freesolid-cvs — CVS Tracking List

[Freesolid-cvs] freesolid/sample depth.cpp,NONE,1.1 Makefile.am,1.11,1.12

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/sample
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26559/sample

Modified Files:
	Makefile.am 
Added Files:
	depth.cpp 
Log Message:
Added depth sample

--- NEW FILE: depth.cpp ---
/*
  This sample is a test for the depth penetration computation
*/

#include <stdio.h>
#include <fstream>
#include <SOLID/solid.h>

#include <assert.h>

#include <3D/Point.h>
#include <3D/Quaternion.h>
#include <vector>

#include "SDL.h"
#include "SDL_opengl.h"

void DrawSphere(float radius);
void DrawBox(float width, float height, float depth);

int main(int argc, char *argv[]);



//----------------------
// Globals
//----------------------
int sphere_id;
int box_id;
DtShapeRef sphere;
DtShapeRef box;
Quaternion camquat,qtemp;
float camrot[3]={0.0f,0.0f,0.0f};
float spherepos[3]={0.0f,0.0f,10.0f};
GLUquadricObj *sphereqobj;
float matrix[16];
Vector depth_penetration;

void CollideCallback(void * client_data, DtObjectRef obj1, DtObjectRef obj2,
		     const DtCollData *coll_data) 
{
  if(coll_data!=NULL)
    {
//       fprintf(stdout,"Collided Point 1 %f,%f,%f\nPoint 2 %f,%f,%f\nNormal %f,%f,%f\n",
// 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
// 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
// 	      coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
      depth_penetration[X]=coll_data->normal[X];
      depth_penetration[Y]=coll_data->normal[Y];
      depth_penetration[Z]=coll_data->normal[Z];      
//       spherepos[0]+=depth_penetration[X];
//       spherepos[1]+=depth_penetration[Y];
//       spherepos[2]+=depth_penetration[Z];
  }
}

int main(int argc, char *argv[]) 
{    
  sphere_id=1;
  box_id=2;

  //box = dtSphere(10.0f);
  box = dtBox(10.0f,10.0f,10.0f);
  sphere = dtSphere(10.0f);
  dtCreateObject(&box_id, box);
  dtCreateObject(&sphere_id, sphere);

  //dtDisableCaching();

  dtSetDefaultResponse(CollideCallback, DT_SMART_RESPONSE, stdout);



  bool bRunning = true;
  SDL_Event event;

  if(SDL_Init(SDL_INIT_VIDEO)<0) // try to initialize Video System
    {
      fprintf( stderr, "Video initialization failed: %s\n",SDL_GetError()); // if it failed, find out why
      return -1;
    }

  SDL_GL_SetAttribute( SDL_GL_RED_SIZE, 5 );
  SDL_GL_SetAttribute( SDL_GL_GREEN_SIZE, 5 );
  SDL_GL_SetAttribute( SDL_GL_BLUE_SIZE, 5 );
  SDL_GL_SetAttribute( SDL_GL_DEPTH_SIZE, 16 );
  SDL_GL_SetAttribute( SDL_GL_DOUBLEBUFFER,1);
  
  if(SDL_SetVideoMode(800,600,0,SDL_OPENGL) == 0 )
    {
      fprintf(stderr, "Video mode set failed: %s\n",SDL_GetError());
      SDL_Quit();
      return -1;
    }

  glViewport(0,0,800,600); // set the view port to take the whole screen
  glMatrixMode(GL_PROJECTION); // switch to the Projection Matrix
  glLoadIdentity(); // reset Projection Matrix
  gluPerspective(45.0f,800.0f/600.0f, 0.1f ,1000.0f); // set our view to perspective
  glMatrixMode(GL_MODELVIEW); // switch to the Model View Matrix
  glLoadIdentity(); // reset Model View Matrix
  glClearColor(0.0f,0.0f,0.0f,0.0f); // Set our Clear Color to Black
  glShadeModel(GL_SMOOTH); // Enable Smooth Shading
  glClearDepth(1.0f); // Set the depth buffer
  glEnable(GL_DEPTH_TEST); // Enables Depth Testing
  glDepthFunc(GL_LEQUAL); // Type of depth test
  glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); // Use really nice perspective calculations
  glPolygonMode(GL_FRONT, GL_LINE);
  sphereqobj = gluNewQuadric();

  dtDisableCaching();

  while(bRunning)
    {
      if(SDL_PollEvent(&event))
	{
	  switch(event.type)
	    {
	    case SDL_MOUSEMOTION:
	      if(event.motion.state & SDL_BUTTON(1))
		{
		  camrot[1] += event.motion.xrel;
		  camrot[0] += event.motion.yrel;
		  //camrot[2] += event.motion.v[X]rel;
		}
	      break;
            case SDL_QUIT: // test to see if the user closed the app
	      bRunning = false;
	      break;
            case SDL_KEYDOWN: /* Handle a KEYDOWN event */
	      switch(event.key.keysym.sym)
		{
		case SDLK_ESCAPE:
		  bRunning = false; // quit if ESCAPE is pressed
		  break;
		case SDLK_w:
		  spherepos[Y]+=0.5;
		  break;
		case SDLK_a:
		  spherepos[X]+=0.5;
		  break;
		case SDLK_s:
		  spherepos[Y]-=0.5;
		  break;
		case SDLK_d:
		  spherepos[X]-=0.5;
		  break;
		}
	      break;
	    }
	}
      glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
      glLoadIdentity();
      gluLookAt(0.0f,-100.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,1.0f);

      glRotatef(camrot[0],1.0f,0.0f,0.0f);
      glRotatef(camrot[1],0.0f,1.0f,0.0f);
      glRotatef(camrot[2],0.0f,0.0f,1.0f);


      glPushMatrix();
      dtSelectObject(&sphere_id);
      dtLoadIdentity();
      dtTranslate(spherepos[0],spherepos[1],spherepos[2]);
      glTranslatef(spherepos[0],spherepos[1],spherepos[2]);
      DrawSphere(10.0f);
      glPopMatrix();
      glPushMatrix();
      DrawBox(10.0f,10.0f,10.0f);
      //DrawSphere(10.0f);
      glPopMatrix();
      
      glDisable(GL_DEPTH_TEST);
      glColor3ub(0,0,255);
      
      dtTest();

      glBegin(GL_LINES);
      {
 	glVertex3f(spherepos[0],spherepos[1],spherepos[2]);
 	glVertex3f(spherepos[0]+depth_penetration[X],
		   spherepos[1]+depth_penetration[Y],
		   spherepos[2]+depth_penetration[Z]);
 	glVertex3f(0.0f,0.0f,0.0f);
 	glVertex3f(depth_penetration[X],
		   depth_penetration[Y],
		   depth_penetration[Z]);
      }
      glEnd();
      glEnable(GL_DEPTH_TEST);
      
      SDL_GL_SwapBuffers();
    } 
  gluDeleteQuadric(sphereqobj);
  dtDeleteObject(&box_id);
  dtDeleteObject(&sphere_id);
  return 0;
}


void DrawBox(float width, float height, float depth)
{
  glColor3ub(255,0,0);
  float wdiv2=width/2;
  float hdiv2=height/2;
  float ddiv2=depth/2;
  
  //glDisable(GL_TEXTURE_2D);  
  glPushMatrix();
  glBegin(GL_LINES);
  {
    glVertex3f(wdiv2,hdiv2,ddiv2);
    glVertex3f(-wdiv2,hdiv2,ddiv2);

    glVertex3f(-wdiv2,-hdiv2,ddiv2);
    glVertex3f(wdiv2,-hdiv2,ddiv2);

    glVertex3f(wdiv2,hdiv2,ddiv2);
    glVertex3f(wdiv2,-hdiv2,ddiv2);

    glVertex3f(-wdiv2,-hdiv2,ddiv2);
    glVertex3f(-wdiv2,hdiv2,ddiv2);

    glVertex3f(wdiv2,hdiv2,-ddiv2);
    glVertex3f(-wdiv2,hdiv2,-ddiv2);

    glVertex3f(-wdiv2,-hdiv2,-ddiv2);
    glVertex3f(wdiv2,-hdiv2,-ddiv2);

    glVertex3f(wdiv2,hdiv2,-ddiv2);
    glVertex3f(wdiv2,-hdiv2,-ddiv2);

    glVertex3f(-wdiv2,-hdiv2,-ddiv2);
    glVertex3f(-wdiv2,hdiv2,-ddiv2);

    glVertex3f(-wdiv2,-hdiv2,ddiv2);
    glVertex3f(-wdiv2,-hdiv2,-ddiv2);    

    glVertex3f(wdiv2,-hdiv2,ddiv2);
    glVertex3f(wdiv2,-hdiv2,-ddiv2);

    glVertex3f(wdiv2,hdiv2,-ddiv2);
    glVertex3f(wdiv2,hdiv2,ddiv2);

    glVertex3f(-wdiv2,hdiv2,ddiv2);
    glVertex3f(-wdiv2,hdiv2,-ddiv2);
  }
  glEnd();
  glPopMatrix();
  //glEnable(GL_TEXTURE_2D);
}

void DrawSphere(float radius)
{
  glPolygonMode(GL_FRONT, GL_LINE);
  glPolygonMode(GL_BACK, GL_LINE);
  glColor3ub(255,128,255);
  gluSphere(sphereqobj, radius, 8, 4);
}

Index: Makefile.am
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/Makefile.am,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** Makefile.am	10 Jul 2005 23:26:40 -0000	1.11
--- Makefile.am	11 Jul 2005 17:04:50 -0000	1.12
***************
*** 1,5 ****
  # Bypass extra crappy libtool linking
  
! all: sample x_wing teapot torus ellipsoid walk
  
  sample.o: sample.cpp
--- 1,5 ----
  # Bypass extra crappy libtool linking
  
! all: sample x_wing teapot torus ellipsoid walk depth
  
  sample.o: sample.cpp

[Freesolid-cvs] freesolid/sample Makefile.am,1.10,1.11 walk.cpp,1.6,1.7

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/sample
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31211/sample

Modified Files:
	Makefile.am walk.cpp 
Log Message:
Depth penetration computation done, needs more tests.

Index: Makefile.am
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/Makefile.am,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** Makefile.am	8 Jul 2005 23:27:49 -0000	1.10
--- Makefile.am	10 Jul 2005 23:26:40 -0000	1.11
***************
*** 1,5 ****
  # Bypass extra crappy libtool linking
  
! all: sample x_wing teapot torus ellipsoid walk depth
  
  sample.o: sample.cpp
--- 1,5 ----
  # Bypass extra crappy libtool linking
  
! all: sample x_wing teapot torus ellipsoid walk
  
  sample.o: sample.cpp

Index: walk.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/walk.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** walk.cpp	8 Jul 2005 23:27:49 -0000	1.6
--- walk.cpp	10 Jul 2005 23:26:40 -0000	1.7
***************
*** 45,63 ****
  void DrawWorld();
  void DrawEllipsoid(float xradius, float yradius, float zradius);
  void Step(float step);
  
  int main(int argc, char *argv[]);
  
- void CollideCallback(void * client_data, DtObjectRef obj1, DtObjectRef obj2,
- 		     const DtCollData *coll_data) 
- {
-   if(coll_data!=NULL)
-     {
- //       fprintf(stdout,"Collided Point 1 %f,%f,%f\nPoint 2 %f,%f,%f\nNormal %f,%f,%f\n",
- // 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
- // 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
- // 	      coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
-     }
- }
  
  
--- 45,53 ----
  void DrawWorld();
  void DrawEllipsoid(float xradius, float yradius, float zradius);
+ void DrawBox(float width, float height, float depth);
  void Step(float step);
  
  int main(int argc, char *argv[]);
  
  
  
***************
*** 77,80 ****
--- 67,87 ----
  const float gravity = -9.8f;
  const float stepsize = 0.016;
+ float boxsize[3]={20.0f,20.0f,5.0f};
+ 
+ void CollideCallback(void * client_data, DtObjectRef obj1, DtObjectRef obj2,
+ 		     const DtCollData *coll_data) 
+ {
+   if(coll_data!=NULL)
+     {
+ //       fprintf(stdout,"Collided Point 1 %f,%f,%f\nPoint 2 %f,%f,%f\nNormal %f,%f,%f\n",
+ // 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
+ // 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
+ // 	      coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
+ 
+       player.pos[X]-=coll_data->normal[X];
+       player.pos[Y]-=coll_data->normal[Y];
+       player.pos[Z]-=coll_data->normal[Z];
+     }
+ }
  
  int main(int argc, char *argv[]) 
***************
*** 92,96 ****
    ellipsoid = dtEllipsoid(player.radii[0],player.radii[1],player.radii[2]);
    //ellipsoid = dtSphere(player.radii[2]);
!   box = dtBox(player.radii[0],player.radii[1],player.radii[2]);
    dtCreateObject(&player, ellipsoid); 
    dtCreateObject(&object2, world); 
--- 99,103 ----
    ellipsoid = dtEllipsoid(player.radii[0],player.radii[1],player.radii[2]);
    //ellipsoid = dtSphere(player.radii[2]);
!   box = dtBox(boxsize[0],boxsize[1],boxsize[2]);
    dtCreateObject(&player, ellipsoid); 
    dtCreateObject(&object2, world); 
***************
*** 142,146 ****
    dtSelectObject(&object3);
    dtLoadIdentity();
-   //dtTranslate(player.pos[X],player.pos[Y],player.pos[Z]);
    while(bRunning)
      {
--- 149,152 ----
***************
*** 169,172 ****
--- 175,179 ----
        DrawEllipsoid(player.radii[X],player.radii[Y],player.radii[Z]);
        glPopMatrix();
+       DrawBox(boxsize[0],boxsize[1],boxsize[2]);
        SDL_GL_SwapBuffers();
      } 
***************
*** 246,250 ****
--- 253,304 ----
    gluSphere(sphereqobj, 1.0, 30, 30);
  }
+ void DrawBox(float width, float height, float depth)
+ {
+   float wdiv2=width/2;
+   float hdiv2=height/2;
+   float ddiv2=depth/2;
+   glPushMatrix();
+   glBegin(GL_LINES);
+   {
+     glVertex3f(wdiv2,hdiv2,ddiv2);
+     glVertex3f(-wdiv2,hdiv2,ddiv2);
+ 
+     glVertex3f(-wdiv2,-hdiv2,ddiv2);
+     glVertex3f(wdiv2,-hdiv2,ddiv2);
+ 
+     glVertex3f(wdiv2,hdiv2,ddiv2);
+     glVertex3f(wdiv2,-hdiv2,ddiv2);
+ 
+     glVertex3f(-wdiv2,-hdiv2,ddiv2);
+     glVertex3f(-wdiv2,hdiv2,ddiv2);
+ 
+     glVertex3f(wdiv2,hdiv2,-ddiv2);
+     glVertex3f(-wdiv2,hdiv2,-ddiv2);
+ 
+     glVertex3f(-wdiv2,-hdiv2,-ddiv2);
+     glVertex3f(wdiv2,-hdiv2,-ddiv2);
+ 
+     glVertex3f(wdiv2,hdiv2,-ddiv2);
+     glVertex3f(wdiv2,-hdiv2,-ddiv2);
+ 
+     glVertex3f(-wdiv2,-hdiv2,-ddiv2);
+     glVertex3f(-wdiv2,hdiv2,-ddiv2);
+ 
+     glVertex3f(-wdiv2,-hdiv2,ddiv2);
+     glVertex3f(-wdiv2,-hdiv2,-ddiv2);    
+ 
+     glVertex3f(wdiv2,-hdiv2,ddiv2);
+     glVertex3f(wdiv2,-hdiv2,-ddiv2);
  
+     glVertex3f(wdiv2,hdiv2,-ddiv2);
+     glVertex3f(wdiv2,hdiv2,ddiv2);
+ 
+     glVertex3f(-wdiv2,hdiv2,ddiv2);
+     glVertex3f(-wdiv2,hdiv2,-ddiv2);
+   }
+   glEnd();
+   glPopMatrix();
+   
+ }
  void DrawWorld()
  {

[Freesolid-cvs] freesolid/libsolid Convex.cpp,1.9,1.10

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31211/libsolid

Modified Files:
	Convex.cpp 
Log Message:
Depth penetration computation done, needs more tests.

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Convex.cpp	8 Jul 2005 23:27:49 -0000	1.9
--- Convex.cpp	10 Jul 2005 23:26:39 -0000	1.10
***************
*** 399,403 ****
    int curlong, totlong, exitcode;
    char options[200];
!   
    facetT *facet;
    vertexT *vertex;
--- 399,403 ----
    int curlong, totlong, exitcode;
    char options[200];
!   vector<Vector> new_polyhedron;
    facetT *facet;
    vertexT *vertex;
***************
*** 407,493 ****
    Vector close_test;
    Vector w;
    int triangle_index[3];
    Vector triangle[3];
!   int iterations=0;
    // LOOP Starts Here, testing with 100 iterations:
!   for(int j=0;j<100;++j)
!     {
!   size_t numVerts = inflated_polyhedron.size();
!   
!   coordT *array = new coordT[numVerts*3];
!   coordT *p = &array[0];
!   int i;
!   for (i = 0; i < numVerts; ++i) 
      {
!       *p++ = inflated_polyhedron[i][X];
!       *p++ = inflated_polyhedron[i][Y];
!       *p++ = inflated_polyhedron[i][Z];
!     }
! 
!   ismalloc = False; // True if qh_freeqhull should 'free(array)'
!   qh_init_A(stdin, stdout, stderr, 0, NULL);
!   if (exitcode = setjmp(qh errexit)) exit(exitcode);
!   sprintf(options, "qhull Qx i s Tcv C-0");
!   qh_initflags(options);
!   qh_init_B(&array[0], numVerts, 3, ismalloc);
!   qh_qhull();
!   qh_check_output();
    
! 
!   FORALLfacets 
!     {
!       Scalar distance=FLT_MAX;
!       setT *vertices = qh_facet3vertex(facet);
!       i=0;
!       FOREACHvertex_(vertices) 
  	{
! 	  triangle_index[i]=qh_pointid(vertex->point);
! 	  ++i;
  	}
!       closest_point_in_triangle(origin,
! 				inflated_polyhedron[triangle_index[0]],
! 				inflated_polyhedron[triangle_index[1]],
! 				inflated_polyhedron[triangle_index[2]],
! 				close_test);
!       if(close_test.length2()<distance)
  	{
! 	  triangle[0]=inflated_polyhedron[triangle_index[0]];
! 	  triangle[1]=inflated_polyhedron[triangle_index[1]];
! 	  triangle[2]=inflated_polyhedron[triangle_index[2]];
! 	  distance=close_test.length2();
! 	  closest=close_test;
! 	}      
!     }
!   
!   // Split triangle, add points to the convex hull
!   /* 
!      Removing points NOT in the convex hull here from inflated_polyhedron
!      would probably be a good idea.
!   */
!   w = a2w(a.support((-closest) * a2w.getBasis())) - 
!     b2w(b.support(closest * b2w.getBasis())); 
! //   distance = dot((w-inflated_polyhedron[inflated_polyhedron.size()-1]),
! // 		 (w-inflated_polyhedron[inflated_polyhedron.size()-1]));
!   inflated_polyhedron.push_back(w);
!   
!   for(i=0;i<3;++i)
!     {
!       // Use closest point in line to find new w
!       closest_point_in_line(origin,triangle[i],triangle[(i+1)%3],closest);
        w = a2w(a.support((-closest) * a2w.getBasis())) - 
! 	b2w(b.support(closest * b2w.getBasis())); 
!       if(dot(w,closest)!=dot(closest,closest))
  	{
! // 	  distance = dot((w-inflated_polyhedron[inflated_polyhedron.size()-1]),
! // 			 (w-inflated_polyhedron[inflated_polyhedron.size()-1]))
! 	  inflated_polyhedron.push_back(w);
  	}
!     }  
!   delete [] array;  
!   qh NOerrexit = True;
!   qh_freeqhull(!qh_ALL);
!   qh_memfreeshort(&curlong, &totlong);
      }
-   v=w;  
  #else
  #warning "Determination of minimum penetration depth without QHULL has not been implemented"
--- 407,500 ----
    Vector close_test;
    Vector w;
+   Vector last;
    int triangle_index[3];
    Vector triangle[3];
!   int iterations=0,vertcount;
    // LOOP Starts Here, testing with 100 iterations:
!   //for(int j=0;j<100;++j)
!   while(1)
      {
!       size_t numVerts = inflated_polyhedron.size();
    
!       coordT *array = new coordT[numVerts*3];
!       coordT *p = &array[0];
!       int i;
!       for (i = 0; i < numVerts; ++i) 
  	{
! 	  *p++ = inflated_polyhedron[i][X];
! 	  *p++ = inflated_polyhedron[i][Y];
! 	  *p++ = inflated_polyhedron[i][Z];
  	}
!       
!       ismalloc = False; // True if qh_freeqhull should 'free(array)'
!       qh_init_A(stdin, stdout, stderr, 0, NULL);
!       if (exitcode = setjmp(qh errexit)) exit(exitcode);
!       sprintf(options, "qhull Qx i s Tcv C-0");
!       qh_initflags(options);
!       qh_init_B(&array[0], numVerts, 3, ismalloc);
!       qh_qhull();
!       qh_check_output();
!       vertcount=0;
!       
!       Scalar distance=FLT_MAX;
!       
!       FORALLfacets 
! 	{      
! 	  setT *vertices = qh_facet3vertex(facet);
! 	  i=0;
! 	  
! 	  FOREACHvertex_(vertices) 
! 	    {
! 	      triangle_index[i]=qh_pointid(vertex->point);
! 	      ++i;
! 	    }
! 	  closest_point_in_triangle(origin,
! 				    inflated_polyhedron[triangle_index[0]],
! 				    inflated_polyhedron[triangle_index[1]],
! 				    inflated_polyhedron[triangle_index[2]],
! 				    close_test);
! 	  if(close_test.length2()<distance)
! 	    {
! 	      triangle[0]=inflated_polyhedron[triangle_index[0]];
! 	      triangle[1]=inflated_polyhedron[triangle_index[1]];
! 	      triangle[2]=inflated_polyhedron[triangle_index[2]];
! 	      distance=close_test.length2();
! 	      closest=close_test;
! 	    }      
! 	}  
!       // Split triangle, add points to the convex hull
!       FORALLvertices
  	{
! 	  vertcount++;
! 	  new_polyhedron.push_back(inflated_polyhedron[qh_pointid(vertex->point)]);
! 	}
!       inflated_polyhedron.swap(new_polyhedron);
!       new_polyhedron.clear();
        w = a2w(a.support((-closest) * a2w.getBasis())) - 
! 	b2w(b.support(closest * b2w.getBasis()));
!       if(w==last)
  	{
! 	  v=w;
! 	  return;
  	}
!       last=w;
!       inflated_polyhedron.push_back(w);
!       
!       for(i=0;i<3;++i)
! 	{
! 	  closest_point_in_line(origin,triangle[i],triangle[(i+1)%3],closest);
! 	  w = a2w(a.support((-closest) * a2w.getBasis())) - 
! 	    b2w(b.support(closest * b2w.getBasis())); 
! 	  if(dot(w,closest)!=dot(closest,closest))
! 	    {
! 	      inflated_polyhedron.push_back(w);
! 	    }
! 	}  
!       delete [] array;  
!       qh NOerrexit = True;
!       qh_freeqhull(!qh_ALL);
!       qh_memfreeshort(&curlong, &totlong);
!       iterations++;
      }
  #else
  #warning "Determination of minimum penetration depth without QHULL has not been implemented"

[Freesolid-cvs] freesolid/sample Makefile.am,1.9,1.10 walk.cpp,1.5,1.6

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/sample
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5632/sample

Modified Files:
	Makefile.am walk.cpp 
Log Message:
Added depth penetration test app, more stuff on depth penetration computation

Index: Makefile.am
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/Makefile.am,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Makefile.am	9 May 2005 23:18:42 -0000	1.9
--- Makefile.am	8 Jul 2005 23:27:49 -0000	1.10
***************
*** 1,5 ****
  # Bypass extra crappy libtool linking
  
! all: sample x_wing teapot torus ellipsoid walk
  
  sample.o: sample.cpp
--- 1,5 ----
  # Bypass extra crappy libtool linking
  
! all: sample x_wing teapot torus ellipsoid walk depth
  
  sample.o: sample.cpp
***************
*** 15,18 ****
--- 15,20 ----
  walk.o: walk.cpp
  	$(CXX) $(AM_CXXFLAGS) -I@TOPDIR@/include @SDL_CFLAGS@ -c $< -o $@
+ depth.o: depth.cpp
+ 	$(CXX) $(AM_CXXFLAGS) -I@TOPDIR@/include @SDL_CFLAGS@ -c $< -o $@
  
  sample: sample.o
***************
*** 35,38 ****
--- 37,43 ----
  	$(CXX) $(AM_CXXFLAGS) $< -o $@ \
  	-L@TOPDIR@/libsolid/.libs/ -lFreeSOLID $(AM_LDFLAGS) @SDL_LIBS@ @GL_LIBS@
+ depth: depth.o
+ 	$(CXX) $(AM_CXXFLAGS) $< -o $@ \
+ 	-L@TOPDIR@/libsolid/.libs/ -lFreeSOLID $(AM_LDFLAGS) @SDL_LIBS@ @GL_LIBS@
  clean:
  	rm -rf *.o
***************
*** 49,52 ****
--- 54,59 ----
  	rm -rf walk
  	rm -rf walk.exe
+ 	rm -rf depth
+ 	rm -rf depth.exe
  
  EXTRA_DIST = 	sample.cpp \

Index: walk.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/walk.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** walk.cpp	7 Jul 2005 23:19:54 -0000	1.5
--- walk.cpp	8 Jul 2005 23:27:49 -0000	1.6
***************
*** 143,147 ****
    dtLoadIdentity();
    //dtTranslate(player.pos[X],player.pos[Y],player.pos[Z]);
- 
    while(bRunning)
      {
--- 143,146 ----

[Freesolid-cvs] freesolid/libsolid C-api.cpp,1.12,1.13 Convex.cpp,1.8,1.9 Object.cpp,1.9,1.10

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5632/libsolid

Modified Files:
	C-api.cpp Convex.cpp Object.cpp 
Log Message:
Added depth penetration test app, more stuff on depth penetration computation

Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Object.cpp	6 Jul 2005 23:40:57 -0000	1.9
--- Object.cpp	8 Jul 2005 23:27:49 -0000	1.10
***************
*** 114,119 ****
  {
    static IntersectTable *intersectTable = intersectInitialize();
!   Intersect i = intersectTable->lookup(a.shapePtr->getType(),b.shapePtr->getType());
!   return i(*a.shapePtr,*b.shapePtr,a.curr,b.curr,v);
  }
  
--- 114,123 ----
  {
    static IntersectTable *intersectTable = intersectInitialize();
!   Intersect i = intersectTable->lookup(a.shapePtr->getType(),
! 				       b.shapePtr->getType());
!   return i(*a.shapePtr,
! 	   *b.shapePtr,
! 	   a.curr,
! 	   b.curr,v);
  }
  
***************
*** 215,218 ****
--- 219,223 ----
  		     (const Convex&)*b.shapePtr, 
  		     a.prev, b.prev, pa, pb);
+       //fprintf(stdout,"V: %f,%f,%f\n",v[X],v[Y],v[Z]);
      }   
    return true;

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** C-api.cpp	7 Jul 2005 23:19:54 -0000	1.12
--- C-api.cpp	8 Jul 2005 23:27:49 -0000	1.13
***************
*** 361,377 ****
        break;
      case DT_SMART_RESPONSE:
-       //fprintf(stdout,"object_test DT_SMART_RESPONSE\n");
        if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
  	{
! // 	  fprintf(stdout,"prev_closest_points returned true\n");
! // 	  fprintf(stdout,"Previous Points:\n%f,%f,%f\n%f,%f,%f\n",
! // 		  e.obj1->prev(p1)[X],e.obj1->prev(p1)[Y],e.obj1->prev(p1)[Z],
! // 		  e.obj2->prev(p2)[X],e.obj2->prev(p2)[Y],e.obj1->prev(p2)[Z]);
! 	  Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
! 	  resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
! 	  // Added these to see if there is any difference, 
! 	  // and there is, but not quite what was expected, or is it?.
! 	  //((Object *)e.obj1)->proceed();
! 	  //((Object *)e.obj2)->proceed();
  	  return true; 
  	}
--- 361,369 ----
        break;
      case DT_SMART_RESPONSE:
        if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
  	{
! // 	  Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
! // 	  resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
!  	  resp(e.obj1->ref, e.obj2->ref, p1, p2, e.sep_axis);
  	  return true; 
  	}

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** Convex.cpp	7 Jul 2005 23:19:54 -0000	1.8
--- Convex.cpp	8 Jul 2005 23:27:49 -0000	1.9
***************
*** 407,412 ****
    Vector close_test;
    Vector w;
-   boolT isoutside;
-   realT bestdist;
    int triangle_index[3];
    Vector triangle[3];
--- 407,410 ----
***************
*** 436,443 ****
    qh_check_output();
    
-   Scalar distance=FLT_MAX;
  
    FORALLfacets 
      {
        setT *vertices = qh_facet3vertex(facet);
        i=0;
--- 434,441 ----
    qh_check_output();
    
  
    FORALLfacets 
      {
+       Scalar distance=FLT_MAX;
        setT *vertices = qh_facet3vertex(facet);
        i=0;
***************
*** 469,472 ****
--- 467,472 ----
    w = a2w(a.support((-closest) * a2w.getBasis())) - 
      b2w(b.support(closest * b2w.getBasis())); 
+ //   distance = dot((w-inflated_polyhedron[inflated_polyhedron.size()-1]),
+ // 		 (w-inflated_polyhedron[inflated_polyhedron.size()-1]));
    inflated_polyhedron.push_back(w);
    
***************
*** 479,486 ****
        if(dot(w,closest)!=dot(closest,closest))
  	{
  	  inflated_polyhedron.push_back(w);
  	}
!     }
!   
    delete [] array;  
    qh NOerrexit = True;
--- 479,487 ----
        if(dot(w,closest)!=dot(closest,closest))
  	{
+ // 	  distance = dot((w-inflated_polyhedron[inflated_polyhedron.size()-1]),
+ // 			 (w-inflated_polyhedron[inflated_polyhedron.size()-1]))
  	  inflated_polyhedron.push_back(w);
  	}
!     }  
    delete [] array;  
    qh NOerrexit = True;
***************
*** 488,494 ****
    qh_memfreeshort(&curlong, &totlong);
      }
!   v=w;
!   fprintf(stdout,"Last V %f,%f,%f\n",v[X],v[Y],v[Z]);
!   
  #else
  #warning "Determination of minimum penetration depth without QHULL has not been implemented"
--- 489,493 ----
    qh_memfreeshort(&curlong, &totlong);
      }
!   v=w;  
  #else
  #warning "Determination of minimum penetration depth without QHULL has not been implemented"
***************
*** 551,554 ****
--- 550,554 ----
      }
    while (bits < 15 && !approxZero(v));
+   
    switch(last)
      {

[Freesolid-cvs] freesolid/include/3D Quaternion.h,1.3,1.4

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/include/3D
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5632/include/3D

Modified Files:
	Quaternion.h 
Log Message:
Added depth penetration test app, more stuff on depth penetration computation

Index: Quaternion.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/include/3D/Quaternion.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Quaternion.h	21 Apr 2005 23:20:54 -0000	1.3
--- Quaternion.h	8 Jul 2005 23:27:48 -0000	1.4
***************
*** 63,66 ****
--- 63,68 ----
    }
    
+   inline void getMatrix(float *pMatrix) const;
+ 
    Quaternion& operator+=(const Quaternion& q);
    Quaternion& operator-=(const Quaternion& q);
***************
*** 210,213 ****
--- 212,242 ----
  }
  
+ inline void Quaternion::getMatrix(float *pMatrix) const
+ {
+ 	if(!pMatrix) return;
+ 	pMatrix[ 0] = 1.0f - 2.0f * ( comp[Y] * comp[Y] + comp[Z] * comp[Z] ); 
+ 	pMatrix[ 1] = 2.0f * (comp[X] * comp[Y] + comp[Z] * comp[W]);
+ 	pMatrix[ 2] = 2.0f * (comp[X] * comp[Z] - comp[Y] * comp[W]);
+ 	pMatrix[ 3] = 0.0f;  
+ 
+ 	// Second row
+ 	pMatrix[ 4] = 2.0f * ( comp[X] * comp[Y] - comp[Z] * comp[W] );  
+ 	pMatrix[ 5] = 1.0f - 2.0f * ( comp[X] * comp[X] + comp[Z] * comp[Z] ); 
+ 	pMatrix[ 6] = 2.0f * (comp[Z] * comp[Y] + comp[X] * comp[W] );  
+ 	pMatrix[ 7] = 0.0f;  
+ 
+ 	// Third row
+ 	pMatrix[ 8] = 2.0f * ( comp[X] * comp[Z] + comp[Y] * comp[W] );
+ 	pMatrix[ 9] = 2.0f * ( comp[Y] * comp[Z] - comp[X] * comp[W] );
+ 	pMatrix[10] = 1.0f - 2.0f * ( comp[X] * comp[X] + comp[Y] * comp[Y] );  
+ 	pMatrix[11] = 0.0f;  
+ 
+ 	// Fourth row
+ 	pMatrix[12] = 0;  
+ 	pMatrix[13] = 0;  
+ 	pMatrix[14] = 0;  
+ 	pMatrix[15] = 1.0f;
+ }
+ 
  #endif
  

[Freesolid-cvs] freesolid/libsolid C-api.cpp,1.11,1.12 Convex.cpp,1.7,1.8 Polyhedron.cpp,1.5,1.6

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5045/libsolid

Modified Files:
	C-api.cpp Convex.cpp Polyhedron.cpp 
Log Message:
more penetration depth code

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** C-api.cpp	6 Jul 2005 23:40:57 -0000	1.11
--- C-api.cpp	7 Jul 2005 23:19:54 -0000	1.12
***************
*** 361,371 ****
        break;
      case DT_SMART_RESPONSE:
!       fprintf(stdout,"object_test DT_SMART_RESPONSE\n");
        if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
  	{
! 	  fprintf(stdout,"prev_closest_points returned true\n");
! 	  fprintf(stdout,"Previous Points:\n%f,%f,%f\n%f,%f,%f\n",
! 		  e.obj1->prev(p1)[X],e.obj1->prev(p1)[Y],e.obj1->prev(p1)[Z],
! 		  e.obj2->prev(p2)[X],e.obj2->prev(p2)[Y],e.obj1->prev(p2)[Z]);
  	  Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
  	  resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
--- 361,371 ----
        break;
      case DT_SMART_RESPONSE:
!       //fprintf(stdout,"object_test DT_SMART_RESPONSE\n");
        if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
  	{
! // 	  fprintf(stdout,"prev_closest_points returned true\n");
! // 	  fprintf(stdout,"Previous Points:\n%f,%f,%f\n%f,%f,%f\n",
! // 		  e.obj1->prev(p1)[X],e.obj1->prev(p1)[Y],e.obj1->prev(p1)[Z],
! // 		  e.obj2->prev(p2)[X],e.obj2->prev(p2)[Y],e.obj1->prev(p2)[Z]);
  	  Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
  	  resp(e.obj1->ref, e.obj2->ref, p1, p2, v);

Index: Polyhedron.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Polyhedron.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Polyhedron.cpp	21 Apr 2005 23:20:55 -0000	1.5
--- Polyhedron.cpp	7 Jul 2005 23:19:54 -0000	1.6
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 43,47 ****
  
  Polyhedron::Polyhedron(const VertexBase& b, int c, const unsigned int v[]) :
!     Polytope(b, c, v), cobound(0) {
    boolT ismalloc;
    int curlong, totlong, exitcode;
--- 43,48 ----
  
  Polyhedron::Polyhedron(const VertexBase& b, int c, const unsigned int v[]) :
!     Polytope(b, c, v), cobound(0) 
! {
    boolT ismalloc;
    int curlong, totlong, exitcode;
***************
*** 55,65 ****
    coordT *p = &array[0];
    int i;
!   for (i = 0; i < numVerts(); ++i) {
!     *p++ = (*this)[i][X];
!     *p++ = (*this)[i][Y];
!     *p++ = (*this)[i][Z];
!   }
  
!   ismalloc = False; 	// True if qh_freeqhull should 'free(array)'
    qh_init_A(stdin, stdout, stderr, 0, NULL);
    if (exitcode = setjmp(qh errexit)) exit(exitcode);
--- 56,67 ----
    coordT *p = &array[0];
    int i;
!   for (i = 0; i < numVerts(); ++i) 
!     {
!       *p++ = (*this)[i][X];
!       *p++ = (*this)[i][Y];
!       *p++ = (*this)[i][Z];
!     }
  
!   ismalloc = False; // True if qh_freeqhull should 'free(array)'
    qh_init_A(stdin, stdout, stderr, 0, NULL);
    if (exitcode = setjmp(qh errexit)) exit(exitcode);
***************
*** 72,86 ****
    IndexBuf* indexBuf = new IndexBuf[numVerts()];
    IndexBuf facetIndices;
!   FORALLfacets {
!     setT *vertices = qh_facet3vertex(facet);
!     FOREACHvertex_(vertices) facetIndices.push_back(qh_pointid(vertex->point));
! 	size_t facetIndiceCount = facetIndices.size();
!     for (size_t i = 0, j = facetIndiceCount-1; 
! 	 i < facetIndiceCount; j = i++)
  	{
!       indexBuf[facetIndices[j]].push_back(facetIndices[i]);
  	}
!     facetIndices.erase(facetIndices.begin(), facetIndices.end());
!   }
  
    cobound = new IndexArray[numVerts()];
--- 74,90 ----
    IndexBuf* indexBuf = new IndexBuf[numVerts()];
    IndexBuf facetIndices;
!   FORALLfacets 
!     {
!       setT *vertices = qh_facet3vertex(facet);
!       FOREACHvertex_(vertices) 
! 	facetIndices.push_back(qh_pointid(vertex->point));
!       size_t facetIndiceCount = facetIndices.size();
!       for (size_t i = 0, j = facetIndiceCount-1; 
! 	   i < facetIndiceCount; j = i++)
  	{
! 	  indexBuf[facetIndices[j]].push_back(facetIndices[i]);
  	}
!       facetIndices.erase(facetIndices.begin(), facetIndices.end());
!     }
  
    cobound = new IndexArray[numVerts()];
***************
*** 91,98 ****
    curr_vertex = 0;
    while (indexBuf[curr_vertex].size() == 0) ++curr_vertex;
! 
    delete [] indexBuf;
    delete [] array;
! 
    qh NOerrexit = True;
    qh_freeqhull(!qh_ALL);
--- 95,102 ----
    curr_vertex = 0;
    while (indexBuf[curr_vertex].size() == 0) ++curr_vertex;
!   
    delete [] indexBuf;
    delete [] array;
!   
    qh NOerrexit = True;
    qh_freeqhull(!qh_ALL);
***************
*** 100,104 ****
  } 
  
! Polyhedron::~Polyhedron() {
    delete [] cobound;
  }
--- 104,109 ----
  } 
  
! Polyhedron::~Polyhedron() 
! {
    delete [] cobound;
  }
***************
*** 128,137 ****
  Polyhedron::~Polyhedron() {}
  
! Point Polyhedron::support(const Vector& v) const {
    int c = 0;
    Scalar h = dot((*this)[0], v), d;
!   for (int i = 1; i < numVerts(); ++i) {
!     if ((d = dot((*this)[i], v)) > h) { c = i; h = d; }
!   }
    return (*this)[c];
  }
--- 133,144 ----
  Polyhedron::~Polyhedron() {}
  
! Point Polyhedron::support(const Vector& v) const 
! {
    int c = 0;
    Scalar h = dot((*this)[0], v), d;
!   for (int i = 1; i < numVerts(); ++i) 
!     {
!       if ((d = dot((*this)[i], v)) > h) { c = i; h = d; }
!     }
    return (*this)[c];
  }

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Convex.cpp	6 Jul 2005 23:40:57 -0000	1.7
--- Convex.cpp	7 Jul 2005 23:19:54 -0000	1.8
***************
*** 24,27 ****
--- 24,39 ----
  		  P.O. Box 513, 5600 MB Eindhoven, The Netherlands
  */
+ 
+ #ifdef HAVE_CONFIG_H
+ #include <config.h>
+ #endif
+ 
+ #ifdef USE_QHULL
+ extern "C"
+ {
+ #include "qhull_a.h"
+ }
+ #endif
+ 
  #include <vector>
  #include "Convex.h"
***************
*** 239,242 ****
--- 251,499 ----
  }
  
+ 
+ void closest_point_in_triangle(const Vector& p,
+ 			       const Vector& a,
+ 			       const Vector& b,
+ 			       const Vector& c, 
+ 			       Vector& out)
+ {
+   // Check if P in vertex region outside A
+   Vector ab = b - a;
+   Vector ac = b - a;
+   Vector ap = p - a;
+   float d1 = dot(ab,ap);
+   float d2 = dot(ac,ap);
+   if (d1 <= 0.0f && d2 <= 0.0f)
+     { 
+       out = a; // barycentric coordinates (1,0,0)
+       //fprintf(stdout,"1\n");	
+       return;
+     }
+ 
+     // Check if P in vertex region outside B
+     Vector bp = p - b;
+     float d3 = dot(ab,bp);
+     float d4 = dot(ac,bp);
+     if (d3 >= 0.0f && d4 <= d3)
+       {
+ 	out = b;
+ 	return; // barycentric coordinates (0,1,0)
+       }
+ 
+     // Check if P in edge region of AB, if so return projection of P onto AB
+     float vc = (d1*d4) - (d3*d2);
+     if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) 
+       {
+         float v = d1 / (d1 - d3);
+         out = a + (ab*v); // barycentric coordinates (1-v,v,0)
+ 	return;
+       }
+ 
+     // Check if P in vertex region outside C
+     Vector cp = p - b;
+     float d5 = dot(ab,cp);
+     float d6 = dot(ac,cp);
+     if (d6 >= 0.0f && d5 <= d6) 
+       {
+ 	out=b;
+ 	return; // barycentric coordinates (0,0,1)
+       }
+     
+     // Check if P in edge region of AC, if so return projection of P onto AC
+     float vb = (d5*d2) - (d1*d6);
+     if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) 
+       {
+         float w = d2 / (d2 - d6);
+         out = a + (ac*w); // barycentric coordinates (1-w,0,w)
+ 	return;
+       }
+ 
+     // Check if P in edge region of BC, if so return projection of P onto BC
+     float va = (d3*d6) - (d5*d4);
+     if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) 
+       {
+         float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
+         out= b + ((b - b)*w); 
+ 	// barycentric coordinates (0,1-w,w)
+ 	return;
+       }
+ 
+     // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
+     float denom = 1.0f / (va + vb + vc);
+     float v = vb * denom;
+     float w = vc * denom;
+     out = a + (ab * v) + (ac * w); 
+ }
+ 
+ void closest_point_in_line(const Vector& p, 
+ 			   const Vector& a, 
+ 			   const Vector& b,
+ 			   Vector& out)
+ {
+   // Create the vector from end point a to our point p.
+   Vector vVector1 = p - a;
+   // Create a normalized direction vector from end point a to end point b
+   Vector vVector2 = b - a;
+   vVector2.normalize();
+   // Use the distance formula to find the distance of 
+   // the line segment (or magnitude)
+   float d = sqrtf((vVector2[X]*vVector2[X])+
+ 		  (vVector2[Y]*vVector2[Y])+
+ 		  (vVector2[Z]*vVector2[Z]));
+ 
+   // Using the dot product, we project the vVector1 onto the vector vVector2.
+   // This essentially gives us the distance from our projected vector from a.
+   float t = dot(vVector2,vVector1);
+   // If our projected distance from a, "t", is less than or equal to 0,
+   // it must be closest to the end point a.  We want to return this end point.
+   if (t <= 0) 
+     {
+       out = a;
+       return;
+     }
+   
+   // If our projected distance from a, "t", 
+   // is greater than or equal to the magnitude
+   // or distance of the line segment, 
+   // it must be closest to the end point b.  So, return b.
+   if (t >= d)
+     { 
+       out = b;
+       return;
+     }
+   
+   // Here we create a vector that is of length t 
+   // and in the direction of vVector2
+   Vector vVector3 = vVector2 * t;
+   
+   // To find the closest point on the line segment,
+   // we just add vVector3 to the original
+   // end point a.  
+   Vector vClosestPoint = a + vVector3;
+   // Return the closest point on the line segment
+   out = vClosestPoint;
+ }
+ 
+ /*!
+   \brief Determines minimum penetration depth vector for current simplex
+   \param [IN] a Convex Shape A
+   \param [IN] b Convex Shape B
+   \param [IN] a2w A transformation
+   \param [IN] b2w B transformation
+   \param [OUT] v penetration depth vector
+ */
+ inline void determine_minimum_penetration_depth(const Convex& a, 
+ 						const Convex& b,
+ 						const Transform& a2w, 
+ 						const Transform& b2w,
+ 						Vector& v)
+ {
+ #ifdef USE_QHULL
+   /* 
+      This is a very RAW implementation of the Penetration Depth calculation
+      described on the paper 
+      "Proximity Queries and Penetration Depth Computation on 3D Game Objects"
+      found at http://www.win.tue.nl/~gino/solid/gdc2001depth.pdf
+   */
+   boolT ismalloc;
+   int curlong, totlong, exitcode;
+   char options[200];
+   
+   facetT *facet;
+   vertexT *vertex;
+   vertexT **vertexp;
+   const Vector origin(0,0,0);
+   Vector closest;
+   Vector close_test;
+   Vector w;
+   boolT isoutside;
+   realT bestdist;
+   int triangle_index[3];
+   Vector triangle[3];
+   int iterations=0;
+   // LOOP Starts Here, testing with 100 iterations:
+   for(int j=0;j<100;++j)
+     {
+   size_t numVerts = inflated_polyhedron.size();
+   
+   coordT *array = new coordT[numVerts*3];
+   coordT *p = &array[0];
+   int i;
+   for (i = 0; i < numVerts; ++i) 
+     {
+       *p++ = inflated_polyhedron[i][X];
+       *p++ = inflated_polyhedron[i][Y];
+       *p++ = inflated_polyhedron[i][Z];
+     }
+ 
+   ismalloc = False; // True if qh_freeqhull should 'free(array)'
+   qh_init_A(stdin, stdout, stderr, 0, NULL);
+   if (exitcode = setjmp(qh errexit)) exit(exitcode);
+   sprintf(options, "qhull Qx i s Tcv C-0");
+   qh_initflags(options);
+   qh_init_B(&array[0], numVerts, 3, ismalloc);
+   qh_qhull();
+   qh_check_output();
+   
+   Scalar distance=FLT_MAX;
+ 
+   FORALLfacets 
+     {
+       setT *vertices = qh_facet3vertex(facet);
+       i=0;
+       FOREACHvertex_(vertices) 
+ 	{
+ 	  triangle_index[i]=qh_pointid(vertex->point);
+ 	  ++i;
+ 	}
+       closest_point_in_triangle(origin,
+ 				inflated_polyhedron[triangle_index[0]],
+ 				inflated_polyhedron[triangle_index[1]],
+ 				inflated_polyhedron[triangle_index[2]],
+ 				close_test);
+       if(close_test.length2()<distance)
+ 	{
+ 	  triangle[0]=inflated_polyhedron[triangle_index[0]];
+ 	  triangle[1]=inflated_polyhedron[triangle_index[1]];
+ 	  triangle[2]=inflated_polyhedron[triangle_index[2]];
+ 	  distance=close_test.length2();
+ 	  closest=close_test;
+ 	}      
+     }
+   
+   // Split triangle, add points to the convex hull
+   /* 
+      Removing points NOT in the convex hull here from inflated_polyhedron
+      would probably be a good idea.
+   */
+   w = a2w(a.support((-closest) * a2w.getBasis())) - 
+     b2w(b.support(closest * b2w.getBasis())); 
+   inflated_polyhedron.push_back(w);
+   
+   for(i=0;i<3;++i)
+     {
+       // Use closest point in line to find new w
+       closest_point_in_line(origin,triangle[i],triangle[(i+1)%3],closest);
+       w = a2w(a.support((-closest) * a2w.getBasis())) - 
+ 	b2w(b.support(closest * b2w.getBasis())); 
+       if(dot(w,closest)!=dot(closest,closest))
+ 	{
+ 	  inflated_polyhedron.push_back(w);
+ 	}
+     }
+   
+   delete [] array;  
+   qh NOerrexit = True;
+   qh_freeqhull(!qh_ALL);
+   qh_memfreeshort(&curlong, &totlong);
+     }
+   v=w;
+   fprintf(stdout,"Last V %f,%f,%f\n",v[X],v[Y],v[Z]);
+   
+ #else
+ #warning "Determination of minimum penetration depth without QHULL has not been implemented"
+ #endif
+ }
+ 
  /*! 
    \brief Checks whether or not convex shapes A and B intersect
***************
*** 298,306 ****
      case 0:
        /* 
! 	 Simplex is a point this should not happen,
! 	 maybe if the 2 objects are duplicates and
! 	 concentric, for now, just report.
        */
!       fprintf(stdout,"Panic: Simplex is a Point!\n");
        break;
      case 1:
--- 555,563 ----
      case 0:
        /* 
! 	 Simplex is a point this happens if the 2 surfaces barelly touch
        */
!       v[X]=0.0f;
!       v[Y]=0.0f;
!       v[Z]=0.0f;
        break;
      case 1:
***************
*** 334,339 ****
  	  inflated_polyhedron.push_back(y[i]);
  	}
!       // ???????
!       // Profit! :)
        break;
      }
--- 591,595 ----
  	  inflated_polyhedron.push_back(y[i]);
  	}
!       determine_minimum_penetration_depth(a,b,a2w,b2w,v);
        break;
      }
***************
*** 524,531 ****
  }
  
- /*! \brief returns the shortest penetration depth for the last test */
- void shortest_penetration_depth(Vector& pd)
- {
- }
- 
- 
--- 780,781 ----

[Freesolid-cvs] freesolid/sample torus.cpp,1.5,1.6 walk.cpp,1.4,1.5

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/sample
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5045/sample

Modified Files:
	torus.cpp walk.cpp 
Log Message:
more penetration depth code

Index: torus.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/torus.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** torus.cpp	18 Apr 2005 00:33:18 -0000	1.5
--- torus.cpp	7 Jul 2005 23:19:54 -0000	1.6
***************
*** 8,12 ****
  #define USE_QUADS
  
! typedef struct MyObject {
    int id;  
  } MyObject; 
--- 8,13 ----
  #define USE_QUADS
  
! typedef struct MyObject 
! {
    int id;  
  } MyObject; 
***************
*** 96,101 ****
  	      break;
              case SDL_KEYDOWN: /* Handle a KEYDOWN event */
! 	      if(event.key.keysym.sym==SDLK_ESCAPE)
!                 bRunning = false; // quit if ESCAPE is pressed
  	      break;
  	    }
--- 97,107 ----
  	      break;
              case SDL_KEYDOWN: /* Handle a KEYDOWN event */
! 	      switch(event.key.keysym.sym)
! 		{
! 		case SDLK_ESCAPE:
! 		case SDLK_q:
! 		  bRunning = false; // quit if ESCAPE is pressed
! 		  break;
! 		}
  	      break;
  	    }

Index: walk.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/walk.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** walk.cpp	11 May 2005 23:31:04 -0000	1.4
--- walk.cpp	7 Jul 2005 23:19:54 -0000	1.5
***************
*** 54,61 ****
    if(coll_data!=NULL)
      {
!       fprintf(stdout,"Collided Point 1 %f,%f,%f\nPoint 2 %f,%f,%f\nNormal %f,%f,%f\n",
! 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! 	      coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
      }
  }
--- 54,61 ----
    if(coll_data!=NULL)
      {
! //       fprintf(stdout,"Collided Point 1 %f,%f,%f\nPoint 2 %f,%f,%f\nNormal %f,%f,%f\n",
! // 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! // 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! // 	      coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
      }
  }
***************
*** 66,71 ****
--- 66,73 ----
  //----------------------
  MyObject object2;
+ MyObject object3;
  DtShapeRef world;
  DtShapeRef ellipsoid;
+ DtShapeRef box;
  PointList points;
  IndexList indexes;
***************
*** 90,96 ****
    ellipsoid = dtEllipsoid(player.radii[0],player.radii[1],player.radii[2]);
    //ellipsoid = dtSphere(player.radii[2]);
!   //ellipsoid = dtBox(player.radii[0],player.radii[1],player.radii[2]);
    dtCreateObject(&player, ellipsoid); 
    dtCreateObject(&object2, world); 
  
    //dtDisableCaching();
--- 92,99 ----
    ellipsoid = dtEllipsoid(player.radii[0],player.radii[1],player.radii[2]);
    //ellipsoid = dtSphere(player.radii[2]);
!   box = dtBox(player.radii[0],player.radii[1],player.radii[2]);
    dtCreateObject(&player, ellipsoid); 
    dtCreateObject(&object2, world); 
+   dtCreateObject(&object3, box); 
  
    //dtDisableCaching();
***************
*** 137,140 ****
--- 140,146 ----
  
    dtDisableCaching();
+   dtSelectObject(&object3);
+   dtLoadIdentity();
+   //dtTranslate(player.pos[X],player.pos[Y],player.pos[Z]);
  
    while(bRunning)

[Freesolid-cvs] freesolid/libsolid Convex.h,1.4,1.5

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28527/libsolid

Modified Files:
	Convex.h 
Log Message:
Started implementing EPA

Index: Convex.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Convex.h	6 Jul 2005 23:40:57 -0000	1.4
--- Convex.h	6 Jul 2005 23:41:51 -0000	1.5
***************
*** 71,75 ****
  		    Point&, Point&);
  
! void shortest_penetration_depth(Vector& pd);
  
  #endif
--- 71,75 ----
  		    Point&, Point&);
  
! 
  
  #endif

[Freesolid-cvs] freesolid/include/3D Vector.h,1.3,1.4

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/include/3D
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27929/include/3D

Modified Files:
	Vector.h 
Log Message:
Started implementing EPA

Index: Vector.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/include/3D/Vector.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Vector.h	21 Apr 2005 23:20:54 -0000	1.3
--- Vector.h	6 Jul 2005 23:40:56 -0000	1.4
***************
*** 50,53 ****
--- 50,54 ----
    void normalize();
    Vector normalized() const;
+   void normal(const Vector& p1,const Vector& p2,const Vector& p3);
  
    int closestAxis() const;
***************
*** 131,134 ****
--- 132,142 ----
  inline void Vector::normalize() { *this /= length(); }
  inline Vector Vector::normalized() const { return *this / length(); }
+ inline void Vector::normal(const Vector& p1,
+ 			   const Vector& p2,
+ 			   const Vector& p3) 
+ {
+   *this = cross((p2 - p1),(p3 - p1));
+   *this /= length();
+ }
  
  inline int Vector::closestAxis() const {

[Freesolid-cvs] freesolid/libsolid C-api.cpp,1.10,1.11 Convex.cpp,1.6,1.7 Convex.h,1.3,1.4 Object.cpp,1.8,1.9

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27929/libsolid

Modified Files:
	C-api.cpp Convex.cpp Convex.h Object.cpp 
Log Message:
Started implementing EPA

Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** Object.cpp	4 Jul 2005 23:35:05 -0000	1.8
--- Object.cpp	6 Jul 2005 23:40:57 -0000	1.9
***************
*** 105,109 ****
  {
    static IntersectTable p;
!   p.addEntry(CONVEX, CONVEX, intersectConvexConvex);
    p.addEntry(COMPLEX, CONVEX, intersectComplexConvex);
    p.addEntry(COMPLEX, COMPLEX, intersectComplexComplex);
--- 105,109 ----
  {
    static IntersectTable p;
!   p.addEntry(CONVEX,  CONVEX, intersectConvexConvex);
    p.addEntry(COMPLEX, CONVEX, intersectComplexConvex);
    p.addEntry(COMPLEX, COMPLEX, intersectComplexComplex);
***************
*** 136,140 ****
  }
  
! Common_pointTable *common_pointInitialize() {
    static Common_pointTable p;
    p.addEntry(CONVEX, CONVEX, common_pointConvexConvex);
--- 136,141 ----
  }
  
! Common_pointTable *common_pointInitialize() 
! {
    static Common_pointTable p;
    p.addEntry(CONVEX, CONVEX, common_pointConvexConvex);
***************
*** 151,156 ****
  
  /*! \brief I THINK this returns closest points from last test
!   \param a Object A to test against B ?
!   \param b Object B to test against A ?
    \param v No idea.
    \param pa Point in A?
--- 152,157 ----
  
  /*! \brief I THINK this returns closest points from last test
!   \param a Object A to test against B
!   \param b Object B to test against A
    \param v No idea.
    \param pa Point in A?
***************
*** 208,213 ****
    else 
      {
!       // if both are simplex
!       if (!intersect(a, b, v)) return false;
        closest_points((const Convex&)*a.shapePtr, 
  		     (const Convex&)*b.shapePtr, 
--- 209,215 ----
    else 
      {
!       // if both are simple convex objects
!       if (!intersect(a, b, v)) // Apply GJK
! 	return false;          // If there is no intersection, return false
        closest_points((const Convex&)*a.shapePtr, 
  		     (const Convex&)*b.shapePtr, 

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** C-api.cpp	4 Jul 2005 23:35:05 -0000	1.10
--- C-api.cpp	6 Jul 2005 23:40:57 -0000	1.11
***************
*** 125,129 ****
  }
  
! void dtBegin(DtPolyType type) {
    currentType = type;
  }
--- 125,130 ----
  }
  
! void dtBegin(DtPolyType type) 
! {
    currentType = type;
  }
***************
*** 135,139 ****
  }
  
! void dtVertex(DT_Scalar x,DT_Scalar y,DT_Scalar z) {
    Point p(x,y,z);
    int i = int(pointBuf.size())-20;
--- 136,141 ----
  }
  
! void dtVertex(DT_Scalar x,DT_Scalar y,DT_Scalar z) 
! {
    Point p(x,y,z);
    int i = int(pointBuf.size())-20;
***************
*** 144,179 ****
  }
  
! void dtVertexBase(const void *base) {
    currentComplex->setBase(base); 
  }
  
! void dtVertexIndex(DT_Index idx) {
    indexBuf.push_back(idx);
  }
  
! void dtVertexIndices(DtPolyType type,DT_Count cnt,const DT_Index *indices) {
!   if (currentComplex) {
!     const Polytope *poly;
!     switch (type) {
!     case DT_SIMPLEX:
!       poly = new Simplex(currentComplex->getBase(), cnt, indices);
!       break;
!     case DT_POLYGON:
!       poly = new Polygon(currentComplex->getBase(), cnt, indices);
!       break;
!     case DT_POLYHEDRON:
!       if (currentComplex->getBase().getPointer()==0) {
! 	currentComplex->setBase(&pointBuf[0]);
! 	poly = new Polyhedron(currentComplex->getBase(),cnt,indices);
! 	currentComplex->setBase(0);
        }
!       else poly = new Polyhedron(currentComplex->getBase(),cnt,indices);
!       break;
      }
-     polyList.push_back(poly);
-   }
  }
  
! void dtVertexRange(DtPolyType type, DT_Index first, DT_Count cnt) {
    DT_Index *indices = new DT_Index[cnt];
    for (unsigned int i = 0; i < cnt;++i) indices[i] = first + i;
--- 146,186 ----
  }
  
! void dtVertexBase(const void *base) 
! {
    currentComplex->setBase(base); 
  }
  
! void dtVertexIndex(DT_Index idx) 
! {
    indexBuf.push_back(idx);
  }
  
! void dtVertexIndices(DtPolyType type,DT_Count cnt,const DT_Index *indices) 
! {
!   if (currentComplex) 
!     {
!       const Polytope *poly;
!       switch (type) {
!       case DT_SIMPLEX:
! 	poly = new Simplex(currentComplex->getBase(), cnt, indices);
! 	break;
!       case DT_POLYGON:
! 	poly = new Polygon(currentComplex->getBase(), cnt, indices);
! 	break;
!       case DT_POLYHEDRON:
! 	if (currentComplex->getBase().getPointer()==0) {
! 	  currentComplex->setBase(&pointBuf[0]);
! 	  poly = new Polyhedron(currentComplex->getBase(),cnt,indices);
! 	  currentComplex->setBase(0);
! 	}
! 	else poly = new Polyhedron(currentComplex->getBase(),cnt,indices);
! 	break;
        }
!       polyList.push_back(poly);
      }
  }
  
! void dtVertexRange(DtPolyType type, DT_Index first, DT_Count cnt) 
! {
    DT_Index *indices = new DT_Index[cnt];
    for (unsigned int i = 0; i < cnt;++i) indices[i] = first + i;
***************
*** 182,203 ****
  }
  
! void dtDeleteShape(DtShapeRef shape) { 
!   if (((Shape *)shape)->getType() == COMPLEX) {
!     ComplexList::iterator i = 
!       find(complexList.begin(), complexList.end(), (Complex *)shape);
!     if (i != complexList.end()) complexList.erase(i);
!   }
    delete (Shape *)shape; 
  }
  
! void dtChangeVertexBase(DtShapeRef shape, const void *base) {
    if (((Shape *)shape)->getType() == COMPLEX)
      ((Complex *)shape)->changeBase(base);
    for (ObjectList::const_iterator i = objectList.begin(); 
!        i != objectList.end(); ++i) {
!     if ((*i).second->shapePtr == (Shape *)shape) {
!       (*i).second->do_broadphase();
      }
-   }   
  }
  
--- 189,215 ----
  }
  
! void dtDeleteShape(DtShapeRef shape) 
! {
!   if (((Shape *)shape)->getType() == COMPLEX) 
!     {
!       ComplexList::iterator i = 
! 	find(complexList.begin(), complexList.end(), (Complex *)shape);
!       if (i != complexList.end()) complexList.erase(i);
!     }
    delete (Shape *)shape; 
  }
  
! void dtChangeVertexBase(DtShapeRef shape, const void *base) 
! {
    if (((Shape *)shape)->getType() == COMPLEX)
      ((Complex *)shape)->changeBase(base);
    for (ObjectList::const_iterator i = objectList.begin(); 
!        i != objectList.end(); ++i) 
!     {
!       if ((*i).second->shapePtr == (Shape *)shape) 
! 	{
! 	  (*i).second->do_broadphase();
! 	}
      }
  }
  
***************
*** 205,210 ****
  // Object instantiation
  
! void dtCreateObject(DtObjectRef object, DtShapeRef shape) {
!  currentObject = objectList[object] = new Object(object,(Shape *)shape, broadphase);
  }
  
--- 217,223 ----
  // Object instantiation
  
! void dtCreateObject(DtObjectRef object, DtShapeRef shape) 
! {
!   currentObject = objectList[object] = new Object(object,(Shape *)shape, broadphase);
  }
  
***************
*** 303,307 ****
  // Runtime
  
! void dtProceed() {
    for (ComplexList::iterator i = complexList.begin(); 
         i != complexList.end(); ++i) 
--- 316,321 ----
  // Runtime
  
! void dtProceed() 
! {
    for (ComplexList::iterator i = complexList.begin(); 
         i != complexList.end(); ++i) 
***************
*** 312,316 ****
  }
  
! void dtEnableCaching() {
    for (ObjectList::const_iterator i=objectList.begin();i!=objectList.end();++i)
      (*i).second->do_broadphase();
--- 326,331 ----
  }
  
! void dtEnableCaching() 
! {
    for (ObjectList::const_iterator i=objectList.begin();i!=objectList.end();++i)
      (*i).second->do_broadphase();
***************
*** 318,324 ****
  }
  
! void dtDisableCaching() { caching = false; }
  
! void dtSetTolerance(DT_Scalar tol) { rel_error = tol; }
  
  /*! 
--- 333,345 ----
  }
  
! void dtDisableCaching() 
! { 
!   caching = false; 
! }
  
! void dtSetTolerance(DT_Scalar tol) 
! { 
!   rel_error = tol; 
! }
  
  /*! 
***************
*** 351,356 ****
  	  // Added these to see if there is any difference, 
  	  // and there is, but not quite what was expected, or is it?.
! 	  ((Object *)e.obj1)->proceed();
! 	  ((Object *)e.obj2)->proceed();
  	  return true; 
  	}
--- 372,377 ----
  	  // Added these to see if there is any difference, 
  	  // and there is, but not quite what was expected, or is it?.
! 	  //((Object *)e.obj1)->proceed();
! 	  //((Object *)e.obj2)->proceed();
  	  return true; 
  	}

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** Convex.cpp	4 Jul 2005 23:35:05 -0000	1.6
--- Convex.cpp	6 Jul 2005 23:40:57 -0000	1.7
***************
*** 24,28 ****
  		  P.O. Box 513, 5600 MB Eindhoven, The Netherlands
  */
! 
  #include "Convex.h"
  #include "BBox.h"
--- 24,28 ----
  		  P.O. Box 513, 5600 MB Eindhoven, The Netherlands
  */
! #include <vector>
  #include "Convex.h"
  #include "BBox.h"
***************
*** 57,60 ****
--- 57,62 ----
  static Vector y[4];   // support points of A - B in world coordinates
  
+ static std::vector<Vector> inflated_polyhedron; // Inflated Polyhedron for depth penetration
+ 
  static int bits;      // identifies current simplex
  static int last;      // identifies last found support point
***************
*** 174,215 ****
  #endif
  
! inline bool closest(Vector& v) {
    compute_det();
!   for (int s = bits; s; --s) {
!     if ((s & bits) == s) {
!       if (valid(s|last_bit)) {
! 	bits = s|last_bit;
!  	compute_vector(bits, v);
! 	return true;
!       }
      }
-   }
-   if (valid(last_bit)) {
-     bits = last_bit;
-     v = y[last];
-     return true;
-   }
    // Original GJK calls the backup procedure at this point.
! 
  #ifdef USE_BACKUP_PROCEDURE
! 
    Scalar min_dist2 = SOLID_INFINITY;
!   for (int s = all_bits; s; --s) {
!     if ((s & all_bits) == s) {
!       if (proper(s)) {
! 	Vector u;
!  	compute_vector(s, u);
! 	Scalar dist2 = u.length2();
! 	if (dist2 < min_dist2) {
! 	  min_dist2 = dist2;
! 	  bits = s;
! 	  v = u;
  	}
-       }
      }
!   }
! 
! #endif 
! 
    return false;
  }
--- 176,224 ----
  #endif
  
! inline bool closest(Vector& v) 
! {
    compute_det();
!   for (int s = bits; s; --s) 
!     {
!       if ((s & bits) == s) 
! 	{
! 	  if (valid(s|last_bit)) 
! 	    {
! 	      bits = s|last_bit;
! 	      compute_vector(bits, v);
! 	      return true;
! 	    }
! 	}
!     }
!   if (valid(last_bit)) 
!     {
!       bits = last_bit;
!       v = y[last];
!       return true;
      }
    // Original GJK calls the backup procedure at this point.
!   
  #ifdef USE_BACKUP_PROCEDURE
!   
    Scalar min_dist2 = SOLID_INFINITY;
!   for (int s = all_bits; s; --s) 
!     {
!       if ((s & all_bits) == s) 
! 	{
! 	  if (proper(s)) 
! 	    {
! 	      Vector u;
! 	      compute_vector(s, u);
! 	      Scalar dist2 = u.length2();
! 	      if (dist2 < min_dist2) {
! 		min_dist2 = dist2;
! 		bits = s;
! 		v = u;
! 	      }
! 	    }
  	}
      }
!   
! #endif
    return false;
  }
***************
*** 237,241 ****
    \param b2w [IN]  Transformation Matrix for B
    \param v   [OUT] Separating axis
!   \note This is core of the GJK Algorithm
  */
  bool intersect(const Convex& a, 
--- 246,250 ----
    \param b2w [IN]  Transformation Matrix for B
    \param v   [OUT] Separating axis
!   \note This is the core of the GJK Algorithm
  */
  bool intersect(const Convex& a, 
***************
*** 245,248 ****
--- 254,258 ----
  	       Vector& v) 
  {
+   inflated_polyhedron.clear();
    Vector w;
  
***************
*** 253,287 ****
    num_iterations = 0;
  #endif
! 
!   do {
!     last = 0;
!     last_bit = 1;
!     while (bits & last_bit) 
!       { ++last; last_bit <<= 1; }
! 
!     w = a2w(a.support((-v) * a2w.getBasis())) - 
!       b2w(b.support(v * b2w.getBasis())); 
!     if (dot(v, w) > 0) return false;
!     if (degenerate(w)) 
!       {
  #ifdef STATISTICS
! 	++num_irregularities;
  #endif
! 	return false;
!       }
!     y[last] = w;
!     all_bits = bits|last_bit;
  #ifdef STATISTICS
!     ++num_iterations;
  #endif
!     if (!closest(v)) 
!       {
  #ifdef STATISTICS
! 	++num_irregularities;
  #endif
! 	return false;
!       }
!   }
!   while (bits < 15 && !approxZero(v)); 
    return true;
  }
--- 263,341 ----
    num_iterations = 0;
  #endif
!   do 
!     {
!       last = 0;
!       last_bit = 1;
!       while (bits & last_bit) 
! 	{ ++last; last_bit <<= 1; }
!       
!       w = a2w(a.support((-v) * a2w.getBasis())) - 
! 	b2w(b.support(v * b2w.getBasis())); 
!       if (dot(v, w) > 0) return false;
!       if (degenerate(w)) 
! 	{
  #ifdef STATISTICS
! 	  ++num_irregularities;
  #endif
! 	  return false;
! 	}
!       y[last] = w;
!       all_bits = bits|last_bit;
  #ifdef STATISTICS
!       ++num_iterations;
  #endif
!       if (!closest(v)) 
! 	{
  #ifdef STATISTICS
! 	  ++num_irregularities;
  #endif
! 	  return false;
! 	}
!     }
!   while (bits < 15 && !approxZero(v));
!   switch(last)
!     {
!     case 0:
!       /* 
! 	 Simplex is a point this should not happen,
! 	 maybe if the 2 objects are duplicates and
! 	 concentric, for now, just report.
!       */
!       fprintf(stdout,"Panic: Simplex is a Point!\n");
!       break;
!     case 1:
!       // The Simplex is line, return the point closer to the origin
!       if(y[0].length2()<y[1].length2())
! 	{
! 	  v=y[0];
! 	}
!       else
! 	{
! 	  v=y[1];	  
! 	}
!       break;
!     case 2:
!       // The simplex is a triangle, add support points in the normal
!       // of the triangle direction and the inverse of the normal
!       v.normal(y[0],y[1],y[2]);
!       w = a2w(a.support((-v) * a2w.getBasis())) - 
! 	b2w(b.support(v * b2w.getBasis())); 
!       inflated_polyhedron.push_back(w);
!       v*=-1;
!       w = a2w(a.support((-v) * a2w.getBasis())) - 
! 	b2w(b.support(v * b2w.getBasis())); 
!       inflated_polyhedron.push_back(w);
!       // no break here since we go thru the same process as if this was
!       // a tetrahedron.
!     case 3:
!       // The simplex is a tetrahedron, just what we need!
!       for(int i=0;i<=last;++i)
! 	{
! 	  inflated_polyhedron.push_back(y[i]);
! 	}
!       // ???????
!       // Profit! :)
!       break;
!     }
    return true;
  }
***************
*** 470,473 ****
--- 524,531 ----
  }
  
+ /*! \brief returns the shortest penetration depth for the last test */
+ void shortest_penetration_depth(Vector& pd)
+ {
+ }
  
  

Index: Convex.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Convex.h	11 May 2005 23:31:04 -0000	1.3
--- Convex.h	6 Jul 2005 23:40:57 -0000	1.4
***************
*** 71,73 ****
--- 71,75 ----
  		    Point&, Point&);
  
+ void shortest_penetration_depth(Vector& pd);
+ 
  #endif

[Freesolid-cvs] freesolid/include/SOLID solid.h,1.6,1.7

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/include/SOLID
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2746/include/SOLID

Modified Files:
	solid.h 
Log Message:
Just formating changes

Index: solid.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/include/SOLID/solid.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** solid.h	11 May 2005 23:31:04 -0000	1.6
--- solid.h	4 Jul 2005 23:35:04 -0000	1.7
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  

[Freesolid-cvs] freesolid/libsolid AlgoTable.h,1.1.1.1,1.2 BBox.h,1.4,1.5 C-api.cpp,1.9,1.10 Convex.cpp,1.5,1.6 Ellipsoid.cpp,1.1,1.2 Encounter.h,1.1.1.1,1.2 IndexArray.h,1.1.1.1,1.2 Object.cpp,1.7,1.8 Object.h,1.3,1.4 RespTable.cpp,1.1.1.1,1.2 RespTable.h,1.1.1.1,1.2 Response.cpp,1.1.1.1,1.2 Response.h,1.1.1.1,1.2 Transform.cpp,1.2,1.3

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2746/libsolid

Modified Files:
	AlgoTable.h BBox.h C-api.cpp Convex.cpp Ellipsoid.cpp 
	Encounter.h IndexArray.h Object.cpp Object.h RespTable.cpp 
	RespTable.h Response.cpp Response.h Transform.cpp 
Log Message:
Just formating changes

Index: Transform.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Transform.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Transform.cpp	21 Apr 2005 23:20:55 -0000	1.2
--- Transform.cpp	4 Jul 2005 23:35:05 -0000	1.3
***************
*** 27,31 ****
  #include "Transform.h"
  
! void Transform::setValue(const float m[16]) {
    basis.setValue(m);
    origin.setValue(&m[12]);
--- 27,32 ----
  #include "Transform.h"
  
! void Transform::setValue(const float m[16]) 
! {
    basis.setValue(m);
    origin.setValue(&m[12]);
***************
*** 41,45 ****
  */
  
! Transform& Transform::operator*=(const Transform& t) {
    origin += basis * t.origin;
    basis *= t.basis;
--- 42,47 ----
  */
  
! Transform& Transform::operator*=(const Transform& t) 
! {
    origin += basis * t.origin;
    basis *= t.basis;
***************
*** 48,67 ****
  }
  
! void Transform::translate(const Vector& v) { 
    origin += basis * v; 
    type |= TRANSLATION;
  }
  
! void Transform::rotate(const Quaternion& q) { 
    basis *= Matrix(q); 
    type |= ROTATION; 
  }
  
! void Transform::scale(Scalar x, Scalar y, Scalar z) { 
    basis *= Matrix(x, y, z);  
    type |= SCALING;
  }
  
! void Transform::setIdentity() {
    basis.setIdentity();
    origin.setValue(0, 0, 0);
--- 50,73 ----
  }
  
! void Transform::translate(const Vector& v) 
! {
    origin += basis * v; 
    type |= TRANSLATION;
  }
  
! void Transform::rotate(const Quaternion& q) 
! {
    basis *= Matrix(q); 
    type |= ROTATION; 
  }
  
! void Transform::scale(Scalar x, Scalar y, Scalar z) 
! {
    basis *= Matrix(x, y, z);  
    type |= SCALING;
  }
  
! void Transform::setIdentity() 
! {
    basis.setIdentity();
    origin.setValue(0, 0, 0);
***************
*** 69,73 ****
  }
  
! void Transform::invert(const Transform& t) {
    basis = t.type & SCALING ? inverse(t.basis) : transpose(t.basis);
    origin.setValue(-dot(basis[X], t.origin), 
--- 75,80 ----
  }
  
! void Transform::invert(const Transform& t) 
! {
    basis = t.type & SCALING ? inverse(t.basis) : transpose(t.basis);
    origin.setValue(-dot(basis[X], t.origin), 
***************
*** 77,81 ****
  }
  
! void Transform::mult(const Transform& t1, const Transform& t2) {
    basis = t1.basis * t2.basis;
    origin = t1(t2.origin);
--- 84,89 ----
  }
  
! void Transform::mult(const Transform& t1, const Transform& t2) 
! {
    basis = t1.basis * t2.basis;
    origin = t1(t2.origin);
***************
*** 83,97 ****
  }
  
! void Transform::multInverseLeft(const Transform& t1, const Transform& t2) {
    Vector v = t2.origin - t1.origin;
!   if (t1.type & SCALING) {
!     Matrix inv = inverse(t1.basis);
!     basis = inv * t2.basis;
!     origin = inv * v;
!   }
!   else {
!     basis = multTransposeLeft(t1.basis, t2.basis);
!     origin = v * t1.basis;
!   }
    type = t1.type | t2.type;
  }
--- 91,108 ----
  }
  
! void Transform::multInverseLeft(const Transform& t1, const Transform& t2) 
! {
    Vector v = t2.origin - t1.origin;
!   if (t1.type & SCALING) 
!     {
!       Matrix inv = inverse(t1.basis);
!       basis = inv * t2.basis;
!       origin = inv * v;
!     }
!   else 
!     {
!       basis = multTransposeLeft(t1.basis, t2.basis);
!       origin = v * t1.basis;
!     }
    type = t1.type | t2.type;
  }

Index: Encounter.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Encounter.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** Encounter.h	21 Oct 2002 21:53:14 -0000	1.1.1.1
--- Encounter.h	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 33,54 ****
  typedef const Object *ObjectPtr;
  
! class Encounter {
! public:
    ObjectPtr obj1;
    ObjectPtr obj2;
!   Vector sep_axis;
!   
!   Encounter(ObjectPtr o1, ObjectPtr o2) {
!     if (o2->shapePtr->getType() < o1->shapePtr->getType() ||
! 	(o2->shapePtr->getType() == o1->shapePtr->getType() && o2 < o1)) {
!       obj1 = o2;
!       obj2 = o1;
!     }
!     else {
!       obj1 = o1;
!       obj2 = o2;
      }
-     sep_axis.setValue(0,0,0);
-   }
  };
  
--- 33,58 ----
  typedef const Object *ObjectPtr;
  
! class Encounter 
! {
!  public:
    ObjectPtr obj1;
    ObjectPtr obj2;
!   Vector sep_axis;  
!   Encounter(ObjectPtr o1, ObjectPtr o2) 
!     {
!       if((o2->shapePtr->getType() < o1->shapePtr->getType())  ||
! 	 (o2->shapePtr->getType() == o1->shapePtr->getType()) && 
! 	 (o2 < o1)) 
! 	{
! 	  obj1 = o2;
! 	  obj2 = o1;
! 	}
!       else 
! 	{
! 	  obj1 = o1;
! 	  obj2 = o2;
! 	}
!       sep_axis.setValue(0,0,0);
      }
  };
  

Index: RespTable.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/RespTable.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** RespTable.h	21 Oct 2002 21:53:15 -0000	1.1.1.1
--- RespTable.h	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 37,67 ****
  typedef map<ObjPair, Response, less<ObjPair> > PairList;
  
! inline ObjPair make_ObjPair(DtObjectRef x, DtObjectRef y) {
    return y < x ? make_pair(y, x) : make_pair(x, y);
  }
  
! class RespTable {
! public:
    const Response& find(DtObjectRef obj1, DtObjectRef obj2) const;
    void cleanObject(DtObjectRef obj);
- 
-   void setDefault(const Response& resp) { defaultResp = resp; }
    
!   void setSingle(DtObjectRef obj, const Response& resp) { 
      singleList[obj] = resp; 
    }
  
!   void resetSingle(DtObjectRef obj) { singleList.erase(obj); }
    
!   void setPair(DtObjectRef obj1, DtObjectRef obj2, const Response& resp) {
      pairList[make_ObjPair(obj1, obj2)] = resp;
    }
  
!   void resetPair(DtObjectRef obj1, DtObjectRef obj2) { 
      pairList.erase(make_ObjPair(obj1, obj2)); 
    }
  
-     
-   
  private:
    Response defaultResp;
--- 37,72 ----
  typedef map<ObjPair, Response, less<ObjPair> > PairList;
  
! inline ObjPair make_ObjPair(DtObjectRef x, DtObjectRef y) 
! {
    return y < x ? make_pair(y, x) : make_pair(x, y);
  }
  
! class RespTable 
! {
!  public:
    const Response& find(DtObjectRef obj1, DtObjectRef obj2) const;
    void cleanObject(DtObjectRef obj);
    
!   void setDefault(const Response& resp) 
!   { defaultResp = resp; }
!   
!   void setSingle(DtObjectRef obj, const Response& resp) 
!   { 
      singleList[obj] = resp; 
    }
  
!   void resetSingle(DtObjectRef obj) 
!   { singleList.erase(obj); }
    
!   void setPair(DtObjectRef obj1, DtObjectRef obj2, const Response& resp) 
!   {
      pairList[make_ObjPair(obj1, obj2)] = resp;
    }
  
!   void resetPair(DtObjectRef obj1, DtObjectRef obj2) 
!   {
      pairList.erase(make_ObjPair(obj1, obj2)); 
    }
  
  private:
    Response defaultResp;

Index: IndexArray.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/IndexArray.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** IndexArray.h	21 Oct 2002 21:53:10 -0000	1.1.1.1
--- IndexArray.h	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** C-api.cpp	11 May 2005 23:31:04 -0000	1.9
--- C-api.cpp	4 Jul 2005 23:35:05 -0000	1.10
***************
*** 322,327 ****
  void dtSetTolerance(DT_Scalar tol) { rel_error = tol; }
  
! /*! \brief tests 2 objects for collision
!   \param e data about the 2 colliding objects 
  */
  bool object_test(Encounter& e) 
--- 322,328 ----
  void dtSetTolerance(DT_Scalar tol) { rel_error = tol; }
  
! /*! 
!   \brief tests 2 objects for collision
!   \param e the Enconter data for the 2 colliding objects 
  */
  bool object_test(Encounter& e) 
***************
*** 378,383 ****
  	  (*j).second->do_broadphase();
  	}
!       for (ProxList::iterator i = proxList.begin(); i != proxList.end(); ++i) 
! 	if (object_test((Encounter &)*i)) ++cnt;
      }
    else 
--- 379,389 ----
  	  (*j).second->do_broadphase();
  	}
!       for (ProxList::iterator i = proxList.begin(); i != proxList.end(); ++i)
! 	{
! 	  if (object_test((Encounter &)*i))
! 	    { 
! 	      ++cnt; 
! 	    }
! 	}
      }
    else 
***************
*** 386,401 ****
        for (ObjectList::const_iterator j = objectList.begin();
  	   j != objectList.end(); ++j)
! 	for (ObjectList::const_iterator i = objectList.begin();
! 	     i != j; ++i) 
! 	  {
! 	    Encounter e((*i).second, (*j).second);
! 	    c++;
! 	    if (object_test(e)) ++cnt;
! 	  } 
      }
    return cnt;
  }
  
! void dtTestObjects(DtObjectRef object1, DtObjectRef object2) {
    // Programmed by Alok Menghrajani.
    // alo...@ep...
--- 392,410 ----
        for (ObjectList::const_iterator j = objectList.begin();
  	   j != objectList.end(); ++j)
! 	{
! 	  for (ObjectList::const_iterator i = objectList.begin();
! 	       i != j; ++i) 
! 	    {
! 	      Encounter e((*i).second, (*j).second);
! 	      c++;
! 	      if (object_test(e)) ++cnt;
! 	    } 
! 	}
      }
    return cnt;
  }
  
! void dtTestObjects(DtObjectRef object1, DtObjectRef object2) 
! {
    // Programmed by Alok Menghrajani.
    // alo...@ep...

Index: AlgoTable.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/AlgoTable.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** AlgoTable.h	21 Oct 2002 21:53:12 -0000	1.1.1.1
--- AlgoTable.h	4 Jul 2005 23:35:04 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 30,35 ****
--- 30,37 ----
  #include "Shape.h"
  
+ /*! The number of different convex shapes supported */
  const int NUM_TYPES = 8;
  
+ /*! Function Look up table class for one type of convex shape against another */
  template <class Function>
  class AlgoTable {

Index: Response.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Response.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** Response.h	21 Oct 2002 21:53:09 -0000	1.1.1.1
--- Response.h	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 32,36 ****
  #include <3D/Point.h>
  
! class Response {
  public:
    static DtCollData coll_data;
--- 32,37 ----
  #include <3D/Point.h>
  
! class Response 
! {
  public:
    static DtCollData coll_data;

Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Object.cpp	11 May 2005 23:31:04 -0000	1.7
--- Object.cpp	4 Jul 2005 23:35:05 -0000	1.8
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 85,89 ****
  bool intersectConvexConvex(const Shape& a, const Shape& b, 
  			   const Transform& a2w, const Transform& b2w,
! 			   Vector& v) {
    return intersect((const Convex&)a, (const Convex&)b, a2w, b2w, v);
  }
--- 85,90 ----
  bool intersectConvexConvex(const Shape& a, const Shape& b, 
  			   const Transform& a2w, const Transform& b2w,
! 			   Vector& v) 
! {
    return intersect((const Convex&)a, (const Convex&)b, a2w, b2w, v);
  }
***************
*** 101,105 ****
  }
  
! IntersectTable *intersectInitialize() {
    static IntersectTable p;
    p.addEntry(CONVEX, CONVEX, intersectConvexConvex);
--- 102,107 ----
  }
  
! IntersectTable *intersectInitialize()
! {
    static IntersectTable p;
    p.addEntry(CONVEX, CONVEX, intersectConvexConvex);
***************
*** 109,113 ****
  }
  
! bool intersect(const Object& a, const Object& b, Vector& v) {
    static IntersectTable *intersectTable = intersectInitialize();
    Intersect i = intersectTable->lookup(a.shapePtr->getType(),b.shapePtr->getType());
--- 111,116 ----
  }
  
! bool intersect(const Object& a, const Object& b, Vector& v) 
! {
    static IntersectTable *intersectTable = intersectInitialize();
    Intersect i = intersectTable->lookup(a.shapePtr->getType(),b.shapePtr->getType());

Index: RespTable.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/RespTable.cpp,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** RespTable.cpp	21 Oct 2002 21:53:16 -0000	1.1.1.1
--- RespTable.cpp	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 31,35 ****
  
  
! const Response& RespTable::find(DtObjectRef obj1, DtObjectRef obj2) const {
    PairList::const_iterator i = pairList.find(make_ObjPair(obj1, obj2));
    if (i != pairList.end()) return (*i).second;
--- 31,36 ----
  
  
! const Response& RespTable::find(DtObjectRef obj1, DtObjectRef obj2) const 
! {
    PairList::const_iterator i = pairList.find(make_ObjPair(obj1, obj2));
    if (i != pairList.end()) return (*i).second;
***************
*** 44,62 ****
  PartnerList partnerList;
  
! void RespTable::cleanObject(DtObjectRef obj) {
    resetSingle(obj);
    for (PairList::const_iterator i = pairList.begin(); 
!        i != pairList.end(); ++i) { 
!     if ((*i).first.first == obj) { 
!       partnerList.push_back((*i).first.second);
      }
!     else if ((*i).first.second == obj) {
!       partnerList.push_back((*i).first.first);
      }
-   }
-   while (!partnerList.empty()) {
-     resetPair(obj, partnerList.back());
-     partnerList.pop_back();
-   }
  }
  
--- 45,68 ----
  PartnerList partnerList;
  
! void RespTable::cleanObject(DtObjectRef obj) 
! {
    resetSingle(obj);
    for (PairList::const_iterator i = pairList.begin(); 
!        i != pairList.end(); ++i) 
!     {
!       if ((*i).first.first == obj) 
! 	{ 
! 	  partnerList.push_back((*i).first.second);
! 	}
!       else if ((*i).first.second == obj) 
! 	{
! 	  partnerList.push_back((*i).first.first);
! 	}
      }
!   while (!partnerList.empty()) 
!     {
!       resetPair(obj, partnerList.back());
!       partnerList.pop_back();
      }
  }
  

Index: Ellipsoid.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Ellipsoid.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Ellipsoid.cpp	9 May 2005 04:10:18 -0000	1.1
--- Ellipsoid.cpp	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 40,44 ****
      {
        Scalar r = 1/s;
!       return Point((vt[X] * r)*radii[X], (vt[Y] * r)*radii[Y], (vt[Z] * r)*radii[Z]);
      }
    else return Point(0, 0, 0);
--- 40,46 ----
      {
        Scalar r = 1/s;
!       return Point((vt[X] * r)*radii[X], 
! 		   (vt[Y] * r)*radii[Y], 
! 		   (vt[Z] * r)*radii[Z]);
      }
    else return Point(0, 0, 0);

Index: BBox.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/BBox.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** BBox.h	10 May 2005 23:26:52 -0000	1.4
--- BBox.h	4 Jul 2005 23:35:04 -0000	1.5
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 89,95 ****
  inline bool intersect(const BBox& a,const BBox& b) 
  {
! 	return fabs(a.center[X] - b.center[X]) <= a.extent[X] + b.extent[X] &&
! 		fabs(a.center[Y] - b.center[Y]) <= a.extent[Y] + b.extent[Y] &&
! 		fabs(a.center[Z] - b.center[Z]) <= a.extent[Z] + b.extent[Z];
  }
  
--- 89,95 ----
  inline bool intersect(const BBox& a,const BBox& b) 
  {
!   return fabs(a.center[X] - b.center[X]) <= a.extent[X] + b.extent[X] &&
!     fabs(a.center[Y] - b.center[Y]) <= a.extent[Y] + b.extent[Y] &&
!     fabs(a.center[Z] - b.center[Z]) <= a.extent[Z] + b.extent[Z];
  }
  

Index: Object.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Object.h	11 May 2005 23:31:04 -0000	1.3
--- Object.h	4 Jul 2005 23:35:05 -0000	1.4
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 35,101 ****
  #include "Shape.h"
  
! class Object {
! public:
! 	Object(DtObjectRef obj, ShapePtr shape, BP_SceneHandle broadphase); 
! 	~Object();
! 
! 	void do_broadphase();
! 	void proceed();
! 	
! 	void translate(const Vector& v) { 
! 		curr.translate(v); 
! 		m_dirty = true; 
! 	}
! 	void rotate(const Quaternion& q) { 
! 		curr.rotate(q); 
! 		m_dirty = true;
! 	}
! 	void scale(Scalar x, Scalar y, Scalar z) { 
! 		curr.scale(x, y, z); 
! 		m_dirty = true;
! 	}
! 	
! 	void setIdentity() { 
! 		curr.setIdentity(); 
! 		m_dirty = true;
! 	}
  	
! 	void setMatrix(const float v[16]) { 
! 		curr.setValue(v); 
! 		m_dirty = true;
! 	}
! // Saved for later
! /*	void setMatrix(const double v[16]) { 
! 		curr.setValue(v); 
! 		m_dirty = true;
! 	}
! */	
! 	void multMatrix(const float v[16]) { 
! 		curr *= Transform(v);
! 		m_dirty = true;
! 	}
  // Saved for later
! /*	void multMatrix(const double v[16]) { 
! 		curr *= Transform(v);
! 		m_dirty = true;
! 	}
  */	
! 	Transform curr;
! 	// prev seems to NEVER get set or updated, yet it does get used.
! 	Transform prev;
! 	DtObjectRef ref;
! 	ShapePtr shapePtr;
! 
! 	//For broadphase
! 	mutable BBox bbox;
! 	mutable bool m_dirty;
! 	BP_SceneHandle m_broadphase;
! 	BP_ProxyHandle m_proxy;
  };
  
  bool intersect(const Object&, const Object&, Vector& v);
  bool common_point(const Object&, const Object&, Vector&, Point&, Point&);
! bool prev_closest_points(const Object&, const Object&, 
! 			 Vector&, Point&, Point&);
  #endif
  
--- 35,109 ----
  #include "Shape.h"
  
! class Object 
! {
!  public:
!   Object(DtObjectRef obj, ShapePtr shape, BP_SceneHandle broadphase); 
!   ~Object();
!   
!   void do_broadphase();
!   void proceed();
!   
!   void translate(const Vector& v) 
!   {
!     curr.translate(v); 
!     m_dirty = true; 
!   }
!   void rotate(const Quaternion& q) 
!   {
!     curr.rotate(q); 
!     m_dirty = true;
!   }
!   void scale(Scalar x, Scalar y, Scalar z)
!   { 
!     curr.scale(x, y, z); 
!     m_dirty = true;
!   }
!   
!   void setIdentity()
!   {
!     curr.setIdentity(); 
!     m_dirty = true;
!   }
  	
!   void setMatrix(const float v[16]) 
!   { 
!     curr.setValue(v); 
!     m_dirty = true;
!   }
!   // Saved for later
!   /*	void setMatrix(const double v[16]) { 
!     curr.setValue(v); 
!     m_dirty = true;
!     }
!   */	
!   void multMatrix(const float v[16])
!   {
!     curr *= Transform(v);
!     m_dirty = true;
!   }
  // Saved for later
! /*	
!   void multMatrix(const double v[16]) 
!   {
!   curr *= Transform(v);
!   m_dirty = true;
!   }
  */	
!   Transform curr;
!   // prev seems to NEVER get set or updated, yet it does get used.
!   Transform prev;
!   DtObjectRef ref;
!   ShapePtr shapePtr;
!   
!   //For broadphase
!   mutable BBox bbox;
!   mutable bool m_dirty;
!   BP_SceneHandle m_broadphase;
!   BP_ProxyHandle m_proxy;
  };
  
  bool intersect(const Object&, const Object&, Vector& v);
  bool common_point(const Object&, const Object&, Vector&, Point&, Point&);
! bool prev_closest_points(const Object&, const Object&,Vector&, Point&, Point&);
  #endif
  

Index: Response.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Response.cpp,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** Response.cpp	21 Oct 2002 21:53:10 -0000	1.1.1.1
--- Response.cpp	4 Jul 2005 23:35:05 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 31,35 ****
  void Response::operator()(DtObjectRef a, DtObjectRef b, 
  			  const Point& pa, const Point& pb, 
! 			  const Vector& v) const {  
    coll_data.point1[X] = pa[X];
    coll_data.point1[Y] = pa[Y];
--- 31,36 ----
  void Response::operator()(DtObjectRef a, DtObjectRef b, 
  			  const Point& pa, const Point& pb, 
! 			  const Vector& v) const 
! {  
    coll_data.point1[X] = pa[X];
    coll_data.point1[Y] = pa[Y];
***************
*** 44,48 ****
  }
  
! void Response::operator()(DtObjectRef a, DtObjectRef b) const {  
    response(client_data, a, b, 0); 
  }
--- 45,50 ----
  }
  
! void Response::operator()(DtObjectRef a, DtObjectRef b) const 
! {
    response(client_data, a, b, 0); 
  }

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Convex.cpp	11 May 2005 23:31:04 -0000	1.5
--- Convex.cpp	4 Jul 2005 23:35:05 -0000	1.6
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 36,40 ****
  */
  
! BBox Convex::bbox(const Transform& t) const {
    Point mini(t.getOrigin()[X] + 
  	     dot(t.getBasis()[X], support(-t.getBasis()[X])) - abs_error,
--- 36,41 ----
  */
  
! BBox Convex::bbox(const Transform& t) const 
! {
    Point mini(t.getOrigin()[X] + 
  	     dot(t.getBasis()[X], support(-t.getBasis()[X])) - abs_error,
***************
*** 52,57 ****
  }
  
! static Point p[4];    // support points of object A in local coordinates 
! static Point q[4];    // support points of object B in local coordinates 
  static Vector y[4];   // support points of A - B in world coordinates
  
--- 53,58 ----
  }
  
! static Point  p[4];   // support points of object A in local coordinates 
! static Point  q[4];   // support points of object B in local coordinates 
  static Vector y[4];   // support points of A - B in world coordinates
  
***************
*** 68,73 ****
  #endif
  
- 
- 
  void compute_det() 
  {
--- 69,72 ----
***************
*** 77,114 ****
      if (bits & bit) dp[i][last] = dp[last][i] = dot(y[i], y[last]);
    dp[last][last] = dot(y[last], y[last]);
! 
    det[last_bit][last] = 1;
!   for (int j = 0, sj = 1; j < 4; ++j, sj <<= 1) {
!     if (bits & sj) {
!       int s2 = sj|last_bit;
!       det[s2][j] = dp[last][last] - dp[last][j]; 
!       det[s2][last] = dp[j][j] - dp[j][last];
!       for (int k = 0, sk = 1; k < j; ++k, sk <<= 1) {
! 	if (bits & sk) {
! 	  int s3 = sk|s2;
! 	  det[s3][k] = det[s2][j] * (dp[j][j] - dp[j][k]) + 
! 	               det[s2][last] * (dp[last][j] - dp[last][k]);
! 	  det[s3][j] = det[sk|last_bit][k] * (dp[k][k] - dp[k][j]) + 
! 	               det[sk|last_bit][last] * (dp[last][k] - dp[last][j]);
! 	  det[s3][last] = det[sk|sj][k] * (dp[k][k] - dp[k][last]) + 
! 	                  det[sk|sj][j] * (dp[j][k] - dp[j][last]);
  	}
        }
      }
!   }
!   if (all_bits == 15) {
!     det[15][0] = det[14][1] * (dp[1][1] - dp[1][0]) + 
!                  det[14][2] * (dp[2][1] - dp[2][0]) + 
!                  det[14][3] * (dp[3][1] - dp[3][0]);
!     det[15][1] = det[13][0] * (dp[0][0] - dp[0][1]) + 
!                  det[13][2] * (dp[2][0] - dp[2][1]) + 
!                  det[13][3] * (dp[3][0] - dp[3][1]);
!     det[15][2] = det[11][0] * (dp[0][0] - dp[0][2]) + 
!                  det[11][1] * (dp[1][0] - dp[1][2]) +  
!                  det[11][3] * (dp[3][0] - dp[3][2]);
!     det[15][3] = det[7][0] * (dp[0][0] - dp[0][3]) + 
!                  det[7][1] * (dp[1][0] - dp[1][3]) + 
!                  det[7][2] * (dp[2][0] - dp[2][3]);
!   }
  }
  
--- 76,115 ----
      if (bits & bit) dp[i][last] = dp[last][i] = dot(y[i], y[last]);
    dp[last][last] = dot(y[last], y[last]);
!   
    det[last_bit][last] = 1;
!   for (int j = 0, sj = 1; j < 4; ++j, sj <<= 1) 
!     {
!       if (bits & sj) {
! 	int s2 = sj|last_bit;
! 	det[s2][j] = dp[last][last] - dp[last][j]; 
! 	det[s2][last] = dp[j][j] - dp[j][last];
! 	for (int k = 0, sk = 1; k < j; ++k, sk <<= 1) {
! 	  if (bits & sk) {
! 	    int s3 = sk|s2;
! 	    det[s3][k] = det[s2][j] * (dp[j][j] - dp[j][k]) + 
! 	      det[s2][last] * (dp[last][j] - dp[last][k]);
! 	    det[s3][j] = det[sk|last_bit][k] * (dp[k][k] - dp[k][j]) + 
! 	      det[sk|last_bit][last] * (dp[last][k] - dp[last][j]);
! 	    det[s3][last] = det[sk|sj][k] * (dp[k][k] - dp[k][last]) + 
! 	      det[sk|sj][j] * (dp[j][k] - dp[j][last]);
! 	  }
  	}
        }
      }
!   if (all_bits == 15) 
!     {
!       det[15][0] = det[14][1] * (dp[1][1] - dp[1][0]) + 
! 	           det[14][2] * (dp[2][1] - dp[2][0]) + 
! 	           det[14][3] * (dp[3][1] - dp[3][0]);
!       det[15][1] = det[13][0] * (dp[0][0] - dp[0][1]) + 
! 	           det[13][2] * (dp[2][0] - dp[2][1]) + 
! 	           det[13][3] * (dp[3][0] - dp[3][1]);
!       det[15][2] = det[11][0] * (dp[0][0] - dp[0][2]) + 
! 	           det[11][1] * (dp[1][0] - dp[1][2]) +  
! 	           det[11][3] * (dp[3][0] - dp[3][2]);
!       det[15][3] = det[7 ][0] * (dp[0][0] - dp[0][3]) + 
! 	           det[7 ][1] * (dp[1][0] - dp[1][3]) + 
! 	           det[7 ][2] * (dp[2][0] - dp[2][3]);
!     }
  }
  
***************
*** 116,141 ****
  {  
    for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!   {
!     if (all_bits & bit) 
  	{
!       if (s & bit) 
! 	  { 
! 		  if (det[s][i] <= 0) return false; 
! 	  }
!       else if (det[s|bit][i] > 0) return false;
      }
-   }
    return true;
  }
  
! inline void compute_vector(int bits1, Vector& v) {
    Scalar sum = 0;
    v.setValue(0, 0, 0);
!   for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) {
!     if (bits1 & bit) {
!       sum += det[bits1][i];
!       v += y[i] * det[bits1][i];
      }
-   }
    v *= 1 / sum;
  }
--- 117,144 ----
  {  
    for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!     {
!       if (all_bits & bit) 
  	{
! 	  if (s & bit) 
! 	    { 
! 	      if (det[s][i] <= 0) return false; 
! 	    }
! 	  else if (det[s|bit][i] > 0) return false;
! 	}
      }
    return true;
  }
  
! inline void compute_vector(int bits1, Vector& v) 
! {
    Scalar sum = 0;
    v.setValue(0, 0, 0);
!   for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!     {
!       if (bits1 & bit) {
! 	sum += det[bits1][i];
! 	v += y[i] * det[bits1][i];
!       }
      }
    v *= 1 / sum;
  }
***************
*** 147,159 ****
    p2.setValue(0, 0, 0);
    for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!   {
!     if (bits1 & bit) 
  	{
! 		// if the points are the same they cancel each other
!       sum += det[bits1][i];
!       p1 += p[i] * det[bits1][i];
!       p2 += q[i] * det[bits1][i];
      }
-   }
    Scalar s = 1 / sum;
    p1 *= s;
--- 150,162 ----
    p2.setValue(0, 0, 0);
    for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!     {
!       if (bits1 & bit) 
  	{
! 	  // if the points are the same they cancel each other
! 	  sum += det[bits1][i];
! 	  p1 += p[i] * det[bits1][i];
! 	  p2 += q[i] * det[bits1][i];
! 	}
      }
    Scalar s = 1 / sum;
    p1 *= s;
***************
*** 212,227 ****
  }
  
! // The next function is used for detecting degenerate cases that cause 
! // termination problems due to rounding errors.  
     
! inline bool degenerate(const Vector& w) {
    for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!     if ((all_bits & bit) && y[i] == w)  return true;
    return false;
  }
  
! bool intersect(const Convex& a, const Convex& b,
! 	       const Transform& a2w, const Transform& b2w,
! 	       Vector& v) {
    Vector w;
  
--- 215,248 ----
  }
  
! /*
!   The next function is used for detecting degenerate cases that cause 
!   termination problems due to rounding errors.
!   It checks for duplicate points
! */
     
! inline bool degenerate(const Vector& w) 
! {
    for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!     {
!       if((all_bits & bit) && y[i] == w)  return true;
!     }
    return false;
  }
  
! /*! 
!   \brief Checks whether or not convex shapes A and B intersect
!   \param a   [IN]  Convex Shape A
!   \param b   [IN]  Convex Shape B
!   \param a2w [IN]  Transformation Matrix for A
!   \param b2w [IN]  Transformation Matrix for B
!   \param v   [OUT] Separating axis
!   \note This is core of the GJK Algorithm
! */
! bool intersect(const Convex& a, 
! 	       const Convex& b,
! 	       const Transform& a2w, 
! 	       const Transform& b2w,
! 	       Vector& v) 
! {
    Vector w;
  
***************
*** 236,249 ****
      last = 0;
      last_bit = 1;
!     while (bits & last_bit) { ++last; last_bit <<= 1; }
      w = a2w(a.support((-v) * a2w.getBasis())) - 
        b2w(b.support(v * b2w.getBasis())); 
      if (dot(v, w) > 0) return false;
!     if (degenerate(w)) {
  #ifdef STATISTICS
!       ++num_irregularities;
  #endif
!       return false;
!     }
      y[last] = w;
      all_bits = bits|last_bit;
--- 257,273 ----
      last = 0;
      last_bit = 1;
!     while (bits & last_bit) 
!       { ++last; last_bit <<= 1; }
! 
      w = a2w(a.support((-v) * a2w.getBasis())) - 
        b2w(b.support(v * b2w.getBasis())); 
      if (dot(v, w) > 0) return false;
!     if (degenerate(w)) 
!       {
  #ifdef STATISTICS
! 	++num_irregularities;
  #endif
! 	return false;
!       }
      y[last] = w;
      all_bits = bits|last_bit;
***************
*** 251,261 ****
      ++num_iterations;
  #endif
!     if (!closest(v)) {
  #ifdef STATISTICS
!       ++num_irregularities;
  #endif
!       return false;
!     }
!   } 
    while (bits < 15 && !approxZero(v)); 
    return true;
--- 275,286 ----
      ++num_iterations;
  #endif
!     if (!closest(v)) 
!       {
  #ifdef STATISTICS
! 	++num_irregularities;
  #endif
! 	return false;
!       }
!   }
    while (bits < 15 && !approxZero(v)); 
    return true;

[Freesolid-cvs] freesolid/libsolid BBoxTree.cpp,1.5,1.6 C-api.cpp,1.8,1.9 Complex.cpp,1.3,1.4 Complex.h,1.2,1.3 Convex.cpp,1.4,1.5 Convex.h,1.2,1.3 Object.cpp,1.6,1.7 Object.h,1.2,1.3 Transform.h,1.2,1.3

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18467/libsolid

Modified Files:
	BBoxTree.cpp C-api.cpp Complex.cpp Complex.h Convex.cpp 
	Convex.h Object.cpp Object.h Transform.h 
Log Message:
Added calls to opbject proceed on Smart Collision check

Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** Object.cpp	10 May 2005 03:46:23 -0000	1.6
--- Object.cpp	11 May 2005 23:31:04 -0000	1.7
***************
*** 74,78 ****
  }
  
! void Object::proceed() {
    prev = curr;
  }
--- 74,79 ----
  }
  
! void Object::proceed() 
! {
    prev = curr;
  }
***************
*** 186,191 ****
  	{
  	  // If one (a) Shape is Complex
! 	  // The Error with dtCollData must be in find_prim or closest_points
! 	  fprintf(stdout,"Simplex vs Convex\n");
  	  if (!find_prim((const Complex&)*a.shapePtr, 
  			 (const Convex&)*b.shapePtr,  
--- 187,191 ----
  	{
  	  // If one (a) Shape is Complex
! 	  // Find the primitive to which the convex shape is colliding with
  	  if (!find_prim((const Complex&)*a.shapePtr, 
  			 (const Convex&)*b.shapePtr,  
***************
*** 193,196 ****
--- 193,197 ----
  	    return false;
  	  ((Complex *)a.shapePtr)->swapBase();
+ 	  // find the closest points between the primitive and the convex shape
  	  closest_points((const Convex&)*sa, 
  			 (const Convex&)*b.shapePtr, 

Index: Transform.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Transform.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Transform.h	21 Apr 2005 23:20:55 -0000	1.2
--- Transform.h	11 May 2005 23:31:04 -0000	1.3
***************
*** 38,45 ****
  //  Transform(const double m[16]) { setValue(m); }
   
!   Point operator()(const Point& p) const {
      return Point(dot(basis[X], p) + origin[X], 
! 		 dot(basis[Y], p) + origin[Y], 
! 		 dot(basis[Z], p) + origin[Z]);
    }
    
--- 38,50 ----
  //  Transform(const double m[16]) { setValue(m); }
   
! 	/*! \brief transforms a point
! 		\param p The point to transform
! 		\return The transformed point
! 	*/
!   Point operator()(const Point& p) const 
!   {
      return Point(dot(basis[X], p) + origin[X], 
! 		         dot(basis[Y], p) + origin[Y], 
! 		         dot(basis[Z], p) + origin[Z]);
    }
    
***************
*** 64,68 ****
  
  private:
!   enum { 
      IDENTITY = 0x00, 
      TRANSLATION = 0x01,
--- 69,74 ----
  
  private:
!   enum 
!   { 
      IDENTITY = 0x00, 
      TRANSLATION = 0x01,

Index: Complex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Complex.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Complex.cpp	10 May 2005 03:46:23 -0000	1.3
--- Complex.cpp	11 May 2005 23:31:04 -0000	1.4
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 33,37 ****
  BBoxInternal *free_node;
  
! Complex::~Complex() {
    if (count >= 2) delete [] root;
    for (int i = 0; i < count; ++i) delete leaves[i].poly;
--- 33,38 ----
  BBoxInternal *free_node;
  
! Complex::~Complex() 
! {
    if (count >= 2) delete [] root;
    for (int i = 0; i < count; ++i) delete leaves[i].poly;
***************
*** 50,54 ****
  }
  
! void Complex::changeBase(const void *ptr) {
    base = ptr;
    for (int i = 0; i < count; ++i) leaves[i].fitBBox();
--- 51,56 ----
  }
  
! void Complex::changeBase(const void *ptr) 
! {
    base = ptr;
    for (int i = 0; i < count; ++i) leaves[i].fitBBox();
***************
*** 56,60 ****
  }
  
! void Complex::finish(int n, const Polytope **p) {
    proceed();
    leaves = new BBoxLeaf[n];
--- 58,63 ----
  }
  
! void Complex::finish(int n, const Polytope **p) 
! {
    proceed();
    leaves = new BBoxLeaf[n];

Index: Complex.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Complex.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Complex.h	10 May 2005 23:26:52 -0000	1.2
--- Complex.h	11 May 2005 23:31:04 -0000	1.3
***************
*** 43,47 ****
  class Complex : public Shape {
  public:
!   Complex() {}
    ~Complex();
  
--- 43,55 ----
  class Complex : public Shape {
  public:
!   Complex() 
!   {
! 	  // Lets not asume the compiler sets these for us, 
! 	  // VC++ in debug mode doesn't, this may give us a bit of overhead
! 	  // when creating Complex shapes, but we won't be creating them as often
! 	  // as vectors
! 	  root = NULL;
! 	  leaves = NULL;
!   }
    ~Complex();
  

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** C-api.cpp	11 May 2005 14:18:59 -0000	1.8
--- C-api.cpp	11 May 2005 23:31:04 -0000	1.9
***************
*** 348,351 ****
--- 348,355 ----
  	  Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
  	  resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
+ 	  // Added these to see if there is any difference, 
+ 	  // and there is, but not quite what was expected, or is it?.
+ 	  ((Object *)e.obj1)->proceed();
+ 	  ((Object *)e.obj2)->proceed();
  	  return true; 
  	}
***************
*** 427,432 ****
      if (prev_closest_points(*obj1, *obj2, sep_axis, p1, p2)) 
        {
! 	Vector v = obj1->prev(p1) - obj2->prev(p2);
! 	resp(obj1->ref, obj2->ref, p1, p2, v);
        }
      break;
--- 431,436 ----
      if (prev_closest_points(*obj1, *obj2, sep_axis, p1, p2)) 
        {
! 		Vector v = obj1->prev(p1) - obj2->prev(p2);
! 		resp(obj1->ref, obj2->ref, p1, p2, v);
        }
      break;

Index: BBoxTree.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/BBoxTree.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** BBoxTree.cpp	11 May 2005 14:18:58 -0000	1.5
--- BBoxTree.cpp	11 May 2005 23:31:04 -0000	1.6
***************
*** 151,156 ****
  	       const Transform& b2a, Vector& v, ShapePtr& p) 
  {
-   // tree is invalid here, why on earth does GCC compiles proper code?
-   // am I missing something? I think it may be the runtime type checks
    if (!intersect(tree->bbox, bb)) return false;  
    if (tree->tag == BBoxNode::LEAF) 
--- 151,154 ----

Index: Object.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Object.h	21 Apr 2005 23:20:55 -0000	1.2
--- Object.h	11 May 2005 23:31:04 -0000	1.3
***************
*** 82,85 ****
--- 82,86 ----
  */	
  	Transform curr;
+ 	// prev seems to NEVER get set or updated, yet it does get used.
  	Transform prev;
  	DtObjectRef ref;

Index: Convex.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Convex.h	10 May 2005 23:26:52 -0000	1.2
--- Convex.h	11 May 2005 23:31:04 -0000	1.3
***************
*** 38,41 ****
--- 38,51 ----
  
    virtual ~Convex() {}
+   /*! \brief Returns the support point for the convex shape
+ 
+ 	The support point is the point that results from projecting a vector "v" 
+ 	onto the surface of the shape.
+ 	In order to add new predefined convex shapes to FreeSOLID one mush create a class
+ 	derived from Convex and implement it's support function as well as add the apropiate
+ 	functions in C-api .cpp and .h
+ 	\param v vector to project
+ 	\return the support point
+   */
    virtual Point support(const Vector& v) const = 0;
    virtual BBox bbox(const Transform& t) const;

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Convex.cpp	10 May 2005 03:45:11 -0000	1.4
--- Convex.cpp	11 May 2005 23:31:04 -0000	1.5
***************
*** 70,74 ****
  
  
! void compute_det() {
    static Scalar dp[4][4];
  
--- 70,75 ----
  
  
! void compute_det() 
! {
    static Scalar dp[4][4];
  
***************
*** 112,119 ****
  }
  
! inline bool valid(int s) {  
!   for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) {
!     if (all_bits & bit) {
!       if (s & bit) { if (det[s][i] <= 0) return false; }
        else if (det[s|bit][i] > 0) return false;
      }
--- 113,126 ----
  }
  
! inline bool valid(int s) 
! {  
!   for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!   {
!     if (all_bits & bit) 
! 	{
!       if (s & bit) 
! 	  { 
! 		  if (det[s][i] <= 0) return false; 
! 	  }
        else if (det[s|bit][i] > 0) return false;
      }
***************
*** 134,143 ****
  }
  
! inline void compute_points(int bits1, Point& p1, Point& p2) {
    Scalar sum = 0;
    p1.setValue(0, 0, 0);
    p2.setValue(0, 0, 0);
!   for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) {
!     if (bits1 & bit) {
        sum += det[bits1][i];
        p1 += p[i] * det[bits1][i];
--- 141,154 ----
  }
  
! inline void compute_points(int bits1, Point& p1, Point& p2) 
! {
    Scalar sum = 0;
    p1.setValue(0, 0, 0);
    p2.setValue(0, 0, 0);
!   for (int i = 0, bit = 1; i < 4; ++i, bit <<= 1) 
!   {
!     if (bits1 & bit) 
! 	{
! 		// if the points are the same they cancel each other
        sum += det[bits1][i];
        p1 += p[i] * det[bits1][i];
***************
*** 290,297 ****
  }
  
- 
- 
- 
- 
  bool common_point(const Convex& a, const Convex& b,
  		  const Transform& a2w, const Transform& b2w,
--- 301,304 ----
***************
*** 387,394 ****
  void closest_points(const Convex& a, const Convex& b,
  		    const Transform& a2w, const Transform& b2w,
! 		    Point& pa, Point& pb) {
    static Vector zero(0, 0, 0);
!   
    Vector v = a2w(a.support(zero)) - b2w(b.support(zero));
    Scalar dist = v.length();
  
--- 394,404 ----
  void closest_points(const Convex& a, const Convex& b,
  		    const Transform& a2w, const Transform& b2w,
! 		    Point& pa, Point& pb) 
! {
    static Vector zero(0, 0, 0);
!   // Transform a's support point relative to the origin as well
!   // as b's, substract b's transformed support point from a's
    Vector v = a2w(a.support(zero)) - b2w(b.support(zero));
+   // Find the distance from the origin to the point found.
    Scalar dist = v.length();
  

[Freesolid-cvs] freesolid/sample walk.cpp,1.3,1.4

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/sample
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18467/sample

Modified Files:
	walk.cpp 
Log Message:
Added calls to opbject proceed on Smart Collision check

Index: walk.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/walk.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** walk.cpp	10 May 2005 01:29:22 -0000	1.3
--- walk.cpp	11 May 2005 23:31:04 -0000	1.4
***************
*** 42,46 ****
  } Player;
  
! void LoadWorld();
  void DrawWorld();
  void DrawEllipsoid(float xradius, float yradius, float zradius);
--- 42,46 ----
  } Player;
  
! bool LoadWorld();
  void DrawWorld();
  void DrawEllipsoid(float xradius, float yradius, float zradius);
***************
*** 87,96 ****
    object2.id = 2;
    
!   LoadWorld();
    ellipsoid = dtEllipsoid(player.radii[0],player.radii[1],player.radii[2]);
    dtCreateObject(&player, ellipsoid); 
    dtCreateObject(&object2, world); 
  
!   dtDisableCaching();
  
    dtSetDefaultResponse(CollideCallback, DT_SMART_RESPONSE, stdout);
--- 87,98 ----
    object2.id = 2;
    
!   if (!LoadWorld()) return -1;
    ellipsoid = dtEllipsoid(player.radii[0],player.radii[1],player.radii[2]);
+   //ellipsoid = dtSphere(player.radii[2]);
+   //ellipsoid = dtBox(player.radii[0],player.radii[1],player.radii[2]);
    dtCreateObject(&player, ellipsoid); 
    dtCreateObject(&object2, world); 
  
!   //dtDisableCaching();
  
    dtSetDefaultResponse(CollideCallback, DT_SMART_RESPONSE, stdout);
***************
*** 171,175 ****
  }
  
! void LoadWorld()
  {
    world = dtNewComplexShape();
--- 173,177 ----
  }
  
! bool LoadWorld()
  {
    world = dtNewComplexShape();
***************
*** 183,187 ****
    // Quit if not found.
  
!    if(!arg_s) { cout << "?????" <<endl;return;}
    
    // if no vertextree is declared, skip the lines
--- 185,189 ----
    // Quit if not found.
  
!    if(!arg_s) { cout << "?????" <<endl;return false;}
    
    // if no vertextree is declared, skip the lines
***************
*** 214,221 ****
        arg_s >> index >> ch;
        if (index >= 0) 
! 	{
! 	  dtVertexIndex(index);
! 	  indexes.push_back(index);
! 	}
      }
      while (index >= 0);
--- 216,223 ----
        arg_s >> index >> ch;
        if (index >= 0) 
! 	  {
! 	    dtVertexIndex(index);
! 	    indexes.push_back(index);
! 	  }
      }
      while (index >= 0);
***************
*** 230,234 ****
    dtEndComplexShape();
    fprintf(stdout, "done.\n");
! 
  }
  
--- 232,236 ----
    dtEndComplexShape();
    fprintf(stdout, "done.\n");
!   return true;
  }
  

[Freesolid-cvs] freesolid/include/SOLID solid.h,1.5,1.6

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/include/SOLID
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18467/include/SOLID

Modified Files:
	solid.h 
Log Message:
Added calls to opbject proceed on Smart Collision check

Index: solid.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/include/SOLID/solid.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** solid.h	9 May 2005 04:10:18 -0000	1.5
--- solid.h	11 May 2005 23:31:04 -0000	1.6
***************
*** 47,51 ****
    DT_SIMPLE_RESPONSE,
    DT_SMART_RESPONSE,
!   DT_WITNESSED_RESPONSE
  } DtResponseType;
  
--- 47,51 ----
    DT_SIMPLE_RESPONSE,
    DT_SMART_RESPONSE,
!   DT_WITNESSED_RESPONSE,
  } DtResponseType;
  

[Freesolid-cvs] freesolid FreeSOLID.sln,1.2,1.3

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18467

Modified Files:
	FreeSOLID.sln 
Log Message:
Added calls to opbject proceed on Smart Collision check

Index: FreeSOLID.sln
===================================================================
RCS file: /cvsroot/freesolid/freesolid/FreeSOLID.sln,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** FreeSOLID.sln	10 May 2005 01:29:21 -0000	1.2
--- FreeSOLID.sln	11 May 2005 23:31:03 -0000	1.3
***************
*** 6,9 ****
--- 6,10 ----
  Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Walk", "Walk.vcproj", "{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}"
  	ProjectSection(ProjectDependencies) = postProject
+ 		{A8809DA4-2ADE-4948-80CD-CB766119CE5C} = {A8809DA4-2ADE-4948-80CD-CB766119CE5C}
  	EndProjectSection
  EndProject

[Freesolid-cvs] freesolid/libsolid BBoxTree.cpp,1.4,1.5 C-api.cpp,1.7,1.8

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27283/libsolid

Modified Files:
	BBoxTree.cpp C-api.cpp 
Log Message:
minor changes, none in code

Index: BBoxTree.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/BBoxTree.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** BBoxTree.cpp	10 May 2005 23:26:52 -0000	1.4
--- BBoxTree.cpp	11 May 2005 14:18:58 -0000	1.5
***************
*** 151,168 ****
  	       const Transform& b2a, Vector& v, ShapePtr& p) 
  {
! 	//tree is invalid here, why on earth does GCC compiles proper code?
! 	// am I missing something? I think it may be the runtime type checks
    if (!intersect(tree->bbox, bb)) return false;  
!   if (tree->tag == BBoxNode::LEAF) {
!     if  (intersect(*((const BBoxLeaf *)tree)->poly, c, b2a, v)) {
!       p = ((const BBoxLeaf *)tree)->poly;
!       return true;
      }
-     else return false;
-   }
-   else {
-     return find_prim(((const BBoxInternal *)tree)->lson, c, bb, b2a, v, p) ||
-       find_prim(((const BBoxInternal *)tree)->rson, c, bb, b2a, v, p);
-   }
  }
  
--- 151,171 ----
  	       const Transform& b2a, Vector& v, ShapePtr& p) 
  {
!   // tree is invalid here, why on earth does GCC compiles proper code?
!   // am I missing something? I think it may be the runtime type checks
    if (!intersect(tree->bbox, bb)) return false;  
!   if (tree->tag == BBoxNode::LEAF) 
!     {
!       if  (intersect(*((const BBoxLeaf *)tree)->poly, c, b2a, v)) 
! 	{
! 	  p = ((const BBoxLeaf *)tree)->poly;
! 	  return true;
! 	}
!       else return false;
!     }
!   else 
!     {
!       return find_prim(((const BBoxInternal *)tree)->lson, c, bb, b2a, v, p) ||
! 	find_prim(((const BBoxInternal *)tree)->rson, c, bb, b2a, v, p);
      }
  }
  

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** C-api.cpp	10 May 2005 23:26:52 -0000	1.7
--- C-api.cpp	11 May 2005 14:18:59 -0000	1.8
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
***************
*** 329,362 ****
    static Point p1, p2;
    const Response& resp = respTable.find(e.obj1->ref, e.obj2->ref);
!   switch (resp.type) {
!   case DT_SIMPLE_RESPONSE:
!     if (intersect(*e.obj1, *e.obj2, e.sep_axis)) { 
!       resp(e.obj1->ref, e.obj2->ref);
!       return true; 
      }
-     break;
-   case DT_SMART_RESPONSE:
-     fprintf(stdout,"object_test DT_SMART_RESPONSE\n");
-     if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
-       {
- 	fprintf(stdout,"prev_closest_points returned true\n");
- 	fprintf(stdout,"Previous Points:\n%f,%f,%f\n%f,%f,%f\n",
- 		e.obj1->prev(p1)[X],e.obj1->prev(p1)[Y],e.obj1->prev(p1)[Z],
- 		e.obj2->prev(p2)[X],e.obj2->prev(p2)[Y],e.obj1->prev(p2)[Z]);
- 	Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
- 	resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
- 	return true; 
-       }
-     break;
-   case DT_WITNESSED_RESPONSE:
-     if (common_point(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
-       { 
- 	resp(e.obj1->ref, e.obj2->ref, p1, p2, Vector(0, 0, 0));
- 	return true; 
-       }
-     break;
-   default:
-     return false;
-   }
    return false;
  }
--- 329,364 ----
    static Point p1, p2;
    const Response& resp = respTable.find(e.obj1->ref, e.obj2->ref);
!   switch (resp.type) 
!     {
!     case DT_SIMPLE_RESPONSE:
!       if (intersect(*e.obj1, *e.obj2, e.sep_axis)) 
! 	{
! 	  resp(e.obj1->ref, e.obj2->ref);
! 	  return true; 
! 	}
!       break;
!     case DT_SMART_RESPONSE:
!       fprintf(stdout,"object_test DT_SMART_RESPONSE\n");
!       if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
! 	{
! 	  fprintf(stdout,"prev_closest_points returned true\n");
! 	  fprintf(stdout,"Previous Points:\n%f,%f,%f\n%f,%f,%f\n",
! 		  e.obj1->prev(p1)[X],e.obj1->prev(p1)[Y],e.obj1->prev(p1)[Z],
! 		  e.obj2->prev(p2)[X],e.obj2->prev(p2)[Y],e.obj1->prev(p2)[Z]);
! 	  Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
! 	  resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
! 	  return true; 
! 	}
!       break;
!     case DT_WITNESSED_RESPONSE:
!       if (common_point(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
! 	{ 
! 	  resp(e.obj1->ref, e.obj2->ref, p1, p2, Vector(0, 0, 0));
! 	  return true; 
! 	}
!       break;
!     default:
!       return false;
      }
    return false;
  }

[Freesolid-cvs] freesolid/libsolid BBox.h,1.3,1.4 BBoxTree.cpp,1.3,1.4 C-api.cpp,1.6,1.7 Complex.h,1.1.1.1,1.2 Convex.h,1.1.1.1,1.2

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24458/libsolid

Modified Files:
	BBox.h BBoxTree.cpp C-api.cpp Complex.h Convex.h 
Log Message:
Looking for the dtCallData Error

Index: BBoxTree.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/BBoxTree.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** BBoxTree.cpp	21 Apr 2005 23:20:55 -0000	1.3
--- BBoxTree.cpp	10 May 2005 23:26:52 -0000	1.4
***************
*** 149,155 ****
  
  bool find_prim(const BBoxNode *tree, const Convex& c, const BBox& bb, 
! 	       const Transform& b2a, Vector& v, ShapePtr& p) {
!   if (!intersect(tree->bbox, bb)) return false;
!   
    if (tree->tag == BBoxNode::LEAF) {
      if  (intersect(*((const BBoxLeaf *)tree)->poly, c, b2a, v)) {
--- 149,157 ----
  
  bool find_prim(const BBoxNode *tree, const Convex& c, const BBox& bb, 
! 	       const Transform& b2a, Vector& v, ShapePtr& p) 
! {
! 	//tree is invalid here, why on earth does GCC compiles proper code?
! 	// am I missing something? I think it may be the runtime type checks
!   if (!intersect(tree->bbox, bb)) return false;  
    if (tree->tag == BBoxNode::LEAF) {
      if  (intersect(*((const BBoxLeaf *)tree)->poly, c, b2a, v)) {

Index: BBox.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/BBox.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** BBox.h	21 Apr 2005 23:20:55 -0000	1.3
--- BBox.h	10 May 2005 23:26:52 -0000	1.4
***************
*** 87,91 ****
  };
  
! inline bool intersect(const BBox& a, const BBox& b) {
  	return fabs(a.center[X] - b.center[X]) <= a.extent[X] + b.extent[X] &&
  		fabs(a.center[Y] - b.center[Y]) <= a.extent[Y] + b.extent[Y] &&
--- 87,92 ----
  };
  
! inline bool intersect(const BBox& a,const BBox& b) 
! {
  	return fabs(a.center[X] - b.center[X]) <= a.extent[X] + b.extent[X] &&
  		fabs(a.center[Y] - b.center[Y]) <= a.extent[Y] + b.extent[Y] &&

Index: Complex.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Complex.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** Complex.h	21 Oct 2002 21:53:16 -0000	1.1.1.1
--- Complex.h	10 May 2005 23:26:52 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** C-api.cpp	10 May 2005 03:45:11 -0000	1.6
--- C-api.cpp	10 May 2005 23:26:52 -0000	1.7
***************
*** 86,91 ****
  extern Scalar rel_error;
  
- extern "C"
- {
  DtShapeRef dtBox(DT_Scalar x,DT_Scalar y,DT_Scalar z) {
    return (DtShapeRef)new Box(x,y,z);
--- 86,89 ----
***************
*** 324,327 ****
--- 322,328 ----
  void dtSetTolerance(DT_Scalar tol) { rel_error = tol; }
  
+ /*! \brief tests 2 objects for collision
+   \param e data about the 2 colliding objects 
+ */
  bool object_test(Encounter& e) 
  {
***************
*** 349,356 ****
      break;
    case DT_WITNESSED_RESPONSE:
!     if (common_point(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) { 
!       resp(e.obj1->ref, e.obj2->ref, p1, p2, Vector(0, 0, 0));
!       return true; 
!     }
      break;
    default:
--- 350,358 ----
      break;
    case DT_WITNESSED_RESPONSE:
!     if (common_point(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
!       { 
! 	resp(e.obj1->ref, e.obj2->ref, p1, p2, Vector(0, 0, 0));
! 	return true; 
!       }
      break;
    default:
***************
*** 360,384 ****
  }
  
! DT_Count dtTest() {
!    DT_Count cnt = 0;
!    if (caching) {
        for (ObjectList::const_iterator j = objectList.begin();
! 			j != objectList.end(); ++j) {
! 	      (*j).second->do_broadphase();
!       }
!     for (ProxList::iterator i = proxList.begin(); i != proxList.end(); ++i) 
!       if (object_test((Encounter &)*i)) ++cnt;
!   }
!   else {
!     int c=0;
!     for (ObjectList::const_iterator j = objectList.begin();
! 	 j != objectList.end(); ++j)
!       for (ObjectList::const_iterator i = objectList.begin();
! 	   i != j; ++i) {
! 	Encounter e((*i).second, (*j).second);
! 	c++;
! 	if (object_test(e)) ++cnt;
!       } 
!   }
    return cnt;
  }
--- 362,391 ----
  }
  
! DT_Count dtTest() 
! {
!   DT_Count cnt = 0;
!   if (caching) 
!     {
        for (ObjectList::const_iterator j = objectList.begin();
! 	   j != objectList.end(); ++j) 
! 	{
! 	  (*j).second->do_broadphase();
! 	}
!       for (ProxList::iterator i = proxList.begin(); i != proxList.end(); ++i) 
! 	if (object_test((Encounter &)*i)) ++cnt;
!     }
!   else 
!     {
!       int c=0;
!       for (ObjectList::const_iterator j = objectList.begin();
! 	   j != objectList.end(); ++j)
! 	for (ObjectList::const_iterator i = objectList.begin();
! 	     i != j; ++i) 
! 	  {
! 	    Encounter e((*i).second, (*j).second);
! 	    c++;
! 	    if (object_test(e)) ++cnt;
! 	  } 
!     }
    return cnt;
  }
***************
*** 416,420 ****
      break;
    case DT_SMART_RESPONSE:
-     fprintf(stdout,"dtTestObjects DT_SMART_RESPONSE\n");    
      if (prev_closest_points(*obj1, *obj2, sep_axis, p1, p2)) 
        {
--- 423,426 ----
***************
*** 429,431 ****
    }
  }
- }
--- 435,436 ----

Index: Convex.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** Convex.h	21 Oct 2002 21:53:10 -0000	1.1.1.1
--- Convex.h	10 May 2005 23:26:52 -0000	1.2
***************
*** 1,4 ****
  /*
!   SOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  
--- 1,4 ----
  /*
!   FreeSOLID - Software Library for Interference Detection
    Copyright (C) 1997-1998  Gino van den Bergen
  

[Freesolid-cvs] freesolid FreeSOLID.vcproj,1.2,1.3 Walk.vcproj,1.1,1.2

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24458

Modified Files:
	FreeSOLID.vcproj Walk.vcproj 
Log Message:
Looking for the dtCallData Error

Index: Walk.vcproj
===================================================================
RCS file: /cvsroot/freesolid/freesolid/Walk.vcproj,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Walk.vcproj	10 May 2005 01:29:21 -0000	1.1
--- Walk.vcproj	10 May 2005 23:26:52 -0000	1.2
***************
*** 25,28 ****
--- 25,29 ----
  				BasicRuntimeChecks="3"
  				RuntimeLibrary="2"
+ 				RuntimeTypeInfo="FALSE"
  				UsePrecompiledHeader="0"
  				WarningLevel="3"

Index: FreeSOLID.vcproj
===================================================================
RCS file: /cvsroot/freesolid/freesolid/FreeSOLID.vcproj,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** FreeSOLID.vcproj	10 May 2005 01:29:21 -0000	1.2
--- FreeSOLID.vcproj	10 May 2005 23:26:52 -0000	1.3
***************
*** 24,28 ****
  				MinimalRebuild="TRUE"
  				BasicRuntimeChecks="3"
! 				RuntimeLibrary="1"
  				UsePrecompiledHeader="0"
  				WarningLevel="3"
--- 24,29 ----
  				MinimalRebuild="TRUE"
  				BasicRuntimeChecks="3"
! 				RuntimeLibrary="5"
! 				RuntimeTypeInfo="FALSE"
  				UsePrecompiledHeader="0"
  				WarningLevel="3"
***************
*** 69,73 ****
  			<Tool
  				Name="VCCLCompilerTool"
! 				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;FREESOLID_EXPORTS"
  				RuntimeLibrary="0"
  				UsePrecompiledHeader="0"
--- 70,75 ----
  			<Tool
  				Name="VCCLCompilerTool"
! 				AdditionalIncludeDirectories=".\qhull\src;.\libbroad;.\libmoto;.\include"
! 				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;FREESOLID_EXPORTS;DLL_EXPORT;USE_QHULL"
  				RuntimeLibrary="0"
  				UsePrecompiledHeader="0"

[Freesolid-cvs] freesolid/libsolid Complex.cpp,1.2,1.3 Object.cpp,1.5,1.6

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16454/libsolid

Modified Files:
	Complex.cpp Object.cpp 
Log Message:


Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Object.cpp	10 May 2005 03:45:11 -0000	1.5
--- Object.cpp	10 May 2005 03:46:23 -0000	1.6
***************
*** 186,189 ****
--- 186,190 ----
  	{
  	  // If one (a) Shape is Complex
+ 	  // The Error with dtCollData must be in find_prim or closest_points
  	  fprintf(stdout,"Simplex vs Convex\n");
  	  if (!find_prim((const Complex&)*a.shapePtr, 

Index: Complex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Complex.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Complex.cpp	11 Jan 2003 18:22:45 -0000	1.2
--- Complex.cpp	10 May 2005 03:46:23 -0000	1.3
***************
*** 90,93 ****
--- 90,95 ----
  }
  
+ /* \brief Find primitive?
+  */
  bool find_prim(const Complex& a, const Convex& b, 
  	       const Transform& a2w, const Transform& b2w,

[Freesolid-cvs] freesolid/libsolid C-api.cpp,1.5,1.6 Convex.cpp,1.3,1.4 Object.cpp,1.4,1.5

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16263/libsolid

Modified Files:
	C-api.cpp Convex.cpp Object.cpp 
Log Message:
Trying to solve dtCollideData Issue

Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Object.cpp	10 May 2005 01:29:22 -0000	1.4
--- Object.cpp	10 May 2005 03:45:11 -0000	1.5
***************
*** 146,149 ****
--- 146,157 ----
  }
  
+ /*! \brief I THINK this returns closest points from last test
+   \param a Object A to test against B ?
+   \param b Object B to test against A ?
+   \param v No idea.
+   \param pa Point in A?
+   \param pb Point in B?
+   \returns true if a collision was detected and false if not.
+ */
  bool prev_closest_points(const Object& a, const Object& b, 
  			 Vector& v, Point& pa, Point& pb) 
***************
*** 178,181 ****
--- 186,190 ----
  	{
  	  // If one (a) Shape is Complex
+ 	  fprintf(stdout,"Simplex vs Convex\n");
  	  if (!find_prim((const Complex&)*a.shapePtr, 
  			 (const Convex&)*b.shapePtr,  

Index: C-api.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/C-api.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** C-api.cpp	9 May 2005 04:10:18 -0000	1.5
--- C-api.cpp	10 May 2005 03:45:11 -0000	1.6
***************
*** 324,328 ****
  void dtSetTolerance(DT_Scalar tol) { rel_error = tol; }
  
! bool object_test(Encounter& e) {
    static Point p1, p2;
    const Response& resp = respTable.find(e.obj1->ref, e.obj2->ref);
--- 324,329 ----
  void dtSetTolerance(DT_Scalar tol) { rel_error = tol; }
  
! bool object_test(Encounter& e) 
! {
    static Point p1, p2;
    const Response& resp = respTable.find(e.obj1->ref, e.obj2->ref);
***************
*** 335,343 ****
      break;
    case DT_SMART_RESPONSE:
!     if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) {
!       Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
!       resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
!       return true; 
!     }
      break;
    case DT_WITNESSED_RESPONSE:
--- 336,350 ----
      break;
    case DT_SMART_RESPONSE:
!     fprintf(stdout,"object_test DT_SMART_RESPONSE\n");
!     if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) 
!       {
! 	fprintf(stdout,"prev_closest_points returned true\n");
! 	fprintf(stdout,"Previous Points:\n%f,%f,%f\n%f,%f,%f\n",
! 		e.obj1->prev(p1)[X],e.obj1->prev(p1)[Y],e.obj1->prev(p1)[Z],
! 		e.obj2->prev(p2)[X],e.obj2->prev(p2)[Y],e.obj1->prev(p2)[Z]);
! 	Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
! 	resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
! 	return true; 
!       }
      break;
    case DT_WITNESSED_RESPONSE:
***************
*** 409,416 ****
      break;
    case DT_SMART_RESPONSE:
!     if (prev_closest_points(*obj1, *obj2, sep_axis, p1, p2)) {
!       Vector v = obj1->prev(p1) - obj2->prev(p2);
!       resp(obj1->ref, obj2->ref, p1, p2, v);
!     }
      break;
    case DT_WITNESSED_RESPONSE:
--- 416,425 ----
      break;
    case DT_SMART_RESPONSE:
!     fprintf(stdout,"dtTestObjects DT_SMART_RESPONSE\n");    
!     if (prev_closest_points(*obj1, *obj2, sep_axis, p1, p2)) 
!       {
! 	Vector v = obj1->prev(p1) - obj2->prev(p2);
! 	resp(obj1->ref, obj2->ref, p1, p2, v);
!       }
      break;
    case DT_WITNESSED_RESPONSE:

Index: Convex.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Convex.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Convex.cpp	21 Apr 2005 23:20:55 -0000	1.3
--- Convex.cpp	10 May 2005 03:45:11 -0000	1.4
***************
*** 383,387 ****
  #endif
  
! 
  void closest_points(const Convex& a, const Convex& b,
  		    const Transform& a2w, const Transform& b2w,
--- 383,388 ----
  #endif
  
! /*! \brief Gets the closest points to each of the shapes ?
!  */
  void closest_points(const Convex& a, const Convex& b,
  		    const Transform& a2w, const Transform& b2w,

[Freesolid-cvs] freesolid/libsolid Object.cpp,1.3,1.4

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/libsolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23294/libsolid

Modified Files:
	Object.cpp 
Log Message:
More on Walk sample

Index: Object.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/libsolid/Object.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Object.cpp	21 Apr 2005 18:29:23 -0000	1.3
--- Object.cpp	10 May 2005 01:29:22 -0000	1.4
***************
*** 147,175 ****
  
  bool prev_closest_points(const Object& a, const Object& b, 
! 			 Vector& v, Point& pa, Point& pb) {
    ShapePtr sa, sb;  
!   if (a.shapePtr->getType() == COMPLEX) {
!     if (b.shapePtr->getType() == COMPLEX) {
!       if (!find_prim((const Complex&)*a.shapePtr, (const Complex&)*b.shapePtr, 
! 		     a.curr, b.curr, v, sa, sb)) return false;
!       ((Complex *)a.shapePtr)->swapBase();
!       if (b.shapePtr != a.shapePtr) ((Complex *)b.shapePtr)->swapBase();
!       closest_points((const Convex&)*sa, (const Convex&)*sb, a.prev, b.prev, pa, pb); 
!       ((Complex *)a.shapePtr)->swapBase();
!       if (b.shapePtr != a.shapePtr) ((Complex *)b.shapePtr)->swapBase();
!     }
!     else {
!       if (!find_prim((const Complex&)*a.shapePtr, (const Convex&)*b.shapePtr,  
! 		a.curr, b.curr, v, sa)) return false;
!       ((Complex *)a.shapePtr)->swapBase();
!       closest_points((const Convex&)*sa, (const Convex&)*b.shapePtr, a.prev, b.prev, pa, pb);
!       ((Complex *)a.shapePtr)->swapBase();
      }
!   }
!   else {
!     if (!intersect(a, b, v)) return false;
!     closest_points((const Convex&)*a.shapePtr, (const Convex&)*b.shapePtr, a.prev, b.prev, pa, pb);
!   } 
!   
    return true;
  }
--- 147,203 ----
  
  bool prev_closest_points(const Object& a, const Object& b, 
! 			 Vector& v, Point& pa, Point& pb) 
! {
    ShapePtr sa, sb;  
!   if (a.shapePtr->getType() == COMPLEX) 
!     {
!       if (b.shapePtr->getType() == COMPLEX) 
! 	{
! 	  // If both shapes are complex	  
! 	  if (!find_prim((const Complex&)*a.shapePtr, 
! 			 (const Complex&)*b.shapePtr,
! 			 a.curr, 
! 			 b.curr, 
! 			 v, 
! 			 sa, 
! 			 sb)) return false;
! 	  ((Complex *)a.shapePtr)->swapBase();
! 	  if (b.shapePtr != a.shapePtr) 
! 	    ((Complex *)b.shapePtr)->swapBase();
! 	  closest_points((const Convex&)*sa, 
! 			 (const Convex&)*sb, 
! 			 a.prev, 
! 			 b.prev, 
! 			 pa, 
! 			 pb); 
! 	  ((Complex *)a.shapePtr)->swapBase();
! 	  if (b.shapePtr != a.shapePtr) 
! 	    ((Complex *)b.shapePtr)->swapBase();
! 	}
!       else 
! 	{
! 	  // If one (a) Shape is Complex
! 	  if (!find_prim((const Complex&)*a.shapePtr, 
! 			 (const Convex&)*b.shapePtr,  
! 			 a.curr, b.curr, v, sa)) 
! 	    return false;
! 	  ((Complex *)a.shapePtr)->swapBase();
! 	  closest_points((const Convex&)*sa, 
! 			 (const Convex&)*b.shapePtr, 
! 			 a.prev, 
! 			 b.prev, 
! 			 pa, 
! 			 pb);
! 	  ((Complex *)a.shapePtr)->swapBase();
! 	}
      }
!   else 
!     {
!       // if both are simplex
!       if (!intersect(a, b, v)) return false;
!       closest_points((const Convex&)*a.shapePtr, 
! 		     (const Convex&)*b.shapePtr, 
! 		     a.prev, b.prev, pa, pb);
!     }   
    return true;
  }

[Freesolid-cvs] freesolid/sample walk.cpp,1.2,1.3

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/sample
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23294/sample

Modified Files:
	walk.cpp 
Log Message:
More on Walk sample

Index: walk.cpp
===================================================================
RCS file: /cvsroot/freesolid/freesolid/sample/walk.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** walk.cpp	9 May 2005 23:40:17 -0000	1.2
--- walk.cpp	10 May 2005 01:29:22 -0000	1.3
***************
*** 52,59 ****
  		     const DtCollData *coll_data) 
  {
!   fprintf(stdout,"Collided Point 1 %f,%f,%f Point 2 %f,%f,%f Normal %f,%f,%f\n",
! 	  coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! 	  coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! 	  coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
  }
  
--- 52,62 ----
  		     const DtCollData *coll_data) 
  {
!   if(coll_data!=NULL)
!     {
!       fprintf(stdout,"Collided Point 1 %f,%f,%f\nPoint 2 %f,%f,%f\nNormal %f,%f,%f\n",
! 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! 	      coll_data->point1[X],coll_data->point1[Y],coll_data->point1[Z],
! 	      coll_data->normal[X],coll_data->normal[Y],coll_data->normal[Z]);
!     }
  }
  
***************
*** 131,134 ****
--- 134,139 ----
    sphereqobj = gluNewQuadric();
  
+   dtDisableCaching();
+ 
    while(bRunning)
      {

[Freesolid-cvs] freesolid Walk.vcproj,NONE,1.1 FreeSOLID.sln,1.1,1.2 FreeSOLID.vcproj,1.1,1.2

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23294

Modified Files:
	FreeSOLID.sln FreeSOLID.vcproj 
Added Files:
	Walk.vcproj 
Log Message:
More on Walk sample

Index: FreeSOLID.sln
===================================================================
RCS file: /cvsroot/freesolid/freesolid/FreeSOLID.sln,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** FreeSOLID.sln	21 Apr 2005 22:08:37 -0000	1.1
--- FreeSOLID.sln	10 May 2005 01:29:21 -0000	1.2
***************
*** 4,7 ****
--- 4,11 ----
  	EndProjectSection
  EndProject
+ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Walk", "Walk.vcproj", "{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}"
+ 	ProjectSection(ProjectDependencies) = postProject
+ 	EndProjectSection
+ EndProject
  Global
  	GlobalSection(SolutionConfiguration) = preSolution
***************
*** 14,17 ****
--- 18,25 ----
  		{A8809DA4-2ADE-4948-80CD-CB766119CE5C}.Release.ActiveCfg = Release|Win32
  		{A8809DA4-2ADE-4948-80CD-CB766119CE5C}.Release.Build.0 = Release|Win32
+ 		{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}.Debug.ActiveCfg = Debug|Win32
+ 		{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}.Debug.Build.0 = Debug|Win32
+ 		{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}.Release.ActiveCfg = Release|Win32
+ 		{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}.Release.Build.0 = Release|Win32
  	EndGlobalSection
  	GlobalSection(ExtensibilityGlobals) = postSolution

--- NEW FILE: Walk.vcproj ---
<?xml version="1.0" encoding="Windows-1252"?>
<VisualStudioProject
	ProjectType="Visual C++"
	Version="7.10"
	Name="Walk"
	ProjectGUID="{328CC121-0DA2-44B4-93A7-3ED6ECD31B5E}"
	Keyword="Win32Proj">
	<Platforms>
		<Platform
			Name="Win32"/>
	</Platforms>
	<Configurations>
		<Configuration
			Name="Debug|Win32"
			OutputDirectory="Debug"
			IntermediateDirectory="Debug"
			ConfigurationType="1"
			CharacterSet="2">
			<Tool
				Name="VCCLCompilerTool"
				Optimization="0"
				AdditionalIncludeDirectories="include"
				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS"
				MinimalRebuild="TRUE"
				BasicRuntimeChecks="3"
				RuntimeLibrary="2"
				UsePrecompiledHeader="0"
				WarningLevel="3"
				Detect64BitPortabilityProblems="TRUE"
				DebugInformationFormat="4"/>
			<Tool
				Name="VCCustomBuildTool"/>
			<Tool
				Name="VCLinkerTool"
				AdditionalDependencies="SDLmain.lib SDL.lib OpenGL32.lib Glu32.lib $(OutDir)/FreeSOLID.lib"
				OutputFile="$(OutDir)/Walk.exe"
				LinkIncremental="2"
				GenerateDebugInformation="TRUE"
				ProgramDatabaseFile="$(OutDir)/Walk.pdb"
				SubSystem="2"
				TargetMachine="1"/>
			<Tool
				Name="VCMIDLTool"/>
			<Tool
				Name="VCPostBuildEventTool"/>
			<Tool
				Name="VCPreBuildEventTool"/>
			<Tool
				Name="VCPreLinkEventTool"/>
			<Tool
				Name="VCResourceCompilerTool"/>
			<Tool
				Name="VCWebServiceProxyGeneratorTool"/>
			<Tool
				Name="VCXMLDataGeneratorTool"/>
			<Tool
				Name="VCWebDeploymentTool"/>
			<Tool
				Name="VCManagedWrapperGeneratorTool"/>
			<Tool
				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
		</Configuration>
		<Configuration
			Name="Release|Win32"
			OutputDirectory="Release"
			IntermediateDirectory="Release"
			ConfigurationType="1"
			CharacterSet="2">
			<Tool
				Name="VCCLCompilerTool"
				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS"
				RuntimeLibrary="4"
				UsePrecompiledHeader="0"
				WarningLevel="3"
				Detect64BitPortabilityProblems="TRUE"
				DebugInformationFormat="3"/>
			<Tool
				Name="VCCustomBuildTool"/>
			<Tool
				Name="VCLinkerTool"
				OutputFile="$(OutDir)/Walk.exe"
				LinkIncremental="1"
				GenerateDebugInformation="TRUE"
				SubSystem="2"
				OptimizeReferences="2"
				EnableCOMDATFolding="2"
				TargetMachine="1"/>
			<Tool
				Name="VCMIDLTool"/>
			<Tool
				Name="VCPostBuildEventTool"/>
			<Tool
				Name="VCPreBuildEventTool"/>
			<Tool
				Name="VCPreLinkEventTool"/>
			<Tool
				Name="VCResourceCompilerTool"/>
			<Tool
				Name="VCWebServiceProxyGeneratorTool"/>
			<Tool
				Name="VCXMLDataGeneratorTool"/>
			<Tool
				Name="VCWebDeploymentTool"/>
			<Tool
				Name="VCManagedWrapperGeneratorTool"/>
			<Tool
				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
		</Configuration>
	</Configurations>
	<References>
	</References>
	<Files>
		<Filter
			Name="Source Files"
			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}">
			<File
				RelativePath=".\sample\walk.cpp">
			</File>
		</Filter>
		<Filter
			Name="Header Files"
			Filter="h;hpp;hxx;hm;inl;inc;xsd"
			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}">
		</Filter>
		<Filter
			Name="Resource Files"
			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
		</Filter>
	</Files>
	<Globals>
	</Globals>
</VisualStudioProject>

Index: FreeSOLID.vcproj
===================================================================
RCS file: /cvsroot/freesolid/freesolid/FreeSOLID.vcproj,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** FreeSOLID.vcproj	21 Apr 2005 22:08:37 -0000	1.1
--- FreeSOLID.vcproj	10 May 2005 01:29:21 -0000	1.2
***************
*** 150,153 ****
--- 150,156 ----
  			</File>
  			<File
+ 				RelativePath=".\libsolid\Ellipsoid.cpp">
+ 			</File>
+ 			<File
  				RelativePath=".\libmoto\GEN_random.cpp">
  			</File>
***************
*** 285,288 ****
--- 288,294 ----
  			</File>
  			<File
+ 				RelativePath=".\libsolid\Ellipsoid.h">
+ 			</File>
+ 			<File
  				RelativePath=".\libsolid\Encounter.h">
  			</File>