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Collision Detection lib C API
#include <stdio.h>
#if 1
////////////
/* TYPE A */
////////////
typedef void (*support_t)(const void* data, const double* dir, double* point);
typedef struct{
support_t support;
}convex_t;
typedef struct{
convex_t convex;
double min[3], max[3];
}box_t;
typedef struct{
convex_t convex;
}sphere_t;
void box_support(const void* data, const double* dir, double* point){
printf("Hello from box\n");
}
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->convex.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->convex.support = sphere_support;
}
typedef struct{
double pos[3];
double rot[4];
double size;
}transform_t;
int gjk_boolean(
const convex_t* sa, const transform_t* ta,
const convex_t* sb, const transform_t* tb
){
double dir[3], point[3];
sa->support(sa, dir, point);
sb->support(sa, dir, point);
return 0;
}
#define TO_CONVEX(x) (convex_t*)(x)
int main(int argc, char* argv[]){
double min[] = {-1.0, -1.0, -1.0};
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(TO_CONVEX(&box), &ta, TO_CONVEX(&sphere), &ta);
return 0;
}
#else
////////////
/* TYPE B */
////////////
typedef void (*support_t)(const void* data, const double* dir, double* point);
typedef struct{
support_t support;
}convex_t;
typedef struct{
convex_t convex;
double min[3], max[3];
}box_t;
typedef struct{
convex_t convex;
}sphere_t;
typedef struct{
int shape_type;
union{
box_t box;
sphere_t sphere;
}shape_data;
}shape_t;
void box_support(const void* data, const double* dir, double* point){
printf("Hello from box\n");
}
void sphere_support(const void* data, const double* dir, double* point){
printf("Hello from sphere\n");
}
enum e_shape_t{
SPHERE_TYPE = 0,
BOX_TYPE
};
void init_box(shape_t* shape, const double* min, const double* max){
shape->shape_type = BOX_TYPE;
shape->shape_data.box.convex.support = box_support;
for(int i = 0; i < 3; ++i){
shape->shape_data.box.min[i] = min[i];
shape->shape_data.box.max[i] = max[i];
}
}
void init_sphere(shape_t* sphere){
sphere->shape_type = SPHERE_TYPE;
sphere->shape_data.sphere.convex.support = sphere_support;
}
typedef struct{
double pos[3];
double rot[4];
double size;
}transform_t;
int shape_boolean(
const shape_t* sa, const transform_t* ta,
const shape_t* sb, const transform_t* tb
){
double dir[3], point[3];
if(sa->shape_type >= 0){
const convex_t* csa = (const convex_t*)(&sa->shape_data);
csa->support(csa, dir, point);
}
if(sb->shape_type >= 0){
const convex_t* csb = (const convex_t*)(&sb->shape_data);
csb->support(csb, dir, point);
}
return 0;
}
int main(int argc, char* argv[]){
double min[] = {-1.0, -1.0, -1.0};
double max[] = {1.0, 1.0, 1.0};
shape_t box;
shape_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
};
shape_boolean(&box, &ta, &sphere, &ta);
return 0;
}
#endif
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