Commit c60dd501 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[GJK] Code cleaning.

parent 0e08752e
......@@ -114,7 +114,7 @@ struct GJK
{
/// @brief support vector for shape 0 and 1.
Vec3f w0, w1;
/// @brieg support vector (i.e., the furthest point on the shape along the support direction)
/// @brief support vector (i.e., the furthest point on the shape along the support direction)
Vec3f w;
};
......@@ -125,12 +125,12 @@ struct GJK
/// @brief size of simplex (number of vertices)
short rank;
Simplex() : rank(0) {}
Simplex() {}
};
enum Status {Valid, Inside, Failed};
MinkowskiDiff shape;
MinkowskiDiff const* shape;
Vec3f ray;
FCL_REAL distance;
Simplex simplices[2];
......@@ -145,7 +145,7 @@ struct GJK
void initialize();
/// @brief GJK algorithm, given the initial value guess
Status evaluate(const MinkowskiDiff& shape_, const Vec3f& guess);
Status evaluate(const MinkowskiDiff& shape, const Vec3f& guess);
/// @brief apply the support function along a direction, the result is return in sv
void getSupport(const Vec3f& d, bool dIsNormalized, SimplexV& sv) const;
......@@ -175,8 +175,8 @@ struct GJK
private:
SimplexV store_v[4];
SimplexV* free_v[4];
size_t nfree;
size_t current;
short nfree;
short current;
Simplex* simplex;
Status status;
......@@ -184,13 +184,13 @@ private:
FCL_REAL tolerance;
/// @brief Project origin (0) onto line a-b
FCL_REAL projectLineOrigin(const Simplex& current, Simplex& next);
bool projectLineOrigin(const Simplex& current, Simplex& next);
/// @brief Project origin (0) onto triangle a-b-c
FCL_REAL projectTriangleOrigin(const Simplex& current, Simplex& next);
bool projectTriangleOrigin(const Simplex& current, Simplex& next);
/// @brief Project origin (0) onto tetrahedran a-b-c-d
FCL_REAL projectTetrahedraOrigin(const Simplex& current, Simplex& next);
bool projectTetrahedraOrigin(const Simplex& current, Simplex& next);
};
......
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