105 lines
2.7 KiB
C
105 lines
2.7 KiB
C
/***
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* libccd
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* ---------------------------------
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* Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
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*
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*
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* This file is part of libccd.
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*
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* Distributed under the OSI-approved BSD License (the "License");
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* see accompanying file BDS-LICENSE for details or see
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* <http://www.opensource.org/licenses/bsd-license.php>.
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*
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* This software is distributed WITHOUT ANY WARRANTY; without even the
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* implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the License for more information.
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*/
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#ifndef __CCD_SIMPLEX_H__
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#define __CCD_SIMPLEX_H__
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#include <ccd/compiler.h>
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#include "support.h"
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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struct _ccd_simplex_t {
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ccd_support_t ps[4];
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int last; //!< index of last added point
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};
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typedef struct _ccd_simplex_t ccd_simplex_t;
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_ccd_inline void ccdSimplexInit(ccd_simplex_t *s);
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_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s);
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_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s);
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_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx);
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_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx);
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_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v);
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_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a);
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_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size);
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_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2);
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/**** INLINES ****/
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_ccd_inline void ccdSimplexInit(ccd_simplex_t *s)
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{
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s->last = -1;
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}
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_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s)
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{
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return s->last + 1;
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}
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_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s)
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{
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return ccdSimplexPoint(s, s->last);
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}
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_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx)
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{
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// here is no check on boundaries
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return &s->ps[idx];
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}
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_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx)
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{
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return &s->ps[idx];
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}
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_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v)
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{
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// here is no check on boundaries in sake of speed
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++s->last;
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ccdSupportCopy(s->ps + s->last, v);
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}
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_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a)
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{
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ccdSupportCopy(s->ps + pos, a);
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}
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_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size)
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{
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s->last = size - 1;
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}
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_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2)
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{
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ccd_support_t supp;
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ccdSupportCopy(&supp, &s->ps[pos1]);
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ccdSupportCopy(&s->ps[pos1], &s->ps[pos2]);
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ccdSupportCopy(&s->ps[pos2], &supp);
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}
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#ifdef __cplusplus
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} /* extern "C" */
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#endif /* __cplusplus */
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#endif /* __CCD_SIMPLEX_H__ */
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