Limit legacy diff
Mattia Montanari
parent
ad2d6026b8
commit
82c625bbc8
115
openGJK.c
115
openGJK.c
|
|
@ -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}
|
||||
|
|
@ -328,15 +307,15 @@ S2D(gkSimplex* s, gkFloat* v) {
|
|||
|
||||
inline static void
|
||||
S3D(gkSimplex* s, gkFloat* v) {
|
||||
gkFloat s1[3], s2[3], s3[3], s4[3], s1s2[3], s1s3[3], s1s4[3];
|
||||
gkFloat si[3], sj[3], sk[3];
|
||||
gkFloat s1s2[3], s1s3[3], s1s4[3];
|
||||
// gkFloat si[3], sj[3], sk[3];
|
||||
int testLineThree, testLineFour, testPlaneTwo, testPlaneThree, testPlaneFour, dotTotal;
|
||||
int i, j, k, t;
|
||||
|
||||
getvrtx(s1, 3);
|
||||
getvrtx(s2, 2);
|
||||
getvrtx(s3, 1);
|
||||
getvrtx(s4, 0);
|
||||
const gkFloat* s1 = s->vrtx[3];
|
||||
const gkFloat* s2 = s->vrtx[2];
|
||||
const gkFloat* s3 = s->vrtx[1];
|
||||
const gkFloat* s4 = s->vrtx[0];
|
||||
calculateEdgeVector(s1s2, s2);
|
||||
calculateEdgeVector(s1s3, s3);
|
||||
calculateEdgeVector(s1s4, s4);
|
||||
|
|
@ -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;
|
||||
|
|
@ -426,9 +400,9 @@ S3D(gkSimplex* s, gkFloat* v) {
|
|||
j = 1;
|
||||
}
|
||||
|
||||
getvrtx(si, i);
|
||||
getvrtx(sj, j);
|
||||
getvrtx(sk, k);
|
||||
const gkFloat* si = s->vrtx[i];
|
||||
const gkFloat* sj = s->vrtx[j];
|
||||
const gkFloat* sk = s->vrtx[k];
|
||||
|
||||
if (dotTotal == 1) {
|
||||
if (hff1_tests[k]) {
|
||||
|
|
@ -562,9 +536,10 @@ S3D(gkSimplex* s, gkFloat* v) {
|
|||
i = 2; // s2
|
||||
j = 1;
|
||||
}
|
||||
getvrtx(si, i);
|
||||
getvrtx(sj, j);
|
||||
getvrtx(sk, k);
|
||||
|
||||
const gkFloat* si = s->vrtx[i];
|
||||
const gkFloat* sj = s->vrtx[j];
|
||||
const gkFloat* sk = s->vrtx[k];
|
||||
|
||||
if (!hff2(s1, si, sj)) {
|
||||
select_1ij();
|
||||
|
|
@ -592,9 +567,10 @@ S3D(gkSimplex* s, gkFloat* v) {
|
|||
i = 2; // s2
|
||||
j = 1;
|
||||
}
|
||||
getvrtx(si, i);
|
||||
getvrtx(sj, j);
|
||||
getvrtx(sk, k);
|
||||
|
||||
const gkFloat* si = s->vrtx[i];
|
||||
const gkFloat* sj = s->vrtx[j];
|
||||
const gkFloat* sk = s->vrtx[k];
|
||||
|
||||
if (!hff2(s1, sj, sk)) {
|
||||
if (!hff2(s1, sk, sj)) {
|
||||
|
|
@ -664,21 +640,20 @@ 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 */
|
||||
unsigned int k = 0; /**< Iteration counter */
|
||||
unsigned int i; /**< General purpose counter */
|
||||
const int mk = 25; /**< Maximum number of iterations of the GJK algorithm */
|
||||
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 */
|
||||
const gkFloat eps_rel = eps_rel22; /**< Tolerance on relative */
|
||||
const gkFloat eps_rel2 = eps_rel * eps_rel;
|
||||
const gkFloat eps_tot = eps_tot22;
|
||||
gkFloat exeedtol_rel; /**< Test for 1st exit condition */
|
||||
int absTestin;
|
||||
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];
|
||||
|
|
@ -722,8 +697,7 @@ compute_minimum_distance(gkPolytope bd1, gkPolytope bd2, gkSimplex* restrict s)
|
|||
break;
|
||||
}
|
||||
|
||||
nullV = norm2(v) < eps_rel2;
|
||||
if (nullV) {
|
||||
if (norm2(v) < eps_rel2) { // it a null V
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -753,8 +727,7 @@ compute_minimum_distance(gkPolytope bd1, gkPolytope bd2, gkSimplex* restrict s)
|
|||
} while ((s->nvrtx != 4) && (k != mk));
|
||||
|
||||
if (k == mk) {
|
||||
mexPrintf("\n * * * * * * * * * * * * MAXIMUM ITERATION NUMBER REACHED!!! "
|
||||
" * * * * * * * * * * * * * * \n");
|
||||
mexPrintf("\n MAXIMUM ITERATION NUMBER REACHED! \n");
|
||||
}
|
||||
|
||||
return sqrt(norm2(v));
|
||||
|
|
|
|||
Loading…
Reference in New Issue