GJK API v2

gistfile1.txt

#include <stdio.h>

typedef void (*support_t)(const void* data, const double* dir, double* point);

typedef struct{
    support_t support;
    double min[3], max[3];
}box_t;

typedef struct{
    support_t support;
}sphere_t;

void box_support(const void* data, const double* dir, double* point){
    const box_t* box = data;
    printf("Hello from box: %f, %f, %f\n", box->min[0], box->min[1], box->min[2]);
}

void sphere_support(const void* data, const double* dir, double* point){
    printf("Hello from sphere\n");
}

void init_box(box_t* box, const double* min, const double* max){
    box->support = box_support;
    for(int i = 0; i < 3; ++i){
        box->min[i] = min[i];
        box->max[i] = max[i];
    }
}

void init_sphere(sphere_t* sphere){
    sphere->support = sphere_support;
}

typedef struct{
    double pos[3];
    double rot[4];
    double size;
}transform_t;

int gjk_boolean(
    const void* sa, const transform_t* ta,
    const void* sb, const transform_t* tb
){
    double dir[3], point[3];
    support_t ca = *(const support_t*)sa;
    support_t cb = *(const support_t*)sb;
    ca(sa, dir, point);
    cb(sb, dir, point);
    return 0;
}

int main(int argc, char* argv[]){

    double min[] = {-11.0, -7.0, -113.0};
    double max[] = {1.0, 1.0, 1.0};
    box_t box;
    sphere_t sphere;
    init_sphere(&sphere);
    init_box(&box, min, max);

    transform_t ta = {
        {0.0, 0.0, 0.0},
        {1.0, 0.0, 0.0, 1.0},
        1.0
    };

    gjk_boolean(&box, &ta, &sphere, &ta);

    return 0;
}