Examples in README are difficult to read and don't define all symbols they use #67
Description
#include <ccd/ccd.h>
#include <ccd/quat.h> // for work with quaternions
/** Support function for box */
void support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec)
{
// assume that obj_t is user-defined structure that holds info about
// object (in this case box: x, y, z, pos, quat - dimensions of box,
// position and rotation)
obj_t *obj = (obj_t *)_obj;
ccd_vec3_t dir;
ccd_quat_t qinv;
// apply rotation on direction vector
ccdVec3Copy(&dir, _dir);
ccdQuatInvert2(&qinv, &obj->quat);
ccdQuatRotVec(&dir, &qinv);
// compute support point in specified direction
ccdVec3Set(v, ccdSign(ccdVec3X(&dir)) * box->x * CCD_REAL(0.5),
ccdSign(ccdVec3Y(&dir)) * box->y * CCD_REAL(0.5),
ccdSign(ccdVec3Z(&dir)) * box->z * CCD_REAL(0.5));
// transform support point according to position and rotation of object
ccdQuatRotVec(v, &obj->quat);
ccdVec3Add(v, &obj->pos);
}
int main(int argc, char *argv[])
{
...
ccd_t ccd;
CCD_INIT(&ccd); // initialize ccd_t struct
// set up ccd_t struct
ccd.support1 = support; // support function for first object
ccd.support2 = support; // support function for second object
ccd.max_iterations = 100; // maximal number of iterations
int intersect = ccdGJKIntersect(obj1, obj2, &ccd);
// now intersect holds true if obj1 and obj2 intersect, false otherwise
}so some issues.
- v is never defined. vec is never used (I assume v was supposed to be vec)
- cube is never defined. i believe obj was intended.
- why is a cube called obj_t? that makes reading harder.
- the ... in the main function should be removed and replaced with the code that initializes the cubes.