Removed ccdGJKDist() and related functions and tests.

It is unfinished implementation of distance computation using GJK
algorithm. This functionality was moved to gjk-dist branch until it is
finished and properly tested.

src/ccd.c

@@ -46,20 +46,6 @@ static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir);
 static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir);
 static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir);
 
-/** Reduces the 4-point simplex to a triangle that is nearest to the
- *  origin.
- *  It is assumed that the last (fourth) point in the simplex was an
- *  expansion towards the origin of the triangle formed by the first three
- *  points. And the second arguemnt is a precomputed distance of the
- *  triangle. So it is only checked whether the fourth point can improve
- *  the previous triangle.
- *  Returns a distance from the origin of the new triangle and via the
- *  witness parameter the point nearest to the origin.
- */
-static ccd_real_t simplexReduceToTriangle(ccd_simplex_t *simplex,
-                                          ccd_real_t dist,
-                                          ccd_vec3_t *witness);
-
 /** d = a x b x c */
 _ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
                              const ccd_vec3_t *c, ccd_vec3_t *d);
@@ -219,82 +205,6 @@ int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
 }
 
 
-ccd_real_t ccdGJKDist(const void *obj1, const void *obj2, const ccd_t *ccd)
-{
-    unsigned long iterations;
-    ccd_simplex_t simplex;
-    ccd_support_t last; // last support point
-    ccd_vec3_t dir; // direction vector
-    ccd_real_t dist, last_dist;
-
-    // first find an intersection
-    if (__ccdGJK(obj1, obj2, ccd, &simplex) == 0)
-        return -CCD_ONE;
-
-    last_dist = CCD_REAL_MAX;
-
-    for (iterations = 0UL; iterations < ccd->max_iterations; ++iterations) {
-        // get a next direction vector
-        // we are trying to find out a point on the minkowski difference
-        // that is nearest to the origin, so we obtain a point on the
-        // simplex that is nearest and try to exapand the simplex towards
-        // the origin
-        if (ccdSimplexSize(&simplex) == 1){
-            ccdVec3Copy(&dir, &ccdSimplexPoint(&simplex, 0)->v);
-            dist = ccdVec3Len2(&ccdSimplexPoint(&simplex, 0)->v);
-            dist = CCD_SQRT(dist);
-        }else if (ccdSimplexSize(&simplex) == 2){
-            dist = ccdVec3PointSegmentDist2(ccd_vec3_origin,
-                                            &ccdSimplexPoint(&simplex, 0)->v,
-                                            &ccdSimplexPoint(&simplex, 1)->v,
-                                            &dir);
-            dist = CCD_SQRT(dist);
-        }else if(ccdSimplexSize(&simplex) == 3){
-            dist = ccdVec3PointTriDist2(ccd_vec3_origin,
-                                        &ccdSimplexPoint(&simplex, 0)->v,
-                                        &ccdSimplexPoint(&simplex, 1)->v,
-                                        &ccdSimplexPoint(&simplex, 2)->v,
-                                        &dir);
-            dist = CCD_SQRT(dist);
-        }else{ // ccdSimplexSize(&simplex) == 4
-            dist = simplexReduceToTriangle(&simplex, last_dist, &dir);
-        }
-
-        // touching contact -- do we really need this?
-        // maybe __ccdGJK() solve this alredy.
-        if (ccdIsZero(dist))
-            return -CCD_ONE;
-
-        // check whether we improved for at least a minimum tolerance
-        if ((last_dist - dist) < ccd->dist_tolerance)
-            return dist;
-
-        // point direction towards the origin
-        ccdVec3Scale(&dir, -CCD_ONE);
-        ccdVec3Normalize(&dir);
-
-        // find out support point
-        __ccdSupport(obj1, obj2, &dir, ccd, &last);
-
-        // record last distance
-        last_dist = dist;
-
-        // check whether we improved for at least a minimum tolerance
-        // this is here probably only for a degenerate cases when we got a
-        // point that is already in the simplex
-        dist = ccdVec3Len2(&last.v);
-        dist = CCD_SQRT(dist);
-        if (CCD_FABS(last_dist - dist) < ccd->dist_tolerance)
-            return last_dist;
-
-        // add a point to simplex
-        ccdSimplexAdd(&simplex, &last);
-    }
-
-    return -CCD_REAL(1.);
-}
-
-
 static int __ccdGJK(const void *obj1, const void *obj2,
                     const ccd_t *ccd, ccd_simplex_t *simplex)
 {
@@ -628,39 +538,6 @@ static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir)
     }
 }
 
-static ccd_real_t simplexReduceToTriangle(ccd_simplex_t *simplex,
-                                          ccd_real_t dist,
-                                          ccd_vec3_t *best_witness)
-{
-    ccd_real_t newdist;
-    ccd_vec3_t witness;
-    int best = -1;
-    int i;
-
-    // try the fourth point in all three positions
-    for (i = 0; i < 3; i++){
-        newdist = ccdVec3PointTriDist2(ccd_vec3_origin,
-                        &ccdSimplexPoint(simplex, (i == 0 ? 3 : 0))->v,
-                        &ccdSimplexPoint(simplex, (i == 1 ? 3 : 1))->v,
-                        &ccdSimplexPoint(simplex, (i == 2 ? 3 : 2))->v,
-                        &witness);
-        newdist = CCD_SQRT(newdist);
-
-        // record the best triangle
-        if (newdist < dist){
-            dist = newdist;
-            best = i;
-            ccdVec3Copy(best_witness, &witness);
-        }
-    }
-
-    if (best >= 0){
-        ccdSimplexSet(simplex, best, ccdSimplexPoint(simplex, 3));
-    }
-    ccdSimplexSetSize(simplex, 3);
-
-    return dist;
-}
 
 _ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
                              const ccd_vec3_t *c, ccd_vec3_t *d)

src/ccd/ccd.h

@@ -122,17 +122,6 @@ int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd,
 int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
                       ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
 
-
-/**
- * Computes a distance between given objects.
- * The function uses .dist_tolerance parameter for convergence checking (the
- * improvement in one step must be at least .dist_tolerance).
- *
- * Returns a distance between given objects or a negative number if
- * objects intersect.
- */
-ccd_real_t ccdGJKDist(const void *obj1, const void *obj2, const ccd_t *ccd);
-
 /**
  * Returns true if two given objects intersect - MPR algorithm is used.
  */

src/testsuites/boxbox.c

@@ -465,54 +465,3 @@ TEST(boxboxPenetration)
     recPen(depth, &dir, &pos, stdout, "Pen 8");
     //TOSVT();
 }
-
-
-TEST(boxboxDist)
-{
-    ccd_t ccd;
-    CCD_BOX(box1);
-    CCD_BOX(box2);
-    ccd_real_t dist;
-    ccd_vec3_t axis;
-    ccd_quat_t rot;
-
-    fprintf(stderr, "\n\n\n---- boxboxDist ----\n\n\n");
-
-    box1.x = box1.y = box1.z = 1.;
-    box2.x = 0.5;
-    box2.y = 1.;
-    box2.z = 1.5;
-
-    CCD_INIT(&ccd);
-    ccd.support1 = ccdSupport;
-    ccd.support2 = ccdSupport;
-
-    ccdVec3Set(&box2.pos, 0.1, 0., 0.);
-
-    dist = ccdGJKDist(&box1, &box2, &ccd);
-    assertTrue(dist < 0.);
-
-    ccdVec3Set(&box2.pos, 0.76, 0., 0.);
-    dist = ccdGJKDist(&box1, &box2, &ccd);
-    assertTrue(ccdEq(dist, 0.01));
-
-    ccdVec3Set(&box2.pos, -0.76, 0., 0.);
-    dist = ccdGJKDist(&box1, &box2, &ccd);
-    assertTrue(ccdEq(dist, 0.01));
-
-    ccdVec3Set(&axis, 0., 0., 1.);
-    ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
-    ccdQuatMul(&box1.quat, &rot);
-    ccdQuatMul(&box2.quat, &rot);
-    ccdVec3Set(&box2.pos, 0.55, 0.55, 0.);
-    dist = ccdGJKDist(&box1, &box2, &ccd);
-    assertTrue(dist > 0.f);
-
-    ccdVec3Set(&axis, 0., 0., 1.);
-    ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
-    ccdQuatMul(&box1.quat, &rot);
-    ccdQuatMul(&box2.quat, &rot);
-    ccdVec3Set(&box2.pos, 0.4, 0.4, 0.);
-    dist = ccdGJKDist(&box1, &box2, &ccd);
-    assertFalse(dist > 0.f);
-}

src/testsuites/boxbox.h

@@ -15,8 +15,6 @@ TEST(boxboxRot);
 TEST(boxboxSeparate);
 TEST(boxboxPenetration);
 
-TEST(boxboxDist);
-
 TEST_SUITE(TSBoxBox) {
     TEST_ADD(boxboxSetUp),
 
@@ -27,8 +25,6 @@ TEST_SUITE(TSBoxBox) {
     TEST_ADD(boxboxSeparate),
     TEST_ADD(boxboxPenetration),
 
-    TEST_ADD(boxboxDist),
-
     TEST_ADD(boxboxTearDown),
     TEST_SUITE_CLOSURE
 };

src/testsuites/regressions/TSBoxBox.err

@@ -10,9 +10,3 @@
 ---- boxboxPenetration ----
 
 
-
-
-
----- boxboxDist ----
-
-

src/testsuites/spheresphere.c

@@ -97,37 +97,3 @@ TEST(spheresphereAlignedZ)
         s1.pos.v[2] += 0.1;
     }
 }
-
-TEST(spheresphereDist)
-{
-    ccd_t ccd;
-    CCD_SPHERE(s1);
-    CCD_SPHERE(s2);
-    size_t i;
-    ccd_real_t dist, real_dist;
-
-    CCD_INIT(&ccd);
-    ccd.support1 = ccdSupport;
-    ccd.support2 = ccdSupport;
-    ccd.dist_tolerance = 1E-8;
-
-    s1.radius = 0.35;
-    s2.radius = .5;
-
-    ccdVec3Set(&s1.pos, 0., 0., -5.);
-    for (i = 0; i < 100; i++){
-        dist = ccdGJKDist(&s1, &s2, &ccd);
-
-        if (i < 42 || i > 58){
-            assertTrue(dist > 0.f);
-
-            real_dist = CCD_SQRT(ccdVec3Dist2(&s1.pos, &s2.pos));
-            real_dist = real_dist - (s1.radius + s2.radius);
-            assertTrue(CCD_FABS(dist - real_dist) < 1E-6);
-        }else{
-            assertTrue(dist < 0.f);
-        }
-
-        s1.pos.v[2] += 0.1;
-    }
-}

src/testsuites/spheresphere.h

@@ -10,17 +10,13 @@ TEST(spheresphereAlignedX);
 TEST(spheresphereAlignedY);
 TEST(spheresphereAlignedZ);
 
-TEST(spheresphereDist);
-
 TEST_SUITE(TSSphereSphere) {
     TEST_ADD(spheresphereSetUp),
 
     TEST_ADD(spheresphereAlignedX),
     TEST_ADD(spheresphereAlignedY),
     TEST_ADD(spheresphereAlignedZ),
 
-    TEST_ADD(spheresphereDist),
-
     TEST_ADD(spheresphereTearDown),
     TEST_SUITE_CLOSURE
 };