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Prefix assume & assert definitions to prevent name clashes #70

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Prefix assume & assert definitions to prevent name clashes #70

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56 changes: 28 additions & 28 deletions src/Algorithm/GJK.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,12 +47,12 @@ vec UpdateSimplex(vec *s, int &n)
float d0 = s[0].DistanceSq(vec::zero);
float d1 = s[1].DistanceSq(vec::zero);
float d2 = LineSegment(s[0], s[1]).DistanceSq(vec::zero);
assert2(d2 <= d0, d2, d0);
assert2(d2 <= d1, d2, d1);
mgl_assert2(d2 <= d0, d2, d0);
mgl_assert2(d2 <= d1, d2, d1);
// Cannot be in case 0: the step 0 -> 1 must have been toward the zero direction:
assert(Dot(s[1]-s[0], -s[0]) >= 0.f);
mgl_assert(Dot(s[1]-s[0], -s[0]) >= 0.f);
// Cannot be in case 1: the zero direction cannot be in the voronoi region of vertex s[1].
assert(Dot(s[1]-s[0], -s[1]) <= 0.f);
mgl_assert(Dot(s[1]-s[0], -s[1]) <= 0.f);
#endif

vec d01 = s[1] - s[0];
Expand Down Expand Up @@ -105,10 +105,10 @@ vec UpdateSimplex(vec *s, int &n)
minDistIndex = i;
}

assert4(isContainedInTriangle || dist <= d[0] + 1e-4f, d[0], dist, isContainedInTriangle, minDistIndex);
assert4(isContainedInTriangle || dist <= d[1] + 1e-4f, d[1], dist, isContainedInTriangle, minDistIndex);
assert4(isContainedInTriangle || dist <= d[2] + 1e-4f, d[2], dist, isContainedInTriangle, minDistIndex);
assert4(isContainedInTriangle || dist <= d[3] + 1e-4f, d[3], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[0] + 1e-4f, d[0], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[1] + 1e-4f, d[1], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[2] + 1e-4f, d[2], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[3] + 1e-4f, d[3], dist, isContainedInTriangle, minDistIndex);
#endif
vec d12 = s[2]-s[1];
vec d02 = s[2]-s[0];
Expand All @@ -120,7 +120,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 4: Edge 1->2 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(d[4] <= dist + 1e-3f * Max(1.f, d[4], dist), d[4], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(d[4] <= dist + 1e-3f * Max(1.f, d[4], dist), d[4], dist, isContainedInTriangle, minDistIndex);
#endif
vec newDir = Cross(d12, Cross(d12, s[1]));
s[0] = s[1];
Expand All @@ -134,7 +134,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 5: Edge 0->2 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(d[5] <= dist + 1e-3f * Max(1.f, d[5], dist), d[5], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(d[5] <= dist + 1e-3f * Max(1.f, d[5], dist), d[5], dist, isContainedInTriangle, minDistIndex);
#endif
vec newDir = Cross(d02, Cross(d02, s[0]));
s[1] = s[2];
Expand All @@ -143,7 +143,7 @@ vec UpdateSimplex(vec *s, int &n)
}
// Cases 6)-8):
#ifdef MATH_ASSERT_CORRECTNESS
assert4(d[6] <= dist + 1e-3f * Max(1.f, d[6], dist), d[6], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(d[6] <= dist + 1e-3f * Max(1.f, d[6], dist), d[6], dist, isContainedInTriangle, minDistIndex);
#endif
float scaledSignedDistToTriangle = triNormal.Dot(s[2]);
float distSq = scaledSignedDistToTriangle*scaledSignedDistToTriangle;
Expand Down Expand Up @@ -216,7 +216,7 @@ vec UpdateSimplex(vec *s, int &n)
vec Tri023Normal = Cross(s[3]-s[0], s[2]-s[0]);
vec Tri123Normal = Cross(s[2]-s[1], s[3]-s[1]);
vec Tri012Normal = Cross(s[2] - s[0], s[1] - s[0]);
assert(Dot(Tri012Normal, s[3] - s[0]) <= 0.f);
mgl_assert(Dot(Tri012Normal, s[3] - s[0]) <= 0.f);
float InTri012 = Dot(-s[0], Tri012Normal);
float InTri013 = Dot(-s[3], Tri013Normal);
float InTri023 = Dot(-s[3], Tri023Normal);
Expand All @@ -232,13 +232,13 @@ vec UpdateSimplex(vec *s, int &n)
dist = d[i];
minDistIndex = i;
}
assert4(insideSimplex || dist <= d[0] + 1e-4 * Max(1.0, d[0], dist), d[0], dist, insideSimplex, minDistIndex);
assert4(insideSimplex || dist <= d[1] + 1e-4 * Max(1.0, d[1], dist), d[1], dist, insideSimplex, minDistIndex);
assert4(insideSimplex || dist <= d[2] + 1e-4 * Max(1.0, d[2], dist), d[2], dist, insideSimplex, minDistIndex);
assert4(insideSimplex || dist <= d[4] + 1e-4 * Max(1.0, d[4], dist), d[4], dist, insideSimplex, minDistIndex);
assert4(insideSimplex || dist <= d[5] + 1e-4 * Max(1.0, d[5], dist), d[5], dist, insideSimplex, minDistIndex);
assert4(insideSimplex || dist <= d[7] + 1e-4 * Max(1.0, d[7], dist), d[7], dist, insideSimplex, minDistIndex);
assert4(insideSimplex || dist <= d[10] + 1e-4 * Max(1.0, d[10], dist), d[10], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[0] + 1e-4 * Max(1.0, d[0], dist), d[0], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[1] + 1e-4 * Max(1.0, d[1], dist), d[1], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[2] + 1e-4 * Max(1.0, d[2], dist), d[2], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[4] + 1e-4 * Max(1.0, d[4], dist), d[4], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[5] + 1e-4 * Max(1.0, d[5], dist), d[5], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[7] + 1e-4 * Max(1.0, d[7], dist), d[7], dist, insideSimplex, minDistIndex);
mgl_assert4(insideSimplex || dist <= d[10] + 1e-4 * Max(1.0, d[10], dist), d[10], dist, insideSimplex, minDistIndex);
#endif

vec d01 = s[1] - s[0];
Expand All @@ -253,8 +253,8 @@ vec UpdateSimplex(vec *s, int &n)
float4d D03 = POINT_TO_FLOAT4(s[3]) - POINT_TO_FLOAT4(s[0]);
float4d tri013NormalD = D01.Cross(D03);
float4d tri023NormalD = D03.Cross(D02);
assert3(tri013NormalD.Dot(D02) <= 0.f, tri013NormalD, D02, tri013NormalD.Dot(D02));
assert3(tri023NormalD.Dot(D01) <= 0.f, tri023NormalD, D01, tri023NormalD.Dot(D01));
mgl_assert3(tri013NormalD.Dot(D02) <= 0.f, tri013NormalD, D02, tri013NormalD.Dot(D02));
mgl_assert3(tri023NormalD.Dot(D01) <= 0.f, tri023NormalD, D01, tri023NormalD.Dot(D01));
#endif

vec e03_1 = Cross(tri013Normal, d03); // The normal of edge 0->3 on triangle 013.
Expand All @@ -265,7 +265,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 6) Edge 0->3 is closest. Simplex degenerates to a line segment.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(!insideSimplex && d[6] <= dist + 1e-3f * Max(1.0, d[6], dist), d[6], dist, insideSimplex, minDistIndex);
mgl_assert4(!insideSimplex && d[6] <= dist + 1e-3f * Max(1.0, d[6], dist), d[6], dist, insideSimplex, minDistIndex);
#endif
vec newDir = Cross(d03, Cross(d03, s[3]));
s[1] = s[3];
Expand All @@ -276,7 +276,7 @@ vec UpdateSimplex(vec *s, int &n)
vec d12 = s[2] - s[1];
vec d13 = s[3] - s[1];
vec tri123Normal = Cross(d12, d13);
assert(Dot(tri123Normal, -d02) <= 0.f);
mgl_assert(Dot(tri123Normal, -d02) <= 0.f);
vec e13_0 = Cross(d13, tri013Normal);
vec e13_2 = Cross(tri123Normal, d13);
float inE13_0 = Dot(e13_0, s[3]);
Expand All @@ -285,7 +285,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 8) Edge 1->3 is closest. Simplex degenerates to a line segment.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(!insideSimplex && d[8] <= dist + 1e-3f * Max(1.0, d[8], dist), d[8], dist, insideSimplex, minDistIndex);
mgl_assert4(!insideSimplex && d[8] <= dist + 1e-3f * Max(1.0, d[8], dist), d[8], dist, insideSimplex, minDistIndex);
#endif
vec newDir = Cross(d13, Cross(d13, s[3]));
s[0] = s[1];
Expand All @@ -303,7 +303,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 9) Edge 2->3 is closest. Simplex degenerates to a line segment.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(!insideSimplex && d[9] <= dist + 1e-3f * Max(1.0, d[9], dist), d[9], dist, insideSimplex, minDistIndex);
mgl_assert4(!insideSimplex && d[9] <= dist + 1e-3f * Max(1.0, d[9], dist), d[9], dist, insideSimplex, minDistIndex);
#endif
vec newDir = Cross(d23, Cross(d23, s[3]));
s[0] = s[2];
Expand All @@ -317,7 +317,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 11) Triangle 0->1->3 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(!insideSimplex && d[11] <= dist + 1e-3f * Max(1.0, d[11], dist), d[11], dist, insideSimplex, minDistIndex);
mgl_assert4(!insideSimplex && d[11] <= dist + 1e-3f * Max(1.0, d[11], dist), d[11], dist, insideSimplex, minDistIndex);
#endif
s[2] = s[3];
n = 3;
Expand All @@ -328,7 +328,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 12) Triangle 0->2->3 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(!insideSimplex && d[12] <= dist + 1e-3f * Max(1.0, d[12], dist), d[12], dist, insideSimplex, minDistIndex);
mgl_assert4(!insideSimplex && d[12] <= dist + 1e-3f * Max(1.0, d[12], dist), d[12], dist, insideSimplex, minDistIndex);
#endif
s[1] = s[0];
s[0] = s[2];
Expand All @@ -341,7 +341,7 @@ vec UpdateSimplex(vec *s, int &n)
{
// Case 13) Triangle 1->2->3 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(!insideSimplex && d[13] <= dist + 1e-3f * Max(1.0, d[13], dist), d[13], dist, insideSimplex, minDistIndex);
mgl_assert4(!insideSimplex && d[13] <= dist + 1e-3f * Max(1.0, d[13], dist), d[13], dist, insideSimplex, minDistIndex);
#endif
s[0] = s[1];
s[1] = s[2];
Expand Down
8 changes: 4 additions & 4 deletions src/Algorithm/GJK.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,23 +44,23 @@ bool GJKIntersect(const A &a, const B &b)
float maxS, minS;
vec newSupport = SUPPORT(d, minS, maxS);
#ifdef MATH_VEC_IS_FLOAT4
assume(newSupport.w == 0.f);
mgl_assume(newSupport.w == 0.f);
#endif
// If the most extreme point in that search direction did not walk past the origin, then the origin cannot be contained in the Minkowski
// convex shape, and the two convex objects a and b do not share a common point - no intersection!
if (minS + maxS < 0.f)
return false;
// Add the newly evaluated point to the search simplex.
assert(n < 4);
mgl_assert(n < 4);
support[n++] = newSupport;
// Examine the current simplex, prune a redundant part of it, and produce the next search direction.
d = UpdateSimplex(support, n);
if (n == 0) // Was the origin contained in the current simplex? If so, then the convex shapes a and b do share a common point - intersection!
return true;
}
assume(false && "GJK intersection test did not converge to a result!");
mgl_assume(false && "GJK intersection test did not converge to a result!");
// TODO: enable
//assume2(false && "GJK intersection test did not converge to a result!", a.SerializeToString(), b.SerializeToString());
//mgl_assume2(false && "GJK intersection test did not converge to a result!", a.SerializeToString(), b.SerializeToString());
return false; // Report no intersection.
}

Expand Down
26 changes: 13 additions & 13 deletions src/Algorithm/GJK2D.cpp
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Expand Up @@ -33,7 +33,7 @@ MATH_BEGIN_NAMESPACE
@return The new search direction vector. */
vec2d UpdateSimplex2D(vec2d *s, int &n)
{
assert1(n == 2 || n == 3, n);
mgl_assert1(n == 2 || n == 3, n);

if (n == 2)
{
Expand All @@ -50,12 +50,12 @@ vec2d UpdateSimplex2D(vec2d *s, int &n)
float d0 = s[0].DistanceSq(vec2d::zero);
float d1 = s[1].DistanceSq(vec2d::zero);
float d2 = LineSegment2D(s[0], s[1]).DistanceSq(vec2d::zero);
assert2(d2 <= d0, d2, d0);
assert2(d2 <= d1, d2, d1);
mgl_assert2(d2 <= d0, d2, d0);
mgl_assert2(d2 <= d1, d2, d1);
// Cannot be in case 0: the step 0 -> 1 must have been toward the zero direction:
assert(Dot(s[1]-s[0], -s[0]) >= 0.f);
mgl_assert(Dot(s[1]-s[0], -s[0]) >= 0.f);
// Cannot be in case 1: the zero direction cannot be in the voronoi region of vertex s[1].
assert(Dot(s[1]-s[0], -s[1]) <= 0.f);
mgl_assert(Dot(s[1]-s[0], -s[1]) <= 0.f);
#endif

vec2d d01 = s[1] - s[0];
Expand All @@ -73,7 +73,7 @@ vec2d UpdateSimplex2D(vec2d *s, int &n)
}
else
{
assert(n == 3);
mgl_assert(n == 3);
// Seven voronoi regions:
// 0) closest to vertex s[0].
// 1) closest to vertex s[1].
Expand Down Expand Up @@ -109,10 +109,10 @@ vec2d UpdateSimplex2D(vec2d *s, int &n)
minDistIndex = i;
}

assert4(isContainedInTriangle || dist <= d[0] + 1e-4f, d[0], dist, isContainedInTriangle, minDistIndex);
assert4(isContainedInTriangle || dist <= d[1] + 1e-4f, d[1], dist, isContainedInTriangle, minDistIndex);
assert4(isContainedInTriangle || dist <= d[2] + 1e-4f, d[2], dist, isContainedInTriangle, minDistIndex);
assert4(isContainedInTriangle || dist <= d[3] + 1e-4f, d[3], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[0] + 1e-4f, d[0], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[1] + 1e-4f, d[1], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[2] + 1e-4f, d[2], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(isContainedInTriangle || dist <= d[3] + 1e-4f, d[3], dist, isContainedInTriangle, minDistIndex);
#endif
vec2d d12 = s[2]-s[1];
vec2d d02 = s[2]-s[0];
Expand All @@ -124,7 +124,7 @@ vec2d UpdateSimplex2D(vec2d *s, int &n)
{
// Case 4: Edge 1->2 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(d[4] <= dist + 1e-3f * Max(1.f, d[4], dist), d[4], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(d[4] <= dist + 1e-3f * Max(1.f, d[4], dist), d[4], dist, isContainedInTriangle, minDistIndex);
#endif
vec2d newDir = e12;
s[0] = s[1];
Expand All @@ -139,7 +139,7 @@ vec2d UpdateSimplex2D(vec2d *s, int &n)
{
// Case 5: Edge 0->2 is closest.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(d[5] <= dist + 1e-3f * Max(1.f, d[5], dist), d[5], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(d[5] <= dist + 1e-3f * Max(1.f, d[5], dist), d[5], dist, isContainedInTriangle, minDistIndex);
#endif
vec2d newDir = e02;
s[1] = s[2];
Expand All @@ -148,7 +148,7 @@ vec2d UpdateSimplex2D(vec2d *s, int &n)
}
// Case 6) The origin lies directly inside the triangle. For robustness, terminate the search here immediately with success.
#ifdef MATH_ASSERT_CORRECTNESS
assert4(d[6] <= dist + 1e-3f * Max(1.f, d[6], dist), d[6], dist, isContainedInTriangle, minDistIndex);
mgl_assert4(d[6] <= dist + 1e-3f * Max(1.f, d[6], dist), d[6], dist, isContainedInTriangle, minDistIndex);
#endif
n = 0;
return vec2d::zero;
Expand Down
10 changes: 5 additions & 5 deletions src/Algorithm/GJK2D.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,24 +48,24 @@ bool GJKIntersect2D(const A &a, const B &b)
float maxS, minS;
vec2d newSupport = SUPPORT2D(d, minS, maxS);
#ifdef MATH_VEC_IS_FLOAT4
assume(newSupport.z == 0.f);
assume(newSupport.w == 0.f);
mgl_assume(newSupport.z == 0.f);
mgl_assume(newSupport.w == 0.f);
#endif
// If the most extreme point in that search direction did not walk past the origin, then the origin cannot be contained in the Minkowski
// convex shape, and the two convex objects a and b do not share a common point - no intersection!
if (minS + maxS < 0.f)
return false;
// Add the newly evaluated point to the search simplex.
assert(n < 3);
mgl_assert(n < 3);
support[n++] = newSupport;
// Examine the current simplex, prune a redundant part of it, and produce the next search direction.
d = UpdateSimplex2D(support, n);
if (n == 0) // Was the origin contained in the current simplex? If so, then the convex shapes a and b do share a common point - intersection!
return true;
}
assume(false && "GJK2D intersection test did not converge to a result!");
mgl_assume(false && "GJK2D intersection test did not converge to a result!");
// TODO: enable this on Polygon2DRef
// assume2(false && "GJK2D intersection test did not converge to a result!", a.SerializeToString(), b.SerializeToString());
// mgl_assume2(false && "GJK2D intersection test did not converge to a result!", a.SerializeToString(), b.SerializeToString());
return false; // Report no intersection.
}

Expand Down
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