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Gilbert–Johnson–Keerthi (GJK) 3D distance algorithm

The Gilbert–Johnson–Keerthi (GJK) distance algorithm is a method of determining the minimum distance between two convex sets. The algorithm's stability, speed which operates in near-constant time, and small storage footprint make it popular for realtime collision detection.

Unlike many other distance algorithms, it has no requirments on geometry data to be stored in any specific format, but instead relies solely on a support function to iteratively generate closer simplices to the correct answer using the Minkowski sum (CSO) of two convex shapes.

vurtun

#include <stdio.h>
#include <limits.h>
#include <float.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <stdint.h>
#include <stdarg.h>

/* ---------------------------------------------------------------------------

vurtun

#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include <stdint.h>
#include <stdlib.h>
#include <assert.h>
#include <limits.h>
#include <ctype.h>

/* ---------------------------------------------------------------------------

vurtun

#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include <stdint.h>
#include <stdlib.h>
#include <assert.h>
#include <limits.h>

/* ---------------------------------------------------------------------------
 *                                  ARG

vurtun

#if 0

static void
usage(const char *app)
{
    panic("\n"
        "usage: %s [options]\n"
        "\n"
        "   options:\n"
        "\n"

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#define LIB_DEBUG 2
#if defined(LIB_DEBUG) && (LIB_DEBUG >= 2)
  #include <stdio.h>
  #define DEBUG_LOG(l, ...)                                 \
    if (l <= LIB_DEBUG) {                                   \
        fprintf(stderr, "%s(L:%d):, __FILE__, __LINE__);    \
        fprintf(stderr, __VA_ARGS__);                       \
        fprintf(stderr, " \n");                             \
     }
#else

vurtun

struct path_iter {
    const char *begin;
    const char *end;
    /* internal */
    const char *next;
    const char *eof;
};
static void
path_begin(struct path_iter *it, const char *str, const char *end)
{

vurtun

#if 0
#include <stdio.h>

int main(void)
{
    int n, t[3] = {0};
    for (n = 0; n < 100; ++n) {
        pytriples(t);
        printf("(%d,%d,%d)\n", t[0], t[1], t[2]);
    } return 0;

vurtun

#include <stdio.h>
#include <stdlib.h>

#if defined(__clang__) || defined(__GNUC__)
  #define sort qsort_r
  #define SORT_COMPARE(name) int name(const void *a, const void *b, void *arg)
  typedef SORT_COMPARE(sort_cmp_f);
#elif defined(_MSC_VER)
  #define sort qsort_s
  #define SORT_COMPARE(name) int name(void *arg, const void *a, const void *b)