608 lines
18 KiB
C
608 lines
18 KiB
C
// GJK distance algorithm. original code by @vurtun and @randygaul, public domain.
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// [src] https://gist.github.com/vurtun/29727217c269a2fbf4c0ed9a1d11cb40
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// - rlyeh, public domain.
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/*
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Gilbert–Johnson–Keerthi (GJK) 3D distance algorithm
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The Gilbert–Johnson–Keerthi (GJK) distance algorithm is a method of determining
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the minimum distance between two convex sets. The algorithm's stability, speed
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which operates in near-constant time, and small storage footprint make it
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popular for realtime collision detection.
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Unlike many other distance algorithms, it has no requirments on geometry data
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to be stored in any specific format, but instead relies solely on a support
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function to iteratively generate closer simplices to the correct answer using
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the Minkowski sum (CSO) of two convex shapes.
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GJK algorithms are used incrementally. In this mode, the final simplex from a
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previous solution is used as the initial guess in the next iteration. If the
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positions in the new frame are close to those in the old frame, the algorithm
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will converge in one or two iterations.
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*/
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#ifndef GJK_H
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#define GJK_H
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#define GJK_MAX_ITERATIONS 20
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typedef struct gjk_support {
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int aid, bid;
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vec3 a;
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vec3 b;
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} gjk_support;
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typedef struct gjk_vertex {
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vec3 a;
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vec3 b;
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vec3 p;
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int aid, bid;
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} gjk_vertex;
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typedef struct gjk_simplex {
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int max_iter, iter;
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int hit, cnt;
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gjk_vertex v[4];
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float bc[4], D;
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} gjk_simplex;
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typedef struct gjk_result {
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int hit;
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vec3 p0;
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vec3 p1;
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float distance_squared;
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int iterations;
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} gjk_result;
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int gjk(gjk_simplex *s, const gjk_support *sup, vec3 *dv);
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gjk_result gjk_analyze(const gjk_simplex *s);
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gjk_result gjk_quad(float a_radius, float b_radius);
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#endif
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#ifdef GJK_C
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//#pragma once
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#include <math.h>
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#include <assert.h>
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#define GJK_FLT_MAX FLT_MAX // 3.40282347E+38F
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#define GJK_EPSILON FLT_EPSILON // 1.19209290E-07F
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float gjk_inv_sqrt(float n) {
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union {unsigned u; float f;} conv; conv.f = n;
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conv.u = 0x5f375A84 - (conv.u >> 1);
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conv.f = conv.f * (1.5f - (n * 0.5f * conv.f * conv.f));
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return conv.f;
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}
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int gjk(gjk_simplex *s, const gjk_support *sup, vec3 *dv) {
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assert(s);
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assert(dv);
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assert(sup);
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if (!s || !sup || !dv) return 0;
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if (s->max_iter > 0 && s->iter >= s->max_iter)
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return 0;
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/* I.) Initialize */
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if (s->cnt == 0) {
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s->D = GJK_FLT_MAX;
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s->max_iter = !s->max_iter ? GJK_MAX_ITERATIONS: s->max_iter;
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}
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/* II.) Check for duplications */
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for (int i = 0; i < s->cnt; ++i) {
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if (sup->aid != s->v[i].aid) continue;
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if (sup->bid != s->v[i].bid) continue;
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return 0;
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}
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/* III.) Add vertex into simplex */
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gjk_vertex *vert = &s->v[s->cnt];
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vert->a = sup->a;
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vert->b = sup->b;
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vert->p = *dv;
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vert->aid = sup->aid;
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vert->bid = sup->bid;
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s->bc[s->cnt++] = 1.0f;
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/* IV.) Find closest simplex point */
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switch (s->cnt) {
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case 1: break;
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case 2: {
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/* -------------------- Line ----------------------- */
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vec3 a = s->v[0].p;
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vec3 b = s->v[1].p;
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/* compute barycentric coordinates */
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vec3 ab = sub3(a, b);
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vec3 ba = sub3(b, a);
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float u = dot3(b, ba);
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float v = dot3(a, ab);
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if (v <= 0.0f) {
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/* region A */
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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if (u <= 0.0f) {
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/* region B */
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s->v[0] = s->v[1];
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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/* region AB */
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s->bc[0] = u;
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s->bc[1] = v;
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s->cnt = 2;
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} break;
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case 3: {
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/* -------------------- Triangle ----------------------- */
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vec3 a = s->v[0].p;
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vec3 b = s->v[1].p;
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vec3 c = s->v[2].p;
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vec3 ab = sub3(a, b);
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vec3 ba = sub3(b, a);
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vec3 bc = sub3(b, c);
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vec3 cb = sub3(c, b);
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vec3 ca = sub3(c, a);
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vec3 ac = sub3(a, c);
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/* compute barycentric coordinates */
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float u_ab = dot3(b, ba);
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float v_ab = dot3(a, ab);
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float u_bc = dot3(c, cb);
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float v_bc = dot3(b, bc);
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float u_ca = dot3(a, ac);
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float v_ca = dot3(c, ca);
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if (v_ab <= 0.0f && u_ca <= 0.0f) {
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/* region A */
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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if (u_ab <= 0.0f && v_bc <= 0.0f) {
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/* region B */
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s->v[0] = s->v[1];
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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if (u_bc <= 0.0f && v_ca <= 0.0f) {
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/* region C */
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s->v[0] = s->v[2];
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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/* calculate fractional area */
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vec3 n; n = cross3(ba, ca);
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vec3 n1; n1 = cross3(b, c);
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vec3 n2; n2 = cross3(c, a);
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vec3 n3; n3 = cross3(a, b);
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float u_abc = dot3(n1, n);
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float v_abc = dot3(n2, n);
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float w_abc = dot3(n3, n);
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if (u_ab > 0.0f && v_ab > 0.0f && w_abc <= 0.0f) {
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/* region AB */
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s->bc[0] = u_ab;
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s->bc[1] = v_ab;
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s->cnt = 2;
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break;
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}
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if (u_bc > 0.0f && v_bc > 0.0f && u_abc <= 0.0f) {
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/* region BC */
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s->v[0] = s->v[1];
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s->v[1] = s->v[2];
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s->bc[0] = u_bc;
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s->bc[1] = v_bc;
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s->cnt = 2;
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break;
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}
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if (u_ca > 0.0f && v_ca > 0.0f && v_abc <= 0.0f) {
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/* region CA */
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s->v[1] = s->v[0];
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s->v[0] = s->v[2];
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s->bc[0] = u_ca;
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s->bc[1] = v_ca;
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s->cnt = 2;
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break;
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}
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/* region ABC */
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assert(u_abc > 0.0f && v_abc > 0.0f && w_abc > 0.0f);
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s->bc[0] = u_abc;
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s->bc[1] = v_abc;
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s->bc[2] = w_abc;
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s->cnt = 3;
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} break;
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case 4: {
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/* -------------------- Tetrahedron ----------------------- */
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vec3 a = s->v[0].p;
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vec3 b = s->v[1].p;
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vec3 c = s->v[2].p;
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vec3 d = s->v[3].p;
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vec3 ab = sub3(a, b);
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vec3 ba = sub3(b, a);
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vec3 bc = sub3(b, c);
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vec3 cb = sub3(c, b);
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vec3 ca = sub3(c, a);
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vec3 ac = sub3(a, c);
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vec3 db = sub3(d, b);
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vec3 bd = sub3(b, d);
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vec3 dc = sub3(d, c);
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vec3 cd = sub3(c, d);
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vec3 da = sub3(d, a);
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vec3 ad = sub3(a, d);
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/* compute barycentric coordinates */
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float u_ab = dot3(b, ba);
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float v_ab = dot3(a, ab);
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float u_bc = dot3(c, cb);
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float v_bc = dot3(b, bc);
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float u_ca = dot3(a, ac);
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float v_ca = dot3(c, ca);
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float u_bd = dot3(d, db);
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float v_bd = dot3(b, bd);
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float u_dc = dot3(c, cd);
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float v_dc = dot3(d, dc);
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float u_ad = dot3(d, da);
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float v_ad = dot3(a, ad);
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/* check verticies for closest point */
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if (v_ab <= 0.0f && u_ca <= 0.0f && v_ad <= 0.0f) {
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/* region A */
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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if (u_ab <= 0.0f && v_bc <= 0.0f && v_bd <= 0.0f) {
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/* region B */
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s->v[0] = s->v[1];
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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if (u_bc <= 0.0f && v_ca <= 0.0f && u_dc <= 0.0f) {
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/* region C */
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s->v[0] = s->v[2];
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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if (u_bd <= 0.0f && v_dc <= 0.0f && u_ad <= 0.0f) {
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/* region D */
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s->v[0] = s->v[3];
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s->bc[0] = 1.0f;
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s->cnt = 1;
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break;
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}
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/* calculate fractional area */
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vec3 n; n = cross3(da, ba);
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vec3 n1; n1 = cross3(d, b);
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vec3 n2; n2 = cross3(b, a);
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vec3 n3; n3 = cross3(a, d);
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float u_adb = dot3(n1, n);
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float v_adb = dot3(n2, n);
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float w_adb = dot3(n3, n);
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n = cross3(ca, da);
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n1 = cross3(c, d);
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n2 = cross3(d, a);
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n3 = cross3(a, c);
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float u_acd = dot3(n1, n);
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float v_acd = dot3(n2, n);
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float w_acd = dot3(n3, n);
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n = cross3(bc, dc);
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n1 = cross3(b, d);
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n2 = cross3(d, c);
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n3 = cross3(c, b);
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float u_cbd = dot3(n1, n);
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float v_cbd = dot3(n2, n);
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float w_cbd = dot3(n3, n);
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n = cross3(ba, ca);
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n1 = cross3(b, c);
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n2 = cross3(c, a);
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n3 = cross3(a, b);
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float u_abc = dot3(n1, n);
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float v_abc = dot3(n2, n);
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float w_abc = dot3(n3, n);
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/* check edges for closest point */
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if (w_abc <= 0.0f && v_adb <= 0.0f && u_ab > 0.0f && v_ab > 0.0f) {
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/* region AB */
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s->bc[0] = u_ab;
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s->bc[1] = v_ab;
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s->cnt = 2;
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break;
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}
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if (u_abc <= 0.0f && w_cbd <= 0.0f && u_bc > 0.0f && v_bc > 0.0f) {
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/* region BC */
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s->v[0] = s->v[1];
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s->v[1] = s->v[2];
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s->bc[0] = u_bc;
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s->bc[1] = v_bc;
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s->cnt = 2;
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break;
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}
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if (v_abc <= 0.0f && w_acd <= 0.0f && u_ca > 0.0f && v_ca > 0.0f) {
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/* region CA */
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s->v[1] = s->v[0];
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s->v[0] = s->v[2];
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s->bc[0] = u_ca;
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s->bc[1] = v_ca;
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s->cnt = 2;
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break;
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}
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if (v_cbd <= 0.0f && u_acd <= 0.0f && u_dc > 0.0f && v_dc > 0.0f) {
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/* region DC */
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s->v[0] = s->v[3];
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s->v[1] = s->v[2];
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s->bc[0] = u_dc;
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s->bc[1] = v_dc;
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s->cnt = 2;
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break;
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}
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if (v_acd <= 0.0f && w_adb <= 0.0f && u_ad > 0.0f && v_ad > 0.0f) {
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/* region AD */
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s->v[1] = s->v[3];
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s->bc[0] = u_ad;
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s->bc[1] = v_ad;
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s->cnt = 2;
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break;
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}
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if (u_cbd <= 0.0f && u_adb <= 0.0f && u_bd > 0.0f && v_bd > 0.0f) {
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/* region BD */
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s->v[0] = s->v[1];
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s->v[1] = s->v[3];
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s->bc[0] = u_bd;
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s->bc[1] = v_bd;
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s->cnt = 2;
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break;
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}
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/* calculate fractional volume (volume can be negative!) */
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float denom = dot3(cross3(cb, ab), db); // box3(cb, ab, db)
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float volume = (denom == 0) ? 1.0f: 1.0f/denom;
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float u_abcd = dot3(cross3(c, d), b) * volume; // box3(c, d, b)
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float v_abcd = dot3(cross3(c, a), d) * volume; // box3(c, a, d)
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float w_abcd = dot3(cross3(d, a), b) * volume; // box3(d, a, b)
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float x_abcd = dot3(cross3(b, a), c) * volume; // box3(b, a, c)
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/* check faces for closest point */
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if (x_abcd <= 0.0f && u_abc > 0.0f && v_abc > 0.0f && w_abc > 0.0f) {
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/* region ABC */
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s->bc[0] = u_abc;
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s->bc[1] = v_abc;
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s->bc[2] = w_abc;
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s->cnt = 3;
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break;
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}
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if (u_abcd <= 0.0f && u_cbd > 0.0f && v_cbd > 0.0f && w_cbd > 0.0f) {
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/* region CBD */
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s->v[0] = s->v[2];
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s->v[2] = s->v[3];
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s->bc[0] = u_cbd;
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s->bc[1] = v_cbd;
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s->bc[2] = w_cbd;
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s->cnt = 3;
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break;
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}
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if (v_abcd <= 0.0f && u_acd > 0.0f && v_acd > 0.0f && w_acd > 0.0f) {
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/* region ACD */
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s->v[1] = s->v[2];
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s->v[2] = s->v[3];
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s->bc[0] = u_acd;
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s->bc[1] = v_acd;
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s->bc[2] = w_acd;
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s->cnt = 3;
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break;
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}
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if (w_abcd <= 0.0f && u_adb > 0.0f && v_adb > 0.0f && w_adb > 0.0f) {
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/* region ADB */
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s->v[2] = s->v[1];
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s->v[1] = s->v[3];
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s->bc[0] = u_adb;
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s->bc[1] = v_adb;
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s->bc[2] = w_adb;
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s->cnt = 3;
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break;
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}
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/* region ABCD */
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// assert(u_abcd > 0.0f && v_abcd > 0.0f && w_abcd > 0.0f && x_abcd > 0.0f); // tcc+linux asserts in here: both u_abcd and v_abcd are negative
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s->bc[0] = u_abcd;
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s->bc[1] = v_abcd;
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s->bc[2] = w_abcd;
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s->bc[3] = x_abcd;
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s->cnt = 4;
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} break;}
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/* V.) Check if origin is enclosed by tetrahedron */
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if (s->cnt == 4) {
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s->hit = 1;
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return 0;
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}
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/* VI.) Ensure closing in on origin to prevent multi-step cycling */
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vec3 pnt; float denom = 0;
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for (int i = 0; i < s->cnt; ++i)
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denom += s->bc[i];
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denom = 1.0f / denom;
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switch (s->cnt) {
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case 1: pnt = s->v[0].p; break;
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case 2: {
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/* --------- Line -------- */
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vec3 a = scale3(s->v[0].p, denom * s->bc[0]);
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vec3 b = scale3(s->v[1].p, denom * s->bc[1]);
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pnt = add3(a, b);
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} break;
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case 3: {
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/* ------- Triangle ------ */
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vec3 a = scale3(s->v[0].p, denom * s->bc[0]);
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vec3 b = scale3(s->v[1].p, denom * s->bc[1]);
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vec3 c = scale3(s->v[2].p, denom * s->bc[2]);
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pnt = add3(a, b);
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pnt = add3(pnt, c);
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} break;
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case 4: {
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/* ----- Tetrahedron ----- */
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vec3 a = scale3(s->v[0].p, denom * s->bc[0]);
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vec3 b = scale3(s->v[1].p, denom * s->bc[1]);
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vec3 c = scale3(s->v[2].p, denom * s->bc[2]);
|
||
vec3 d = scale3(s->v[3].p, denom * s->bc[3]);
|
||
|
||
pnt = add3(a, b);
|
||
pnt = add3(pnt, c);
|
||
pnt = add3(pnt, d);
|
||
} break;}
|
||
|
||
float d2 = dot3(pnt, pnt);
|
||
if (d2 >= s->D) return 0;
|
||
s->D = d2;
|
||
|
||
/* VII.) New search direction */
|
||
switch (s->cnt) {
|
||
default: assert(0); break;
|
||
case 1: {
|
||
/* --------- Point -------- */
|
||
*dv = scale3(s->v[0].p, -1);
|
||
} break;
|
||
case 2: {
|
||
/* ------ Line segment ---- */
|
||
vec3 ba = sub3(s->v[1].p, s->v[0].p);
|
||
vec3 b0 = scale3(s->v[1].p, -1);
|
||
vec3 t; t = cross3(ba, b0);
|
||
*dv = cross3(t, ba);
|
||
} break;
|
||
case 3: {
|
||
/* ------- Triangle ------- */
|
||
vec3 ab = sub3(s->v[1].p, s->v[0].p);
|
||
vec3 ac = sub3(s->v[2].p, s->v[0].p);
|
||
vec3 n; n = cross3(ab, ac);
|
||
if (dot3(n, s->v[0].p) <= 0.0f)
|
||
*dv = n;
|
||
else *dv = scale3(n, -1);
|
||
}}
|
||
if (dot3(*dv,*dv) < GJK_EPSILON * GJK_EPSILON)
|
||
return 0;
|
||
return 1;
|
||
}
|
||
gjk_result gjk_analyze(const gjk_simplex *s) {
|
||
gjk_result r = {0}, *res = &r;
|
||
|
||
res->iterations = s->iter;
|
||
res->hit = s->hit;
|
||
|
||
/* calculate normalization denominator */
|
||
float denom = 0;
|
||
for (int i = 0; i < s->cnt; ++i)
|
||
denom += s->bc[i];
|
||
denom = 1.0f / denom;
|
||
|
||
/* compute closest points */
|
||
switch (s->cnt) {
|
||
default: assert(0); break;
|
||
case 1: {
|
||
/* Point */
|
||
res->p0 = s->v[0].a;
|
||
res->p1 = s->v[0].b;
|
||
} break;
|
||
case 2: {
|
||
/* Line */
|
||
float as = denom * s->bc[0];
|
||
float bs = denom * s->bc[1];
|
||
|
||
vec3 a = scale3(s->v[0].a, as);
|
||
vec3 b = scale3(s->v[1].a, bs);
|
||
vec3 c = scale3(s->v[0].b, as);
|
||
vec3 d = scale3(s->v[1].b, bs);
|
||
|
||
res->p0 = add3(a, b);
|
||
res->p1 = add3(c, d);
|
||
} break;
|
||
case 3: {
|
||
/* Triangle */
|
||
float as = denom * s->bc[0];
|
||
float bs = denom * s->bc[1];
|
||
float cs = denom * s->bc[2];
|
||
|
||
vec3 a = scale3(s->v[0].a, as);
|
||
vec3 b = scale3(s->v[1].a, bs);
|
||
vec3 c = scale3(s->v[2].a, cs);
|
||
|
||
vec3 d = scale3(s->v[0].b, as);
|
||
vec3 e = scale3(s->v[1].b, bs);
|
||
vec3 f = scale3(s->v[2].b, cs);
|
||
|
||
res->p0 = add3(a, b);
|
||
res->p0 = add3(res->p0, c);
|
||
|
||
res->p1 = add3(d, e);
|
||
res->p1 = add3(res->p1, f);
|
||
} break;
|
||
case 4: {
|
||
/* Tetrahedron */
|
||
vec3 a = scale3(s->v[0].a, denom * s->bc[0]);
|
||
vec3 b = scale3(s->v[1].a, denom * s->bc[1]);
|
||
vec3 c = scale3(s->v[2].a, denom * s->bc[2]);
|
||
vec3 d = scale3(s->v[3].a, denom * s->bc[3]);
|
||
|
||
res->p0 = add3(a, b);
|
||
res->p0 = add3(res->p0, c);
|
||
res->p0 = add3(res->p0, d);
|
||
res->p1 = res->p0;
|
||
} break;}
|
||
|
||
if (!res->hit) {
|
||
/* compute distance */
|
||
vec3 d= sub3(res->p1, res->p0);
|
||
res->distance_squared = dot3(d, d);
|
||
} else res->distance_squared = 0;
|
||
return r;
|
||
}
|
||
gjk_result gjk_quad(float a_radius, float b_radius) {
|
||
gjk_result r = {0}, *res = &r;
|
||
float radius = a_radius + b_radius;
|
||
float radius_squared = radius * radius;
|
||
if (res->distance_squared > GJK_EPSILON &&
|
||
res->distance_squared > radius_squared) {
|
||
res->distance_squared -= radius_squared;
|
||
|
||
/* calculate normal */
|
||
vec3 n = sub3(res->p1, res->p0);
|
||
float l2 = dot3(n, n);
|
||
if (l2 != 0.0f) {
|
||
float il = gjk_inv_sqrt(l2);
|
||
n = scale3(n,il);
|
||
}
|
||
vec3 da = scale3(n, a_radius);
|
||
vec3 db = scale3(n, b_radius);
|
||
|
||
/* calculate new collision points */
|
||
res->p0 = add3(res->p0, da);
|
||
res->p1 = sub3(res->p1, db);
|
||
} else {
|
||
vec3 p = add3(res->p0, res->p1);
|
||
res->p0 = scale3(p, 0.5f);
|
||
res->p1 = res->p0;
|
||
res->distance_squared = 0;
|
||
res->hit = 1;
|
||
}
|
||
return r;
|
||
}
|
||
|
||
#endif
|