X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=distq.h;h=1ae543690f9065e169f514b5bf240f63623d2171;hb=cbce8a9ec86c6f061c292eec1855eacafc6a3a4f;hp=623010f97928dc51d332d44b920e802c88ad3d0e;hpb=777083e1f715a26d3f68be4ba5bdf2cbcaa84a05;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/distq.h b/distq.h
index 623010f..1ae5436 100644
--- a/distq.h
+++ b/distq.h
@@ -3,299 +3,5 @@
 
 #include "vg_m.h"
 
-enum contact_type
-{
-   k_contact_type_default,
-   k_contact_type_disabled,
-   k_contact_type_edge
-};
-
-/*
- * -----------------------------------------------------------------------------
- *                        Closest point functions
- * -----------------------------------------------------------------------------
- */
-
-/* 
- * These closest point tests were learned from Real-Time Collision Detection by 
- * Christer Ericson 
- */
-VG_STATIC float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, 
-   float *s, float *t, v3f c1, v3f c2)
-{
-   v3f d1,d2,r;
-   v3_sub( q1, p1, d1 );
-   v3_sub( q2, p2, d2 );
-   v3_sub( p1, p2, r );
-
-   float a = v3_length2( d1 ),
-         e = v3_length2( d2 ),
-         f = v3_dot( d2, r );
-
-   const float kEpsilon = 0.0001f;
-
-   if( a <= kEpsilon && e <= kEpsilon )
-   {
-      *s = 0.0f;
-      *t = 0.0f;
-      v3_copy( p1, c1 );
-      v3_copy( p2, c2 );
-
-      v3f v0;
-      v3_sub( c1, c2, v0 );
-
-      return v3_length2( v0 );
-   }
-   
-   if( a<= kEpsilon )
-   {
-      *s = 0.0f;
-      *t = vg_clampf( f / e, 0.0f, 1.0f );
-   }
-   else
-   {
-      float c = v3_dot( d1, r );
-      if( e <= kEpsilon )
-      {
-         *t = 0.0f;
-         *s = vg_clampf( -c / a, 0.0f, 1.0f );
-      }
-      else
-      {
-         float b = v3_dot(d1,d2),
-               d = a*e-b*b;
-
-         if( d != 0.0f )
-         {
-            *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
-         }
-         else
-         {
-            *s = 0.0f;
-         }
-
-         *t = (b*(*s)+f) / e;
-
-         if( *t < 0.0f )
-         {
-            *t = 0.0f;
-            *s = vg_clampf( -c / a, 0.0f, 1.0f );
-         }
-         else if( *t > 1.0f )
-         {
-            *t = 1.0f;
-            *s = vg_clampf((b-c)/a,0.0f,1.0f);
-         }
-      }
-   }
-
-   v3_muladds( p1, d1, *s, c1 );
-   v3_muladds( p2, d2, *t, c2 );
-
-   v3f v0;
-   v3_sub( c1, c2, v0 );
-   return v3_length2( v0 );
-}
-
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
-   v3_maxv( p, box[0], dest );
-   v3_minv( dest, box[1], dest );
-}
-
-VG_STATIC void closest_point_obb( v3f p, boxf box, 
-                                  m4x3f mtx, m4x3f inv_mtx, v3f dest )
-{
-   v3f local;
-   m4x3_mulv( inv_mtx, p, local );
-   closest_point_aabb( local, box, local );
-   m4x3_mulv( mtx, local, dest );
-}
-
-VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
-{
-   v3f v0, v1;
-   v3_sub( b, a, v0 );
-   v3_sub( point, a, v1 );
-
-   float t = v3_dot( v1, v0 ) / v3_length2(v0);
-   t = vg_clampf(t,0.0f,1.0f);
-   v3_muladds( a, v0, t, dest );
-   return t;
-}
-
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
-{
-   v3f ab, ac, ap;
-   float d1, d2;
-
-   /* Region outside A */
-   v3_sub( tri[1], tri[0], ab );
-   v3_sub( tri[2], tri[0], ac );
-   v3_sub( p, tri[0], ap );
-   
-   d1 = v3_dot(ab,ap);
-   d2 = v3_dot(ac,ap);
-   if( d1 <= 0.0f && d2 <= 0.0f ) 
-   {
-      v3_copy( tri[0], dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region outside B */
-   v3f bp;
-   float d3, d4;
-
-   v3_sub( p, tri[1], bp );
-   d3 = v3_dot( ab, bp );
-   d4 = v3_dot( ac, bp );
-
-   if( d3 >= 0.0f && d4 <= d3 )
-   {
-      v3_copy( tri[1], dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-   
-   /* Edge region of AB */
-   float vc = d1*d4 - d3*d2;
-   if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
-   {
-      float v = d1 / (d1-d3);
-      v3_muladds( tri[0], ab, v, dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region outside C */
-   v3f cp;
-   float d5, d6;
-   v3_sub( p, tri[2], cp );
-   d5 = v3_dot(ab, cp);
-   d6 = v3_dot(ac, cp);
-   
-   if( d6 >= 0.0f && d5 <= d6 )
-   {
-      v3_copy( tri[2], dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region of AC */
-   float vb = d5*d2 - d1*d6;
-   if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
-   {
-      float w = d2 / (d2-d6);
-      v3_muladds( tri[0], ac, w, dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region of BC */
-   float va = d3*d6 - d5*d4;
-   if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
-   {
-      float w = (d4-d3) / ((d4-d3) + (d5-d6));
-      v3f bc;
-      v3_sub( tri[2], tri[1], bc );
-      v3_muladds( tri[1], bc, w, dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* P inside region, Q via barycentric coordinates uvw */
-   float d = 1.0f/(va+vb+vc),
-         v = vb*d,
-         w = vc*d;
-
-   v3_muladds( tri[0], ab, v, dest );
-   v3_muladds( dest, ac, w, dest );
-}
-
-VG_STATIC enum contact_type closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
-{
-   v3f ab, ac, ap;
-   float d1, d2;
-
-   /* Region outside A */
-   v3_sub( tri[1], tri[0], ab );
-   v3_sub( tri[2], tri[0], ac );
-   v3_sub( p, tri[0], ap );
-   
-   d1 = v3_dot(ab,ap);
-   d2 = v3_dot(ac,ap);
-   if( d1 <= 0.0f && d2 <= 0.0f ) 
-   {
-      v3_copy( tri[0], dest );
-      return k_contact_type_default;
-   }
-
-   /* Region outside B */
-   v3f bp;
-   float d3, d4;
-
-   v3_sub( p, tri[1], bp );
-   d3 = v3_dot( ab, bp );
-   d4 = v3_dot( ac, bp );
-
-   if( d3 >= 0.0f && d4 <= d3 )
-   {
-      v3_copy( tri[1], dest );
-      return k_contact_type_edge;
-   }
-   
-   /* Edge region of AB */
-   float vc = d1*d4 - d3*d2;
-   if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
-   {
-      float v = d1 / (d1-d3);
-      v3_muladds( tri[0], ab, v, dest );
-      return k_contact_type_edge;
-   }
-
-   /* Region outside C */
-   v3f cp;
-   float d5, d6;
-   v3_sub( p, tri[2], cp );
-   d5 = v3_dot(ab, cp);
-   d6 = v3_dot(ac, cp);
-   
-   if( d6 >= 0.0f && d5 <= d6 )
-   {
-      v3_copy( tri[2], dest );
-      return k_contact_type_edge;
-   }
-
-   /* Region of AC */
-   float vb = d5*d2 - d1*d6;
-   if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
-   {
-      float w = d2 / (d2-d6);
-      v3_muladds( tri[0], ac, w, dest );
-      return k_contact_type_edge;
-   }
-
-   /* Region of BC */
-   float va = d3*d6 - d5*d4;
-   if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
-   {
-      float w = (d4-d3) / ((d4-d3) + (d5-d6));
-      v3f bc;
-      v3_sub( tri[2], tri[1], bc );
-      v3_muladds( tri[1], bc, w, dest );
-      return k_contact_type_edge;
-   }
-
-   /* P inside region, Q via barycentric coordinates uvw */
-   float d = 1.0f/(va+vb+vc),
-         v = vb*d,
-         w = vc*d;
-
-   v3_muladds( tri[0], ab, v, dest );
-   v3_muladds( dest, ac, w, dest );
-
-   return k_contact_type_default;
-}
 
 #endif /* DISTQ_H */