Merge pull request #36 from MattiaMontanari/moveHFFsInIFs

Fix #29 and clean simplex struct
MattiaMontanari · Nov 23, 2022 · 866c01e · 866c01e
2 parents 7a018a3 + 9c8a115
commit 866c01e
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diff --git a/include/openGJK/openGJK.h b/include/openGJK/openGJK.h
@@ -40,8 +40,6 @@ typedef struct gkPolytope_ {
 /// @brief Structure of the simplex
 typedef struct gkSimplex_ {
   int nvrtx;            // Number of simplex's vertices
-  int wids[4];          // Label of the simplex's vertices
-  gkFloat lambdas[4];   // Barycentric coordiantes for each vertex
   gkFloat vrtx[4][3];   // Coordinates of simplex's vertices
 } gkSimplex;
 

diff --git a/openGJK.c b/openGJK.c
@@ -226,12 +226,12 @@ inline static void S2D(gkSimplex *s, gkFloat *v) {
   gkFloat *s3p = s->vrtx[0];
   int hff1f_s12 = hff1(s1p, s2p);
   int hff1f_s13 = hff1(s1p, s3p);
-  int hff2f_23 = !hff2(s1p, s2p, s3p);
-  int hff2f_32 = !hff2(s1p, s3p, s2p);
 
   if (hff1f_s12) {
+    int hff2f_23 = !hff2(s1p, s2p, s3p);
     if (hff2f_23) {
       if (hff1f_s13) {
+        int hff2f_32 = !hff2(s1p, s3p, s2p);
         if (hff2f_32) {
           projectOnPlane(s1p, s2p, s3p, v);  // Update s, no need to update c
           return;                            // Return V{1,2,3}
@@ -250,6 +250,7 @@ inline static void S2D(gkSimplex *s, gkFloat *v) {
       return;                      // Return V{1,2}
     }
   } else if (hff1f_s13) {
+    int hff2f_32 = !hff2(s1p, s3p, s2p);
     if (hff2f_32) {
       projectOnPlane(s1p, s2p, s3p, v);  // Update s, no need to update v
       return;                            // Return V{1,2,3}