diff --git a/doc/gjk.py b/doc/gjk.py
index 07587a0cbd4a3c7f2ab69e264f072946140ebeb9..06d25c93e542616768cdb5486df11e7f11f3d50b 100644
--- a/doc/gjk.py
+++ b/doc/gjk.py
@@ -95,9 +95,14 @@ implications = [
[ [- 8, 9, 12,], [- 10] ],
[ [ 8,- 9,- 12,], [ 10] ],
- [ [- 4, 9,- 10,], [- 11,- 12] ],
- [ [- 6, 5,- 11,], [- 12,- 10] ],
- [ [- 8, 7,- 12,], [- 10,- 11] ],
+ [ [ 10, 3, 9, -12, 4, -5], [1] ],
+ [ [ 10, -3, 1, -4], [9] ],
+ [ [ 10, -3, -1, 2, -6, 11], [5] ],
+ [ [ -10, 11, 2, -12, -5, -1], [6] ],
+ [ [ -10,11,-2,1,5], [-6] ],
+ [ [-10,-11,12,1,-7,-2,4],[-5]],
+ [ [-10,-11,12,-3,2,7],[-8]],
+ [ [-10,-11,12,-3,-2],[-1]],
]
def set_test_values (current_tests, test_values, itest, value):
@@ -128,6 +133,11 @@ def set_test_values (current_tests, test_values, itest, value):
raise ValueError ("Absurd case")
return remaining_tests, next_test_values
+def set_tests_values (current_tests, test_values, itests, values):
+ for itest,value in zip(itests,values):
+ current_tests, test_values = set_test_values (current_tests, test_values, itest, value)
+ return current_tests, test_values
+
def apply_test_values (cases, test_values):
def canSatisfy (values, indices):
for k in indices:
@@ -229,7 +239,7 @@ def printComments (order, indent, file):
for comment in order['comments']:
print (indent + "// " + comment, file=file)
-def printOrder (order, indent = "", start=True,file=sys.stdout):
+def printOrder (order, indent = "", start=True,file=sys.stdout,curTests=[]):
if start:
print ("bool GJK::projectTetrahedraOrigin(const Simplex& current, Simplex& next)", file=file)
print ("{", file=file)
@@ -301,20 +311,22 @@ def printOrder (order, indent = "", start=True,file=sys.stdout):
check = checks[order['test']]
check_hr = checks_hr[order['test']]
printComments (order, indent, file)
+ nextTests_t=curTests+["a"+str(order['test']+1),]
+ nextTests_f=curTests+["!a"+str(order['test']+1),]
if order['true'] is None:
if order['false'] is None:
print (indent + """assert(false && "Case {} should never happen.");""".format(check_hr))
else:
- print (indent + "assert(!({} <= 0)); // Not {}".format(check, check_hr), file=file)
- printOrder (order['false'], indent=indent, start=False, file=file)
+ print (indent + "assert(!({} <= 0)); // Not {} / {}".format(check, check_hr, ".".join(nextTests_f)), file=file)
+ printOrder (order['false'], indent=indent, start=False, file=file, curTests=nextTests_f)
elif order['false'] is None:
- print (indent + "assert({} <= 0); // {}".format(check, check_hr), file=file)
- printOrder (order['true'], indent=indent, start=False, file=file)
+ print (indent + "assert({} <= 0); // {} / {}".format(check, check_hr, ".".join(nextTests_t)), file=file)
+ printOrder (order['true'], indent=indent, start=False, file=file, curTests=nextTests_t)
else:
- print (indent + "if ({} <= 0) {{ // if {}".format(check, check_hr), file=file)
- printOrder (order['true'], indent=indent+" ", start=False, file=file)
- print (indent + "}} else {{ // not {}".format(check_hr), file=file)
- printOrder (order['false'], indent=indent+" ", start=False, file=file)
+ print (indent + "if ({} <= 0) {{ // if {} / {}".format(check, check_hr, ".".join(nextTests_t)), file=file)
+ printOrder (order['true'], indent=indent+" ", start=False, file=file, curTests=nextTests_t)
+ print (indent + "}} else {{ // not {} / {}".format(check_hr, ".".join(nextTests_f)), file=file)
+ printOrder (order['false'], indent=indent+" ", start=False, file=file, curTests=nextTests_f)
print (indent + "}} // end of {}".format(check_hr), file=file)
if start:
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index 27a266aa31583f56717d093850f9b0057de5be87..12fa43594abbbc50ce19a1db08e9aaca08b48041 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -746,76 +746,70 @@ bool GJK::projectTetrahedraOrigin(const Simplex& current, Simplex& next)
next.rank=4; \
return true;
- if (ba_aa <= 0) { // if AB.AO >= 0
- if (-D.dot(a_cross_b) <= 0) { // if ADB.AO >= 0
- if (ba * da_ba + bd * ba_aa - bb * da_aa <= 0) { // if (ADB ^ AB).AO >= 0
- if (da_aa <= 0) { // if AD.AO >= 0
- assert(da * da_ba + dd * ba_aa - db * da_aa <= 0); // (ADB ^ AD).AO >= 0
- if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0
+ if (ba_aa <= 0) { // if AB.AO >= 0 / a10
+ if (-D.dot(a_cross_b) <= 0) { // if ADB.AO >= 0 / a10.a3
+ if (ba * da_ba + bd * ba_aa - bb * da_aa <= 0) { // if (ADB ^ AB).AO >= 0 / a10.a3.a9
+ if (da_aa <= 0) { // if AD.AO >= 0 / a10.a3.a9.a12
+ assert(da * da_ba + dd * ba_aa - db * da_aa <= 0); // (ADB ^ AD).AO >= 0 / a10.a3.a9.a12.a8
+ if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0 / a10.a3.a9.a12.a8.a4
// Region ABC
originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
free_v[nfree++] = current.vertex[d];
- } else { // not (ABC ^ AB).AO >= 0
+ } else { // not (ABC ^ AB).AO >= 0 / a10.a3.a9.a12.a8.!a4
// Region AB
originToSegment (current, a, b, A, B, B-A, -ba_aa, next, ray);
free_v[nfree++] = current.vertex[c];
free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AB).AO >= 0
- } else { // not AD.AO >= 0
- if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0
- if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
+ } else { // not AD.AO >= 0 / a10.a3.a9.!a12
+ if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0 / a10.a3.a9.!a12.a4
+ if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0 / a10.a3.a9.!a12.a4.a5
+ if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0 / a10.a3.a9.!a12.a4.a5.a6
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
- } else { // not (ACD ^ AC).AO >= 0
+ } else { // not (ACD ^ AC).AO >= 0 / a10.a3.a9.!a12.a4.a5.!a6
// Region AC
originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[d];
} // end of (ACD ^ AC).AO >= 0
- } else { // not (ABC ^ AC).AO >= 0
- if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0
- // Region ABC
- originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
- free_v[nfree++] = current.vertex[d];
- } else { // not ABC.AO >= 0
- // Region ACD
- originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
- free_v[nfree++] = current.vertex[b];
- } // end of ABC.AO >= 0
+ } else { // not (ABC ^ AC).AO >= 0 / a10.a3.a9.!a12.a4.!a5
+ // Region ABC
+ originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
+ free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AC).AO >= 0
- } else { // not (ABC ^ AB).AO >= 0
+ } else { // not (ABC ^ AB).AO >= 0 / a10.a3.a9.!a12.!a4
// Region AB
originToSegment (current, a, b, A, B, B-A, -ba_aa, next, ray);
free_v[nfree++] = current.vertex[c];
free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AB).AO >= 0
} // end of AD.AO >= 0
- } else { // not (ADB ^ AB).AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
+ } else { // not (ADB ^ AB).AO >= 0 / a10.a3.!a9
+ if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0 / a10.a3.!a9.a8
// Region ADB
originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
+ } else { // not (ADB ^ AD).AO >= 0 / a10.a3.!a9.!a8
+ if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0 / a10.a3.!a9.!a8.a6
+ if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0 / a10.a3.!a9.!a8.a6.a7
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
- } else { // not (ACD ^ AD).AO >= 0
+ } else { // not (ACD ^ AD).AO >= 0 / a10.a3.!a9.!a8.a6.!a7
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
} // end of (ACD ^ AD).AO >= 0
- } else { // not (ACD ^ AC).AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
+ } else { // not (ACD ^ AC).AO >= 0 / a10.a3.!a9.!a8.!a6
+ if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0 / a10.a3.!a9.!a8.!a6.a7
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
- } else { // not (ACD ^ AD).AO >= 0
+ } else { // not (ACD ^ AD).AO >= 0 / a10.a3.!a9.!a8.!a6.!a7
// Region AC
originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
free_v[nfree++] = current.vertex[b];
@@ -824,296 +818,208 @@ bool GJK::projectTetrahedraOrigin(const Simplex& current, Simplex& next)
} // end of (ACD ^ AC).AO >= 0
} // end of (ADB ^ AD).AO >= 0
} // end of (ADB ^ AB).AO >= 0
- } else { // not ADB.AO >= 0
- if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0
- if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0
- if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
+ } else { // not ADB.AO >= 0 / a10.!a3
+ if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0 / a10.!a3.a1
+ if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0 / a10.!a3.a1.a4
+ if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0 / a10.!a3.a1.a4.a5
+ if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0 / a10.!a3.a1.a4.a5.a6
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
- } else { // not (ACD ^ AC).AO >= 0
+ } else { // not (ACD ^ AC).AO >= 0 / a10.!a3.a1.a4.a5.!a6
// Region AC
originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[d];
} // end of (ACD ^ AC).AO >= 0
- } else { // not (ABC ^ AC).AO >= 0
+ } else { // not (ABC ^ AC).AO >= 0 / a10.!a3.a1.a4.!a5
// Region ABC
originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AC).AO >= 0
- } else { // not (ABC ^ AB).AO >= 0
- if (ca_aa <= 0) { // if AC.AO >= 0
- assert(!(ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0)); // Not (ABC ^ AC).AO >= 0
- if (ba * da_ba + bd * ba_aa - bb * da_aa <= 0) { // if (ADB ^ AB).AO >= 0
- // Region AB
- originToSegment (current, a, b, A, B, B-A, -ba_aa, next, ray);
- free_v[nfree++] = current.vertex[c];
- free_v[nfree++] = current.vertex[d];
- } else { // not (ADB ^ AB).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ADB ^ AB).AO >= 0
- } else { // not AC.AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
- if (ba * da_ba + bd * ba_aa - bb * da_aa <= 0) { // if (ADB ^ AB).AO >= 0
- // Region AB
- originToSegment (current, a, b, A, B, B-A, -ba_aa, next, ray);
- free_v[nfree++] = current.vertex[c];
- free_v[nfree++] = current.vertex[d];
- } else { // not (ADB ^ AB).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ADB ^ AB).AO >= 0
- } else { // not (ACD ^ AD).AO >= 0
- if (ba * da_ba + bd * ba_aa - bb * da_aa <= 0) { // if (ADB ^ AB).AO >= 0
- // Region AB
- originToSegment (current, a, b, A, B, B-A, -ba_aa, next, ray);
- free_v[nfree++] = current.vertex[c];
- free_v[nfree++] = current.vertex[d];
- } else { // not (ADB ^ AB).AO >= 0
- // Region ACD
- originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
- free_v[nfree++] = current.vertex[b];
- } // end of (ADB ^ AB).AO >= 0
- } // end of (ACD ^ AD).AO >= 0
- } // end of AC.AO >= 0
+ } else { // not (ABC ^ AB).AO >= 0 / a10.!a3.a1.!a4
+ // Region AB
+ originToSegment (current, a, b, A, B, B-A, -ba_aa, next, ray);
+ free_v[nfree++] = current.vertex[c];
+ free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AB).AO >= 0
- } else { // not ABC.AO >= 0
- if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
+ } else { // not ABC.AO >= 0 / a10.!a3.!a1
+ if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0 / a10.!a3.!a1.a2
+ if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0 / a10.!a3.!a1.a2.a6
+ if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0 / a10.!a3.!a1.a2.a6.a7
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
- } else { // not (ACD ^ AD).AO >= 0
+ } else { // not (ACD ^ AD).AO >= 0 / a10.!a3.!a1.a2.a6.!a7
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
} // end of (ACD ^ AD).AO >= 0
- } else { // not (ACD ^ AC).AO >= 0
- if (ca_aa <= 0) { // if AC.AO >= 0
- if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0
- // Region AC
- originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[d];
- } else { // not (ABC ^ AC).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ABC ^ AC).AO >= 0
- } else { // not AC.AO >= 0
+ } else { // not (ACD ^ AC).AO >= 0 / a10.!a3.!a1.a2.!a6
+ if (ca_aa <= 0) { // if AC.AO >= 0 / a10.!a3.!a1.a2.!a6.a11
+ // Region AC
+ originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
+ free_v[nfree++] = current.vertex[b];
+ free_v[nfree++] = current.vertex[d];
+ } else { // not AC.AO >= 0 / a10.!a3.!a1.a2.!a6.!a11
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
} // end of AC.AO >= 0
} // end of (ACD ^ AC).AO >= 0
- } else { // not ACD.AO >= 0
+ } else { // not ACD.AO >= 0 / a10.!a3.!a1.!a2
// Region Inside
REGION_INSIDE()
} // end of ACD.AO >= 0
} // end of ABC.AO >= 0
} // end of ADB.AO >= 0
- } else { // not AB.AO >= 0
- if (ca_aa <= 0) { // if AC.AO >= 0
- if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0
- if (da_aa <= 0) { // if AD.AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
+ } else { // not AB.AO >= 0 / !a10
+ if (ca_aa <= 0) { // if AC.AO >= 0 / !a10.a11
+ if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0 / !a10.a11.a2
+ if (da_aa <= 0) { // if AD.AO >= 0 / !a10.a11.a2.a12
+ if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0 / !a10.a11.a2.a12.a6
+ if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0 / !a10.a11.a2.a12.a6.a7
+ if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0 / !a10.a11.a2.a12.a6.a7.a8
// Region ADB
originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
+ } else { // not (ADB ^ AD).AO >= 0 / !a10.a11.a2.a12.a6.a7.!a8
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
} // end of (ADB ^ AD).AO >= 0
- } else { // not (ACD ^ AD).AO >= 0
+ } else { // not (ACD ^ AD).AO >= 0 / !a10.a11.a2.a12.a6.!a7
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
} // end of (ACD ^ AD).AO >= 0
- } else { // not (ACD ^ AC).AO >= 0
- assert(!(da * ca_da + dc * da_aa - dd * ca_aa <= 0)); // Not (ACD ^ AD).AO >= 0
- if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0
+ } else { // not (ACD ^ AC).AO >= 0 / !a10.a11.a2.a12.!a6
+ assert(!(da * ca_da + dc * da_aa - dd * ca_aa <= 0)); // Not (ACD ^ AD).AO >= 0 / !a10.a11.a2.a12.!a6.!a7
+ if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0 / !a10.a11.a2.a12.!a6.!a7.a5
// Region AC
originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[d];
- } else { // not (ABC ^ AC).AO >= 0
+ } else { // not (ABC ^ AC).AO >= 0 / !a10.a11.a2.a12.!a6.!a7.!a5
// Region ABC
originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AC).AO >= 0
} // end of (ACD ^ AC).AO >= 0
- } else { // not AD.AO >= 0
- if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
- assert(!(da * ca_da + dc * da_aa - dd * ca_aa <= 0)); // Not (ACD ^ AD).AO >= 0
+ } else { // not AD.AO >= 0 / !a10.a11.a2.!a12
+ if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0 / !a10.a11.a2.!a12.a5
+ if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0 / !a10.a11.a2.!a12.a5.a6
+ assert(!(da * ca_da + dc * da_aa - dd * ca_aa <= 0)); // Not (ACD ^ AD).AO >= 0 / !a10.a11.a2.!a12.a5.a6.!a7
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
- } else { // not (ACD ^ AC).AO >= 0
+ } else { // not (ACD ^ AC).AO >= 0 / !a10.a11.a2.!a12.a5.!a6
// Region AC
originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[d];
} // end of (ACD ^ AC).AO >= 0
- } else { // not (ABC ^ AC).AO >= 0
- if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0
- assert(ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0); // (ABC ^ AB).AO >= 0
+ } else { // not (ABC ^ AC).AO >= 0 / !a10.a11.a2.!a12.!a5
+ if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0 / !a10.a11.a2.!a12.!a5.a1
+ assert(ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0); // (ABC ^ AB).AO >= 0 / !a10.a11.a2.!a12.!a5.a1.a4
// Region ABC
originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
free_v[nfree++] = current.vertex[d];
- } else { // not ABC.AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
- assert(!(da * ca_da + dc * da_aa - dd * ca_aa <= 0)); // Not (ACD ^ AD).AO >= 0
- // Region ACD
- originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
- free_v[nfree++] = current.vertex[b];
- } else { // not (ACD ^ AC).AO >= 0
- // Region ADB
- originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
- free_v[nfree++] = current.vertex[c];
- } // end of (ACD ^ AC).AO >= 0
+ } else { // not ABC.AO >= 0 / !a10.a11.a2.!a12.!a5.!a1
+ assert(!(da * ca_da + dc * da_aa - dd * ca_aa <= 0)); // Not (ACD ^ AD).AO >= 0 / !a10.a11.a2.!a12.!a5.!a1.!a7
+ // Region ACD
+ originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
+ free_v[nfree++] = current.vertex[b];
} // end of ABC.AO >= 0
} // end of (ABC ^ AC).AO >= 0
} // end of AD.AO >= 0
- } else { // not ACD.AO >= 0
- if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0
- if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0
- if (ca * ca_da + cc * da_aa - cd * ca_aa <= 0) { // if (ACD ^ AC).AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
- // Region ADB
- originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
- free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ADB ^ AD).AO >= 0
- } else { // not (ACD ^ AC).AO >= 0
- // Region AC
- originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[d];
- } // end of (ACD ^ AC).AO >= 0
- } else { // not (ABC ^ AC).AO >= 0
- assert(ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0); // (ABC ^ AB).AO >= 0
+ } else { // not ACD.AO >= 0 / !a10.a11.!a2
+ if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0 / !a10.a11.!a2.a1
+ if (ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0) { // if (ABC ^ AC).AO >= 0 / !a10.a11.!a2.a1.a5
+ // Region AC
+ originToSegment (current, a, c, A, C, C-A, -ca_aa, next, ray);
+ free_v[nfree++] = current.vertex[b];
+ free_v[nfree++] = current.vertex[d];
+ } else { // not (ABC ^ AC).AO >= 0 / !a10.a11.!a2.a1.!a5
+ assert(ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0); // (ABC ^ AB).AO >= 0 / !a10.a11.!a2.a1.!a5.a4
// Region ABC
originToTriangle (current, a, b, c, (B-A).cross(C-A), -C.dot (a_cross_b), next, ray);
free_v[nfree++] = current.vertex[d];
} // end of (ABC ^ AC).AO >= 0
- } else { // not ABC.AO >= 0
- if (-D.dot(a_cross_b) <= 0) { // if ADB.AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
+ } else { // not ABC.AO >= 0 / !a10.a11.!a2.!a1
+ if (-D.dot(a_cross_b) <= 0) { // if ADB.AO >= 0 / !a10.a11.!a2.!a1.a3
+ if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0 / !a10.a11.!a2.!a1.a3.a8
// Region ADB
originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
+ } else { // not (ADB ^ AD).AO >= 0 / !a10.a11.!a2.!a1.a3.!a8
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
} // end of (ADB ^ AD).AO >= 0
- } else { // not ADB.AO >= 0
+ } else { // not ADB.AO >= 0 / !a10.a11.!a2.!a1.!a3
// Region Inside
REGION_INSIDE()
} // end of ADB.AO >= 0
} // end of ABC.AO >= 0
} // end of ACD.AO >= 0
- } else { // not AC.AO >= 0
- if (da_aa <= 0) { // if AD.AO >= 0
- if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
- if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0
- assert(ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0); // (ABC ^ AC).AO >= 0
+ } else { // not AC.AO >= 0 / !a10.!a11
+ if (da_aa <= 0) { // if AD.AO >= 0 / !a10.!a11.a12
+ if (-D.dot(a_cross_b) <= 0) { // if ADB.AO >= 0 / !a10.!a11.a12.a3
+ if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0 / !a10.!a11.a12.a3.a7
+ if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0 / !a10.!a11.a12.a3.a7.a8
+ assert(!(ba * da_ba + bd * ba_aa - bb * da_aa <= 0)); // Not (ADB ^ AB).AO >= 0 / !a10.!a11.a12.a3.a7.a8.!a9
+ // Region ADB
+ originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
+ free_v[nfree++] = current.vertex[c];
+ } else { // not (ADB ^ AD).AO >= 0 / !a10.!a11.a12.a3.a7.!a8
// Region AD
originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
free_v[nfree++] = current.vertex[b];
free_v[nfree++] = current.vertex[c];
- } else { // not (ABC ^ AB).AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
- // Region ADB
- originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
- free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ADB ^ AD).AO >= 0
- } // end of (ABC ^ AB).AO >= 0
- } else { // not (ACD ^ AD).AO >= 0
- if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0
- assert(ca * ca_da + cc * da_aa - cd * ca_aa <= 0); // (ACD ^ AC).AO >= 0
+ } // end of (ADB ^ AD).AO >= 0
+ } else { // not (ACD ^ AD).AO >= 0 / !a10.!a11.a12.a3.!a7
+ if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0 / !a10.!a11.a12.a3.!a7.a2
+ assert(ca * ca_da + cc * da_aa - cd * ca_aa <= 0); // (ACD ^ AC).AO >= 0 / !a10.!a11.a12.a3.!a7.a2.a6
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
- } else { // not ACD.AO >= 0
- if (ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0) { // if (ABC ^ AB).AO >= 0
- assert(ca * ba_ca + cb * ca_aa - cc * ba_aa <= 0); // (ABC ^ AC).AO >= 0
- // There are no case corresponding to this set of tests.
- // applied [True, False, None, True, True, None, False, None, None, False, False, True]
- // to ABC, ADB
- assert(false);
- } else { // not (ABC ^ AB).AO >= 0
+ } else { // not ACD.AO >= 0 / !a10.!a11.a12.a3.!a7.!a2
+ if (C.dot (a_cross_b) <= 0) { // if ABC.AO >= 0 / !a10.!a11.a12.a3.!a7.!a2.a1
+ assert(!(ba * ba_ca + bb * ca_aa - bc * ba_aa <= 0)); // Not (ABC ^ AB).AO >= 0 / !a10.!a11.a12.a3.!a7.!a2.a1.!a4
// Region ADB
originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
free_v[nfree++] = current.vertex[c];
- } // end of (ABC ^ AB).AO >= 0
- } // end of ACD.AO >= 0
- } // end of (ACD ^ AD).AO >= 0
- } else { // not ABC.AO >= 0
- if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0
- if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
+ } else { // not ABC.AO >= 0 / !a10.!a11.a12.a3.!a7.!a2.!a1
// Region ADB
originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ADB ^ AD).AO >= 0
- } else { // not (ACD ^ AD).AO >= 0
- assert(ca * ca_da + cc * da_aa - cd * ca_aa <= 0); // (ACD ^ AC).AO >= 0
+ } // end of ABC.AO >= 0
+ } // end of ACD.AO >= 0
+ } // end of (ACD ^ AD).AO >= 0
+ } else { // not ADB.AO >= 0 / !a10.!a11.a12.!a3
+ if (D.dot(a_cross_c) <= 0) { // if ACD.AO >= 0 / !a10.!a11.a12.!a3.a2
+ if (da * ca_da + dc * da_aa - dd * ca_aa <= 0) { // if (ACD ^ AD).AO >= 0 / !a10.!a11.a12.!a3.a2.a7
+ // Region AD
+ originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
+ free_v[nfree++] = current.vertex[b];
+ free_v[nfree++] = current.vertex[c];
+ } else { // not (ACD ^ AD).AO >= 0 / !a10.!a11.a12.!a3.a2.!a7
+ assert(ca * ca_da + cc * da_aa - cd * ca_aa <= 0); // (ACD ^ AC).AO >= 0 / !a10.!a11.a12.!a3.a2.!a7.a6
// Region ACD
originToTriangle (current, a, c, d, (C-A).cross(D-A), -D.dot(a_cross_c), next, ray);
free_v[nfree++] = current.vertex[b];
} // end of (ACD ^ AD).AO >= 0
- } else { // not ACD.AO >= 0
- if (-D.dot(a_cross_b) <= 0) { // if ADB.AO >= 0
- if (da * da_ba + dd * ba_aa - db * da_aa <= 0) { // if (ADB ^ AD).AO >= 0
- // Region ADB
- originToTriangle (current, a, d, b, (D-A).cross(B-A), D.dot(a_cross_b), next, ray);
- free_v[nfree++] = current.vertex[c];
- } else { // not (ADB ^ AD).AO >= 0
- // Region AD
- originToSegment (current, a, d, A, D, D-A, -da_aa, next, ray);
- free_v[nfree++] = current.vertex[b];
- free_v[nfree++] = current.vertex[c];
- } // end of (ADB ^ AD).AO >= 0
- } else { // not ADB.AO >= 0
- // Region Inside
- REGION_INSIDE()
- } // end of ADB.AO >= 0
+ } else { // not ACD.AO >= 0 / !a10.!a11.a12.!a3.!a2
+ // Region Inside
+ REGION_INSIDE()
} // end of ACD.AO >= 0
- } // end of ABC.AO >= 0
- } else { // not AD.AO >= 0
+ } // end of ADB.AO >= 0
+ } else { // not AD.AO >= 0 / !a10.!a11.!a12
// Region A
originToPoint (current, a, A, next, ray);
free_v[nfree++] = current.vertex[b];