From bfc62b9b0d15026d8091952834d0536649b89ba0 Mon Sep 17 00:00:00 2001
From: panjia1983 <panjia1983@gmail.com>
Date: Fri, 25 Apr 2014 16:03:03 -0700
Subject: [PATCH] adding headers file hidden in libccd version 2
---
include/fcl/ccd/simplex.h | 104 ++++++++++++++++++++++++++++++++++++++
include/fcl/ccd/support.h | 55 ++++++++++++++++++++
2 files changed, 159 insertions(+)
create mode 100644 include/fcl/ccd/simplex.h
create mode 100644 include/fcl/ccd/support.h
diff --git a/include/fcl/ccd/simplex.h b/include/fcl/ccd/simplex.h
new file mode 100644
index 00000000..8ae09c71
--- /dev/null
+++ b/include/fcl/ccd/simplex.h
@@ -0,0 +1,104 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of libccd.
+ *
+ * Distributed under the OSI-approved BSD License (the "License");
+ * see accompanying file BDS-LICENSE for details or see
+ * <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ * This software is distributed WITHOUT ANY WARRANTY; without even the
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the License for more information.
+ */
+
+#ifndef __CCD_SIMPLEX_H__
+#define __CCD_SIMPLEX_H__
+
+#include <ccd/compiler.h>
+#include "support.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct _ccd_simplex_t {
+ ccd_support_t ps[4];
+ int last; //!< index of last added point
+};
+typedef struct _ccd_simplex_t ccd_simplex_t;
+
+
+_ccd_inline void ccdSimplexInit(ccd_simplex_t *s);
+_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s);
+_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s);
+_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx);
+_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx);
+
+_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v);
+_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a);
+_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size);
+_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2);
+
+
+/**** INLINES ****/
+
+_ccd_inline void ccdSimplexInit(ccd_simplex_t *s)
+{
+ s->last = -1;
+}
+
+_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s)
+{
+ return s->last + 1;
+}
+
+_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s)
+{
+ return ccdSimplexPoint(s, s->last);
+}
+
+_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx)
+{
+ // here is no check on boundaries
+ return &s->ps[idx];
+}
+_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx)
+{
+ return &s->ps[idx];
+}
+
+_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v)
+{
+ // here is no check on boundaries in sake of speed
+ ++s->last;
+ ccdSupportCopy(s->ps + s->last, v);
+}
+
+_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a)
+{
+ ccdSupportCopy(s->ps + pos, a);
+}
+
+_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size)
+{
+ s->last = size - 1;
+}
+
+_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2)
+{
+ ccd_support_t supp;
+
+ ccdSupportCopy(&supp, &s->ps[pos1]);
+ ccdSupportCopy(&s->ps[pos1], &s->ps[pos2]);
+ ccdSupportCopy(&s->ps[pos2], &supp);
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_SIMPLEX_H__ */
diff --git a/include/fcl/ccd/support.h b/include/fcl/ccd/support.h
new file mode 100644
index 00000000..3372f5ef
--- /dev/null
+++ b/include/fcl/ccd/support.h
@@ -0,0 +1,55 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of libccd.
+ *
+ * Distributed under the OSI-approved BSD License (the "License");
+ * see accompanying file BDS-LICENSE for details or see
+ * <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ * This software is distributed WITHOUT ANY WARRANTY; without even the
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the License for more information.
+ */
+
+#ifndef __CCD_SUPPORT_H__
+#define __CCD_SUPPORT_H__
+
+#include <ccd/ccd.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct _ccd_support_t {
+ ccd_vec3_t v; //!< Support point in minkowski sum
+ ccd_vec3_t v1; //!< Support point in obj1
+ ccd_vec3_t v2; //!< Support point in obj2
+};
+typedef struct _ccd_support_t ccd_support_t;
+
+_ccd_inline void ccdSupportCopy(ccd_support_t *, const ccd_support_t *s);
+
+/**
+ * Computes support point of obj1 and obj2 in direction dir.
+ * Support point is returned via supp.
+ */
+void __ccdSupport(const void *obj1, const void *obj2,
+ const ccd_vec3_t *dir, const ccd_t *ccd,
+ ccd_support_t *supp);
+
+
+/**** INLINES ****/
+_ccd_inline void ccdSupportCopy(ccd_support_t *d, const ccd_support_t *s)
+{
+ *d = *s;
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_SUPPORT_H__ */
--
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