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/***
* 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__ */
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