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-rw-r--r--libs/ode-0.16.1/libccd/src/vec3.c215
1 files changed, 215 insertions, 0 deletions
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;
+}
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