turtlebasket
/
openGJK
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Bugfix

fixes-turtlebasket
Mattia Montanari 2023-05-23 21:55:16 +02:00
parent ad2d6026b8
commit 5b6a2c456a
1 changed files with 28 additions and 60 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

88
openGJK.c
View File

@ -168,12 +168,11 @@ crossProduct(const gkFloat* restrict a, const gkFloat* restrict b, gkFloat* rest
inline static void
projectOnLine(const gkFloat* restrict p, const gkFloat* restrict q, gkFloat* restrict v) {
gkFloat pq[3];
gkFloat tmp;
pq[0] = p[0] - q[0];
pq[1] = p[1] - q[1];
pq[2] = p[2] - q[2];
tmp = dotProduct(p, pq) / dotProduct(pq, pq);
const gkFloat tmp = dotProduct(p, pq) / dotProduct(pq, pq);
for (int i = 0; i < 3; i++) {
v[i] = p[i] - pq[i] * tmp;
@ -183,7 +182,6 @@ projectOnLine(const gkFloat* restrict p, const gkFloat* restrict q, gkFloat* res
inline static void
projectOnPlane(const gkFloat* restrict p, const gkFloat* restrict q, const gkFloat* restrict r, gkFloat* restrict v) {
gkFloat n[3], pq[3], pr[3];
gkFloat tmp;
for (int i = 0; i < 3; i++) {
pq[i] = p[i] - q[i];
@ -193,7 +191,7 @@ projectOnPlane(const gkFloat* restrict p, const gkFloat* restrict q, const gkFlo
}
crossProduct(pq, pr, n);
tmp = dotProduct(n, p) / dotProduct(n, n);
const gkFloat tmp = dotProduct(n, p) / dotProduct(n, n);
for (int i = 0; i < 3; i++) {
v[i] = n[i] * tmp;
@ -218,7 +216,6 @@ inline static int
hff2(const gkFloat* restrict p, const gkFloat* restrict q, const gkFloat* restrict r) {
gkFloat ntmp[3];
gkFloat n[3], pq[3], pr[3];
gkFloat tmp = 0;
for (int i = 0; i < 3; i++) {
pq[i] = q[i] - p[i];
@ -230,21 +227,12 @@ hff2(const gkFloat* restrict p, const gkFloat* restrict q, const gkFloat* restri
crossProduct(pq, pr, ntmp);
crossProduct(pq, ntmp, n);
for (int i = 0; i < 3; i++) {
tmp = tmp + (p[i] * n[i]);
}
if (tmp < 0) {
return 1; // Discard r
}
return 0;
return dotProduct(p, n) < 0; // Discard r if true
}
inline static int
hff3(const gkFloat* restrict p, const gkFloat* restrict q, const gkFloat* restrict r) {
gkFloat n[3], pq[3], pr[3];
gkFloat tmp = 0;
for (int i = 0; i < 3; i++) {
pq[i] = q[i] - p[i];
@ -254,16 +242,7 @@ hff3(const gkFloat* restrict p, const gkFloat* restrict q, const gkFloat* restri
}
crossProduct(pq, pr, n);
for (int i = 0; i < 3; i++) {
tmp = tmp + (p[i] * n[i]);
}
if (tmp > 0) {
return 0; // discard s
}
return 1;
return dotProduct(p, n) <= 0; // discard s if true
}
inline static void
@ -282,17 +261,17 @@ S1D(gkSimplex* s, gkFloat* v) {
inline static void
S2D(gkSimplex* s, gkFloat* v) {
gkFloat* s1p = s->vrtx[2];
gkFloat* s2p = s->vrtx[1];
gkFloat* s3p = s->vrtx[0];
int hff1f_s12 = hff1(s1p, s2p);
int hff1f_s13 = hff1(s1p, s3p);
const gkFloat* s1p = s->vrtx[2];
const gkFloat* s2p = s->vrtx[1];
const gkFloat* s3p = s->vrtx[0];
const int hff1f_s12 = hff1(s1p, s2p);
const int hff1f_s13 = hff1(s1p, s3p);
if (hff1f_s12) {
int hff2f_23 = !hff2(s1p, s2p, s3p);
const int hff2f_23 = !hff2(s1p, s2p, s3p);
if (hff2f_23) {
if (hff1f_s13) {
int hff2f_32 = !hff2(s1p, s3p, s2p);
const int hff2f_32 = !hff2(s1p, s3p, s2p);
if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
return; // Return V{1,2,3}
@ -311,7 +290,7 @@ S2D(gkSimplex* s, gkFloat* v) {
return; // Return V{1,2}
}
} else if (hff1f_s13) {
int hff2f_32 = !hff2(s1p, s3p, s2p);
const int hff2f_32 = !hff2(s1p, s3p, s2p);
if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update v
return; // Return V{1,2,3}
@ -354,13 +333,8 @@ S3D(gkSimplex* s, gkFloat* v) {
return;
}
gkFloat det134 = determinant(s1s3, s1s4, s1s2);
int sss;
if (det134 > 0) {
sss = 0;
} else {
sss = 1;
}
const gkFloat det134 = determinant(s1s3, s1s4, s1s2);
const int sss = (det134 <= 0);
testPlaneTwo = hff3(s1, s3, s4) - sss;
testPlaneTwo = testPlaneTwo * testPlaneTwo;
@ -664,21 +638,17 @@ subalgorithm(gkSimplex* s, gkFloat* v) {
gkFloat
compute_minimum_distance(gkPolytope bd1, gkPolytope bd2, gkSimplex* restrict s) {
int k = 0; /**< Iteration counter */
int i; /**< General purpose counter */
int mk = 25; /**< Maximum number of iterations of the GJK algorithm */
int absTestin;
unsigned int k = 0; /**< Iteration counter */
const int mk = 25; /**< Maximum number of GJK iterations */
const gkFloat eps_rel = eps_rel22; /**< Tolerance on relative */
const gkFloat eps_tot = eps_tot22; /**< Tolerance on absolute distance */
const gkFloat eps_rel2 = eps_rel * eps_rel;
unsigned int i;
gkFloat w[3];
gkFloat v[3];
gkFloat vminus[3];
gkFloat norm2Wmax = 0;
gkFloat tesnorm;
gkFloat v[3]; /**< Search direction */
gkFloat vminus[3]; /**< Search direction * -1 */
gkFloat w[3]; /**< Vertex on CSO boundary given by the difference of support
functions on both bodies */
gkFloat eps_rel = eps_rel22; /**< Tolerance on relative */
gkFloat eps_rel2 = eps_rel * eps_rel;
gkFloat eps_tot = eps_tot22;
gkFloat exeedtol_rel; /**< Test for 1st exit condition */
int nullV = 0;
/* Initialise search direction */
v[0] = bd1.coord[0][0] - bd2.coord[0][0];
@ -717,13 +687,12 @@ compute_minimum_distance(gkPolytope bd1, gkPolytope bd2, gkSimplex* restrict s)
/* Test first exit condition (new point already in simplex/can't move
* further) */
exeedtol_rel = (norm2(v) - dotProduct(v, w));
gkFloat exeedtol_rel = (norm2(v) - dotProduct(v, w));
if (exeedtol_rel <= (eps_rel * norm2(v)) || exeedtol_rel < eps_tot22) {
break;
}
nullV = norm2(v) < eps_rel2;
if (nullV) {
if (norm2(v) < eps_rel2) { // it a null V
break;
}
@ -739,14 +708,13 @@ compute_minimum_distance(gkPolytope bd1, gkPolytope bd2, gkSimplex* restrict s)
/* Test */
for (int jj = 0; jj < s->nvrtx; jj++) {
tesnorm = norm2(s->vrtx[jj]);
gkFloat tesnorm = norm2(s->vrtx[jj]);
if (tesnorm > norm2Wmax) {
norm2Wmax = tesnorm;
}
}
absTestin = (norm2(v) <= (eps_tot * eps_tot * norm2Wmax));
if (absTestin) {
if ((norm2(v) <= (eps_tot * eps_tot * norm2Wmax))) {
break;
}