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Merge pull request #36 from MattiaMontanari/moveHFFsInIFs 

Fix #29 and clean simplex struct
fixes-turtlebasket
Mattia Montanari 2022-11-24 00:38:39 +01:00 committed by GitHub
parent 7a018a3c60 9c8a1150a8
commit 866c01ea0c
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 3 additions and 4 deletions
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2
include/openGJK/openGJK.h
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@ -40,8 +40,6 @@ typedef struct gkPolytope_ {
/// @brief Structure of the simplex /// @brief Structure of the simplex
typedef struct gkSimplex_ { typedef struct gkSimplex_ {
int nvrtx; // Number of simplex's vertices int nvrtx; // Number of simplex's vertices
int wids[4]; // Label of the simplex's vertices
gkFloat lambdas[4]; // Barycentric coordiantes for each vertex
gkFloat vrtx[4][3]; // Coordinates of simplex's vertices gkFloat vrtx[4][3]; // Coordinates of simplex's vertices
} gkSimplex; } gkSimplex;

5
openGJK.c
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@ -226,12 +226,12 @@ inline static void S2D(gkSimplex *s, gkFloat *v) {
gkFloat *s3p = s->vrtx[0]; gkFloat *s3p = s->vrtx[0];
int hff1f_s12 = hff1(s1p, s2p); int hff1f_s12 = hff1(s1p, s2p);
int hff1f_s13 = hff1(s1p, s3p); int hff1f_s13 = hff1(s1p, s3p);
int hff2f_23 = !hff2(s1p, s2p, s3p);
int hff2f_32 = !hff2(s1p, s3p, s2p);
if (hff1f_s12) { if (hff1f_s12) {
int hff2f_23 = !hff2(s1p, s2p, s3p);
if (hff2f_23) { if (hff2f_23) {
if (hff1f_s13) { if (hff1f_s13) {
int hff2f_32 = !hff2(s1p, s3p, s2p);
if (hff2f_32) { if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
return; // Return V{1,2,3} return; // Return V{1,2,3}
@ -250,6 +250,7 @@ inline static void S2D(gkSimplex *s, gkFloat *v) {
return; // Return V{1,2} return; // Return V{1,2}
} }
} else if (hff1f_s13) { } else if (hff1f_s13) {
int hff2f_32 = !hff2(s1p, s3p, s2p);
if (hff2f_32) { if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update v projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update v
return; // Return V{1,2,3} return; // Return V{1,2,3}