vurtun

#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

#if 0

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

vurtun

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

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

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

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

vurtun

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

vurtun

/* Iterative average/Iterative centroid computation from:
https://blog.demofox.org/2016/08/23/incremental-averaging/ by Alan Wolfe and
http://realtimecollisiondetection.net/blog/?p=48 by Christer Ericson
Example:
    int n = 0;
    float avg = 0;
    avg = avg_add(avg, n++, rand());
    avg = avg_add(avg, n++, rand());
*/
static float

vurtun

vurtun

static char*
str_chr(char * str, int chr)
{
    char *s = str;
    int c = chr & 0xFF;
    unsigned m = (c << 24)|(c << 16)|(c << 8)|c;
    for (;;) {
        while (((uintptr_t)s) & 3) {
        chk1: if (s[0] == c) return s;
        chk2: if (s[0] == 0) return s;