fprintf(stdout, "#\n"); +} + +TEST(mprBoxboxSeparate) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t sep, expsep, expsep2, axis; + + fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.2); + res = ccdMPRIntersect(&box1, &box2, &ccd); + assertTrue(res); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0.25, 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + ccdVec3Scale(&sep, -1.); + ccdVec3Add(&box1.pos, &sep); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., -0.25); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 1.); + ccdVec3Set(&expsep2, 0., 0., -1.); + assertTrue(ccdVec3Eq(&sep, &expsep) || ccdVec3Eq(&sep, &expsep2)); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); +} + + +#define TOSVT() \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&box2.pos, &dir); \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(mprBoxboxPenetration) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_quat_t rot; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + /* + ccdVec3Set(&box2.pos, 0., 0., 0.); + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + TOSVT(); + */ + + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0.1, 0., 0.1); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; box2.y = 0.5; box2.z = .5; + ccdVec3Set(&box1.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdVec3Set(&box2.pos, 0., 0.73, 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 9"); + //TOSVT(); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; box2.y = 0.5; box2.z = .5; + ccdVec3Set(&box1.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdVec3Set(&box2.pos, 0.3, 0.738, 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 10"); + //TOSVT(); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h new file mode 100644 index 0000000..e6922aa --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h @@ -0,0 +1,26 @@ +#ifndef MPR_BOX_BOX +#define MPR_BOX_BOX + +#include <cu/cu.h> + +TEST(mprBoxboxAlignedX); +TEST(mprBoxboxAlignedY); +TEST(mprBoxboxAlignedZ); + +TEST(mprBoxboxRot); + +TEST(mprBoxboxSeparate); +TEST(mprBoxboxPenetration); + +TEST_SUITE(TSMPRBoxBox) { + TEST_ADD(mprBoxboxAlignedX), + TEST_ADD(mprBoxboxAlignedY), + TEST_ADD(mprBoxboxAlignedZ), + TEST_ADD(mprBoxboxRot), + //TEST_ADD(mprBoxboxSeparate), + TEST_ADD(mprBoxboxPenetration), + + TEST_SUITE_CLOSURE +}; + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c new file mode 100644 index 0000000..7a1b7fa --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c @@ -0,0 +1,165 @@ +#include <cu/cu.h> +#include "common.h" +#include <ccd/ccd.h> +#include "support.h" + +#define TOSVT() \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl.pos, &dir); \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos) + +TEST(mprBoxcylIntersect) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); +} + + + +TEST(mprBoxcylPen) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); +} + diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h new file mode 100644 index 0000000..86f14e6 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h @@ -0,0 +1,16 @@ +#ifndef MPR_TEST_BOXCYL_H +#define MPR_TEST_BOXCYL_H + +#include <cu/cu.h> + +TEST(mprBoxcylIntersect); +TEST(mprBoxcylPen); + +TEST_SUITE(TSMPRBoxCyl){ + TEST_ADD(mprBoxcylIntersect), + TEST_ADD(mprBoxcylPen), + + TEST_SUITE_CLOSURE +}; + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c new file mode 100644 index 0000000..ec0a3bc --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c @@ -0,0 +1,179 @@ +#include <stdio.h> +#include <cu/cu.h> +#include <ccd/ccd.h> +#include "support.h" +#include "common.h" + + +TEST(mprCylcylAlignedX) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, -5., 0., 0.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[0] += 0.1; + } +} + +TEST(mprCylcylAlignedY) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., -5., 0.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[1] += 0.1; + } +} + +TEST(mprCylcylAlignedZ) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., 0., -5.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&c1, &c2, &ccd); + + if (i < 43 || i > 57){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[2] += 0.1; + } +} + +#define TOSVT() \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl2.pos, &dir); \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(mprCylcylPenetration) +{ + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- mprCylcylPenetration ----\n\n\n"); + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + ccdVec3Set(&cyl2.pos, 0., 0., 0.3); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h new file mode 100644 index 0000000..2d2162b --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h @@ -0,0 +1,23 @@ +#ifndef MPR_CYL_CYL +#define MPR_CYL_CYL + +#include <cu/cu.h> + +TEST(mprCylcylAlignedX); +TEST(mprCylcylAlignedY); +TEST(mprCylcylAlignedZ); + +TEST(mprCylcylPenetration); + +TEST_SUITE(TSMPRCylCyl) { + TEST_ADD(mprCylcylAlignedX), + TEST_ADD(mprCylcylAlignedY), + TEST_ADD(mprCylcylAlignedZ), + + TEST_ADD(mprCylcylPenetration), + + TEST_SUITE_CLOSURE +}; + +#endif + diff --git a/libs/ode-0.16.1/libccd/src/testsuites/polytope.c b/libs/ode-0.16.1/libccd/src/testsuites/polytope.c new file mode 100644 index 0000000..65686fb --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/polytope.c @@ -0,0 +1,398 @@ +//#undef NDEBUG +#include <cu/cu.h> +#include <ccd/polytope.h> +#include <ccd/dbg.h> + +TEST(ptSetUp) +{ +} + +TEST(ptTearDown) +{ +} + + +TEST(ptCreate1) +{ + ccd_pt_t pt; + ccd_pt_vertex_t *v[3]; + ccd_pt_edge_t *e[3]; + ccd_pt_face_t *f; + ccd_vec3_t u; + int res; + size_t i; + + DBG2("------"); + + ccdPtInit(&pt); + ccdPtDestroy(&pt); + + + ccdPtInit(&pt); + + ccdVec3Set(&u, -1., -1., 0.); + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + assertTrue(ccdVec3Eq(&u, &v[0]->v.v)); + + ccdVec3Set(&u, 1., 0., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + assertTrue(ccdVec3Eq(&u, &v[1]->v.v)); + + ccdVec3Set(&u, 0., 0., 1.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + assertTrue(ccdVec3Eq(&u, &v[2]->v.v)); + + for (i = 0; i < 3; i++){ + assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v))); + } + + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + for (i = 0; i < 3; i++){ + DBG("e[%d]->dist: %lf", i, e[i]->dist); + DBG_VEC3(&e[i]->witness, " ->witness: "); + } + + f = ccdPtAddFace(&pt, e[0], e[1], e[2]); + DBG("f->dist: %lf", f->dist); + DBG_VEC3(&f->witness, " ->witness: "); + + for (i = 0; i < 3; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + res = ccdPtDelEdge(&pt, e[i]); + assertFalse(res == 0); + } + + ccdPtDelFace(&pt, f); + for (i = 0; i < 3; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + } + for (i = 0; i < 3; i++){ + res = ccdPtDelEdge(&pt, e[i]); + assertTrue(res == 0); + } + for (i = 0; i < 3; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertTrue(res == 0); + } + + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + + f = ccdPtAddFace(&pt, e[0], e[1], e[2]); + + ccdPtDestroy(&pt); +} + +TEST(ptCreate2) +{ + ccd_pt_t pt; + ccd_pt_vertex_t *v[4]; + ccd_pt_edge_t *e[6]; + ccd_pt_face_t *f[4]; + ccd_vec3_t u; + int res; + unsigned int i; + + DBG2("------"); + + ccdPtInit(&pt); + + ccdVec3Set(&u, -1., -1., 0.); + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + assertTrue(ccdVec3Eq(&u, &v[0]->v.v)); + + ccdVec3Set(&u, 1., 0., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + assertTrue(ccdVec3Eq(&u, &v[1]->v.v)); + + ccdVec3Set(&u, 0., 0., 1.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + assertTrue(ccdVec3Eq(&u, &v[2]->v.v)); + + ccdVec3Set(&u, 0., 1., 0.); + v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.); + assertTrue(ccdVec3Eq(&u, &v[3]->v.v)); + + for (i = 0; i < 4; i++){ + assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v))); + } + for (i = 0; i < 4; i++){ + DBG("v[%d]->dist: %lf", i, v[i]->dist); + DBG_VEC3(&v[i]->witness, " ->witness: "); + } + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + e[3] = ccdPtAddEdge(&pt, v[3], v[0]); + e[4] = ccdPtAddEdge(&pt, v[3], v[1]); + e[5] = ccdPtAddEdge(&pt, v[3], v[2]); + for (i = 0; i < 6; i++){ + DBG("e[%d]->dist: %lf", i, e[i]->dist); + DBG_VEC3(&e[i]->witness, " ->witness: "); + } + + f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]); + f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]); + f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]); + f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]); + for (i = 0; i < 4; i++){ + DBG("f[%d]->dist: %lf", i, f[i]->dist); + DBG_VEC3(&f[i]->witness, " ->witness: "); + } + + for (i = 0; i < 4; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + } + for (i = 0; i < 6; i++){ + res = ccdPtDelEdge(&pt, e[i]); + assertFalse(res == 0); + } + + res = ccdPtDelFace(&pt, f[0]); + for (i = 0; i < 6; i++){ + res = ccdPtDelEdge(&pt, e[i]); + assertFalse(res == 0); + } + + res = ccdPtDelFace(&pt, f[1]); + assertTrue(ccdPtDelEdge(&pt, e[0]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[1]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[2]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[3]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[4]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[5]) == 0); + for (i = 0; i < 4; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + } + + res = ccdPtDelFace(&pt, f[2]); + assertTrue(ccdPtDelEdge(&pt, e[1]) == 0); + assertTrue(ccdPtDelEdge(&pt, e[4]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[2]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[3]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[5]) == 0); + + assertTrue(ccdPtDelVertex(&pt, v[1]) == 0); + assertFalse(ccdPtDelVertex(&pt, v[0]) == 0); + assertFalse(ccdPtDelVertex(&pt, v[2]) == 0); + assertFalse(ccdPtDelVertex(&pt, v[3]) == 0); + + res = ccdPtDelFace(&pt, f[3]); + assertTrue(ccdPtDelEdge(&pt, e[2]) == 0); + assertTrue(ccdPtDelEdge(&pt, e[3]) == 0); + assertTrue(ccdPtDelEdge(&pt, e[5]) == 0); + + assertTrue(ccdPtDelVertex(&pt, v[0]) == 0); + assertTrue(ccdPtDelVertex(&pt, v[2]) == 0); + assertTrue(ccdPtDelVertex(&pt, v[3]) == 0); + + + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.); + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + e[3] = ccdPtAddEdge(&pt, v[3], v[0]); + e[4] = ccdPtAddEdge(&pt, v[3], v[1]); + e[5] = ccdPtAddEdge(&pt, v[3], v[2]); + + f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]); + f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]); + f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]); + f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]); + + ccdPtDestroy(&pt); +} + +TEST(ptNearest) +{ + ccd_pt_t pt; + ccd_pt_vertex_t *v[4]; + ccd_pt_edge_t *e[6]; + ccd_pt_face_t *f[4]; + ccd_pt_el_t *nearest; + + DBG2("------"); + + ccdPtInit(&pt); + + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.); + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + e[3] = ccdPtAddEdge(&pt, v[3], v[0]); + e[4] = ccdPtAddEdge(&pt, v[3], v[1]); + e[5] = ccdPtAddEdge(&pt, v[3], v[2]); + + f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]); + f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]); + f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]); + f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]); + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertEquals(nearest, (ccd_pt_el_t *)f[1]); + assertTrue(ccdPtDelFace(&pt, f[1]) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertTrue(nearest == (ccd_pt_el_t *)f[0] + || nearest == (ccd_pt_el_t *)f[3]); + assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertTrue(nearest == (ccd_pt_el_t *)f[0] + || nearest == (ccd_pt_el_t *)f[3]); + assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[0] + || nearest == (ccd_pt_el_t *)e[3]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[0] + || nearest == (ccd_pt_el_t *)e[3]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertEquals(nearest, (ccd_pt_el_t *)f[2]); + assertTrue(ccdPtDelFace(&pt, f[2]) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[1] + || nearest == (ccd_pt_el_t *)e[4] + || nearest == (ccd_pt_el_t *)e[5]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[1] + || nearest == (ccd_pt_el_t *)e[4] + || nearest == (ccd_pt_el_t *)e[5]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[1] + || nearest == (ccd_pt_el_t *)e[4] + || nearest == (ccd_pt_el_t *)e[5]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[2]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[1] + || nearest == (ccd_pt_el_t *)v[2] + || nearest == (ccd_pt_el_t *)v[3]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[1] + || nearest == (ccd_pt_el_t *)v[2] + || nearest == (ccd_pt_el_t *)v[3]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[1] + || nearest == (ccd_pt_el_t *)v[2] + || nearest == (ccd_pt_el_t *)v[3]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[0]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + assertTrue(nearest == NULL); + + ccdPtDestroy(&pt); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/polytope.h b/libs/ode-0.16.1/libccd/src/testsuites/polytope.h new file mode 100644 index 0000000..cf31546 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/polytope.h @@ -0,0 +1,24 @@ +#ifndef TEST_POLYTOPE_H +#define TEST_POLYTOPE_H + +#include <cu/cu.h> + +TEST(ptSetUp); +TEST(ptTearDown); + +TEST(ptCreate1); +TEST(ptCreate2); +TEST(ptNearest); + +TEST_SUITE(TSPt) { + TEST_ADD(ptSetUp), + + TEST_ADD(ptCreate1), + TEST_ADD(ptCreate2), + TEST_ADD(ptNearest), + + TEST_ADD(ptTearDown), + TEST_SUITE_CLOSURE +}; + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c new file mode 100644 index 0000000..36628f6 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c @@ -0,0 +1,99 @@ +#include <stdio.h> +#include <cu/cu.h> +#include "support.h" +#include <ccd/ccd.h> + +TEST(spheresphereSetUp) +{ +} + +TEST(spheresphereTearDown) +{ +} + +TEST(spheresphereAlignedX) +{ + ccd_t ccd; + CCD_SPHERE(s1); + CCD_SPHERE(s2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + s1.radius = 0.35; + s2.radius = .5; + + ccdVec3Set(&s1.pos, -5., 0., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&s1, &s2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + s1.pos.v[0] += 0.1; + } +} + +TEST(spheresphereAlignedY) +{ + ccd_t ccd; + CCD_SPHERE(s1); + CCD_SPHERE(s2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + s1.radius = 0.35; + s2.radius = .5; + + ccdVec3Set(&s1.pos, 0., -5., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&s1, &s2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + s1.pos.v[1] += 0.1; + } +} + +TEST(spheresphereAlignedZ) +{ + ccd_t ccd; + CCD_SPHERE(s1); + CCD_SPHERE(s2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + s1.radius = 0.35; + s2.radius = .5; + + ccdVec3Set(&s1.pos, 0., 0., -5.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&s1, &s2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + s1.pos.v[2] += 0.1; + } +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h new file mode 100644 index 0000000..b032215 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h @@ -0,0 +1,24 @@ +#ifndef SPHERE_SPHERE +#define SPHERE_SPHERE + +#include <cu/cu.h> + +TEST(spheresphereSetUp); +TEST(spheresphereTearDown); + +TEST(spheresphereAlignedX); +TEST(spheresphereAlignedY); +TEST(spheresphereAlignedZ); + +TEST_SUITE(TSSphereSphere) { + TEST_ADD(spheresphereSetUp), + + TEST_ADD(spheresphereAlignedX), + TEST_ADD(spheresphereAlignedY), + TEST_ADD(spheresphereAlignedZ), + + TEST_ADD(spheresphereTearDown), + TEST_SUITE_CLOSURE +}; + +#endif diff --git a/libs/ode-0.16.1/libccd/src/testsuites/support.c b/libs/ode-0.16.1/libccd/src/testsuites/support.c new file mode 100644 index 0000000..5f2b4c7 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/support.c @@ -0,0 +1,85 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <stdio.h> +#include <ccd/ccd.h> +#include <ccd/vec3.h> +#include "support.h" + +void ccdSupport(const void *_obj, const ccd_vec3_t *_dir, + ccd_vec3_t *v) +{ + // Support function is made according to Gino van den Bergen's paper + // A Fast and Robust CCD Implementation for Collision Detection of + // Convex Objects + + ccd_obj_t *obj = (ccd_obj_t *)_obj; + ccd_vec3_t dir; + ccd_quat_t qinv; + + ccdVec3Copy(&dir, _dir); + ccdQuatInvert2(&qinv, &obj->quat); + + ccdQuatRotVec(&dir, &qinv); + + if (obj->type == CCD_OBJ_BOX){ + ccd_box_t *box = (ccd_box_t *)obj; + ccdVec3Set(v, ccdSign(ccdVec3X(&dir)) * box->x * CCD_REAL(0.5), + ccdSign(ccdVec3Y(&dir)) * box->y * CCD_REAL(0.5), + ccdSign(ccdVec3Z(&dir)) * box->z * CCD_REAL(0.5)); + }else if (obj->type == CCD_OBJ_SPHERE){ + ccd_sphere_t *sphere = (ccd_sphere_t *)obj; + ccd_real_t len; + + len = ccdVec3Len2(&dir); + if (len - CCD_EPS > CCD_ZERO){ + ccdVec3Copy(v, &dir); + ccdVec3Scale(v, sphere->radius / CCD_SQRT(len)); + }else{ + ccdVec3Set(v, CCD_ZERO, CCD_ZERO, CCD_ZERO); + } + }else if (obj->type == CCD_OBJ_CYL){ + ccd_cyl_t *cyl = (ccd_cyl_t *)obj; + ccd_real_t zdist, rad; + + zdist = dir.v[0] * dir.v[0] + dir.v[1] * dir.v[1]; + zdist = CCD_SQRT(zdist); + if (ccdIsZero(zdist)){ + ccdVec3Set(v, CCD_ZERO, CCD_ZERO, + ccdSign(ccdVec3Z(&dir)) * cyl->height * CCD_REAL(0.5)); + }else{ + rad = cyl->radius / zdist; + + ccdVec3Set(v, rad * ccdVec3X(&dir), + rad * ccdVec3Y(&dir), + ccdSign(ccdVec3Z(&dir)) * cyl->height * CCD_REAL(0.5)); + } + } + + // transform support vertex + ccdQuatRotVec(v, &obj->quat); + ccdVec3Add(v, &obj->pos); +} + +void ccdObjCenter(const void *_obj, ccd_vec3_t *center) +{ + ccd_obj_t *obj = (ccd_obj_t *)_obj; + + ccdVec3Set(center, CCD_ZERO, CCD_ZERO, CCD_ZERO); + // rotation is not needed + ccdVec3Add(center, &obj->pos); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/support.h b/libs/ode-0.16.1/libccd/src/testsuites/support.h new file mode 100644 index 0000000..e444296 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/support.h @@ -0,0 +1,102 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +/*** + * Some support() functions for some convex shapes. + */ + +#ifndef __CCD_SUPPORT_H__ +#define __CCD_SUPPORT_H__ + +#include <ccd/quat.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#define CCD_OBJ_BOX 1 +#define CCD_OBJ_SPHERE 2 +#define CCD_OBJ_CYL 3 + +#define __CCD_OBJ__ \ + int type; \ + ccd_vec3_t pos; \ + ccd_quat_t quat; + +struct _ccd_obj_t { + __CCD_OBJ__ +}; +typedef struct _ccd_obj_t ccd_obj_t; + +struct _ccd_box_t { + __CCD_OBJ__ + ccd_real_t x, y, z; //!< Lengths of box's edges +}; +typedef struct _ccd_box_t ccd_box_t; + +struct _ccd_sphere_t { + __CCD_OBJ__ + ccd_real_t radius; +}; +typedef struct _ccd_sphere_t ccd_sphere_t; + +struct _ccd_cyl_t { + __CCD_OBJ__ + ccd_real_t radius; + ccd_real_t height; +}; +typedef struct _ccd_cyl_t ccd_cyl_t; + + +#define CCD_BOX(name) \ + ccd_box_t name = { .type = CCD_OBJ_BOX, \ + .pos = { .v = { 0., 0., 0. } }, \ + .quat = { .q = { 0., 0., 0., 1. } }, \ + .x = 0., \ + .y = 0., \ + .z = 0. } + +#define CCD_SPHERE(name) \ + ccd_sphere_t name = { .type = CCD_OBJ_SPHERE, \ + .pos = { .v = { 0., 0., 0. } }, \ + .quat = { .q = { 0., 0., 0., 1. } }, \ + .radius = 0. } + +#define CCD_CYL(name) \ + ccd_cyl_t name = { .type = CCD_OBJ_CYL, \ + .pos = { .v = { 0., 0., 0. } }, \ + .quat = { .q = { 0., 0., 0., 1. } }, \ + .radius = 0., \ + .height = 0. } + +/** + * Returns supporting vertex via v. + * Supporting vertex is fathest vertex from object in direction dir. + */ +void ccdSupport(const void *obj, const ccd_vec3_t *dir, + ccd_vec3_t *v); + +/** + * Returns center of object. + */ +void ccdObjCenter(const void *obj, ccd_vec3_t *center); + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_SUPPORT_H__ */ diff --git a/libs/ode-0.16.1/libccd/src/testsuites/vec3.c b/libs/ode-0.16.1/libccd/src/testsuites/vec3.c new file mode 100644 index 0000000..007f310 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/vec3.c @@ -0,0 +1,273 @@ +#include <stdio.h> +#include <cu/cu.h> +#include <ccd/vec3.h> + +TEST(vec3SetUp) +{ +} + +TEST(vec3TearDown) +{ +} + + +TEST(vec3PointSegmentDist) +{ + ccd_vec3_t P, a, b, w, ew; + ccd_real_t dist; + + ccdVec3Set(&a, 0., 0., 0.); + ccdVec3Set(&b, 1., 0., 0.); + + // extereme w == a + ccdVec3Set(&P, -1., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.5, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5 * 0.5)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.1, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, .1 * .1)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -1., 1., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.5, 0.5, 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.1, -1., 2.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 5.01)); + assertTrue(ccdVec3Eq(&w, &a)); + + + // extereme w == b + ccdVec3Set(&P, 2., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.5, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5 * 0.5)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.1, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, .1 * .1)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 2., 1., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.5, 0.5, 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.1, -1., 2.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 5.01)); + assertTrue(ccdVec3Eq(&w, &b)); + + // inside segment + ccdVec3Set(&P, .5, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + + ccdVec3Set(&P, .9, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + + ccdVec3Set(&P, .5, 1., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 1.)); + ccdVec3Set(&ew, 0.5, 0., 0.); + assertTrue(ccdVec3Eq(&w, &ew)); + + ccdVec3Set(&P, .5, 1., 1.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + ccdVec3Set(&ew, 0.5, 0., 0.); + assertTrue(ccdVec3Eq(&w, &ew)); + + + + ccdVec3Set(&a, -.5, 2., 1.); + ccdVec3Set(&b, 1., 1.5, 0.5); + + // extereme w == a + ccdVec3Set(&P, -10., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9.5 * 9.5 + 2. * 2. + 1.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -10., 9.2, 3.4); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9.5 * 9.5 + 7.2 * 7.2 + 2.4 * 2.4)); + assertTrue(ccdVec3Eq(&w, &a)); + + // extereme w == b + ccdVec3Set(&P, 10., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9. * 9. + 1.5 * 1.5 + 0.5 * 0.5)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 10., 9.2, 3.4); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9. * 9. + 7.7 * 7.7 + 2.9 * 2.9)); + assertTrue(ccdVec3Eq(&w, &b)); + + // inside ab + ccdVec3Set(&a, -.1, 1., 1.); + ccdVec3Set(&b, 1., 1., 1.); + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + ccdVec3Set(&ew, 0., 1., 1.); + assertTrue(ccdVec3Eq(&w, &ew)); +} + + +TEST(vec3PointTriDist) +{ + ccd_vec3_t P, a, b, c, w, P0; + ccd_real_t dist; + + ccdVec3Set(&a, -1., 0., 0.); + ccdVec3Set(&b, 0., 1., 1.); + ccdVec3Set(&c, -1., 0., 1.); + + ccdVec3Set(&P, -1., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, 0., 1., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, -1., 0., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &c)); + + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, NULL); + assertTrue(ccdEq(dist, 2./3.)); + + + // region 4 + ccdVec3Set(&P, -2., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &a))); + assertTrue(ccdVec3Eq(&w, &a)); + ccdVec3Set(&P, -2., 0.2, -1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &a))); + assertTrue(ccdVec3Eq(&w, &a)); + + // region 2 + ccdVec3Set(&P, -1.3, 0., 1.2); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &c))); + assertTrue(ccdVec3Eq(&w, &c)); + ccdVec3Set(&P, -1.2, 0.2, 1.1); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &c))); + assertTrue(ccdVec3Eq(&w, &c)); + + // region 6 + ccdVec3Set(&P, 0.3, 1., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &b))); + assertTrue(ccdVec3Eq(&w, &b)); + ccdVec3Set(&P, .1, 1., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &b))); + assertTrue(ccdVec3Eq(&w, &b)); + + // region 1 + ccdVec3Set(&P, 0., 1., 2.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &b)); + ccdVec3Set(&P, -1., 0., 2.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &c)); + ccdVec3Set(&P, -0.5, 0.5, 2.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 1.)); + ccdVec3Set(&P0, -0.5, 0.5, 1.); + assertTrue(ccdVec3Eq(&w, &P0)); + + // region 3 + ccdVec3Set(&P, -2., -1., 0.7); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 2.)); + ccdVec3Set(&P0, -1., 0., 0.7); + assertTrue(ccdVec3Eq(&w, &P0)); + + // region 5 + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 2./3.)); + ccdVec3Set(&P0, -2./3., 1./3., 1./3.); + assertTrue(ccdVec3Eq(&w, &P0)); + + // region 0 + ccdVec3Set(&P, -0.5, 0.5, 0.5); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + ccdVec3Set(&P, -0.5, 0.5, 0.7); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + ccdVec3Set(&P, -0.5, 0.5, 0.9); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + + ccdVec3Set(&P, 0., 0., 0.5); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.5)); + ccdVec3Set(&P0, -.5, .5, .5); + assertTrue(ccdVec3Eq(&w, &P0)); + + ccdVec3Set(&a, -1., 0., 0.); + ccdVec3Set(&b, 0., 1., -1.); + ccdVec3Set(&c, 0., 1., 1.); + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.5)); + ccdVec3Set(&P0, -.5, .5, 0.); + assertTrue(ccdVec3Eq(&w, &P0)); + //fprintf(stderr, "dist: %lf\n", dist); +} diff --git a/libs/ode-0.16.1/libccd/src/testsuites/vec3.h b/libs/ode-0.16.1/libccd/src/testsuites/vec3.h new file mode 100644 index 0000000..2055947 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/testsuites/vec3.h @@ -0,0 +1,20 @@ +#ifndef TEST_VEC3_H +#define TEST_VEC3_H + +#include <cu/cu.h> + +TEST(vec3SetUp); +TEST(vec3TearDown); +TEST(vec3PointSegmentDist); +TEST(vec3PointTriDist); + +TEST_SUITE(TSVec3) { + TEST_ADD(vec3SetUp), + + TEST_ADD(vec3PointSegmentDist), + TEST_ADD(vec3PointTriDist), + + TEST_ADD(vec3TearDown), + TEST_SUITE_CLOSURE +}; +#endif diff --git a/libs/ode-0.16.1/libccd/src/vec3.c b/libs/ode-0.16.1/libccd/src/vec3.c new file mode 100644 index 0000000..f1a0804 --- /dev/null +++ b/libs/ode-0.16.1/libccd/src/vec3.c @@ -0,0 +1,215 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz> + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * <http://www.opensource.org/licenses/bsd-license.php>. + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include <stdio.h> +#include <ccd/vec3.h> +#include <ccd/dbg.h> + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +static CCD_VEC3(__ccd_vec3_origin, CCD_ZERO, CCD_ZERO, CCD_ZERO); +ccd_vec3_t *ccd_vec3_origin = &__ccd_vec3_origin; + +static ccd_vec3_t points_on_sphere[] = { + CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-0.000000), CCD_REAL(-1.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL(-0.525725), CCD_REAL(-0.447219)), + CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL(-0.850649), CCD_REAL(-0.447219)), + CCD_VEC3_STATIC(CCD_REAL(-0.894426), CCD_REAL(-0.000000), CCD_REAL(-0.447216)), + CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL( 0.850649), CCD_REAL(-0.447220)), + CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL( 0.525725), CCD_REAL(-0.447219)), + CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL(-0.850649), CCD_REAL( 0.447220)), + CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL(-0.525725), CCD_REAL( 0.447219)), + CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL( 0.525725), CCD_REAL( 0.447219)), + CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL( 0.850649), CCD_REAL( 0.447219)), + CCD_VEC3_STATIC(CCD_REAL( 0.894426), CCD_REAL( 0.000000), CCD_REAL( 0.447216)), + CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 0.000000), CCD_REAL( 1.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL(-0.309011), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL(-0.499995), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL(-0.809012), CCD_REAL(-0.525738)), + CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL( 0.309011), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL( 0.850648), CCD_REAL(-0.000000), CCD_REAL(-0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.525730), CCD_REAL(-0.000000), CCD_REAL(-0.850652)), + CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL(-0.499997), CCD_REAL(-0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL( 0.499995), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL( 0.499997), CCD_REAL(-0.525736)), + CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL( 0.809012), CCD_REAL(-0.525738)), + CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL( 0.309013), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL(-0.309013), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-1.000000), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL(-0.309013), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL( 0.309013), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 1.000000), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL(-0.499997), CCD_REAL( 0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL(-0.809012), CCD_REAL( 0.525738)), + CCD_VEC3_STATIC(CCD_REAL(-0.850648), CCD_REAL( 0.000000), CCD_REAL( 0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL( 0.809012), CCD_REAL( 0.525738)), + CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL( 0.499997), CCD_REAL( 0.525736)), + CCD_VEC3_STATIC(CCD_REAL( 0.525730), CCD_REAL( 0.000000), CCD_REAL( 0.850652)), + CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL(-0.499995), CCD_REAL( 0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL(-0.309011), CCD_REAL( 0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL( 0.309011), CCD_REAL( 0.850654)), + CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL( 0.499995), CCD_REAL( 0.850654)) +}; +ccd_vec3_t *ccd_points_on_sphere = points_on_sphere; +size_t ccd_points_on_sphere_len = sizeof(points_on_sphere) / sizeof(ccd_vec3_t); + + +_ccd_inline ccd_real_t __ccdVec3PointSegmentDist2(const ccd_vec3_t *P, + const ccd_vec3_t *x0, + const ccd_vec3_t *b, + ccd_vec3_t *witness) +{ + // The computation comes from solving equation of segment: + // S(t) = x0 + t.d + // where - x0 is initial point of segment + // - d is direction of segment from x0 (|d| > 0) + // - t belongs to <0, 1> interval + // + // Than, distance from a segment to some point P can be expressed: + // D(t) = |x0 + t.d - P|^2 + // which is distance from any point on segment. Minimization + // of this function brings distance from P to segment. + // Minimization of D(t) leads to simple quadratic equation that's + // solving is straightforward. + // + // Bonus of this method is witness point for free. + + ccd_real_t dist, t; + ccd_vec3_t d, a; + + // direction of segment + ccdVec3Sub2(&d, b, x0); + + // precompute vector from P to x0 + ccdVec3Sub2(&a, x0, P); + + t = -CCD_REAL(1.) * ccdVec3Dot(&a, &d); + t /= ccdVec3Len2(&d); + + if (t < CCD_ZERO || ccdIsZero(t)){ + dist = ccdVec3Dist2(x0, P); + if (witness) + ccdVec3Copy(witness, x0); + }else if (t > CCD_ONE || ccdEq(t, CCD_ONE)){ + dist = ccdVec3Dist2(b, P); + if (witness) + ccdVec3Copy(witness, b); + }else{ + if (witness){ + ccdVec3Copy(witness, &d); + ccdVec3Scale(witness, t); + ccdVec3Add(witness, x0); + dist = ccdVec3Dist2(witness, P); + }else{ + // recycling variables + ccdVec3Scale(&d, t); + ccdVec3Add(&d, &a); + dist = ccdVec3Len2(&d); + } + } + + return dist; +} + +ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P, + const ccd_vec3_t *x0, const ccd_vec3_t *b, + ccd_vec3_t *witness) +{ + return __ccdVec3PointSegmentDist2(P, x0, b, witness); +} + +ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P, + const ccd_vec3_t *x0, const ccd_vec3_t *B, + const ccd_vec3_t *C, + ccd_vec3_t *witness) +{ + // Computation comes from analytic expression for triangle (x0, B, C) + // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and + // Then equation for distance is: + // D(s, t) = | T(s, t) - P |^2 + // This leads to minimization of quadratic function of two variables. + // The solution from is taken only if s is between 0 and 1, t is + // between 0 and 1 and t + s < 1, otherwise distance from segment is + // computed. + + ccd_vec3_t d1, d2, a; + ccd_real_t u, v, w, p, q, r; + ccd_real_t s, t, dist, dist2; + ccd_vec3_t witness2; + + ccdVec3Sub2(&d1, B, x0); + ccdVec3Sub2(&d2, C, x0); + ccdVec3Sub2(&a, x0, P); + + u = ccdVec3Dot(&a, &a); + v = ccdVec3Dot(&d1, &d1); + w = ccdVec3Dot(&d2, &d2); + p = ccdVec3Dot(&a, &d1); + q = ccdVec3Dot(&a, &d2); + r = ccdVec3Dot(&d1, &d2); + + s = (q * r - w * p) / (w * v - r * r); + t = (-s * r - q) / w; + + if ((ccdIsZero(s) || s > CCD_ZERO) + && (ccdEq(s, CCD_ONE) || s < CCD_ONE) + && (ccdIsZero(t) || t > CCD_ZERO) + && (ccdEq(t, CCD_ONE) || t < CCD_ONE) + && (ccdEq(t + s, CCD_ONE) || t + s < CCD_ONE)){ + + if (witness){ + ccdVec3Scale(&d1, s); + ccdVec3Scale(&d2, t); + ccdVec3Copy(witness, x0); + ccdVec3Add(witness, &d1); + ccdVec3Add(witness, &d2); + + dist = ccdVec3Dist2(witness, P); + }else{ + dist = s * s * v; + dist += t * t * w; + dist += CCD_REAL(2.) * s * t * r; + dist += CCD_REAL(2.) * s * p; + dist += CCD_REAL(2.) * t * q; + dist += u; + } + }else{ + dist = __ccdVec3PointSegmentDist2(P, x0, B, witness); + + dist2 = __ccdVec3PointSegmentDist2(P, x0, C, &witness2); + if (dist2 < dist){ + dist = dist2; + if (witness) + ccdVec3Copy(witness, &witness2); + } + + dist2 = __ccdVec3PointSegmentDist2(P, B, C, &witness2); + if (dist2 < dist){ + dist = dist2; + if (witness) + ccdVec3Copy(witness, &witness2); + } + } + + return dist; +} |