🐳chore(库):增加 碰撞 库

code/framework/3rd/libccd/.gitignore

@@ -0,0 +1,14 @@
+Makefile.in
+autom4te.cache/*
+aclocal.m4
+config.guess
+config.sub
+configure
+depcomp
+install-sh
+ltmain.sh
+missing
+*~
+src/gjk/config.h.in
+build/*
+ccd.pc

code/framework/3rd/libccd/.travis.yml

@@ -0,0 +1,23 @@
+dist: trusty
+sudo: required
+
+language: c
+compiler:
+  - gcc
+  - clang
+
+env:
+  global:
+    - PREFIX="$TRAVIS_BUILD_DIR/build/install"
+  matrix:
+    - USE_AUTOTOOLS=yes
+    - USE_CMAKE=yes
+    - USE_MAKEFILE=yes USE_DOUBLE=yes
+    - USE_MAKEFILE=yes USE_SINGLE=yes
+
+script:
+  - mkdir -p "$PREFIX"
+  - if [[ "$USE_AUTOTOOLS" == "yes" ]]; then ./bootstrap && cd build && ../configure --prefix "$PREFIX"; fi
+  - if [[ "$USE_CMAKE" == "yes" ]]; then cd build && cmake "-DCMAKE_INSTALL_PREFIX=$PREFIX" ..; fi
+  - if [[ "$USE_MAKEFILE" == "yes" ]]; then cd src; fi
+  - make && make install

code/framework/3rd/libccd/CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 2.8.11)
+
+if(POLICY CMP0042)
+  cmake_policy(SET CMP0042 NEW)
+endif()
+
+# Can not explicitly declared the software as C in project command due to bug:
+# https://gitlab.kitware.com/cmake/cmake/issues/16967
+project(libccd)
+
+set(CCD_VERSION_MAJOR 2)
+set(CCD_VERSION_MINOR 0)
+set(CCD_VERSION ${CCD_VERSION_MAJOR}.${CCD_VERSION_MINOR})
+
+set(CCD_SOVERSION 2)
+
+# Include GNUInstallDirs to get canonical paths
+include(GNUInstallDirs)
+include(CTest)
+
+option(BUILD_DOCUMENTATION "Build the documentation" OFF)
+
+option(BUILD_SHARED_LIBS "Build libccd as a shared library" ON)
+
+option(ENABLE_DOUBLE_PRECISION
+  "Enable double precision computations instead of single precision" OFF)
+
+# Option for some bundle-like build system in order not to expose
+# any FCL binary symbols in their public ABI
+option(CCD_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
+if (CCD_HIDE_ALL_SYMBOLS)
+  add_definitions("-DCCD_STATIC_DEFINE")
+endif()
+
+# set the default build type
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING
+    "Choose the type of build; options are Debug Release RelWithDebInfo MinSizeRel"
+    FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+    STRINGS
+      Debug
+      Release
+      RelWithDebInfo
+      MinSizeRel)
+endif()
+
+add_subdirectory(src)
+
+if(BUILD_DOCUMENTATION)
+  add_subdirectory(doc)
+endif()
+
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(ccd-config.cmake.in ccd-config.cmake
+  INSTALL_DESTINATION "${CMAKE_INSTALL_LIBDIR}/ccd"
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file(ccd-config-version.cmake
+  VERSION ${CCD_VERSION} COMPATIBILITY AnyNewerVersion)
+
+install(FILES
+  "${CMAKE_BINARY_DIR}/ccd-config.cmake"
+  "${CMAKE_BINARY_DIR}/ccd-config-version.cmake"
+  DESTINATION "${CMAKE_INSTALL_LIBDIR}/ccd")
+
+set(CCD_PKGCONFIG_DESCRIPTION
+  "Library for collision detection between convex shapes")
+configure_file(ccd.pc.in ccd.pc @ONLY)
+install(FILES "${CMAKE_BINARY_DIR}/ccd.pc"
+  DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
+
+install(FILES BSD-LICENSE DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/doc/ccd")

code/framework/3rd/libccd/Makefile.am

@@ -0,0 +1,6 @@
+SUBDIRS = src
+
+EXTRA_DIST = doc \
+	BSD-LICENSE \
+	README.md \
+	make-release.sh

code/framework/3rd/libccd/README.md

@@ -0,0 +1,296 @@
+# libccd [![Build Status](https://travis-ci.org/danfis/libccd.svg?branch=master)](https://travis-ci.org/danfis/libccd)
+
+***libccd*** is library for a collision detection between two convex shapes.
+libccd implements variation on Gilbert–Johnson–Keerthi algorithm plus Expand
+Polytope Algorithm (EPA) and also implements algorithm Minkowski Portal
+Refinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7.
+
+libccd is the only available open source library of my knowledge that include
+MPR algorithm working in 3-D space.  However, there is a library called
+[mpr2d](http://code.google.com/p/mpr2d/), implemented in D programming
+language, that works in 2-D space.
+
+libccd is currently part of:
+
+1. [ODE](http://www.ode.org/) library (see ODE's *./configure --help* how to enable it),
+2. [FCL](http://www.ros.org/wiki/fcl) library from [Willow Garage](http://www.willowgarage.com/),
+3. [Bullet3](http://bulletphysics.org/) library (https://github.com/bulletphysics/bullet3).
+
+For implementation details on GJK algorithm, see
+http://www.win.tue.nl/~gino/solid/jgt98convex.pdf.
+
+
+## Dependencies
+
+This library is currently based only on standard libraries.
+The only exception are testsuites that are built on top of CU
+(https://github.com/danfis/cu) library licensed under LGPL, however only
+testing depends on it and libccd library itself can be distributed without it.
+
+
+## License
+
+libccd is licensed under OSI-approved 3-clause BSD License, text of license
+is distributed along with source code in BSD-LICENSE file.
+Each file should include license notice, the rest should be considered as
+licensed under 3-clause BSD License.
+
+
+## Compile And Install
+
+libccd contains several mechanisms for compiling and installing. Using a simple Makefile, using autotools, and using CMake.
+
+### 1. Using Makefile
+
+Directory src/ contains Makefile that should contain everything needed for compilation and installation:
+```sh
+  $ cd src/
+  $ make
+  $ make install
+```
+
+Library libccd is by default compiled in double precision of floating point numbers - you can change this by options *USE_SINGLE/USE_DOUBLE*, i.e.:
+```sh
+  $ make USE_SINGLE=yes
+```
+will compile library in single precision.
+
+Installation directory can be changed by options PREFIX, INCLUDEDIR and LIBDIR. 
+For more info type 'make help'.
+
+### 2. Using Autotools
+
+libccd also contains support for autotools:
+Generate configure script etc.:
+```sh
+  $ ./bootstrap
+```
+
+Create new build/ directory:
+```sh
+  $ mkdir build && cd build
+```
+
+Run configure script:
+```sh
+  $ ../configure
+```
+
+Run make and make install:
+```sh
+  $ make && make install
+```
+
+configure script can change the way libccd is compiled and installed, most significant option is *--enable-double-precision* which enables double precision (single is default in this case).
+
+### 3. Using CMake
+
+To build using `make`:
+```sh
+  $ mkdir build && cd build
+  $ cmake -G "Unix Makefiles" ..
+  $ make && make install
+```
+
+To build using `ninja`:
+```sh
+  $ mkdir build && cd build
+  $ cmake -G Ninja ..
+  $ ninja && ninja install
+```
+
+Other build tools may be using by specifying a different generator. For example:
+```sh
+  $ cmake -G Xcode ..
+```
+
+```bat
+  > cmake -G "Visual Studio 14 2015" ..
+```
+
+To compile using double precision, set the `ENABLE_DOUBLE_PRECISION` option:
+```sh
+  $ mkdir build && cd build
+  $ cmake -G "Unix Makefiles" -DENABLE_DOUBLE_PRECISION=ON ..
+  $ make && make install
+```
+
+To build libccd as a shared library, set the `BUILD_SHARED_LIBS` option:
+```sh
+  $ mkdir build && cd build
+  $ cmake -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON ..
+  $ make && make install
+```
+
+To build the test suite, set the `BUILD_TESTING` option:
+```sh
+  $ mkdir build && cd build
+  $ cmake -G "Unix Makefiles" -DBUILD_TESTING=ON ..
+  $ make && make test
+```
+
+The installation directory may be changed using the `CMAKE_INSTALL_PREFIX` variable:
+```sh
+  $ mkdir build && cd build
+  $ cmake -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX=/path/to/install ..
+  $ make && make install
+```
+
+## GJK - Intersection Test
+
+This section describes how to use libccd for testing if two convex objects intersects (i.e., 'yes/no' test) using Gilbert-Johnson-Keerthi (GJK) algorithm.
+
+Procedure is very simple (and is similar for usages of library):
+
+1. Include *<ccd/ccd.h>* file.
+2. Implement support function for specific shapes. Support function is function that returns furthest point from object (shape) in specified direction.
+3. Set up *ccd_t* structure.
+4. Run ccdGJKIntersect() function on desired objects.
+
+Here is skeleton of simple program:
+```cpp
+  #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
+  }
+```
+
+## GJK + EPA - Penetration Of Two Objects
+
+If you want to obtain also penetration info about two intersection objects ccdGJKPenetration() function can be used.
+
+Procedure is almost same as for previous case:
+```cpp
+  #include <ccd/ccd.h>
+  #include <ccd/quat.h> // for work with quaternions
+
+  /** Support function is same as in previous case */
+
+  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
+      ccd.epa_tolerance  = 0.0001;  // maximal tolerance fro EPA part
+
+      ccd_real_t depth;
+      ccd_vec3_t dir, pos;
+      int intersect = ccdGJKPenetration(obj1, obj2, &ccd, &depth, &dir, &pos);
+      // now intersect holds 0 if obj1 and obj2 intersect, -1 otherwise
+      // in depth, dir and pos is stored penetration depth, direction of
+      // separation vector and position in global coordinate system
+  }
+```
+
+## MPR - Intersection Test
+
+libccd also provides MPR - Minkowski Portal Refinement algorithm that can be used for testing if two objects intersects.
+
+Procedure is similar to the one used for GJK algorithm. Support function is same but also function that returns center (or any point near center) of given object must be implemented:
+```cpp
+  #include <ccd/ccd.h>
+  #include <ccd/quat.h> // for work with quaternions
+
+  /** Support function is same as in previous case */
+
+  /** Center function - returns center of object */
+  void center(const void *_obj, ccd_vec3_t *center)
+  {
+      obj_t *obj = (obj_t *)_obj;
+      ccdVec3Copy(center, &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.center1        = center;  // center function for first object
+      ccd.center2        = center;  // center function for second object
+      ccd.mpr_tolerance  = 0.0001;  // maximal tolerance
+
+      int intersect = ccdMPRIntersect(obj1, obj2, &ccd);
+      // now intersect holds true if obj1 and obj2 intersect, false otherwise
+  }
+```
+
+
+## MPR - Penetration Of Two Objects
+
+Using MPR algorithm for obtaining penetration info about two intersection objects is equally easy as in previous case instead ccdMPRPenetration() function is used:
+```cpp
+  #include <ccd/ccd.h>
+  #include <ccd/quat.h> // for work with quaternions
+
+  /** Support function is same as in previous case */
+  /** Center function is same as in prevous case */
+
+  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.center1        = center;  // center function for first object
+      ccd.center2        = center;  // center function for second object
+      ccd.mpr_tolerance  = 0.0001;  // maximal tolerance
+
+      ccd_real_t depth;
+      ccd_vec3_t dir, pos;
+      int intersect = ccdMPRPenetration(obj1, obj2, &ccd, &depth, &dir, &pos);
+      // now intersect holds 0 if obj1 and obj2 intersect, -1 otherwise
+      // in depth, dir and pos is stored penetration depth, direction of
+      // separation vector and position in global coordinate system
+  }
+```

code/framework/3rd/libccd/bootstrap

@@ -0,0 +1,7 @@
+#!/bin/sh
+
+libtoolize -f -c
+aclocal
+autoheader -f
+autoconf
+automake -a --foreign -f -c

code/framework/3rd/libccd/ccd-config.cmake.in

@@ -0,0 +1,14 @@
+@PACKAGE_INIT@
+
+set(CCD_VERSION_MAJOR @CCD_VERSION_MAJOR@)
+set(CCD_VERSION_MINOR @CCD_VERSION_MINOR@)
+set(CCD_VERSION @CCD_VERSION@)
+
+set(CCD_SOVERSION @CCD_SOVERSION@)
+
+set(CCD_FOUND ON)
+set_and_check(CCD_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+set_and_check(CCD_LIBRARY_DIRS "@PACKAGE_CMAKE_INSTALL_LIBDIR@")
+set(CCD_LIBRARIES ccd)
+
+include("${CMAKE_CURRENT_LIST_DIR}/ccd-targets.cmake")

code/framework/3rd/libccd/ccd.pc.in

@@ -0,0 +1,13 @@
+# Generated by CMake @CMAKE_VERSION@ for ccd
+
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
+
+Name: @PROJECT_NAME@
+Description: @CCD_PKGCONFIG_DESCRIPTION@
+Version: @CCD_VERSION@
+Requires: @CCD_PKGCONFIG_REQUIRES@
+Libs: -L${libdir} -lccd @CCD_PKGCONFIG_EXTRA_LIBS@
+Cflags: -I${includedir}

code/framework/3rd/libccd/configure.ac

@@ -0,0 +1,50 @@
+#                                               -*- Autoconf -*-
+# Process this file with autoconf to produce a configure script.
+
+#AC_PREREQ([2.65])
+AC_INIT([libccd], [2.0], [danfis@danfis.cz])
+AC_CONFIG_SRCDIR([src/ccd.c])
+AC_CONFIG_HEADERS([src/ccd/config.h])
+AM_INIT_AUTOMAKE
+
+# Checks for programs.
+AC_PROG_CXX
+AC_PROG_CC
+AC_PROG_INSTALL
+AC_DISABLE_SHARED
+LT_INIT
+
+# Checks for libraries.
+AC_CHECK_LIB([m], [main])
+# FIXME: Replace `main' with a function in `-lrt':
+AC_CHECK_LIB([rt], [main])
+
+# Checks for header files.
+AC_CHECK_HEADERS([float.h stdlib.h string.h unistd.h])
+
+# Checks for typedefs, structures, and compiler characteristics.
+AC_TYPE_SIZE_T
+
+# Checks for library functions.
+AC_FUNC_FORK
+AC_FUNC_REALLOC
+AC_CHECK_FUNCS([clock_gettime])
+
+use_double=no
+AC_ARG_ENABLE(double-precision,
+              AS_HELP_STRING([--enable-double-precision],
+                             [enable double precision computations instead of single precision]),
+              [use_double=yes])
+if test $use_double = no
+then
+        AC_DEFINE([CCD_SINGLE], [], [use single precision])
+else
+        AC_DEFINE([CCD_DOUBLE], [], [use double precision])
+fi
+
+
+AC_CONFIG_FILES([Makefile
+                 src/Makefile
+                 src/testsuites/Makefile
+                 src/testsuites/cu/Makefile])
+AC_OUTPUT

code/framework/3rd/libccd/make-release.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+
+# Creates .tar.gz package of specified version.
+# Takes one argument - identification of commit
+
+NAME=libccd
+COMMIT=""
+CMD="git archive"
+
+# read arguments
+COMMIT="$1"
+
+if [ "$COMMIT" = "" ]; then
+    echo "Usage: $0 commit [--notest] [--nodoc]"
+    echo "Error: you must specify commit which should be packed"
+    exit -1;
+fi;
+
+
+PREFIX=${NAME}-$COMMIT/
+FN=${NAME}-$COMMIT.tar.gz
+
+if echo "$COMMIT" | grep '^v[0-9]\.[0-9]\+' >/dev/null 2>&1; then
+    tmp=$(echo "$COMMIT" | sed 's/^v//')
+    PREFIX=${NAME}-$tmp/
+    FN=${NAME}-$tmp.tar.gz
+fi
+
+$CMD --prefix="$PREFIX" --format=tar $COMMIT | gzip >"$FN"
+echo "Package: $FN"
+

code/framework/3rd/libccd/src/.gitignore

@@ -0,0 +1,5 @@
+*.o
+*.a
+ccd/config.h
+ccd/config.h.in
+

code/framework/3rd/libccd/src/CMakeLists.txt

@@ -0,0 +1,88 @@
+if(DEFINED CCD_SINGLE OR DEFINED CCD_DOUBLE)
+  # make sure only DOUBLE or SINGLE is set; default to SINGLE
+  if(CCD_SINGLE)
+    set(CCD_DOUBLE OFF)
+  else()
+    set(CCD_SINGLE ON)
+  endif()
+  if(CCD_DOUBLE)
+    set(CCD_SINGLE OFF)
+  endif()
+elseif(ENABLE_DOUBLE_PRECISION)
+    set(CCD_DOUBLE ON)
+    set(CCD_SINGLE OFF)
+else()
+    set(CCD_DOUBLE OFF)
+    set(CCD_SINGLE ON)
+endif()
+
+configure_file(ccd/config.h.cmake.in ccd/config.h)
+
+set(CCD_INCLUDES
+  ccd/ccd.h
+  ccd/compiler.h
+  ccd/ccd_export.h
+  ccd/quat.h
+  ccd/vec3.h
+  "${CMAKE_CURRENT_BINARY_DIR}/ccd/config.h")
+
+set(CCD_SOURCES
+  alloc.h
+  ccd.c
+  dbg.h
+  list.h
+  mpr.c
+  polytope.c
+  polytope.h
+  simplex.h
+  support.c
+  support.h
+  vec3.c)
+
+add_library(ccd ${CCD_INCLUDES} ${CCD_SOURCES})
+set_target_properties(ccd PROPERTIES
+  PUBLIC_HEADER "${CCD_INCLUDES}"
+  SOVERSION ${CCD_SOVERSION}
+  VERSION ${CCD_VERSION})
+target_include_directories(ccd PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+
+if(NOT WIN32)
+  find_library(LIBM_LIBRARY NAMES m)
+  if(NOT LIBM_LIBRARY)
+    message(FATAL_ERROR "Could NOT find required library LibM")
+  endif()
+  target_link_libraries(ccd "${LIBM_LIBRARY}")
+  if(BUILD_SHARED_LIBS)
+    set(CCD_PKGCONFIG_EXTRA_LIBS -lm PARENT_SCOPE)
+  endif()
+endif()
+
+export(TARGETS ccd FILE "${CMAKE_BINARY_DIR}/ccd-targets.cmake")
+
+install(TARGETS ccd
+  EXPORT ccd-targets
+  ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+  INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
+  LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+  PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/ccd"
+  RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
+install(EXPORT ccd-targets DESTINATION "${CMAKE_INSTALL_LIBDIR}/ccd")
+
+macro (check_compiler_visibility)
+  include (CheckCXXCompilerFlag)
+  check_cxx_compiler_flag(-fvisibility=hidden COMPILER_SUPPORTS_VISIBILITY)
+endmacro()
+
+if(UNIX)
+  check_compiler_visibility()
+  if (COMPILER_SUPPORTS_VISIBILITY)
+    set_target_properties(ccd
+         PROPERTIES COMPILE_FLAGS "-fvisibility=hidden")
+  endif()
+endif()
+
+if(NOT WIN32 AND BUILD_TESTING AND NOT CCD_HIDE_ALL_SYMBOLS)
+  add_subdirectory(testsuites)
+endif()

code/framework/3rd/libccd/src/Makefile

@@ -0,0 +1,80 @@
+###
+# libccd
+# ---------------------------------
+# Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+#
+#
+#  This file is part of libccd.
+#
+#  Distributed under the OSI-approved BSD License (the "License");
+#  see accompanying file BDS-LICENSE for details or see
+#  <http://www.opensource.org/licenses/bsd-license.php>.
+#
+#  This software is distributed WITHOUT ANY WARRANTY; without even the
+#  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+#  See the License for more information.
+##
+
+-include Makefile.include
+
+CFLAGS += -I. -fvisibility=hidden
+
+TARGETS = libccd.a
+OBJS = ccd.o mpr.o support.o vec3.o polytope.o
+
+all: $(TARGETS)
+
+libccd.a: $(OBJS)
+	ar cr $@ $(OBJS)
+	ranlib $@
+
+ccd/config.h: ccd/config.h.m4
+	$(M4) $(CONFIG_FLAGS) $< >$@
+
+%.o: %.c %.h ccd/config.h
+	$(CC) $(CFLAGS) $(DEFS) -c -o $@ $<
+%.o: %.c ccd/config.h
+	$(CC) $(CFLAGS) $(DEFS) -c -o $@ $<
+%.h: ccd/config.h
+%.c: ccd/config.h
+
+install:
+	mkdir -p $(PREFIX)/$(INCLUDEDIR)/ccd
+	mkdir -p $(PREFIX)/$(LIBDIR)
+	cp ccd/*.h $(PREFIX)/$(INCLUDEDIR)/ccd/
+	cp libccd.a $(PREFIX)/$(LIBDIR)
+
+clean:
+	rm -f $(OBJS)
+	rm -f $(TARGETS)
+	rm -f ccd/config.h
+	if [ -d testsuites ]; then $(MAKE) -C testsuites clean; fi;
+	
+check:
+	$(MAKE) -C testsuites check
+check-valgrind:
+	$(MAKE) -C testsuites check-valgrind
+
+help:
+	@echo "Targets:"
+	@echo "    all     - Build library"
+	@echo "    install - Install library into system"
+	@echo ""
+	@echo "Options:"
+	@echo "    CC - Path to C compiler"
+	@echo "    M4 - Path to m4 macro processor"
+	@echo ""
+	@echo "    DEBUG 'yes'/'no'      - Turn on/off debugging (default: 'no')"
+	@echo "    PROFIL 'yes'/'no'     - Compiles profiling info (default: 'no')"
+	@echo "    NOWALL 'yes'/'no'     - Turns off -Wall gcc option (default: 'no')"
+	@echo "    NOPEDANTIC 'yes'/'no' - Turns off -pedantic gcc option (default: 'no')"
+	@echo ""
+	@echo "    USE_SINGLE 'yes' - Use single precision (default: 'no')"
+	@echo "    USE_DOUBLE 'yes' - Use double precision (default: 'yes')"
+	@echo ""
+	@echo "    PREFIX     - Prefix where library will be installed (default: /usr/local)"
+	@echo "    INCLUDEDIR - Directory where header files will be installed (PREFIX/INCLUDEDIR) (default: include)"
+	@echo "    LIBDIR     - Directory where library will be installed (PREFIX/LIBDIR) (default: lib)"
+	@echo ""
+
+.PHONY: all clean check check-valgrind help

code/framework/3rd/libccd/src/Makefile.am

@@ -0,0 +1,18 @@
+SUBDIRS = . testsuites
+
+lib_LTLIBRARIES = libccd.la
+
+libccd_la_SOURCES = alloc.h \
+		ccd/compiler.h \
+		dbg.h \
+		ccd.c ccd/ccd.h \
+		ccd/ccd_export.h \
+		list.h \
+		polytope.c polytope.h \
+		ccd/quat.h \
+		simplex.h \
+		support.c support.h \
+		vec3.c ccd/vec3.h \
+        mpr.c
+
+libccd_la_CFLAGS = -fvisibility=hidden

code/framework/3rd/libccd/src/Makefile.include

@@ -0,0 +1,100 @@
+###
+# libccd
+# ---------------------------------
+# Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+#
+#
+#  This file is part of libccd.
+#
+#  Distributed under the OSI-approved BSD License (the "License");
+#  see accompanying file BDS-LICENSE for details or see
+#  <http://www.opensource.org/licenses/bsd-license.php>.
+#
+#  This software is distributed WITHOUT ANY WARRANTY; without even the
+#  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+#  See the License for more information.
+##
+
+CC ?= gcc
+M4 ?= m4
+PYTHON ?= python
+
+SYSTEM = $(shell uname)
+
+SYSTEM_CXXFLAGS =
+SYSTEM_LDFLAGS =
+
+ifeq '$(SYSTEM)' 'FreeBSD'
+  SYSTEM_CXXFLAGS = -Wno-long-long
+else
+endif
+
+NOWALL ?= no
+NOPEDANTIC ?= no
+DEBUG ?= no
+PROFIL ?= no
+
+ifeq '$(PROFIL)' 'yes'
+  DEBUG = yes
+endif
+
+ifeq '$(DEBUG)' 'yes'
+  CFLAGS = -g
+endif
+ifeq '$(PROFIL)' 'yes'
+  CFLAGS += -pg
+endif
+
+ifneq '$(NOWALL)' 'yes'
+  CFLAGS += -Wall
+endif
+ifneq '$(NOPEDANTIC)' 'yes'
+  CFLAGS += -pedantic
+endif
+
+CONFIG_FLAGS =
+USE_DOUBLE ?= yes
+USE_SINGLE ?= no
+
+ifeq '$(USE_SINGLE)' 'yes'
+  CONFIG_FLAGS += -DUSE_SINGLE
+  USE_DOUBLE = no
+endif
+ifeq '$(USE_DOUBLE)' 'yes'
+  CONFIG_FLAGS += -DUSE_DOUBLE
+endif
+
+CFLAGS += --std=gnu99
+LDFLAGS += $(SYSTEM_LDFLAGS)
+
+CHECKTARGETS = 
+check-dep: $(CHECKTARGETS)
+
+PREFIX     ?= /usr/local
+INCLUDEDIR ?= include
+LIBDIR     ?= lib
+
+showvars:
+	@echo "SYSTEM = "$(SYSTEM)
+	@echo ""
+	@echo "CC      = $(CC)"
+	@echo "M4      = $(M4)"
+	@echo ""
+	@echo "DEBUG      = $(DEBUG)"
+	@echo "PROFIL     = $(PROFIL)"
+	@echo "NOWALL     = $(NOWALL)"
+	@echo "NOPEDANTIC = $(NOPEDANTIC)"
+	@echo "USE_SINGLE = $(USE_SINGLE)"
+	@echo "USE_DOUBLE = $(USE_DOUBLE)"
+	@echo ""
+	@echo "CFLAGS       = $(CFLAGS)"
+	@echo "LDFLAGS      = $(LDFLAGS)"
+	@echo "CONFIG_FLAGS = $(CONFIG_FLAGS)"
+	@echo ""
+	@echo "PREFIX     = $(PREFIX)"
+	@echo "INCLUDEDIR = $(INCLUDEDIR)"
+	@echo "LIBDIR     = $(LIBDIR)"
+	@echo ""
+
+.DEFAULT_GOAL := all
+.PHONY: showvars 

code/framework/3rd/libccd/src/alloc.h

@@ -0,0 +1,50 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_ALLOC_H__
+#define __CCD_ALLOC_H__
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * Functions and macros required for memory allocation.
+ */
+
+/* Memory allocation: */
+#define __CCD_ALLOC_MEMORY(type, ptr_old, size) \
+    (type *)realloc((void *)ptr_old, (size))
+
+/** Allocate memory for one element of type.  */
+#define CCD_ALLOC(type) \
+    __CCD_ALLOC_MEMORY(type, NULL, sizeof(type))
+
+/** Allocate memory for array of elements of type type.  */
+#define CCD_ALLOC_ARR(type, num_elements) \
+    __CCD_ALLOC_MEMORY(type, NULL, sizeof(type) * (num_elements))
+
+#define CCD_REALLOC_ARR(ptr, type, num_elements) \
+    __CCD_ALLOC_MEMORY(type, ptr, sizeof(type) * (num_elements))
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_ALLOC_H__ */

code/framework/3rd/libccd/src/ccd.c

@@ -0,0 +1,996 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#include <stdio.h>
+#include <float.h>
+#include <ccd/ccd.h>
+#include <ccd/vec3.h>
+#include "simplex.h"
+#include "polytope.h"
+#include "alloc.h"
+#include "dbg.h"
+
+
+/** Performs GJK algorithm. Returns 0 if intersection was found and simplex
+ *  is filled with resulting polytope. */
+static int __ccdGJK(const void *obj1, const void *obj2,
+                    const ccd_t *ccd, ccd_simplex_t *simplex);
+
+/** Performs GJK+EPA algorithm. Returns 0 if intersection was found and
+ *  pt is filled with resulting polytope and nearest with pointer to
+ *  nearest element (vertex, edge, face) of polytope to origin. */
+static int __ccdGJKEPA(const void *obj1, const void *obj2,
+                       const ccd_t *ccd,
+                       ccd_pt_t *pt, ccd_pt_el_t **nearest);
+
+
+/** Returns true if simplex contains origin.
+ *  This function also alteres simplex and dir according to further
+ *  processing of GJK algorithm. */
+static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir);
+static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir);
+static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir);
+static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir);
+
+/** d = a x b x c */
+_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
+                             const ccd_vec3_t *c, ccd_vec3_t *d);
+
+
+/** Transforms simplex to polytope. It is assumed that simplex has 4
+ *  vertices. */
+static int simplexToPolytope4(const void *obj1, const void *obj2,
+                              const ccd_t *ccd,
+                              ccd_simplex_t *simplex,
+                              ccd_pt_t *pt, ccd_pt_el_t **nearest);
+
+/** Transforms simplex to polytope, three vertices required */
+static int simplexToPolytope3(const void *obj1, const void *obj2,
+                              const ccd_t *ccd,
+                              const ccd_simplex_t *simplex,
+                              ccd_pt_t *pt, ccd_pt_el_t **nearest);
+
+/** Transforms simplex to polytope, two vertices required */
+static int simplexToPolytope2(const void *obj1, const void *obj2,
+                              const ccd_t *ccd,
+                              const ccd_simplex_t *simplex,
+                              ccd_pt_t *pt, ccd_pt_el_t **nearest);
+
+/** Expands polytope using new vertex v.
+ *  Return 0 on success, -2 on memory allocation failure.*/
+static int expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el,
+                          const ccd_support_t *newv);
+
+/** Finds next support point (at stores it in out argument).
+ *  Returns 0 on success, -1 otherwise */
+static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd,
+                       const ccd_pt_el_t *el,
+                       ccd_support_t *out);
+
+
+
+void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir)
+{
+    ccdVec3Set(dir, CCD_ONE, CCD_ZERO, CCD_ZERO);
+}
+
+int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd)
+{
+    ccd_simplex_t simplex;
+    return __ccdGJK(obj1, obj2, ccd, &simplex) == 0;
+}
+
+int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd,
+                   ccd_vec3_t *sep)
+{
+    ccd_pt_t polytope;
+    ccd_pt_el_t *nearest;
+    int ret;
+
+    ccdPtInit(&polytope);
+
+    ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest);
+
+    // set separation vector
+    if (nearest)
+        ccdVec3Copy(sep, &nearest->witness);
+
+    ccdPtDestroy(&polytope);
+
+    return ret;
+}
+
+
+static int penEPAPosCmp(const void *a, const void *b)
+{
+    ccd_pt_vertex_t *v1, *v2;
+    v1 = *(ccd_pt_vertex_t **)a;
+    v2 = *(ccd_pt_vertex_t **)b;
+
+    if (ccdEq(v1->dist, v2->dist)){
+        return 0;
+    }else if (v1->dist < v2->dist){
+        return -1;
+    }else{
+        return 1;
+    }
+}
+
+static int penEPAPos(const ccd_pt_t *pt, const ccd_pt_el_t *nearest,
+                     ccd_vec3_t *pos)
+{
+    ccd_pt_vertex_t *v;
+    ccd_pt_vertex_t **vs;
+    size_t i, len;
+    ccd_real_t scale;
+
+    // compute median
+    len = 0;
+    ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
+        len++;
+    }
+
+    vs = CCD_ALLOC_ARR(ccd_pt_vertex_t *, len);
+    if (vs == NULL)
+        return -1;
+
+    i = 0;
+    ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
+        vs[i++] = v;
+    }
+
+    qsort(vs, len, sizeof(ccd_pt_vertex_t *), penEPAPosCmp);
+
+    ccdVec3Set(pos, CCD_ZERO, CCD_ZERO, CCD_ZERO);
+    scale = CCD_ZERO;
+    if (len % 2 == 1)
+        len++;
+
+    for (i = 0; i < len / 2; i++){
+        ccdVec3Add(pos, &vs[i]->v.v1);
+        ccdVec3Add(pos, &vs[i]->v.v2);
+        scale += CCD_REAL(2.);
+    }
+    ccdVec3Scale(pos, CCD_ONE / scale);
+
+    free(vs);
+
+    return 0;
+}
+
+int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
+                      ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
+{
+    ccd_pt_t polytope;
+    ccd_pt_el_t *nearest;
+    int ret;
+
+    ccdPtInit(&polytope);
+
+    ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest);
+
+    // set separation vector
+    if (ret == 0 && nearest){
+        // compute depth of penetration
+        *depth = CCD_SQRT(nearest->dist);
+
+        // store normalized direction vector
+        ccdVec3Copy(dir, &nearest->witness);
+        ccdVec3Normalize(dir);
+
+        // compute position
+        if (penEPAPos(&polytope, nearest, pos) != 0){
+            ccdPtDestroy(&polytope);
+            return -2;
+        }
+    }
+
+    ccdPtDestroy(&polytope);
+
+    return ret;
+}
+
+
+static int __ccdGJK(const void *obj1, const void *obj2,
+                    const ccd_t *ccd, ccd_simplex_t *simplex)
+{
+    unsigned long iterations;
+    ccd_vec3_t dir; // direction vector
+    ccd_support_t last; // last support point
+    int do_simplex_res;
+
+    // initialize simplex struct
+    ccdSimplexInit(simplex);
+
+    // get first direction
+    ccd->first_dir(obj1, obj2, &dir);
+    // get first support point
+    __ccdSupport(obj1, obj2, &dir, ccd, &last);
+    // and add this point to simplex as last one
+    ccdSimplexAdd(simplex, &last);
+
+    // set up direction vector to as (O - last) which is exactly -last
+    ccdVec3Copy(&dir, &last.v);
+    ccdVec3Scale(&dir, -CCD_ONE);
+
+    // start iterations
+    for (iterations = 0UL; iterations < ccd->max_iterations; ++iterations) {
+        // obtain support point
+        __ccdSupport(obj1, obj2, &dir, ccd, &last);
+
+        // check if farthest point in Minkowski difference in direction dir
+        // isn't somewhere before origin (the test on negative dot product)
+        // - because if it is, objects are not intersecting at all.
+        if (ccdVec3Dot(&last.v, &dir) < CCD_ZERO){
+            return -1; // intersection not found
+        }
+
+        // add last support vector to simplex
+        ccdSimplexAdd(simplex, &last);
+
+        // if doSimplex returns 1 if objects intersect, -1 if objects don't
+        // intersect and 0 if algorithm should continue
+        do_simplex_res = doSimplex(simplex, &dir);
+        if (do_simplex_res == 1){
+            return 0; // intersection found
+        }else if (do_simplex_res == -1){
+            return -1; // intersection not found
+        }
+
+        if (ccdIsZero(ccdVec3Len2(&dir))){
+            return -1; // intersection not found
+        }
+    }
+
+    // intersection wasn't found
+    return -1;
+}
+
+static int __ccdGJKEPA(const void *obj1, const void *obj2,
+                       const ccd_t *ccd,
+                       ccd_pt_t *polytope, ccd_pt_el_t **nearest)
+{
+    ccd_simplex_t simplex;
+    ccd_support_t supp; // support point
+    int ret, size;
+
+    *nearest = NULL;
+
+    // run GJK and obtain terminal simplex
+    ret = __ccdGJK(obj1, obj2, ccd, &simplex);
+    if (ret != 0)
+        return -1;
+
+    // transform simplex to polytope - simplex won't be used anymore
+    size = ccdSimplexSize(&simplex);
+    if (size == 4){
+        ret = simplexToPolytope4(obj1, obj2, ccd, &simplex, polytope, nearest);
+    }else if (size == 3){
+        ret = simplexToPolytope3(obj1, obj2, ccd, &simplex, polytope, nearest);
+    }else{ // size == 2
+        ret = simplexToPolytope2(obj1, obj2, ccd, &simplex, polytope, nearest);
+    }
+
+    if (ret == -1){
+        // touching contact
+        return 0;
+    }else if (ret == -2){
+        // failed memory allocation
+        return -2;
+    }
+
+
+    while (1){
+        // get triangle nearest to origin
+        *nearest = ccdPtNearest(polytope);
+
+        // get next support point
+        if (nextSupport(obj1, obj2, ccd, *nearest, &supp) != 0)
+            break;
+
+        // expand nearest triangle using new point - supp
+        if (expandPolytope(polytope, *nearest, &supp) != 0)
+            return -2;
+    }
+
+    return 0;
+}
+
+
+
+static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir)
+{
+    const ccd_support_t *A, *B;
+    ccd_vec3_t AB, AO, tmp;
+    ccd_real_t dot;
+
+    // get last added as A
+    A = ccdSimplexLast(simplex);
+    // get the other point
+    B = ccdSimplexPoint(simplex, 0);
+    // compute AB oriented segment
+    ccdVec3Sub2(&AB, &B->v, &A->v);
+    // compute AO vector
+    ccdVec3Copy(&AO, &A->v);
+    ccdVec3Scale(&AO, -CCD_ONE);
+
+    // dot product AB . AO
+    dot = ccdVec3Dot(&AB, &AO);
+
+    // check if origin doesn't lie on AB segment
+    ccdVec3Cross(&tmp, &AB, &AO);
+    if (ccdIsZero(ccdVec3Len2(&tmp)) && dot > CCD_ZERO){
+        return 1;
+    }
+
+    // check if origin is in area where AB segment is
+    if (ccdIsZero(dot) || dot < CCD_ZERO){
+        // origin is in outside are of A
+        ccdSimplexSet(simplex, 0, A);
+        ccdSimplexSetSize(simplex, 1);
+        ccdVec3Copy(dir, &AO);
+    }else{
+        // origin is in area where AB segment is
+
+        // keep simplex untouched and set direction to
+        // AB x AO x AB
+        tripleCross(&AB, &AO, &AB, dir);
+    }
+
+    return 0;
+}
+
+static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir)
+{
+    const ccd_support_t *A, *B, *C;
+    ccd_vec3_t AO, AB, AC, ABC, tmp;
+    ccd_real_t dot, dist;
+
+    // get last added as A
+    A = ccdSimplexLast(simplex);
+    // get the other points
+    B = ccdSimplexPoint(simplex, 1);
+    C = ccdSimplexPoint(simplex, 0);
+
+    // check touching contact
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL);
+    if (ccdIsZero(dist)){
+        return 1;
+    }
+
+    // check if triangle is really triangle (has area > 0)
+    // if not simplex can't be expanded and thus no itersection is found
+    if (ccdVec3Eq(&A->v, &B->v) || ccdVec3Eq(&A->v, &C->v)){
+        return -1;
+    }
+
+    // compute AO vector
+    ccdVec3Copy(&AO, &A->v);
+    ccdVec3Scale(&AO, -CCD_ONE);
+
+    // compute AB and AC segments and ABC vector (perpendircular to triangle)
+    ccdVec3Sub2(&AB, &B->v, &A->v);
+    ccdVec3Sub2(&AC, &C->v, &A->v);
+    ccdVec3Cross(&ABC, &AB, &AC);
+
+    ccdVec3Cross(&tmp, &ABC, &AC);
+    dot = ccdVec3Dot(&tmp, &AO);
+    if (ccdIsZero(dot) || dot > CCD_ZERO){
+        dot = ccdVec3Dot(&AC, &AO);
+        if (ccdIsZero(dot) || dot > CCD_ZERO){
+            // C is already in place
+            ccdSimplexSet(simplex, 1, A);
+            ccdSimplexSetSize(simplex, 2);
+            tripleCross(&AC, &AO, &AC, dir);
+        }else{
+ccd_do_simplex3_45:
+            dot = ccdVec3Dot(&AB, &AO);
+            if (ccdIsZero(dot) || dot > CCD_ZERO){
+                ccdSimplexSet(simplex, 0, B);
+                ccdSimplexSet(simplex, 1, A);
+                ccdSimplexSetSize(simplex, 2);
+                tripleCross(&AB, &AO, &AB, dir);
+            }else{
+                ccdSimplexSet(simplex, 0, A);
+                ccdSimplexSetSize(simplex, 1);
+                ccdVec3Copy(dir, &AO);
+            }
+        }
+    }else{
+        ccdVec3Cross(&tmp, &AB, &ABC);
+        dot = ccdVec3Dot(&tmp, &AO);
+        if (ccdIsZero(dot) || dot > CCD_ZERO){
+            goto ccd_do_simplex3_45;
+        }else{
+            dot = ccdVec3Dot(&ABC, &AO);
+            if (ccdIsZero(dot) || dot > CCD_ZERO){
+                ccdVec3Copy(dir, &ABC);
+            }else{
+                ccd_support_t Ctmp;
+                ccdSupportCopy(&Ctmp, C);
+                ccdSimplexSet(simplex, 0, B);
+                ccdSimplexSet(simplex, 1, &Ctmp);
+
+                ccdVec3Copy(dir, &ABC);
+                ccdVec3Scale(dir, -CCD_ONE);
+            }
+        }
+    }
+
+    return 0;
+}
+
+static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir)
+{
+    const ccd_support_t *A, *B, *C, *D;
+    ccd_vec3_t AO, AB, AC, AD, ABC, ACD, ADB;
+    int B_on_ACD, C_on_ADB, D_on_ABC;
+    int AB_O, AC_O, AD_O;
+    ccd_real_t dist;
+
+    // get last added as A
+    A = ccdSimplexLast(simplex);
+    // get the other points
+    B = ccdSimplexPoint(simplex, 2);
+    C = ccdSimplexPoint(simplex, 1);
+    D = ccdSimplexPoint(simplex, 0);
+
+    // check if tetrahedron is really tetrahedron (has volume > 0)
+    // if it is not simplex can't be expanded and thus no intersection is
+    // found
+    dist = ccdVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, NULL);
+    if (ccdIsZero(dist)){
+        return -1;
+    }
+
+    // check if origin lies on some of tetrahedron's face - if so objects
+    // intersect
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL);
+    if (ccdIsZero(dist))
+        return 1;
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &C->v, &D->v, NULL);
+    if (ccdIsZero(dist))
+        return 1;
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &D->v, NULL);
+    if (ccdIsZero(dist))
+        return 1;
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &B->v, &C->v, &D->v, NULL);
+    if (ccdIsZero(dist))
+        return 1;
+
+    // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors
+    ccdVec3Copy(&AO, &A->v);
+    ccdVec3Scale(&AO, -CCD_ONE);
+    ccdVec3Sub2(&AB, &B->v, &A->v);
+    ccdVec3Sub2(&AC, &C->v, &A->v);
+    ccdVec3Sub2(&AD, &D->v, &A->v);
+    ccdVec3Cross(&ABC, &AB, &AC);
+    ccdVec3Cross(&ACD, &AC, &AD);
+    ccdVec3Cross(&ADB, &AD, &AB);
+
+    // side (positive or negative) of B, C, D relative to planes ACD, ADB
+    // and ABC respectively
+    B_on_ACD = ccdSign(ccdVec3Dot(&ACD, &AB));
+    C_on_ADB = ccdSign(ccdVec3Dot(&ADB, &AC));
+    D_on_ABC = ccdSign(ccdVec3Dot(&ABC, &AD));
+
+    // whether origin is on same side of ACD, ADB, ABC as B, C, D
+    // respectively
+    AB_O = ccdSign(ccdVec3Dot(&ACD, &AO)) == B_on_ACD;
+    AC_O = ccdSign(ccdVec3Dot(&ADB, &AO)) == C_on_ADB;
+    AD_O = ccdSign(ccdVec3Dot(&ABC, &AO)) == D_on_ABC;
+
+    if (AB_O && AC_O && AD_O){
+        // origin is in tetrahedron
+        return 1;
+
+    // rearrange simplex to triangle and call doSimplex3()
+    }else if (!AB_O){
+        // B is farthest from the origin among all of the tetrahedron's
+        // points, so remove it from the list and go on with the triangle
+        // case
+
+        // D and C are in place
+        ccdSimplexSet(simplex, 2, A);
+        ccdSimplexSetSize(simplex, 3);
+    }else if (!AC_O){
+        // C is farthest
+        ccdSimplexSet(simplex, 1, D);
+        ccdSimplexSet(simplex, 0, B);
+        ccdSimplexSet(simplex, 2, A);
+        ccdSimplexSetSize(simplex, 3);
+    }else{ // (!AD_O)
+        ccdSimplexSet(simplex, 0, C);
+        ccdSimplexSet(simplex, 1, B);
+        ccdSimplexSet(simplex, 2, A);
+        ccdSimplexSetSize(simplex, 3);
+    }
+
+    return doSimplex3(simplex, dir);
+}
+
+static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir)
+{
+    if (ccdSimplexSize(simplex) == 2){
+        // simplex contains segment only one segment
+        return doSimplex2(simplex, dir);
+    }else if (ccdSimplexSize(simplex) == 3){
+        // simplex contains triangle
+        return doSimplex3(simplex, dir);
+    }else{ // ccdSimplexSize(simplex) == 4
+        // tetrahedron - this is the only shape which can encapsule origin
+        // so doSimplex4() also contains test on it
+        return doSimplex4(simplex, dir);
+    }
+}
+
+
+_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
+                             const ccd_vec3_t *c, ccd_vec3_t *d)
+{
+    ccd_vec3_t e;
+    ccdVec3Cross(&e, a, b);
+    ccdVec3Cross(d, &e, c);
+}
+
+
+
+/** Transforms simplex to polytope. It is assumed that simplex has 4
+ *  vertices! */
+static int simplexToPolytope4(const void *obj1, const void *obj2,
+                              const ccd_t *ccd,
+                              ccd_simplex_t *simplex,
+                              ccd_pt_t *pt, ccd_pt_el_t **nearest)
+{
+    const ccd_support_t *a, *b, *c, *d;
+    int use_polytope3;
+    ccd_real_t dist;
+    ccd_pt_vertex_t *v[4];
+    ccd_pt_edge_t *e[6];
+    size_t i;
+
+    a = ccdSimplexPoint(simplex, 0);
+    b = ccdSimplexPoint(simplex, 1);
+    c = ccdSimplexPoint(simplex, 2);
+    d = ccdSimplexPoint(simplex, 3);
+
+    // check if origin lies on some of tetrahedron's face - if so use
+    // simplexToPolytope3()
+    use_polytope3 = 0;
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &c->v, NULL);
+    if (ccdIsZero(dist)){
+        use_polytope3 = 1;
+    }
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &c->v, &d->v, NULL);
+    if (ccdIsZero(dist)){
+        use_polytope3 = 1;
+        ccdSimplexSet(simplex, 1, c);
+        ccdSimplexSet(simplex, 2, d);
+    }
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &d->v, NULL);
+    if (ccdIsZero(dist)){
+        use_polytope3 = 1;
+        ccdSimplexSet(simplex, 2, d);
+    }
+    dist = ccdVec3PointTriDist2(ccd_vec3_origin, &b->v, &c->v, &d->v, NULL);
+    if (ccdIsZero(dist)){
+        use_polytope3 = 1;
+        ccdSimplexSet(simplex, 0, b);
+        ccdSimplexSet(simplex, 1, c);
+        ccdSimplexSet(simplex, 2, d);
+    }
+
+    if (use_polytope3){
+        ccdSimplexSetSize(simplex, 3);
+        return simplexToPolytope3(obj1, obj2, ccd, simplex, pt, nearest);
+    }
+
+    // no touching contact - simply create tetrahedron
+    for (i = 0; i < 4; i++){
+        v[i] = ccdPtAddVertex(pt, ccdSimplexPoint(simplex, i));
+    }
+    
+    e[0] = ccdPtAddEdge(pt, v[0], v[1]);
+    e[1] = ccdPtAddEdge(pt, v[1], v[2]);
+    e[2] = ccdPtAddEdge(pt, v[2], v[0]);
+    e[3] = ccdPtAddEdge(pt, v[3], v[0]);
+    e[4] = ccdPtAddEdge(pt, v[3], v[1]);
+    e[5] = ccdPtAddEdge(pt, v[3], v[2]);
+
+    // ccdPtAdd*() functions return NULL either if the memory allocation
+    // failed of if any of the input pointers are NULL, so the bad
+    // allocation can be checked by the last calls of ccdPtAddFace()
+    // because the rest of the bad allocations eventually "bubble up" here
+    if (ccdPtAddFace(pt, e[0], e[1], e[2]) == NULL
+            || ccdPtAddFace(pt, e[3], e[4], e[0]) == NULL
+            || ccdPtAddFace(pt, e[4], e[5], e[1]) == NULL
+            || ccdPtAddFace(pt, e[5], e[3], e[2]) == NULL){
+        return -2;
+    }
+
+    return 0;
+}
+
+/** Transforms simplex to polytope, three vertices required */
+static int simplexToPolytope3(const void *obj1, const void *obj2,
+                              const ccd_t *ccd,
+                              const ccd_simplex_t *simplex,
+                              ccd_pt_t *pt, ccd_pt_el_t **nearest)
+{
+    const ccd_support_t *a, *b, *c;
+    ccd_support_t d, d2;
+    ccd_vec3_t ab, ac, dir;
+    ccd_pt_vertex_t *v[5];
+    ccd_pt_edge_t *e[9];
+    ccd_real_t dist, dist2;
+
+    *nearest = NULL;
+
+    a = ccdSimplexPoint(simplex, 0);
+    b = ccdSimplexPoint(simplex, 1);
+    c = ccdSimplexPoint(simplex, 2);
+
+    // If only one triangle left from previous GJK run origin lies on this
+    // triangle. So it is necessary to expand triangle into two
+    // tetrahedrons connected with base (which is exactly abc triangle).
+
+    // get next support point in direction of normal of triangle
+    ccdVec3Sub2(&ab, &b->v, &a->v);
+    ccdVec3Sub2(&ac, &c->v, &a->v);
+    ccdVec3Cross(&dir, &ab, &ac);
+    __ccdSupport(obj1, obj2, &dir, ccd, &d);
+    dist = ccdVec3PointTriDist2(&d.v, &a->v, &b->v, &c->v, NULL);
+
+    // and second one take in opposite direction
+    ccdVec3Scale(&dir, -CCD_ONE);
+    __ccdSupport(obj1, obj2, &dir, ccd, &d2);
+    dist2 = ccdVec3PointTriDist2(&d2.v, &a->v, &b->v, &c->v, NULL);
+
+    // check if face isn't already on edge of minkowski sum and thus we
+    // have touching contact
+    if (ccdIsZero(dist) || ccdIsZero(dist2)){
+        v[0] = ccdPtAddVertex(pt, a);
+        v[1] = ccdPtAddVertex(pt, b);
+        v[2] = ccdPtAddVertex(pt, c);
+        e[0] = ccdPtAddEdge(pt, v[0], v[1]);
+        e[1] = ccdPtAddEdge(pt, v[1], v[2]);
+        e[2] = ccdPtAddEdge(pt, v[2], v[0]);
+        *nearest = (ccd_pt_el_t *)ccdPtAddFace(pt, e[0], e[1], e[2]);
+        if (*nearest == NULL)
+            return -2;
+
+        return -1;
+    }
+
+    // form polyhedron
+    v[0] = ccdPtAddVertex(pt, a);
+    v[1] = ccdPtAddVertex(pt, b);
+    v[2] = ccdPtAddVertex(pt, c);
+    v[3] = ccdPtAddVertex(pt, &d);
+    v[4] = ccdPtAddVertex(pt, &d2);
+
+    e[0] = ccdPtAddEdge(pt, v[0], v[1]);
+    e[1] = ccdPtAddEdge(pt, v[1], v[2]);
+    e[2] = ccdPtAddEdge(pt, v[2], v[0]);
+
+    e[3] = ccdPtAddEdge(pt, v[3], v[0]);
+    e[4] = ccdPtAddEdge(pt, v[3], v[1]);
+    e[5] = ccdPtAddEdge(pt, v[3], v[2]);
+
+    e[6] = ccdPtAddEdge(pt, v[4], v[0]);
+    e[7] = ccdPtAddEdge(pt, v[4], v[1]);
+    e[8] = ccdPtAddEdge(pt, v[4], v[2]);
+
+    if (ccdPtAddFace(pt, e[3], e[4], e[0]) == NULL
+            || ccdPtAddFace(pt, e[4], e[5], e[1]) == NULL
+            || ccdPtAddFace(pt, e[5], e[3], e[2]) == NULL
+
+            || ccdPtAddFace(pt, e[6], e[7], e[0]) == NULL
+            || ccdPtAddFace(pt, e[7], e[8], e[1]) == NULL
+            || ccdPtAddFace(pt, e[8], e[6], e[2]) == NULL){
+        return -2;
+    }
+
+    return 0;
+}
+
+/** Transforms simplex to polytope, two vertices required */
+static int simplexToPolytope2(const void *obj1, const void *obj2,
+                              const ccd_t *ccd,
+                              const ccd_simplex_t *simplex,
+                              ccd_pt_t *pt, ccd_pt_el_t **nearest)
+{
+    const ccd_support_t *a, *b;
+    ccd_vec3_t ab, ac, dir;
+    ccd_support_t supp[4];
+    ccd_pt_vertex_t *v[6];
+    ccd_pt_edge_t *e[12];
+    size_t i;
+    int found;
+
+    a = ccdSimplexPoint(simplex, 0);
+    b = ccdSimplexPoint(simplex, 1);
+
+    // This situation is a bit tricky. If only one segment comes from
+    // previous run of GJK - it means that either this segment is on
+    // minkowski edge (and thus we have touch contact) or it it isn't and
+    // therefore segment is somewhere *inside* minkowski sum and it *must*
+    // be possible to fully enclose this segment with polyhedron formed by
+    // at least 8 triangle faces.
+
+    // get first support point (any)
+    found = 0;
+    for (i = 0; i < ccd_points_on_sphere_len; i++){
+        __ccdSupport(obj1, obj2, &ccd_points_on_sphere[i], ccd, &supp[0]);
+        if (!ccdVec3Eq(&a->v, &supp[0].v) && !ccdVec3Eq(&b->v, &supp[0].v)){
+            found = 1;
+            break;
+        }
+    }
+    if (!found)
+        goto simplexToPolytope2_touching_contact;
+
+    // get second support point in opposite direction than supp[0]
+    ccdVec3Copy(&dir, &supp[0].v);
+    ccdVec3Scale(&dir, -CCD_ONE);
+    __ccdSupport(obj1, obj2, &dir, ccd, &supp[1]);
+    if (ccdVec3Eq(&a->v, &supp[1].v) || ccdVec3Eq(&b->v, &supp[1].v))
+        goto simplexToPolytope2_touching_contact;
+
+    // next will be in direction of normal of triangle a,supp[0],supp[1]
+    ccdVec3Sub2(&ab, &supp[0].v, &a->v);
+    ccdVec3Sub2(&ac, &supp[1].v, &a->v);
+    ccdVec3Cross(&dir, &ab, &ac);
+    __ccdSupport(obj1, obj2, &dir, ccd, &supp[2]);
+    if (ccdVec3Eq(&a->v, &supp[2].v) || ccdVec3Eq(&b->v, &supp[2].v))
+        goto simplexToPolytope2_touching_contact;
+
+    // and last one will be in opposite direction
+    ccdVec3Scale(&dir, -CCD_ONE);
+    __ccdSupport(obj1, obj2, &dir, ccd, &supp[3]);
+    if (ccdVec3Eq(&a->v, &supp[3].v) || ccdVec3Eq(&b->v, &supp[3].v))
+        goto simplexToPolytope2_touching_contact;
+
+    goto simplexToPolytope2_not_touching_contact;
+simplexToPolytope2_touching_contact:
+    v[0] = ccdPtAddVertex(pt, a);
+    v[1] = ccdPtAddVertex(pt, b);
+    *nearest = (ccd_pt_el_t *)ccdPtAddEdge(pt, v[0], v[1]);
+    if (*nearest == NULL)
+        return -2;
+
+    return -1;
+
+simplexToPolytope2_not_touching_contact:
+    // form polyhedron
+    v[0] = ccdPtAddVertex(pt, a);
+    v[1] = ccdPtAddVertex(pt, &supp[0]);
+    v[2] = ccdPtAddVertex(pt, b);
+    v[3] = ccdPtAddVertex(pt, &supp[1]);
+    v[4] = ccdPtAddVertex(pt, &supp[2]);
+    v[5] = ccdPtAddVertex(pt, &supp[3]);
+
+    e[0] = ccdPtAddEdge(pt, v[0], v[1]);
+    e[1] = ccdPtAddEdge(pt, v[1], v[2]);
+    e[2] = ccdPtAddEdge(pt, v[2], v[3]);
+    e[3] = ccdPtAddEdge(pt, v[3], v[0]);
+
+    e[4] = ccdPtAddEdge(pt, v[4], v[0]);
+    e[5] = ccdPtAddEdge(pt, v[4], v[1]);
+    e[6] = ccdPtAddEdge(pt, v[4], v[2]);
+    e[7] = ccdPtAddEdge(pt, v[4], v[3]);
+
+    e[8]  = ccdPtAddEdge(pt, v[5], v[0]);
+    e[9]  = ccdPtAddEdge(pt, v[5], v[1]);
+    e[10] = ccdPtAddEdge(pt, v[5], v[2]);
+    e[11] = ccdPtAddEdge(pt, v[5], v[3]);
+
+    if (ccdPtAddFace(pt, e[4], e[5], e[0]) == NULL
+            || ccdPtAddFace(pt, e[5], e[6], e[1]) == NULL
+            || ccdPtAddFace(pt, e[6], e[7], e[2]) == NULL
+            || ccdPtAddFace(pt, e[7], e[4], e[3]) == NULL
+
+            || ccdPtAddFace(pt, e[8],  e[9],  e[0]) == NULL
+            || ccdPtAddFace(pt, e[9],  e[10], e[1]) == NULL
+            || ccdPtAddFace(pt, e[10], e[11], e[2]) == NULL
+            || ccdPtAddFace(pt, e[11], e[8],  e[3]) == NULL){
+        return -2;
+    }
+
+    return 0;
+}
+
+/** Expands polytope's tri by new vertex v. Triangle tri is replaced by
+ *  three triangles each with one vertex in v. */
+static int expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el,
+                          const ccd_support_t *newv)
+{
+    ccd_pt_vertex_t *v[5];
+    ccd_pt_edge_t *e[8];
+    ccd_pt_face_t *f[2];
+
+
+    // element can be either segment or triangle
+    if (el->type == CCD_PT_EDGE){
+        // In this case, segment should be replaced by new point.
+        // Simpliest case is when segment stands alone and in this case
+        // this segment is replaced by two other segments both connected to
+        // newv.
+        // Segment can be also connected to max two faces and in that case
+        // each face must be replaced by two other faces. To do this
+        // correctly it is necessary to have correctly ordered edges and
+        // vertices which is exactly what is done in following code.
+        //
+
+        ccdPtEdgeVertices((const ccd_pt_edge_t *)el, &v[0], &v[2]);
+
+        ccdPtEdgeFaces((ccd_pt_edge_t *)el, &f[0], &f[1]);
+
+        if (f[0]){
+            ccdPtFaceEdges(f[0], &e[0], &e[1], &e[2]);
+            if (e[0] == (ccd_pt_edge_t *)el){
+                e[0] = e[2];
+            }else if (e[1] == (ccd_pt_edge_t *)el){
+                e[1] = e[2];
+            }
+            ccdPtEdgeVertices(e[0], &v[1], &v[3]);
+            if (v[1] != v[0] && v[3] != v[0]){
+                e[2] = e[0];
+                e[0] = e[1];
+                e[1] = e[2];
+                if (v[1] == v[2])
+                    v[1] = v[3];
+            }else{
+                if (v[1] == v[0])
+                    v[1] = v[3];
+            }
+
+            if (f[1]){
+                ccdPtFaceEdges(f[1], &e[2], &e[3], &e[4]);
+                if (e[2] == (ccd_pt_edge_t *)el){
+                    e[2] = e[4];
+                }else if (e[3] == (ccd_pt_edge_t *)el){
+                    e[3] = e[4];
+                }
+                ccdPtEdgeVertices(e[2], &v[3], &v[4]);
+                if (v[3] != v[2] && v[4] != v[2]){
+                    e[4] = e[2];
+                    e[2] = e[3];
+                    e[3] = e[4];
+                    if (v[3] == v[0])
+                        v[3] = v[4];
+                }else{
+                    if (v[3] == v[2])
+                        v[3] = v[4];
+                }
+            }
+
+
+            v[4] = ccdPtAddVertex(pt, newv);
+
+            ccdPtDelFace(pt, f[0]);
+            if (f[1]){
+                ccdPtDelFace(pt, f[1]);
+                ccdPtDelEdge(pt, (ccd_pt_edge_t *)el);
+            }
+
+            e[4] = ccdPtAddEdge(pt, v[4], v[2]);
+            e[5] = ccdPtAddEdge(pt, v[4], v[0]);
+            e[6] = ccdPtAddEdge(pt, v[4], v[1]);
+            if (f[1])
+                e[7] = ccdPtAddEdge(pt, v[4], v[3]);
+
+
+            if (ccdPtAddFace(pt, e[1], e[4], e[6]) == NULL
+                    || ccdPtAddFace(pt, e[0], e[6], e[5]) == NULL){
+                return -2;
+            }
+
+            if (f[1]){
+                if (ccdPtAddFace(pt, e[3], e[5], e[7]) == NULL
+                        || ccdPtAddFace(pt, e[4], e[7], e[2]) == NULL){
+                    return -2;
+                }
+            }else{
+                if (ccdPtAddFace(pt, e[4], e[5], (ccd_pt_edge_t *)el) == NULL)
+                    return -2;
+            }
+        }
+    }else{ // el->type == CCD_PT_FACE
+        // replace triangle by tetrahedron without base (base would be the
+        // triangle that will be removed)
+
+        // get triplet of surrounding edges and vertices of triangle face
+        ccdPtFaceEdges((const ccd_pt_face_t *)el, &e[0], &e[1], &e[2]);
+        ccdPtEdgeVertices(e[0], &v[0], &v[1]);
+        ccdPtEdgeVertices(e[1], &v[2], &v[3]);
+
+        // following code sorts edges to have e[0] between vertices 0-1,
+        // e[1] between 1-2 and e[2] between 2-0
+        if (v[2] != v[1] && v[3] != v[1]){
+            // swap e[1] and e[2] 
+            e[3] = e[1];
+            e[1] = e[2];
+            e[2] = e[3];
+        }
+        if (v[3] != v[0] && v[3] != v[1])
+            v[2] = v[3];
+
+        // remove triangle face
+        ccdPtDelFace(pt, (ccd_pt_face_t *)el);
+
+        // expand triangle to tetrahedron
+        v[3] = ccdPtAddVertex(pt, newv);
+        e[3] = ccdPtAddEdge(pt, v[3], v[0]);
+        e[4] = ccdPtAddEdge(pt, v[3], v[1]);
+        e[5] = ccdPtAddEdge(pt, v[3], v[2]);
+
+        if (ccdPtAddFace(pt, e[3], e[4], e[0]) == NULL
+                || ccdPtAddFace(pt, e[4], e[5], e[1]) == NULL
+                || ccdPtAddFace(pt, e[5], e[3], e[2]) == NULL){
+            return -2;
+        }
+    }
+
+    return 0;
+}
+
+/** Finds next support point (and stores it in out argument).
+ *  Returns 0 on success, -1 otherwise */
+static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd,
+                       const ccd_pt_el_t *el,
+                       ccd_support_t *out)
+{
+    ccd_vec3_t *a, *b, *c;
+    ccd_real_t dist;
+
+    if (el->type == CCD_PT_VERTEX)
+        return -1;
+
+    // touch contact
+    if (ccdIsZero(el->dist))
+        return -1;
+
+    __ccdSupport(obj1, obj2, &el->witness, ccd, out);
+
+    // Compute dist of support point along element witness point direction
+    // so we can determine whether we expanded a polytope surrounding the
+    // origin a bit.
+    dist = ccdVec3Dot(&out->v, &el->witness);
+
+    if (dist - el->dist < ccd->epa_tolerance)
+        return -1;
+
+    if (el->type == CCD_PT_EDGE){
+        // fetch end points of edge
+        ccdPtEdgeVec3((ccd_pt_edge_t *)el, &a, &b);
+
+        // get distance from segment
+        dist = ccdVec3PointSegmentDist2(&out->v, a, b, NULL);
+    }else{ // el->type == CCD_PT_FACE
+        // fetch vertices of triangle face
+        ccdPtFaceVec3((ccd_pt_face_t *)el, &a, &b, &c);
+
+        // check if new point can significantly expand polytope
+        dist = ccdVec3PointTriDist2(&out->v, a, b, c, NULL);
+    }
+
+    if (dist < ccd->epa_tolerance)
+        return -1;
+
+    return 0;
+}

code/framework/3rd/libccd/src/ccd/ccd.h

@@ -0,0 +1,154 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_H__
+#define __CCD_H__
+
+#include <ccd/vec3.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * Type of *support* function that takes pointer to 3D object and direction
+ * and returns (via vec argument) furthest point from object in specified
+ * direction.
+ */
+typedef void (*ccd_support_fn)(const void *obj, const ccd_vec3_t *dir,
+                               ccd_vec3_t *vec);
+
+/**
+ * Returns (via dir argument) first direction vector that will be used in
+ * initialization of algorithm.
+ */
+typedef void (*ccd_first_dir_fn)(const void *obj1, const void *obj2,
+                                 ccd_vec3_t *dir);
+
+
+/**
+ * Returns (via center argument) geometric center (some point near center)
+ * of given object.
+ */
+typedef void (*ccd_center_fn)(const void *obj1, ccd_vec3_t *center);
+
+/**
+ * Main structure of CCD algorithm.
+ */
+struct _ccd_t {
+    ccd_first_dir_fn first_dir; //!< Returns initial direction where first
+                                //!< support point will be searched
+    ccd_support_fn support1; //!< Function that returns support point of
+                             //!< first object
+    ccd_support_fn support2; //!< Function that returns support point of
+                             //!< second object
+
+    ccd_center_fn center1; //!< Function that returns geometric center of
+                           //!< first object
+    ccd_center_fn center2; //!< Function that returns geometric center of
+                           //!< second object
+
+    unsigned long max_iterations; //!< Maximal number of iterations
+    ccd_real_t epa_tolerance;
+    ccd_real_t mpr_tolerance; //!< Boundary tolerance for MPR algorithm
+    ccd_real_t dist_tolerance;
+};
+typedef struct _ccd_t ccd_t;
+
+/**
+ * Default first direction.
+ */
+CCD_EXPORT void ccdFirstDirDefault(const void *o1, const void *o2,
+                                    ccd_vec3_t *dir);
+
+#define CCD_INIT(ccd) \
+    do { \
+        (ccd)->first_dir = ccdFirstDirDefault; \
+        (ccd)->support1 = NULL; \
+        (ccd)->support2 = NULL; \
+        (ccd)->center1  = NULL; \
+        (ccd)->center2  = NULL; \
+        \
+        (ccd)->max_iterations = (unsigned long)-1; \
+        (ccd)->epa_tolerance = CCD_REAL(0.0001); \
+        (ccd)->mpr_tolerance = CCD_REAL(0.0001); \
+        (ccd)->dist_tolerance = CCD_REAL(1E-6); \
+    } while(0)
+
+
+/**
+ * Returns true if two given objects interest.
+ */
+CCD_EXPORT int ccdGJKIntersect(const void *obj1, const void *obj2,
+                                const ccd_t *ccd);
+
+/**
+ * This function computes separation vector of two objects. Separation
+ * vector is minimal translation of obj2 to get obj1 and obj2 speparated
+ * (without intersection).
+ * Returns 0 if obj1 and obj2 intersect and sep is filled with translation
+ * vector. If obj1 and obj2 don't intersect -1 is returned.
+ * If memory allocation fails -2 is returned.
+ */
+CCD_EXPORT int ccdGJKSeparate(const void *obj1, const void *obj2,
+                               const ccd_t *ccd, ccd_vec3_t *sep);
+
+/**
+ * Computes penetration of obj2 into obj1.
+ * Depth of penetration, direction and position is returned. It means that
+ * if obj2 is translated by distance depth in direction dir objects will
+ * have touching contact, pos should be position in global coordinates
+ * where force should take a place.
+ *
+ * CCD+EPA algorithm is used.
+ *
+ * Returns 0 if obj1 and obj2 intersect and depth, dir and pos are filled
+ * if given non-NULL pointers.
+ * If obj1 and obj2 don't intersect -1 is returned.
+ * If memory allocation fails -2 is returned.
+ */
+CCD_EXPORT int ccdGJKPenetration(const void *obj1, const void *obj2,
+                                  const ccd_t *ccd, ccd_real_t *depth,
+                                  ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+/**
+ * Returns true if two given objects intersect - MPR algorithm is used.
+ */
+CCD_EXPORT int ccdMPRIntersect(const void *obj1, const void *obj2,
+                                const ccd_t *ccd);
+
+/**
+ * Computes penetration of obj2 into obj1.
+ * Depth of penetration, direction and position is returned, i.e. if obj2
+ * is translated by computed depth in resulting direction obj1 and obj2
+ * would have touching contact. Position is point in global coordinates
+ * where force should take a place.
+ *
+ * Minkowski Portal Refinement algorithm is used (MPR, a.k.a. XenoCollide,
+ * see Game Programming Gem 7).
+ *
+ * Returns 0 if obj1 and obj2 intersect, otherwise -1 is returned.
+ */
+CCD_EXPORT int ccdMPRPenetration(const void *obj1, const void *obj2,
+                                  const ccd_t *ccd, ccd_real_t *depth,
+                                  ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_H__ */

code/framework/3rd/libccd/src/ccd/ccd_export.h

@@ -0,0 +1,26 @@
+#ifndef CCD_EXPORT_H
+#define CCD_EXPORT_H
+
+#ifdef CCD_STATIC_DEFINE
+#  define CCD_EXPORT
+#else
+#  ifdef _MSC_VER
+#    ifdef ccd_EXPORTS
+#      define CCD_EXPORT __declspec(dllexport)
+#   else /* ccd_EXPORTS */
+#     define CCD_EXPORT  __declspec(dllimport)
+#   endif /* ccd_EXPORTS */
+#  else
+#    ifndef CCD_EXPORT
+#      ifdef ccd_EXPORTS
+          /* We are building this library */
+#        define CCD_EXPORT __attribute__((visibility("default")))
+#      else
+          /* We are using this library */
+#        define CCD_EXPORT __attribute__((visibility("default")))
+#      endif
+#    endif
+#  endif
+#endif
+
+#endif

code/framework/3rd/libccd/src/ccd/compiler.h

@@ -0,0 +1,64 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_COMPILER_H__
+#define __CCD_COMPILER_H__
+
+#include <stddef.h>
+
+#define ccd_offsetof(TYPE, MEMBER) offsetof(TYPE, MEMBER)
+
+#define ccd_container_of(ptr, type, member) \
+    (type *)( (char *)ptr - ccd_offsetof(type, member))
+
+/**
+ * Marks inline function.
+ */
+#ifdef __GNUC__
+# define _ccd_inline static inline __attribute__((always_inline))
+#else /* __GNUC__ */
+# define _ccd_inline static __inline
+#endif /* __GNUC__ */
+
+
+/**
+ * __prefetch(x)  - prefetches the cacheline at "x" for read
+ * __prefetchw(x) - prefetches the cacheline at "x" for write
+ */
+#ifdef __GNUC__
+# define _ccd_prefetch(x) __builtin_prefetch(x)
+# define _ccd_prefetchw(x) __builtin_prefetch(x,1)
+#else /* __GNUC__ */
+# define _ccd_prefetch(x) ((void)0)
+# define _ccd_prefetchw(x) ((void)0)
+#endif /* __GNUC__ */
+
+
+#ifdef __ICC
+// disable unused parameter warning
+# pragma warning(disable:869)
+// disable annoying "operands are evaluated in unspecified order" warning
+# pragma warning(disable:981)
+#endif /* __ICC */
+
+#ifdef _MSC_VER
+// disable unsafe function warning
+# define _CRT_SECURE_NO_WARNINGS
+#endif /* _MSC_VER */
+
+#endif /* __CCD_COMPILER_H__ */
+

code/framework/3rd/libccd/src/ccd/config.h.cmake.in

@@ -0,0 +1,7 @@
+#ifndef __CCD_CONFIG_H__
+#define __CCD_CONFIG_H__
+
+#cmakedefine CCD_SINGLE
+#cmakedefine CCD_DOUBLE
+
+#endif /* __CCD_CONFIG_H__ */

code/framework/3rd/libccd/src/ccd/config.h.m4

@@ -0,0 +1,7 @@
+#ifndef __CCD_CONFIG_H__
+#define __CCD_CONFIG_H__
+
+ifdef(`USE_SINGLE', `#define CCD_SINGLE')
+ifdef(`USE_DOUBLE', `#define CCD_DOUBLE')
+
+#endif /* __CCD_CONFIG_H__ */

code/framework/3rd/libccd/src/ccd/quat.h

@@ -0,0 +1,231 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_QUAT_H__
+#define __CCD_QUAT_H__
+
+#include <ccd/compiler.h>
+#include <ccd/vec3.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct _ccd_quat_t {
+    ccd_real_t q[4]; //!< x, y, z, w
+};
+typedef struct _ccd_quat_t ccd_quat_t;
+
+#define CCD_QUAT(name, x, y, z, w) \
+    ccd_quat_t name = { {x, y, z, w} }
+
+_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q);
+_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q);
+
+_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w);
+_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src);
+
+_ccd_inline int ccdQuatNormalize(ccd_quat_t *q);
+
+_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q,
+                                     ccd_real_t angle, const ccd_vec3_t *axis);
+
+_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k);
+
+/**
+ * q = q * q2
+ */
+_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2);
+
+/**
+ * q = a * b
+ */
+_ccd_inline void ccdQuatMul2(ccd_quat_t *q,
+                             const ccd_quat_t *a, const ccd_quat_t *b);
+
+/**
+ * Inverts quaternion.
+ * Returns 0 on success.
+ */
+_ccd_inline int ccdQuatInvert(ccd_quat_t *q);
+_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src);
+
+
+/**
+ * Rotate vector v by quaternion q.
+ */
+_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q);
+
+
+/**** INLINES ****/
+_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q)
+{
+    ccd_real_t len;
+
+    len  = q->q[0] * q->q[0];
+    len += q->q[1] * q->q[1];
+    len += q->q[2] * q->q[2];
+    len += q->q[3] * q->q[3];
+
+    return len;
+}
+
+_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q)
+{
+    return CCD_SQRT(ccdQuatLen2(q));
+}
+
+_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w)
+{
+    q->q[0] = x;
+    q->q[1] = y;
+    q->q[2] = z;
+    q->q[3] = w;
+}
+
+_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src)
+{
+    *dest = *src;
+}
+
+
+_ccd_inline int ccdQuatNormalize(ccd_quat_t *q)
+{
+    ccd_real_t len = ccdQuatLen(q);
+    if (len < CCD_EPS)
+        return 0;
+
+    ccdQuatScale(q, CCD_ONE / len);
+    return 1;
+}
+
+_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q,
+                                     ccd_real_t angle, const ccd_vec3_t *axis)
+{
+    ccd_real_t a, x, y, z, n, s;
+
+    a = angle/2;
+    x = ccdVec3X(axis);
+    y = ccdVec3Y(axis);
+    z = ccdVec3Z(axis);
+    n = CCD_SQRT(x*x + y*y + z*z);
+
+    // axis==0? (treat this the same as angle==0 with an arbitrary axis)
+    if (n < CCD_EPS){
+        q->q[0] = q->q[1] = q->q[2] = CCD_ZERO;
+        q->q[3] = CCD_ONE;
+    }else{
+        s = sin(a)/n;
+
+        q->q[3] = cos(a);
+        q->q[0] = x*s;
+        q->q[1] = y*s;
+        q->q[2] = z*s;
+
+        ccdQuatNormalize(q);
+    }
+}
+
+
+_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k)
+{
+    size_t i;
+    for (i = 0; i < 4; i++)
+        q->q[i] *= k;
+}
+
+_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2)
+{
+    ccd_quat_t a;
+    ccdQuatCopy(&a, q);
+    ccdQuatMul2(q, &a, q2);
+}
+
+_ccd_inline void ccdQuatMul2(ccd_quat_t *q,
+                             const ccd_quat_t *a, const ccd_quat_t *b)
+{
+    q->q[0] = a->q[3] * b->q[0]
+                + a->q[0] * b->q[3]
+                + a->q[1] * b->q[2]
+                - a->q[2] * b->q[1];
+    q->q[1] = a->q[3] * b->q[1]
+                + a->q[1] * b->q[3]
+                - a->q[0] * b->q[2]
+                + a->q[2] * b->q[0];
+    q->q[2] = a->q[3] * b->q[2]
+                + a->q[2] * b->q[3]
+                + a->q[0] * b->q[1]
+                - a->q[1] * b->q[0];
+    q->q[3] = a->q[3] * b->q[3]
+                - a->q[0] * b->q[0]
+                - a->q[1] * b->q[1]
+                - a->q[2] * b->q[2];
+}
+
+_ccd_inline int ccdQuatInvert(ccd_quat_t *q)
+{
+    ccd_real_t len2 = ccdQuatLen2(q);
+    if (len2 < CCD_EPS)
+        return -1;
+
+    len2 = CCD_ONE / len2;
+
+    q->q[0] = -q->q[0] * len2;
+    q->q[1] = -q->q[1] * len2;
+    q->q[2] = -q->q[2] * len2;
+    q->q[3] = q->q[3] * len2;
+
+    return 0;
+}
+_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src)
+{
+    ccdQuatCopy(dest, src);
+    return ccdQuatInvert(dest);
+}
+
+_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q)
+{
+    // original version: 31 mul + 21 add
+    // optimized version: 18 mul + 12 add
+    // formula: v = v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)
+    ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
+    ccd_real_t x, y, z, w;
+    ccd_real_t vx, vy, vz;
+
+    vx = ccdVec3X(v);
+    vy = ccdVec3Y(v);
+    vz = ccdVec3Z(v);
+
+    w = q->q[3];
+    x = q->q[0];
+    y = q->q[1];
+    z = q->q[2];
+
+    cross1_x = y * vz - z * vy + w * vx;
+    cross1_y = z * vx - x * vz + w * vy;
+    cross1_z = x * vy - y * vx + w * vz;
+    cross2_x = y * cross1_z - z * cross1_y;
+    cross2_y = z * cross1_x - x * cross1_z;
+    cross2_z = x * cross1_y - y * cross1_x;
+    ccdVec3Set(v, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_QUAT_H__ */

code/framework/3rd/libccd/src/ccd/vec3.h

@@ -0,0 +1,340 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010-2013 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_VEC3_H__
+#define __CCD_VEC3_H__
+
+#include <math.h>
+#include <float.h>
+#include <stdlib.h>
+#include <ccd/compiler.h>
+#include <ccd/config.h>
+#include <ccd/ccd_export.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+
+#ifndef CCD_SINGLE
+# ifndef CCD_DOUBLE
+#  error You must define CCD_SINGLE or CCD_DOUBLE
+# endif /* CCD_DOUBLE */
+#endif /* CCD_SINGLE */
+
+#ifdef WIN32
+# define CCD_FMIN(x, y) ((x) < (y) ? (x) : (y))
+#endif /* WIN32 */
+
+#ifdef CCD_SINGLE
+# ifdef CCD_DOUBLE
+#  error You can define either CCD_SINGLE or CCD_DOUBLE, not both!
+# endif /* CCD_DOUBLE */
+
+typedef float ccd_real_t;
+
+//# define CCD_EPS 1E-6
+# define CCD_EPS FLT_EPSILON
+
+# define CCD_REAL_MAX FLT_MAX
+
+# define CCD_REAL(x) (x ## f)   /*!< form a constant */
+# define CCD_SQRT(x) (sqrtf(x)) /*!< square root */
+# define CCD_FABS(x) (fabsf(x)) /*!< absolute value */
+# define CCD_FMAX(x, y) (fmaxf((x), (y))) /*!< maximum of two floats */
+
+# ifndef CCD_FMIN
+#  define CCD_FMIN(x, y) (fminf((x), (y))) /*!< minimum of two floats */
+# endif /* CCD_FMIN */
+
+#endif /* CCD_SINGLE */
+
+#ifdef CCD_DOUBLE
+typedef double ccd_real_t;
+
+//# define CCD_EPS 1E-10
+# define CCD_EPS DBL_EPSILON
+
+# define CCD_REAL_MAX DBL_MAX
+
+# define CCD_REAL(x) (x)       /*!< form a constant */
+# define CCD_SQRT(x) (sqrt(x)) /*!< square root */
+# define CCD_FABS(x) (fabs(x)) /*!< absolute value */
+# define CCD_FMAX(x, y) (fmax((x), (y))) /*!< maximum of two floats */
+
+# ifndef CCD_FMIN
+#  define CCD_FMIN(x, y) (fmin((x), (y))) /*!< minimum of two floats */
+# endif /* CCD_FMIN */
+
+#endif /* CCD_DOUBLE */
+
+#define CCD_ONE CCD_REAL(1.)
+#define CCD_ZERO CCD_REAL(0.)
+
+struct _ccd_vec3_t {
+    ccd_real_t v[3];
+};
+typedef struct _ccd_vec3_t ccd_vec3_t;
+
+
+/**
+ * Holds origin (0,0,0) - this variable is meant to be read-only!
+ */
+CCD_EXPORT extern ccd_vec3_t *ccd_vec3_origin;
+
+/**
+ * Array of points uniformly distributed on unit sphere.
+ */
+CCD_EXPORT extern ccd_vec3_t *ccd_points_on_sphere;
+CCD_EXPORT extern size_t ccd_points_on_sphere_len;
+
+/** Returns sign of value. */
+_ccd_inline int ccdSign(ccd_real_t val);
+/** Returns true if val is zero. **/
+_ccd_inline int ccdIsZero(ccd_real_t val);
+/** Returns true if a and b equal. **/
+_ccd_inline int ccdEq(ccd_real_t a, ccd_real_t b);
+
+
+#define CCD_VEC3_STATIC(x, y, z) \
+    { { (x), (y), (z) } }
+
+#define CCD_VEC3(name, x, y, z) \
+    ccd_vec3_t name = CCD_VEC3_STATIC((x), (y), (z))
+
+_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v);
+_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v);
+_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v);
+
+/**
+ * Returns true if a and b equal.
+ */
+_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+/**
+ * Returns squared length of vector.
+ */
+_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v);
+
+/**
+ * Returns distance between a and b.
+ */
+_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+
+_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z);
+
+/**
+ * v = w
+ */
+_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * Substracts coordinates of vector w from vector v. v = v - w
+ */
+_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * Adds coordinates of vector w to vector v. v = v + w
+ */
+_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * d = v - w
+ */
+_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * d = d * k;
+ */
+_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k);
+
+/**
+ * Normalizes given vector to unit length.
+ */
+_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d);
+
+
+/**
+ * Dot product of two vectors.
+ */
+_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+/**
+ * Cross product: d = a x b.
+ */
+_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+
+/**
+ * Returns distance^2 of point P to segment ab.
+ * If witness is non-NULL it is filled with coordinates of point from which
+ * was computed distance to point P.
+ */
+CCD_EXPORT ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
+                                                const ccd_vec3_t *a,
+                                                const ccd_vec3_t *b,
+                                                ccd_vec3_t *witness);
+
+/**
+ * Returns distance^2 of point P from triangle formed by triplet a, b, c.
+ * If witness vector is provided it is filled with coordinates of point
+ * from which was computed distance to point P.
+ */
+CCD_EXPORT ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P,
+                                            const ccd_vec3_t *a,
+                                            const ccd_vec3_t *b,
+                                            const ccd_vec3_t *c,
+                                            ccd_vec3_t *witness);
+
+
+/**** INLINES ****/
+_ccd_inline int ccdSign(ccd_real_t val)
+{
+    if (ccdIsZero(val)){
+        return 0;
+    }else if (val < CCD_ZERO){
+        return -1;
+    }
+    return 1;
+}
+
+_ccd_inline int ccdIsZero(ccd_real_t val)
+{
+    return CCD_FABS(val) < CCD_EPS;
+}
+
+_ccd_inline int ccdEq(ccd_real_t _a, ccd_real_t _b)
+{
+    ccd_real_t ab;
+    ccd_real_t a, b;
+
+    ab = CCD_FABS(_a - _b);
+    if (CCD_FABS(ab) < CCD_EPS)
+        return 1;
+
+    a = CCD_FABS(_a);
+    b = CCD_FABS(_b);
+    if (b > a){
+        return ab < CCD_EPS * b;
+    }else{
+        return ab < CCD_EPS * a;
+    }
+}
+
+
+_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v)
+{
+    return v->v[0];
+}
+
+_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v)
+{
+    return v->v[1];
+}
+
+_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v)
+{
+    return v->v[2];
+}
+
+_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    return ccdEq(ccdVec3X(a), ccdVec3X(b))
+            && ccdEq(ccdVec3Y(a), ccdVec3Y(b))
+            && ccdEq(ccdVec3Z(a), ccdVec3Z(b));
+}
+
+_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v)
+{
+    return ccdVec3Dot(v, v);
+}
+
+_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    ccd_vec3_t ab;
+    ccdVec3Sub2(&ab, a, b);
+    return ccdVec3Len2(&ab);
+}
+
+_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z)
+{
+    v->v[0] = x;
+    v->v[1] = y;
+    v->v[2] = z;
+}
+
+_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    *v = *w;
+}
+
+_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    v->v[0] -= w->v[0];
+    v->v[1] -= w->v[1];
+    v->v[2] -= w->v[2];
+}
+_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    d->v[0] = v->v[0] - w->v[0];
+    d->v[1] = v->v[1] - w->v[1];
+    d->v[2] = v->v[2] - w->v[2];
+}
+
+_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    v->v[0] += w->v[0];
+    v->v[1] += w->v[1];
+    v->v[2] += w->v[2];
+}
+
+_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k)
+{
+    d->v[0] *= k;
+    d->v[1] *= k;
+    d->v[2] *= k;
+}
+
+_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d)
+{
+    ccd_real_t k = CCD_ONE / CCD_SQRT(ccdVec3Len2(d));
+    ccdVec3Scale(d, k);
+}
+
+_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    ccd_real_t dot;
+
+    dot  = a->v[0] * b->v[0];
+    dot += a->v[1] * b->v[1];
+    dot += a->v[2] * b->v[2];
+    return dot;
+}
+
+_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    d->v[0] = (a->v[1] * b->v[2]) - (a->v[2] * b->v[1]);
+    d->v[1] = (a->v[2] * b->v[0]) - (a->v[0] * b->v[2]);
+    d->v[2] = (a->v[0] * b->v[1]) - (a->v[1] * b->v[0]);
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_VEC3_H__ */

code/framework/3rd/libccd/src/dbg.h

@@ -0,0 +1,65 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_DBG_H__
+#define __CCD_DBG_H__
+
+/**
+ * Some macros which can be used for printing debug info to stderr if macro
+ * NDEBUG not defined.
+ *
+ * DBG_PROLOGUE can be specified as string and this string will be
+ * prepended to output text
+ */
+#ifndef NDEBUG
+
+#include <stdio.h>
+
+#ifndef DBG_PROLOGUE
+# define DBG_PROLOGUE
+#endif
+
+# define DBG(format, ...) do { \
+    fprintf(stderr, DBG_PROLOGUE "%s :: " format "\n", __func__, ## __VA_ARGS__); \
+    fflush(stderr); \
+    } while (0)
+
+# define DBG2(str) do { \
+    fprintf(stderr, DBG_PROLOGUE "%s :: " str "\n", __func__); \
+    fflush(stderr); \
+    } while (0)
+
+# define DBG_VEC3(vec, prefix) do {\
+    fprintf(stderr, DBG_PROLOGUE "%s :: %s[%lf %lf %lf]\n", \
+            __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \
+    fflush(stderr); \
+    } while (0)
+/*
+# define DBG_VEC3(vec, prefix) do {\
+    fprintf(stderr, DBG_PROLOGUE "%s :: %s[%.20lf %.20lf %.20lf]\n", \
+            __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \
+    fflush(stderr); \
+    } while (0)
+*/
+
+#else
+# define DBG(format, ...)
+# define DBG2(str)
+# define DBG_VEC3(v, prefix)
+#endif
+
+#endif /* __CCD_DBG_H__ */

code/framework/3rd/libccd/src/list.h

@@ -0,0 +1,155 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_LIST_H__
+#define __CCD_LIST_H__
+
+#include <string.h>
+#include <ccd/compiler.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct _ccd_list_t {
+    struct _ccd_list_t *next, *prev;
+};
+typedef struct _ccd_list_t ccd_list_t;
+
+
+
+/**
+ * Get the struct for this entry.
+ * @ptr:	the &ccd_list_t pointer.
+ * @type:	the type of the struct this is embedded in.
+ * @member:	the name of the list_struct within the struct.
+ */
+#define ccdListEntry(ptr, type, member) \
+    ccd_container_of(ptr, type, member)
+
+/**
+ * Iterates over list.
+ */
+#define ccdListForEach(list, item) \
+        for (item = (list)->next; \
+             _ccd_prefetch((item)->next), item != (list); \
+             item = (item)->next)
+
+/**
+ * Iterates over list safe against remove of list entry
+ */
+#define ccdListForEachSafe(list, item, tmp) \
+	    for (item = (list)->next, tmp = (item)->next; \
+             item != (list); \
+		     item = tmp, tmp = (item)->next)
+
+/**
+ * Iterates over list of given type.
+ * @pos:	the type * to use as a loop cursor.
+ * @head:	the head for your list.
+ * @member:	the name of the list_struct within the struct.
+ */
+#define ccdListForEachEntry(head, pos, postype, member)                 \
+	for (pos = ccdListEntry((head)->next, postype, member);	\
+	     _ccd_prefetch(pos->member.next), &pos->member != (head); 	\
+	     pos = ccdListEntry(pos->member.next, postype, member))
+
+/**
+ * Iterates over list of given type safe against removal of list entry
+ * @pos:	the type * to use as a loop cursor.
+ * @n:		another type * to use as temporary storage
+ * @head:	the head for your list.
+ * @member:	the name of the list_struct within the struct.
+ */
+#define ccdListForEachEntrySafe(head, pos, postype, n, ntype, member)         \
+    for (pos = ccdListEntry((head)->next, postype, member),             \
+		 n = ccdListEntry(pos->member.next, postype, member);	\
+	     &pos->member != (head); 					\
+	     pos = n, n = ccdListEntry(n->member.next, ntype, member))
+
+
+/**
+ * Initialize list.
+ */
+_ccd_inline void ccdListInit(ccd_list_t *l);
+
+_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l);
+_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l);
+
+/**
+ * Returns true if list is empty.
+ */
+_ccd_inline int ccdListEmpty(const ccd_list_t *head);
+
+/**
+ * Appends item to end of the list l.
+ */
+_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *item);
+
+/**
+ * Removes item from list.
+ */
+_ccd_inline void ccdListDel(ccd_list_t *item);
+
+
+
+///
+/// INLINES:
+///
+
+_ccd_inline void ccdListInit(ccd_list_t *l)
+{
+    l->next = l;
+    l->prev = l;
+}
+
+_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l)
+{
+    return l->next;
+}
+
+_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l)
+{
+    return l->prev;
+}
+
+_ccd_inline int ccdListEmpty(const ccd_list_t *head)
+{
+    return head->next == head;
+}
+
+_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *new)
+{
+    new->prev = l->prev;
+    new->next = l;
+    l->prev->next = new;
+    l->prev = new;
+}
+
+_ccd_inline void ccdListDel(ccd_list_t *item)
+{
+    item->next->prev = item->prev;
+    item->prev->next = item->next;
+    item->next = item;
+    item->prev = item;
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_LIST_H__ */

code/framework/3rd/libccd/src/mpr.c

@@ -0,0 +1,543 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#include <stdlib.h>
+#include <ccd/ccd.h>
+#include "simplex.h"
+#include "dbg.h"
+
+/** Finds origin (center) of Minkowski difference (actually it can be any
+ *  interior point of Minkowski difference. */
+_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd,
+                            ccd_support_t *center);
+
+/** Discovers initial portal - that is tetrahedron that intersects with
+ *  origin ray (ray from center of Minkowski diff to (0,0,0).
+ *
+ *  Returns -1 if already recognized that origin is outside Minkowski
+ *  portal.
+ *  Returns 1 if origin lies on v1 of simplex (only v0 and v1 are present
+ *  in simplex).
+ *  Returns 2 if origin lies on v0-v1 segment.
+ *  Returns 0 if portal was built.
+ */
+static int discoverPortal(const void *obj1, const void *obj2,
+                          const ccd_t *ccd, ccd_simplex_t *portal);
+
+
+/** Expands portal towards origin and determine if objects intersect.
+ *  Already established portal must be given as argument.
+ *  If intersection is found 0 is returned, -1 otherwise */
+static int refinePortal(const void *obj1, const void *obj2,
+                        const ccd_t *ccd, ccd_simplex_t *portal);
+
+/** Finds penetration info by expanding provided portal. */
+static void findPenetr(const void *obj1, const void *obj2, const ccd_t *ccd,
+                       ccd_simplex_t *portal,
+                       ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+/** Finds penetration info if origin lies on portal's v1 */
+static void findPenetrTouch(const void *obj1, const void *obj2, const ccd_t *ccd,
+                            ccd_simplex_t *portal,
+                            ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+/** Find penetration info if origin lies on portal's segment v0-v1 */
+static void findPenetrSegment(const void *obj1, const void *obj2, const ccd_t *ccd,
+                              ccd_simplex_t *portal,
+                              ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+/** Finds position vector from fully established portal */
+static void findPos(const void *obj1, const void *obj2, const ccd_t *ccd,
+                    const ccd_simplex_t *portal, ccd_vec3_t *pos);
+
+/** Extends portal with new support point.
+ *  Portal must have face v1-v2-v3 arranged to face outside portal. */
+_ccd_inline void expandPortal(ccd_simplex_t *portal,
+                              const ccd_support_t *v4);
+
+/** Fill dir with direction outside portal. Portal's v1-v2-v3 face must be
+ *  arranged in correct order! */
+_ccd_inline void portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir);
+
+/** Returns true if portal encapsules origin (0,0,0), dir is direction of
+ *  v1-v2-v3 face. */
+_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal,
+                                       const ccd_vec3_t *dir);
+
+/** Returns true if portal with new point v4 would reach specified
+ *  tolerance (i.e. returns true if portal can _not_ significantly expand
+ *  within Minkowski difference).
+ *
+ *  v4 is candidate for new point in portal, dir is direction in which v4
+ *  was obtained. */
+_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal,
+                                     const ccd_support_t *v4,
+                                     const ccd_vec3_t *dir,
+                                     const ccd_t *ccd);
+
+/** Returns true if portal expanded by new point v4 could possibly contain
+ *  origin, dir is direction in which v4 was obtained. */
+_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal,   
+                                         const ccd_support_t *v4,
+                                         const ccd_vec3_t *dir);
+
+
+int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd)
+{
+    ccd_simplex_t portal;
+    int res;
+
+    // Phase 1: Portal discovery - find portal that intersects with origin
+    // ray (ray from center of Minkowski diff to origin of coordinates)
+    res = discoverPortal(obj1, obj2, ccd, &portal);
+    if (res < 0)
+        return 0;
+    if (res > 0)
+        return 1;
+
+    // Phase 2: Portal refinement
+    res = refinePortal(obj1, obj2, ccd, &portal);
+    return (res == 0 ? 1 : 0);
+}
+
+int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
+                      ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
+{
+    ccd_simplex_t portal;
+    int res;
+
+    // Phase 1: Portal discovery
+    res = discoverPortal(obj1, obj2, ccd, &portal);
+    if (res < 0){
+        // Origin isn't inside portal - no collision.
+        return -1;
+
+    }else if (res == 1){
+        // Touching contact on portal's v1.
+        findPenetrTouch(obj1, obj2, ccd, &portal, depth, dir, pos);
+
+    }else if (res == 2){
+        // Origin lies on v0-v1 segment.
+        findPenetrSegment(obj1, obj2, ccd, &portal, depth, dir, pos);
+
+    }else if (res == 0){
+        // Phase 2: Portal refinement
+        res = refinePortal(obj1, obj2, ccd, &portal);
+        if (res < 0)
+            return -1;
+
+        // Phase 3. Penetration info
+        findPenetr(obj1, obj2, ccd, &portal, depth, dir, pos);
+    }
+
+    return 0;
+}
+
+
+
+_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd,
+                            ccd_support_t *center)
+{
+    ccd->center1(obj1, &center->v1);
+    ccd->center2(obj2, &center->v2);
+    ccdVec3Sub2(&center->v, &center->v1, &center->v2);
+}
+
+static int discoverPortal(const void *obj1, const void *obj2,
+                          const ccd_t *ccd, ccd_simplex_t *portal)
+{
+    ccd_vec3_t dir, va, vb;
+    ccd_real_t dot;
+    int cont;
+
+    // vertex 0 is center of portal
+    findOrigin(obj1, obj2, ccd, ccdSimplexPointW(portal, 0));
+    ccdSimplexSetSize(portal, 1);
+
+    if (ccdVec3Eq(&ccdSimplexPoint(portal, 0)->v, ccd_vec3_origin)){
+        // Portal's center lies on origin (0,0,0) => we know that objects
+        // intersect but we would need to know penetration info.
+        // So move center little bit...
+        ccdVec3Set(&va, CCD_EPS * CCD_REAL(10.), CCD_ZERO, CCD_ZERO);
+        ccdVec3Add(&ccdSimplexPointW(portal, 0)->v, &va);
+    }
+
+
+    // vertex 1 = support in direction of origin
+    ccdVec3Copy(&dir, &ccdSimplexPoint(portal, 0)->v);
+    ccdVec3Scale(&dir, CCD_REAL(-1.));
+    ccdVec3Normalize(&dir);
+    __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 1));
+    ccdSimplexSetSize(portal, 2);
+
+    // test if origin isn't outside of v1
+    dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &dir);
+    if (ccdIsZero(dot) || dot < CCD_ZERO)
+        return -1;
+
+
+    // vertex 2
+    ccdVec3Cross(&dir, &ccdSimplexPoint(portal, 0)->v,
+                       &ccdSimplexPoint(portal, 1)->v);
+    if (ccdIsZero(ccdVec3Len2(&dir))){
+        if (ccdVec3Eq(&ccdSimplexPoint(portal, 1)->v, ccd_vec3_origin)){
+            // origin lies on v1
+            return 1;
+        }else{
+            // origin lies on v0-v1 segment
+            return 2;
+        }
+    }
+
+    ccdVec3Normalize(&dir);
+    __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 2));
+    dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &dir);
+    if (ccdIsZero(dot) || dot < CCD_ZERO)
+        return -1;
+
+    ccdSimplexSetSize(portal, 3);
+
+    // vertex 3 direction
+    ccdVec3Sub2(&va, &ccdSimplexPoint(portal, 1)->v,
+                     &ccdSimplexPoint(portal, 0)->v);
+    ccdVec3Sub2(&vb, &ccdSimplexPoint(portal, 2)->v,
+                     &ccdSimplexPoint(portal, 0)->v);
+    ccdVec3Cross(&dir, &va, &vb);
+    ccdVec3Normalize(&dir);
+
+    // it is better to form portal faces to be oriented "outside" origin
+    dot = ccdVec3Dot(&dir, &ccdSimplexPoint(portal, 0)->v);
+    if (dot > CCD_ZERO){
+        ccdSimplexSwap(portal, 1, 2);
+        ccdVec3Scale(&dir, CCD_REAL(-1.));
+    }
+
+    while (ccdSimplexSize(portal) < 4){
+        __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 3));
+        dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &dir);
+        if (ccdIsZero(dot) || dot < CCD_ZERO)
+            return -1;
+
+        cont = 0;
+
+        // test if origin is outside (v1, v0, v3) - set v2 as v3 and
+        // continue
+        ccdVec3Cross(&va, &ccdSimplexPoint(portal, 1)->v,
+                          &ccdSimplexPoint(portal, 3)->v);
+        dot = ccdVec3Dot(&va, &ccdSimplexPoint(portal, 0)->v);
+        if (dot < CCD_ZERO && !ccdIsZero(dot)){
+            ccdSimplexSet(portal, 2, ccdSimplexPoint(portal, 3));
+            cont = 1;
+        }
+
+        if (!cont){
+            // test if origin is outside (v3, v0, v2) - set v1 as v3 and
+            // continue
+            ccdVec3Cross(&va, &ccdSimplexPoint(portal, 3)->v,
+                              &ccdSimplexPoint(portal, 2)->v);
+            dot = ccdVec3Dot(&va, &ccdSimplexPoint(portal, 0)->v);
+            if (dot < CCD_ZERO && !ccdIsZero(dot)){
+                ccdSimplexSet(portal, 1, ccdSimplexPoint(portal, 3));
+                cont = 1;
+            }
+        }
+
+        if (cont){
+            ccdVec3Sub2(&va, &ccdSimplexPoint(portal, 1)->v,
+                             &ccdSimplexPoint(portal, 0)->v);
+            ccdVec3Sub2(&vb, &ccdSimplexPoint(portal, 2)->v,
+                             &ccdSimplexPoint(portal, 0)->v);
+            ccdVec3Cross(&dir, &va, &vb);
+            ccdVec3Normalize(&dir);
+        }else{
+            ccdSimplexSetSize(portal, 4);
+        }
+    }
+
+    return 0;
+}
+
+static int refinePortal(const void *obj1, const void *obj2,
+                        const ccd_t *ccd, ccd_simplex_t *portal)
+{
+    ccd_vec3_t dir;
+    ccd_support_t v4;
+
+    while (1){
+        // compute direction outside the portal (from v0 throught v1,v2,v3
+        // face)
+        portalDir(portal, &dir);
+
+        // test if origin is inside the portal
+        if (portalEncapsulesOrigin(portal, &dir))
+            return 0;
+
+        // get next support point
+        __ccdSupport(obj1, obj2, &dir, ccd, &v4);
+
+        // test if v4 can expand portal to contain origin and if portal
+        // expanding doesn't reach given tolerance
+        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)
+                || portalReachTolerance(portal, &v4, &dir, ccd)){
+            return -1;
+        }
+
+        // v1-v2-v3 triangle must be rearranged to face outside Minkowski
+        // difference (direction from v0).
+        expandPortal(portal, &v4);
+    }
+
+    return -1;
+}
+
+
+static void findPenetr(const void *obj1, const void *obj2, const ccd_t *ccd,
+                       ccd_simplex_t *portal,
+                       ccd_real_t *depth, ccd_vec3_t *pdir, ccd_vec3_t *pos)
+{
+    ccd_vec3_t dir;
+    ccd_support_t v4;
+    unsigned long iterations;
+
+    iterations = 0UL;
+    while (1){
+        // compute portal direction and obtain next support point
+        portalDir(portal, &dir);
+        __ccdSupport(obj1, obj2, &dir, ccd, &v4);
+
+        // reached tolerance -> find penetration info
+        if (portalReachTolerance(portal, &v4, &dir, ccd)
+                || iterations > ccd->max_iterations){
+            *depth = ccdVec3PointTriDist2(ccd_vec3_origin,
+                                          &ccdSimplexPoint(portal, 1)->v,
+                                          &ccdSimplexPoint(portal, 2)->v,
+                                          &ccdSimplexPoint(portal, 3)->v,
+                                          pdir);
+            *depth = CCD_SQRT(*depth);
+            if (ccdIsZero(*depth)){
+                // If depth is zero, then we have a touching contact.
+                // So following findPenetrTouch(), we assign zero to
+                // the direction vector (it can actually be anything
+                // according to the decription of ccdMPRPenetration
+                // function).
+                ccdVec3Copy(pdir, ccd_vec3_origin);
+            }else{
+                ccdVec3Normalize(pdir);
+            }
+
+            // barycentric coordinates:
+            findPos(obj1, obj2, ccd, portal, pos);
+
+            return;
+        }
+
+        expandPortal(portal, &v4);
+
+        iterations++;
+    }
+}
+
+static void findPenetrTouch(const void *obj1, const void *obj2, const ccd_t *ccd,
+                            ccd_simplex_t *portal,
+                            ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
+{
+    // Touching contact on portal's v1 - so depth is zero and direction
+    // is unimportant and pos can be guessed
+    *depth = CCD_REAL(0.);
+    ccdVec3Copy(dir, ccd_vec3_origin);
+
+    ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1);
+    ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2);
+    ccdVec3Scale(pos, 0.5);
+}
+
+static void findPenetrSegment(const void *obj1, const void *obj2, const ccd_t *ccd,
+                              ccd_simplex_t *portal,
+                              ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos)
+{
+    /*
+    ccd_vec3_t vec;
+    ccd_real_t k;
+    */
+
+    // Origin lies on v0-v1 segment.
+    // Depth is distance to v1, direction also and position must be
+    // computed
+
+    ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1);
+    ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2);
+    ccdVec3Scale(pos, CCD_REAL(0.5));
+
+    /*
+    ccdVec3Sub2(&vec, &ccdSimplexPoint(portal, 1)->v,
+                      &ccdSimplexPoint(portal, 0)->v);
+    k  = CCD_SQRT(ccdVec3Len2(&ccdSimplexPoint(portal, 0)->v));
+    k /= CCD_SQRT(ccdVec3Len2(&vec));
+    ccdVec3Scale(&vec, -k);
+    ccdVec3Add(pos, &vec);
+    */
+
+    ccdVec3Copy(dir, &ccdSimplexPoint(portal, 1)->v);
+    *depth = CCD_SQRT(ccdVec3Len2(dir));
+    ccdVec3Normalize(dir);
+}
+
+
+static void findPos(const void *obj1, const void *obj2, const ccd_t *ccd,
+                    const ccd_simplex_t *portal, ccd_vec3_t *pos)
+{
+    ccd_vec3_t dir;
+    size_t i;
+    ccd_real_t b[4], sum, inv;
+    ccd_vec3_t vec, p1, p2;
+
+    portalDir(portal, &dir);
+
+    // use barycentric coordinates of tetrahedron to find origin
+    ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v,
+                       &ccdSimplexPoint(portal, 2)->v);
+    b[0] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v);
+
+    ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v,
+                       &ccdSimplexPoint(portal, 2)->v);
+    b[1] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v);
+
+    ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 0)->v,
+                       &ccdSimplexPoint(portal, 1)->v);
+    b[2] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v);
+
+    ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v,
+                       &ccdSimplexPoint(portal, 1)->v);
+    b[3] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v);
+
+	sum = b[0] + b[1] + b[2] + b[3];
+
+    if (ccdIsZero(sum) || sum < CCD_ZERO){
+		b[0] = CCD_REAL(0.);
+
+        ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v,
+                           &ccdSimplexPoint(portal, 3)->v);
+        b[1] = ccdVec3Dot(&vec, &dir);
+        ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v,
+                           &ccdSimplexPoint(portal, 1)->v);
+        b[2] = ccdVec3Dot(&vec, &dir);
+        ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v,
+                           &ccdSimplexPoint(portal, 2)->v);
+        b[3] = ccdVec3Dot(&vec, &dir);
+
+		sum = b[1] + b[2] + b[3];
+	}
+
+	inv = CCD_REAL(1.) / sum;
+
+    ccdVec3Copy(&p1, ccd_vec3_origin);
+    ccdVec3Copy(&p2, ccd_vec3_origin);
+    for (i = 0; i < 4; i++){
+        ccdVec3Copy(&vec, &ccdSimplexPoint(portal, i)->v1);
+        ccdVec3Scale(&vec, b[i]);
+        ccdVec3Add(&p1, &vec);
+
+        ccdVec3Copy(&vec, &ccdSimplexPoint(portal, i)->v2);
+        ccdVec3Scale(&vec, b[i]);
+        ccdVec3Add(&p2, &vec);
+    }
+    ccdVec3Scale(&p1, inv);
+    ccdVec3Scale(&p2, inv);
+
+    ccdVec3Copy(pos, &p1);
+    ccdVec3Add(pos, &p2);
+    ccdVec3Scale(pos, 0.5);
+}
+
+_ccd_inline void expandPortal(ccd_simplex_t *portal,
+                              const ccd_support_t *v4)
+{
+    ccd_real_t dot;
+    ccd_vec3_t v4v0;
+
+    ccdVec3Cross(&v4v0, &v4->v, &ccdSimplexPoint(portal, 0)->v);
+    dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &v4v0);
+    if (dot > CCD_ZERO){
+        dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &v4v0);
+        if (dot > CCD_ZERO){
+            ccdSimplexSet(portal, 1, v4);
+        }else{
+            ccdSimplexSet(portal, 3, v4);
+        }
+    }else{
+        dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &v4v0);
+        if (dot > CCD_ZERO){
+            ccdSimplexSet(portal, 2, v4);
+        }else{
+            ccdSimplexSet(portal, 1, v4);
+        }
+    }
+}
+
+_ccd_inline void portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir)
+{
+    ccd_vec3_t v2v1, v3v1;
+
+    ccdVec3Sub2(&v2v1, &ccdSimplexPoint(portal, 2)->v,
+                       &ccdSimplexPoint(portal, 1)->v);
+    ccdVec3Sub2(&v3v1, &ccdSimplexPoint(portal, 3)->v,
+                       &ccdSimplexPoint(portal, 1)->v);
+    ccdVec3Cross(dir, &v2v1, &v3v1);
+    ccdVec3Normalize(dir);
+}
+
+_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal,
+                                       const ccd_vec3_t *dir)
+{
+    ccd_real_t dot;
+    dot = ccdVec3Dot(dir, &ccdSimplexPoint(portal, 1)->v);
+    return ccdIsZero(dot) || dot > CCD_ZERO;
+}
+
+_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal,
+                                     const ccd_support_t *v4,
+                                     const ccd_vec3_t *dir,
+                                     const ccd_t *ccd)
+{
+    ccd_real_t dv1, dv2, dv3, dv4;
+    ccd_real_t dot1, dot2, dot3;
+
+    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
+
+    dv1 = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, dir);
+    dv2 = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, dir);
+    dv3 = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, dir);
+    dv4 = ccdVec3Dot(&v4->v, dir);
+
+    dot1 = dv4 - dv1;
+    dot2 = dv4 - dv2;
+    dot3 = dv4 - dv3;
+
+    dot1 = CCD_FMIN(dot1, dot2);
+    dot1 = CCD_FMIN(dot1, dot3);
+
+    return ccdEq(dot1, ccd->mpr_tolerance) || dot1 < ccd->mpr_tolerance;
+}
+
+_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal,   
+                                         const ccd_support_t *v4,
+                                         const ccd_vec3_t *dir)
+{
+    ccd_real_t dot;
+    dot = ccdVec3Dot(&v4->v, dir);
+    return ccdIsZero(dot) || dot > CCD_ZERO;
+}

code/framework/3rd/libccd/src/polytope.c

@@ -0,0 +1,298 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#include <stdio.h>
+#include <float.h>
+#include "polytope.h"
+#include "alloc.h"
+
+_ccd_inline void _ccdPtNearestUpdate(ccd_pt_t *pt, ccd_pt_el_t *el)
+{
+    if (ccdEq(pt->nearest_dist, el->dist)){
+        if (el->type < pt->nearest_type){
+            pt->nearest = el;
+            pt->nearest_dist = el->dist;
+            pt->nearest_type = el->type;
+        }
+    }else if (el->dist < pt->nearest_dist){
+        pt->nearest = el;
+        pt->nearest_dist = el->dist;
+        pt->nearest_type = el->type;
+    }
+}
+
+static void _ccdPtNearestRenew(ccd_pt_t *pt)
+{
+    ccd_pt_vertex_t *v;
+    ccd_pt_edge_t *e;
+    ccd_pt_face_t *f;
+
+    pt->nearest_dist = CCD_REAL_MAX;
+    pt->nearest_type = 3;
+    pt->nearest = NULL;
+
+    ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
+        _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)v);
+    }
+
+    ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){
+        _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)e);
+    }
+
+    ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){
+        _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)f);
+    }
+}
+
+
+
+void ccdPtInit(ccd_pt_t *pt)
+{
+    ccdListInit(&pt->vertices);
+    ccdListInit(&pt->edges);
+    ccdListInit(&pt->faces);
+
+    pt->nearest = NULL;
+    pt->nearest_dist = CCD_REAL_MAX;
+    pt->nearest_type = 3;
+}
+
+void ccdPtDestroy(ccd_pt_t *pt)
+{
+    ccd_pt_face_t *f, *f2;
+    ccd_pt_edge_t *e, *e2;
+    ccd_pt_vertex_t *v, *v2;
+
+    // first delete all faces
+    ccdListForEachEntrySafe(&pt->faces, f, ccd_pt_face_t, f2, ccd_pt_face_t, list){
+        ccdPtDelFace(pt, f);
+    }
+
+    // delete all edges
+    ccdListForEachEntrySafe(&pt->edges, e, ccd_pt_edge_t, e2, ccd_pt_edge_t, list){
+        ccdPtDelEdge(pt, e);
+    }
+
+    // delete all vertices
+    ccdListForEachEntrySafe(&pt->vertices, v, ccd_pt_vertex_t, v2, ccd_pt_vertex_t, list){
+        ccdPtDelVertex(pt, v);
+    }
+}
+
+
+ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v)
+{
+    ccd_pt_vertex_t *vert;
+
+    vert = CCD_ALLOC(ccd_pt_vertex_t);
+    if (vert == NULL)
+        return NULL;
+
+    vert->type = CCD_PT_VERTEX;
+    ccdSupportCopy(&vert->v, v);
+
+    vert->dist = ccdVec3Len2(&vert->v.v);
+    ccdVec3Copy(&vert->witness, &vert->v.v);
+
+    ccdListInit(&vert->edges);
+
+    // add vertex to list
+    ccdListAppend(&pt->vertices, &vert->list);
+
+    // update position in .nearest array
+    _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)vert);
+
+    return vert;
+}
+
+ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1,
+                                          ccd_pt_vertex_t *v2)
+{
+    const ccd_vec3_t *a, *b;
+    ccd_pt_edge_t *edge;
+
+    if (v1 == NULL || v2 == NULL)
+        return NULL;
+
+    edge = CCD_ALLOC(ccd_pt_edge_t);
+    if (edge == NULL)
+        return NULL;
+
+    edge->type = CCD_PT_EDGE;
+    edge->vertex[0] = v1;
+    edge->vertex[1] = v2;
+    edge->faces[0] = edge->faces[1] = NULL;
+
+    a = &edge->vertex[0]->v.v;
+    b = &edge->vertex[1]->v.v;
+    edge->dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &edge->witness);
+
+    ccdListAppend(&edge->vertex[0]->edges, &edge->vertex_list[0]);
+    ccdListAppend(&edge->vertex[1]->edges, &edge->vertex_list[1]);
+
+    ccdListAppend(&pt->edges, &edge->list);
+
+    // update position in .nearest array
+    _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)edge);
+
+    return edge;
+}
+
+ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1,
+                                          ccd_pt_edge_t *e2,
+                                          ccd_pt_edge_t *e3)
+{
+    const ccd_vec3_t *a, *b, *c;
+    ccd_pt_face_t *face;
+    ccd_pt_edge_t *e;
+    size_t i;
+
+    if (e1 == NULL || e2 == NULL || e3 == NULL)
+        return NULL;
+
+    face = CCD_ALLOC(ccd_pt_face_t);
+    if (face == NULL)
+        return NULL;
+
+    face->type = CCD_PT_FACE;
+    face->edge[0] = e1;
+    face->edge[1] = e2;
+    face->edge[2] = e3;
+
+    // obtain triplet of vertices
+    a = &face->edge[0]->vertex[0]->v.v;
+    b = &face->edge[0]->vertex[1]->v.v;
+    e = face->edge[1];
+    if (e->vertex[0] != face->edge[0]->vertex[0]
+            && e->vertex[0] != face->edge[0]->vertex[1]){
+        c = &e->vertex[0]->v.v;
+    }else{
+        c = &e->vertex[1]->v.v;
+    }
+    face->dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &face->witness);
+
+
+    for (i = 0; i < 3; i++){
+        if (face->edge[i]->faces[0] == NULL){
+            face->edge[i]->faces[0] = face;
+        }else{
+            face->edge[i]->faces[1] = face;
+        }
+    }
+
+    ccdListAppend(&pt->faces, &face->list);
+
+    // update position in .nearest array
+    _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)face);
+
+    return face;
+}
+
+
+void ccdPtRecomputeDistances(ccd_pt_t *pt)
+{
+    ccd_pt_vertex_t *v;
+    ccd_pt_edge_t *e;
+    ccd_pt_face_t *f;
+    const ccd_vec3_t *a, *b, *c;
+    ccd_real_t dist;
+
+    ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
+        dist = ccdVec3Len2(&v->v.v);
+        v->dist = dist;
+        ccdVec3Copy(&v->witness, &v->v.v);
+    }
+
+    ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){
+        a = &e->vertex[0]->v.v;
+        b = &e->vertex[1]->v.v;
+        dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &e->witness);
+        e->dist = dist;
+    }
+
+    ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){
+        // obtain triplet of vertices
+        a = &f->edge[0]->vertex[0]->v.v;
+        b = &f->edge[0]->vertex[1]->v.v;
+        e = f->edge[1];
+        if (e->vertex[0] != f->edge[0]->vertex[0]
+                && e->vertex[0] != f->edge[0]->vertex[1]){
+            c = &e->vertex[0]->v.v;
+        }else{
+            c = &e->vertex[1]->v.v;
+        }
+
+        dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &f->witness);
+        f->dist = dist;
+    }
+}
+
+ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt)
+{
+    if (!pt->nearest){
+        _ccdPtNearestRenew(pt);
+    }
+    return pt->nearest;
+}
+
+
+void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn)
+{
+    FILE *fout;
+
+    fout = fopen(fn, "a");
+    if (fout == NULL)
+        return;
+
+    ccdPtDumpSVT2(pt, fout);
+
+    fclose(fout);
+}
+
+void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *fout)
+{
+    ccd_pt_vertex_t *v, *a, *b, *c;
+    ccd_pt_edge_t *e;
+    ccd_pt_face_t *f;
+    size_t i;
+
+    fprintf(fout, "-----\n");
+
+    fprintf(fout, "Points:\n");
+    i = 0;
+    ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){
+        v->id = i++;
+        fprintf(fout, "%lf %lf %lf\n",
+                ccdVec3X(&v->v.v), ccdVec3Y(&v->v.v), ccdVec3Z(&v->v.v));
+    }
+
+    fprintf(fout, "Edges:\n");
+    ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){
+        fprintf(fout, "%d %d\n", e->vertex[0]->id, e->vertex[1]->id);
+    }
+
+    fprintf(fout, "Faces:\n");
+    ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){
+        a = f->edge[0]->vertex[0];
+        b = f->edge[0]->vertex[1];
+        c = f->edge[1]->vertex[0];
+        if (c == a || c == b){
+            c = f->edge[1]->vertex[1];
+        }
+        fprintf(fout, "%d %d %d\n", a->id, b->id, c->id);
+    }
+}

code/framework/3rd/libccd/src/polytope.h

@@ -0,0 +1,322 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_POLYTOPE_H__
+#define __CCD_POLYTOPE_H__
+
+#include <stdlib.h>
+#include <stdio.h>
+#include "support.h"
+#include "list.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#define CCD_PT_VERTEX 1
+#define CCD_PT_EDGE   2
+#define CCD_PT_FACE   3
+
+
+#define __CCD_PT_EL \
+    int type;           /*! type of element */ \
+    ccd_real_t dist;        /*! distance from origin */ \
+    ccd_vec3_t witness; /*! witness point of projection of origin */ \
+    ccd_list_t list;    /*! list of elements of same type */
+
+/**
+ * General polytope element.
+ * Could be vertex, edge or triangle.
+ */
+struct _ccd_pt_el_t {
+    __CCD_PT_EL
+};
+typedef struct _ccd_pt_el_t ccd_pt_el_t;
+
+struct _ccd_pt_edge_t;
+struct _ccd_pt_face_t;
+
+/**
+ * Polytope's vertex.
+ */
+struct _ccd_pt_vertex_t {
+    __CCD_PT_EL
+
+    int id;
+    ccd_support_t v;
+    ccd_list_t edges; //!< List of edges
+};
+typedef struct _ccd_pt_vertex_t ccd_pt_vertex_t;
+
+/**
+ * Polytope's edge.
+ */
+struct _ccd_pt_edge_t {
+    __CCD_PT_EL
+
+    ccd_pt_vertex_t *vertex[2]; //!< Reference to vertices
+    struct _ccd_pt_face_t *faces[2]; //!< Reference to faces
+
+    ccd_list_t vertex_list[2]; //!< List items in vertices' lists
+};
+typedef struct _ccd_pt_edge_t ccd_pt_edge_t;
+
+/**
+ * Polytope's triangle faces.
+ */
+struct _ccd_pt_face_t {
+    __CCD_PT_EL
+
+    ccd_pt_edge_t *edge[3]; //!< Reference to surrounding edges
+};
+typedef struct _ccd_pt_face_t ccd_pt_face_t;
+
+
+/**
+ * Struct containing polytope.
+ */
+struct _ccd_pt_t {
+    ccd_list_t vertices; //!< List of vertices
+    ccd_list_t edges; //!< List of edges
+    ccd_list_t faces; //!< List of faces
+
+    ccd_pt_el_t *nearest;
+    ccd_real_t nearest_dist;
+    int nearest_type;
+};
+typedef struct _ccd_pt_t ccd_pt_t;
+
+
+CCD_EXPORT void ccdPtInit(ccd_pt_t *pt);
+CCD_EXPORT void ccdPtDestroy(ccd_pt_t *pt);
+
+/**
+ * Returns vertices surrounding given triangle face.
+ */
+_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
+                               ccd_vec3_t **a,
+                               ccd_vec3_t **b,
+                               ccd_vec3_t **c);
+_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
+                                   ccd_pt_vertex_t **a,
+                                   ccd_pt_vertex_t **b,
+                                   ccd_pt_vertex_t **c);
+_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
+                                ccd_pt_edge_t **a,
+                                ccd_pt_edge_t **b,
+                                ccd_pt_edge_t **c);
+
+_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
+                               ccd_vec3_t **a,
+                               ccd_vec3_t **b);
+_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
+                                   ccd_pt_vertex_t **a,
+                                   ccd_pt_vertex_t **b);
+_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
+                                ccd_pt_face_t **f1,
+                                ccd_pt_face_t **f2);
+
+
+/**
+ * Adds vertex to polytope and returns pointer to newly created vertex.
+ */
+CCD_EXPORT ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v);
+_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
+                                                  ccd_real_t x, ccd_real_t y, ccd_real_t z);
+
+/**
+ * Adds edge to polytope.
+ */
+CCD_EXPORT ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1,
+                                          ccd_pt_vertex_t *v2);
+
+/**
+ * Adds face to polytope.
+ */
+CCD_EXPORT ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1,
+                                          ccd_pt_edge_t *e2,
+                                          ccd_pt_edge_t *e3);
+
+/**
+ * Deletes vertex from polytope.
+ * Returns 0 on success, -1 otherwise.
+ */
+_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *);
+_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *);
+_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *);
+
+
+/**
+ * Recompute distances from origin for all elements in pt.
+ */
+CCD_EXPORT void ccdPtRecomputeDistances(ccd_pt_t *pt);
+
+/**
+ * Returns nearest element to origin.
+ */
+CCD_EXPORT ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt);
+
+
+CCD_EXPORT void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn);
+CCD_EXPORT void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *);
+
+
+/**** INLINES ****/
+_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
+                                                  ccd_real_t x, ccd_real_t y, ccd_real_t z)
+{
+    ccd_support_t s;
+    ccdVec3Set(&s.v, x, y, z);
+    return ccdPtAddVertex(pt, &s);
+}
+
+_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *v)
+{
+    // test if any edge is connected to this vertex
+    if (!ccdListEmpty(&v->edges))
+        return -1;
+
+    // delete vertex from main list
+    ccdListDel(&v->list);
+
+    if ((void *)pt->nearest == (void *)v){
+        pt->nearest = NULL;
+    }
+
+    free(v);
+    return 0;
+}
+
+_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *e)
+{
+    // text if any face is connected to this edge (faces[] is always
+    // aligned to lower indices)
+    if (e->faces[0] != NULL)
+        return -1;
+
+    // disconnect edge from lists of edges in vertex struct
+    ccdListDel(&e->vertex_list[0]);
+    ccdListDel(&e->vertex_list[1]);
+
+    // disconnect edge from main list
+    ccdListDel(&e->list);
+
+    if ((void *)pt->nearest == (void *)e){
+        pt->nearest = NULL;
+    }
+
+    free(e);
+    return 0;
+}
+
+_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *f)
+{
+    ccd_pt_edge_t *e;
+    size_t i;
+
+    // remove face from edges' recerence lists
+    for (i = 0; i < 3; i++){
+        e = f->edge[i];
+        if (e->faces[0] == f){
+            e->faces[0] = e->faces[1];
+        }
+        e->faces[1] = NULL;
+    }
+
+    // remove face from list of all faces
+    ccdListDel(&f->list);
+
+    if ((void *)pt->nearest == (void *)f){
+        pt->nearest = NULL;
+    }
+
+    free(f);
+    return 0;
+}
+
+_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
+                               ccd_vec3_t **a,
+                               ccd_vec3_t **b,
+                               ccd_vec3_t **c)
+{
+    *a = &face->edge[0]->vertex[0]->v.v;
+    *b = &face->edge[0]->vertex[1]->v.v;
+
+    if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
+            && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
+        *c = &face->edge[1]->vertex[0]->v.v;
+    }else{
+        *c = &face->edge[1]->vertex[1]->v.v;
+    }
+}
+
+_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
+                                   ccd_pt_vertex_t **a,
+                                   ccd_pt_vertex_t **b,
+                                   ccd_pt_vertex_t **c)
+{
+    *a = face->edge[0]->vertex[0];
+    *b = face->edge[0]->vertex[1];
+
+    if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
+            && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
+        *c = face->edge[1]->vertex[0];
+    }else{
+        *c = face->edge[1]->vertex[1];
+    }
+}
+
+_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
+                                ccd_pt_edge_t **a,
+                                ccd_pt_edge_t **b,
+                                ccd_pt_edge_t **c)
+{
+    *a = f->edge[0];
+    *b = f->edge[1];
+    *c = f->edge[2];
+}
+
+_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
+                               ccd_vec3_t **a,
+                               ccd_vec3_t **b)
+{
+    *a = &e->vertex[0]->v.v;
+    *b = &e->vertex[1]->v.v;
+}
+
+_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
+                                   ccd_pt_vertex_t **a,
+                                   ccd_pt_vertex_t **b)
+{
+    *a = e->vertex[0];
+    *b = e->vertex[1];
+}
+
+_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
+                                ccd_pt_face_t **f1,
+                                ccd_pt_face_t **f2)
+{
+    *f1 = e->faces[0];
+    *f2 = e->faces[1];
+}
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_POLYTOPE_H__ */

code/framework/3rd/libccd/src/simplex.h

@@ -0,0 +1,104 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_SIMPLEX_H__
+#define __CCD_SIMPLEX_H__
+
+#include <ccd/compiler.h>
+#include "support.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct _ccd_simplex_t {
+    ccd_support_t ps[4];
+    int last; //!< index of last added point
+};
+typedef struct _ccd_simplex_t ccd_simplex_t;
+
+
+_ccd_inline void ccdSimplexInit(ccd_simplex_t *s);
+_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s);
+_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s);
+_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx);
+_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx);
+
+_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v);
+_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a);
+_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size);
+_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2);
+
+
+/**** INLINES ****/
+
+_ccd_inline void ccdSimplexInit(ccd_simplex_t *s)
+{
+    s->last = -1;
+}
+
+_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s)
+{
+    return s->last + 1;
+}
+
+_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s)
+{
+    return ccdSimplexPoint(s, s->last);
+}
+
+_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx)
+{
+    // here is no check on boundaries
+    return &s->ps[idx];
+}
+_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx)
+{
+    return &s->ps[idx];
+}
+
+_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v)
+{
+    // here is no check on boundaries in sake of speed
+    ++s->last;
+    ccdSupportCopy(s->ps + s->last, v);
+}
+
+_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a)
+{
+    ccdSupportCopy(s->ps + pos, a);
+}
+
+_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size)
+{
+    s->last = size - 1;
+}
+
+_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2)
+{
+    ccd_support_t supp;
+
+    ccdSupportCopy(&supp, &s->ps[pos1]);
+    ccdSupportCopy(&s->ps[pos1], &s->ps[pos2]);
+    ccdSupportCopy(&s->ps[pos2], &supp);
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_SIMPLEX_H__ */

code/framework/3rd/libccd/src/support.c

@@ -0,0 +1,34 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#include "support.h"
+
+void __ccdSupport(const void *obj1, const void *obj2,
+                  const ccd_vec3_t *_dir, const ccd_t *ccd,
+                  ccd_support_t *supp)
+{
+    ccd_vec3_t dir;
+
+    ccdVec3Copy(&dir, _dir);
+
+    ccd->support1(obj1, &dir, &supp->v1);
+
+    ccdVec3Scale(&dir, -CCD_ONE);
+    ccd->support2(obj2, &dir, &supp->v2);
+
+    ccdVec3Sub2(&supp->v, &supp->v1, &supp->v2);
+}

code/framework/3rd/libccd/src/support.h

@@ -0,0 +1,55 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_SUPPORT_H__
+#define __CCD_SUPPORT_H__
+
+#include <ccd/ccd.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct _ccd_support_t {
+    ccd_vec3_t v;  //!< Support point in minkowski sum
+    ccd_vec3_t v1; //!< Support point in obj1
+    ccd_vec3_t v2; //!< Support point in obj2
+};
+typedef struct _ccd_support_t ccd_support_t;
+
+_ccd_inline void ccdSupportCopy(ccd_support_t *, const ccd_support_t *s);
+
+/**
+ * Computes support point of obj1 and obj2 in direction dir.
+ * Support point is returned via supp.
+ */
+CCD_EXPORT void __ccdSupport(const void *obj1, const void *obj2,
+                  const ccd_vec3_t *dir, const ccd_t *ccd,
+                  ccd_support_t *supp);
+
+
+/**** INLINES ****/
+_ccd_inline void ccdSupportCopy(ccd_support_t *d, const ccd_support_t *s)
+{
+    *d = *s;
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_SUPPORT_H__ */

code/framework/3rd/libccd/src/vec3.c

@@ -0,0 +1,217 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#include <stdio.h>
+#include <ccd/vec3.h>
+#include "dbg.h"
+
+static CCD_VEC3(__ccd_vec3_origin, CCD_ZERO, CCD_ZERO, CCD_ZERO);
+ccd_vec3_t *ccd_vec3_origin = &__ccd_vec3_origin;
+
+static ccd_vec3_t points_on_sphere[] = {
+	CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-0.000000), CCD_REAL(-1.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL(-0.525725), CCD_REAL(-0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL(-0.850649), CCD_REAL(-0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.894426), CCD_REAL(-0.000000), CCD_REAL(-0.447216)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL( 0.850649), CCD_REAL(-0.447220)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL( 0.525725), CCD_REAL(-0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL(-0.850649), CCD_REAL( 0.447220)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL(-0.525725), CCD_REAL( 0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL( 0.525725), CCD_REAL( 0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL( 0.850649), CCD_REAL( 0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.894426), CCD_REAL( 0.000000), CCD_REAL( 0.447216)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 0.000000), CCD_REAL( 1.000000)), 
+	CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL(-0.309011), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL(-0.499995), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL(-0.809012), CCD_REAL(-0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL( 0.309011), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.850648), CCD_REAL(-0.000000), CCD_REAL(-0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.525730), CCD_REAL(-0.000000), CCD_REAL(-0.850652)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL(-0.499997), CCD_REAL(-0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL( 0.499995), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL( 0.499997), CCD_REAL(-0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL( 0.809012), CCD_REAL(-0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL( 0.309013), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL(-0.309013), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-1.000000), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL(-0.309013), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL( 0.309013), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 1.000000), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL(-0.499997), CCD_REAL( 0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL(-0.809012), CCD_REAL( 0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.850648), CCD_REAL( 0.000000), CCD_REAL( 0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL( 0.809012), CCD_REAL( 0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL( 0.499997), CCD_REAL( 0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.525730), CCD_REAL( 0.000000), CCD_REAL( 0.850652)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL(-0.499995), CCD_REAL( 0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL(-0.309011), CCD_REAL( 0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL( 0.309011), CCD_REAL( 0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL( 0.499995), CCD_REAL( 0.850654))
+};
+ccd_vec3_t *ccd_points_on_sphere = points_on_sphere;
+size_t ccd_points_on_sphere_len = sizeof(points_on_sphere) / sizeof(ccd_vec3_t);
+
+
+_ccd_inline ccd_real_t __ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
+                                                  const ccd_vec3_t *x0,
+                                                  const ccd_vec3_t *b,
+                                                  ccd_vec3_t *witness)
+{
+    // The computation comes from solving equation of segment:
+    //      S(t) = x0 + t.d
+    //          where - x0 is initial point of segment
+    //                - d is direction of segment from x0 (|d| > 0)
+    //                - t belongs to <0, 1> interval
+    // 
+    // Than, distance from a segment to some point P can be expressed:
+    //      D(t) = |x0 + t.d - P|^2
+    //          which is distance from any point on segment. Minimization
+    //          of this function brings distance from P to segment.
+    // Minimization of D(t) leads to simple quadratic equation that's
+    // solving is straightforward.
+    //
+    // Bonus of this method is witness point for free.
+
+    ccd_real_t dist, t;
+    ccd_vec3_t d, a;
+
+    // direction of segment
+    ccdVec3Sub2(&d, b, x0);
+
+    // precompute vector from P to x0
+    ccdVec3Sub2(&a, x0, P);
+
+    t  = -CCD_REAL(1.) * ccdVec3Dot(&a, &d);
+    t /= ccdVec3Len2(&d);
+
+    if (t < CCD_ZERO || ccdIsZero(t)){
+        dist = ccdVec3Dist2(x0, P);
+        if (witness)
+            ccdVec3Copy(witness, x0);
+    }else if (t > CCD_ONE || ccdEq(t, CCD_ONE)){
+        dist = ccdVec3Dist2(b, P);
+        if (witness)
+            ccdVec3Copy(witness, b);
+    }else{
+        if (witness){
+            ccdVec3Copy(witness, &d);
+            ccdVec3Scale(witness, t);
+            ccdVec3Add(witness, x0);
+            dist = ccdVec3Dist2(witness, P);
+        }else{
+            // recycling variables
+            ccdVec3Scale(&d, t);
+            ccdVec3Add(&d, &a);
+            dist = ccdVec3Len2(&d);
+        }
+    }
+
+    return dist;
+}
+
+ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
+                                    const ccd_vec3_t *x0, const ccd_vec3_t *b,
+                                    ccd_vec3_t *witness)
+{
+    return __ccdVec3PointSegmentDist2(P, x0, b, witness);
+}
+
+ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P,
+                                const ccd_vec3_t *x0, const ccd_vec3_t *B,
+                                const ccd_vec3_t *C,
+                                ccd_vec3_t *witness)
+{
+    // Computation comes from analytic expression for triangle (x0, B, C)
+    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
+    // Then equation for distance is:
+    //      D(s, t) = | T(s, t) - P |^2
+    // This leads to minimization of quadratic function of two variables.
+    // The solution from is taken only if s is between 0 and 1, t is
+    // between 0 and 1 and t + s < 1, otherwise distance from segment is
+    // computed.
+
+    ccd_vec3_t d1, d2, a;
+    ccd_real_t u, v, w, p, q, r, d;
+    ccd_real_t s, t, dist, dist2;
+    ccd_vec3_t witness2;
+
+    ccdVec3Sub2(&d1, B, x0);
+    ccdVec3Sub2(&d2, C, x0);
+    ccdVec3Sub2(&a, x0, P);
+
+    u = ccdVec3Dot(&a, &a);
+    v = ccdVec3Dot(&d1, &d1);
+    w = ccdVec3Dot(&d2, &d2);
+    p = ccdVec3Dot(&a, &d1);
+    q = ccdVec3Dot(&a, &d2);
+    r = ccdVec3Dot(&d1, &d2);
+
+    d = w * v - r * r;
+    if (ccdIsZero(d)){
+        // To avoid division by zero for zero (or near zero) area triangles
+        s = t = -1.;
+    }else{
+        s = (q * r - w * p) / d;
+        t = (-s * r - q) / w;
+    }
+
+    if ((ccdIsZero(s) || s > CCD_ZERO)
+            && (ccdEq(s, CCD_ONE) || s < CCD_ONE)
+            && (ccdIsZero(t) || t > CCD_ZERO)
+            && (ccdEq(t, CCD_ONE) || t < CCD_ONE)
+            && (ccdEq(t + s, CCD_ONE) || t + s < CCD_ONE)){
+
+        if (witness){
+            ccdVec3Scale(&d1, s);
+            ccdVec3Scale(&d2, t);
+            ccdVec3Copy(witness, x0);
+            ccdVec3Add(witness, &d1);
+            ccdVec3Add(witness, &d2);
+
+            dist = ccdVec3Dist2(witness, P);
+        }else{
+            dist  = s * s * v;
+            dist += t * t * w;
+            dist += CCD_REAL(2.) * s * t * r;
+            dist += CCD_REAL(2.) * s * p;
+            dist += CCD_REAL(2.) * t * q;
+            dist += u;
+        }
+    }else{
+        dist = __ccdVec3PointSegmentDist2(P, x0, B, witness);
+
+        dist2 = __ccdVec3PointSegmentDist2(P, x0, C, &witness2);
+        if (dist2 < dist){
+            dist = dist2;
+            if (witness)
+                ccdVec3Copy(witness, &witness2);
+        }
+
+        dist2 = __ccdVec3PointSegmentDist2(P, B, C, &witness2);
+        if (dist2 < dist){
+            dist = dist2;
+            if (witness)
+                ccdVec3Copy(witness, &witness2);
+        }
+    }
+
+    return dist;
+}

code/framework/lualib-src/lua-ccd/Makefile

@@ -0,0 +1,121 @@
+
+ifdef MINGW_PREFIX
+MINGW=1
+else
+LINUX=1
+endif
+
+# Lua version
+LUAVER?=5.3
+
+# Base install directory
+ifdef LINUX
+PREFIX?=/usr/local
+endif
+ifdef MINGW
+PREFIX?=$(MINGW_PREFIX)
+endif
+
+# Directory where to install Lua modules
+L_DIR=$(PREFIX)/share/lua/$(LUAVER)
+# Directory where to install Lua C modules
+C_DIR=$(PREFIX)/lib/lua/$(LUAVER)
+# Directory where to install C headers
+H_DIR=$(PREFIX)/include
+# Directory where to install C libraries
+S_DIR=$(PREFIX)/lib
+
+ifeq ($(D),1)
+DEBUG=1
+endif
+
+ifdef LINUX
+LIBS =  -lccd -lpthread
+endif
+ifdef MINGW
+LIBS = -llua
+endif
+
+Tgt	:= moonccd
+Src := $(wildcard *.c)
+Objs := $(Src:.c=.o)
+
+INCDIR = -I. -I/usr/include/lua$(LUAVER)
+
+COPT	+= -O2
+#COPT	+= -O0 -g
+#COPT	+= -m32
+COPT	+= -Wfatal-errors
+COPT	+= -Wall -Wextra -Wpedantic
+COPT	+= -DCOMPAT53_PREFIX=moonccd_compat_
+COPT    += -std=gnu99
+COPT 	+= -DLUAVER=$(LUAVER)
+ifdef LINUX
+COPT    += -fpic
+COPT	+= -DLINUX
+endif
+ifdef MINGW
+COPT	+= -DMINGW
+endif
+ifdef DEBUG
+COPT	+= -DDEBUG
+COPT 	+= -Wshadow -Wsign-compare -Wundef -Wwrite-strings
+COPT	+= -Wdisabled-optimization -Wdeclaration-after-statement
+COPT    += -Wmissing-prototypes -Wstrict-prototypes -Wnested-externs
+COPT    += -Wold-style-definition
+#COPT    += -Wc++-compat
+endif
+
+override CFLAGS = $(COPT) $(INCDIR)
+
+default: build
+
+where:
+	@echo "PREFIX="$(PREFIX)
+	@echo "LUAVER="$(LUAVER)
+	@echo $(L_DIR)
+	@echo $(C_DIR)
+	@echo $(H_DIR)
+	@echo $(S_DIR)
+
+clean:
+	@-rm -f *.so *.dll *.o *.err *.map *.S *~ *.log
+	@-rm -f $(Tgt).symbols
+
+install:
+	@-mkdir -pv $(H_DIR)
+	@-mkdir -pv $(C_DIR)
+	@-mkdir -pv $(S_DIR)
+	@-mkdir -pv $(L_DIR)
+	@-cp -fpv $(Tgt).h $(H_DIR)
+	@-cp -fpvr ../$(Tgt) $(L_DIR)
+ifdef LINUX
+	@-cp -fpv $(Tgt).so $(C_DIR)
+	@-ln -fsv $(C_DIR)/$(Tgt).so $(S_DIR)/lib$(Tgt).so
+endif
+ifdef MINGW
+	@-cp -fpv $(Tgt).dll $(C_DIR)
+endif
+
+uninstall:
+	@-rm -f $(H_DIR)/$(Tgt).h
+	@-rm -f $(C_DIR)/$(Tgt).so
+	@-rm -f $(S_DIR)/lib$(Tgt).so
+	@-rm -fr $(L_DIR)/$(Tgt)
+	@-rm -f $(C_DIR)/$(Tgt).dll
+
+build:	clean $(Tgt)
+
+symbols: build
+	@objdump -T $(Tgt).so > $(Tgt).symbols
+
+$(Tgt):	$(Objs)
+ifdef LINUX
+	@$(CXX) -shared -o $(Tgt).so $(Objs) $(LIBDIR) $(LIBS)
+endif
+ifdef MINGW
+	@-$(CXX) -shared -o $(Tgt).dll $(Objs) $(LIBDIR) $(LIBS)
+endif
+	@-rm -f $(Objs)
+	@echo
+

code/framework/lualib-src/lua-ccd/ccd.c

@@ -0,0 +1,317 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+static ud_t *Ud = NULL;
+#define PAR 1
+#define OBJ1 2
+#define OBJ2 3
+static void FirstDir(const void *obj1, const void *obj2, vec3_t *dir);
+static void Support(const void *obj_, const vec3_t *dir, vec3_t *vec);
+static void Center(const void *obj_, vec3_t *center);
+
+static int freeccd(lua_State *L, ud_t *ud)
+{
+    ccd_t *ccd = (ccd_t *)ud->handle;
+    if (!freeuserdata(L, ud, "ccdpar"))
+        return 0;
+    Free(L, ccd);
+    return 0;
+}
+
+static int newccd(lua_State *L, ccd_t *ccd, int ref[6])
+{
+    ud_t *ud;
+    ud = newuserdata(L, ccd, CCDPAR_MT, "ccdpar");
+    ud->parent_ud = NULL;
+    ud->destructor = freeccd;
+    memcpy(ud->ref, ref, 6 * sizeof(int));
+    return 1;
+}
+
+static int New(lua_State *L)
+{
+    ccd_t ccd, *ccdp;
+    int ref[6];
+    int t = lua_type(L, 1);
+    CCD_INIT(&ccd);
+    memset(ref, 0, 6 * sizeof(int));
+    switch (t)
+    {
+    case LUA_TNONE:
+    case LUA_TNIL:
+        return argerror(L, 1, ERR_NOTPRESENT);
+    case LUA_TTABLE:
+        break;
+    default:
+        return argerror(L, 1, ERR_TABLE);
+    }
+#define checkfn(name, ccdfield, Func, ref)             \
+    do                                                 \
+    {                                                  \
+        lua_getfield(L, 1, name);                      \
+        if (lua_isfunction(L, -1))                     \
+        /* this also unfererences any previous ref: */ \
+        {                                              \
+            Reference(L, -1, ref);                     \
+            ccd.ccdfield = Func;                       \
+        }                                              \
+        else if (!lua_isnoneornil(L, -1))              \
+            return argerror(L, 1, ERR_FUNCTION);       \
+        lua_pop(L, 1);                                 \
+    } while (0)
+    checkfn("first_dir", first_dir, FirstDir, ref[0]);
+    checkfn("support1", support1, Support, ref[1]);
+    checkfn("support2", support2, Support, ref[2]);
+    checkfn("center1", center1, Center, ref[3]);
+    checkfn("center2", center2, Center, ref[4]);
+#undef checkfn
+    lua_getfield(L, 1, "max_iterations");
+    ccd.max_iterations = luaL_optinteger(L, -1, ccd.max_iterations);
+    lua_pop(L, 1);
+    lua_getfield(L, 1, "epa_tolerance");
+    ccd.epa_tolerance = luaL_optnumber(L, -1, ccd.epa_tolerance);
+    lua_pop(L, 1);
+    lua_getfield(L, 1, "mpr_tolerance");
+    ccd.mpr_tolerance = luaL_optnumber(L, -1, ccd.mpr_tolerance);
+    lua_pop(L, 1);
+    lua_getfield(L, 1, "dist_tolerance");
+    ccd.dist_tolerance = luaL_optnumber(L, -1, ccd.dist_tolerance);
+    lua_pop(L, 1);
+    ccdp = Malloc(L, sizeof(ccd_t));
+    memcpy(ccdp, &ccd, sizeof(ccd_t));
+    return newccd(L, ccdp, ref);
+}
+
+static void FirstDir(const void *obj1, const void *obj2, vec3_t *dir)
+{
+#define L moonccd_L
+    int rc;
+    int t = lua_gettop(L);
+    (void)obj1;
+    (void)obj2;
+    lua_rawgeti(L, LUA_REGISTRYINDEX, Ud->ref[0]);
+    lua_pushvalue(L, OBJ1);
+    lua_pushvalue(L, OBJ2);
+    rc = lua_pcall(L, 2, 1, 0);
+    if (rc != LUA_OK)
+        lua_error(L);
+    checkvec3(L, -1, dir);
+    lua_settop(L, t);
+#undef L
+}
+
+static void Support(const void *obj_, const vec3_t *dir, vec3_t *vec)
+{
+#define L moonccd_L
+    int ref, rc;
+    int obj = (ptrdiff_t)obj_;
+    int t = lua_gettop(L);
+    switch (obj)
+    {
+    case OBJ1:
+        ref = Ud->ref[1];
+        break;
+    case OBJ2:
+        ref = Ud->ref[2];
+        break;
+    default:
+        unexpected(L);
+        return;
+    }
+    lua_rawgeti(L, LUA_REGISTRYINDEX, ref);
+    lua_pushvalue(L, obj);
+    pushvec3(L, dir);
+    rc = lua_pcall(L, 2, 1, 0);
+    if (rc != LUA_OK)
+        lua_error(L);
+    checkvec3(L, -1, vec);
+    lua_settop(L, t);
+#undef L
+}
+
+static void Center(const void *obj_, vec3_t *center)
+{
+#define L moonccd_L
+    int ref, rc;
+    int obj = (ptrdiff_t)obj_;
+    int t = lua_gettop(L);
+    switch (obj)
+    {
+    case OBJ1:
+        ref = Ud->ref[3];
+        break;
+    case OBJ2:
+        ref = Ud->ref[4];
+        break;
+    default:
+        unexpected(L);
+        return;
+    }
+    lua_rawgeti(L, LUA_REGISTRYINDEX, ref);
+    lua_pushvalue(L, obj);
+    rc = lua_pcall(L, 1, 1, 0);
+    if (rc != LUA_OK)
+        lua_error(L);
+    checkvec3(L, -1, center);
+    lua_settop(L, t);
+#undef L
+}
+
+static int GJKIntersect(lua_State *L)
+{
+    ccd_t *ccd = checkccd(L, PAR, &Ud);
+    luaL_checkany(L, OBJ1);
+    luaL_checkany(L, OBJ2);
+    lua_pushboolean(L, ccdGJKIntersect((void *)OBJ1, (void *)OBJ2, ccd));
+    return 1;
+}
+
+static int GJKSeparate(lua_State *L)
+{
+    int rc;
+    vec3_t sep;
+    ccd_t *ccd = checkccd(L, PAR, &Ud);
+    luaL_checkany(L, OBJ1);
+    luaL_checkany(L, OBJ2);
+    rc = ccdGJKSeparate((void *)OBJ1, (void *)OBJ2, ccd, &sep);
+    switch (rc)
+    {
+    case 0:
+        lua_pushboolean(L, 1);
+        pushvec3(L, &sep);
+        return 2;
+    case -1:
+        lua_pushboolean(L, 0);
+        return 1;
+    case -2:
+        return errmemory(L);
+    default:
+        break;
+    }
+    return unexpected(L);
+}
+
+static int GJKPenetration(lua_State *L)
+{
+    int rc;
+    double depth;
+    vec3_t dir, pos;
+    ccd_t *ccd = checkccd(L, PAR, &Ud);
+    luaL_checkany(L, OBJ1);
+    luaL_checkany(L, OBJ2);
+    rc = ccdGJKPenetration((void *)OBJ1, (void *)OBJ2, ccd, &depth, &dir, &pos);
+    switch (rc)
+    {
+    case 0:
+        lua_pushboolean(L, 1);
+        lua_pushnumber(L, depth);
+        pushvec3(L, &dir);
+        pushvec3(L, &pos);
+        return 4;
+    case -1:
+        lua_pushboolean(L, 0);
+        return 1;
+    case -2:
+        return errmemory(L);
+    default:
+        break;
+    }
+    return unexpected(L);
+}
+
+static int MPRIntersect(lua_State *L)
+{
+    ccd_t *ccd = checkccd(L, PAR, &Ud);
+    luaL_checkany(L, OBJ1);
+    luaL_checkany(L, OBJ2);
+    lua_pushboolean(L, ccdMPRIntersect((void *)OBJ1, (void *)OBJ2, ccd));
+    return 1;
+}
+
+static int MPRPenetration(lua_State *L)
+{
+    int rc;
+    double depth;
+    vec3_t dir, pos;
+    ccd_t *ccd = checkccd(L, PAR, &Ud);
+    luaL_checkany(L, OBJ1);
+    luaL_checkany(L, OBJ2);
+    rc = ccdMPRPenetration((void *)OBJ1, (void *)OBJ2, ccd, &depth, &dir, &pos);
+    switch (rc)
+    {
+    case 0:
+        lua_pushboolean(L, 1);
+        lua_pushnumber(L, depth);
+        pushvec3(L, &dir);
+        pushvec3(L, &pos);
+        return 4;
+    case -1:
+        lua_pushboolean(L, 0);
+        return 1;
+    case -2:
+        return errmemory(L);
+    default:
+        break;
+    }
+    return unexpected(L);
+}
+
+DESTROY_FUNC(ccd)
+
+static const struct luaL_Reg Methods[] =
+    {
+        {"free", Destroy},
+        {"gjk_intersect", GJKIntersect},
+        {"gjk_separate", GJKSeparate},
+        {"gjk_penetration", GJKPenetration},
+        {"mpr_intersect", MPRIntersect},
+        {NULL, NULL} /* sentinel */
+};
+
+static const struct luaL_Reg MetaMethods[] =
+    {
+        {"__gc", Destroy},
+        {NULL, NULL} /* sentinel */
+};
+
+static const struct luaL_Reg Functions[] =
+    {
+        {"new", New},
+        {"free", Destroy},
+        {"gjk_intersect", GJKIntersect},
+        {"gjk_separate", GJKSeparate},
+        {"gjk_penetration", GJKPenetration},
+        {"mpr_intersect", MPRIntersect},
+        {"mpr_penetration", MPRPenetration},
+        {NULL, NULL} /* sentinel */
+};
+
+void moonccd_open_ccd(lua_State *L)
+{
+    udata_define(L, CCDPAR_MT, Methods, MetaMethods);
+    luaL_setfuncs(L, Functions, 0);
+}

code/framework/lualib-src/lua-ccd/datastructs.c

@@ -0,0 +1,324 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+#define GLMATH_COMPAT (tovec3 != LUA_NOREF)
+/* References to the MoonGLMATH functions used to convert pushed values to glmath objects. */
+static int tovec3 = LUA_NOREF;
+static int toquat = LUA_NOREF;
+
+int isglmathcompat(void)
+{
+    return GLMATH_COMPAT;
+}
+
+int glmathcompat(lua_State *L, int on)
+{
+    if (on)
+    {
+        if (GLMATH_COMPAT)
+            return 0; /* already enabled */
+        if (luaL_dostring(L, "return require('moonglmath').tovec3") != 0)
+            lua_error(L);
+        tovec3 = luaL_ref(L, LUA_REGISTRYINDEX);
+        if (luaL_dostring(L, "return require('moonglmath').toquat") != 0)
+            lua_error(L);
+        toquat = luaL_ref(L, LUA_REGISTRYINDEX);
+    }
+    else
+    {
+        if (!GLMATH_COMPAT)
+            return 0; /* already disabled */
+        luaL_unref(L, LUA_REGISTRYINDEX, tovec3);
+        tovec3 = LUA_NOREF;
+        luaL_unref(L, LUA_REGISTRYINDEX, toquat);
+        toquat = LUA_NOREF;
+    }
+    return 0;
+}
+
+/* vec3_t ----------------------------------------------------------*/
+
+int testvec3(lua_State *L, int arg, vec3_t *dst)
+{
+    int isnum;
+    int t = lua_type(L, arg);
+    switch (t)
+    {
+    case LUA_TNONE:
+    case LUA_TNIL:
+        return ERR_NOTPRESENT;
+    case LUA_TTABLE:
+        break;
+    default:
+        return ERR_TABLE;
+    }
+#define POP               \
+    if (!isnum)           \
+    {                     \
+        lua_pop(L, 1);    \
+        return ERR_VALUE; \
+    }                     \
+    lua_pop(L, 1);
+    lua_rawgeti(L, arg, 1);
+    dst->v[0] = lua_tonumberx(L, -1, &isnum);
+    POP
+        lua_rawgeti(L, arg, 2);
+    dst->v[1] = lua_tonumberx(L, -1, &isnum);
+    POP
+        lua_rawgeti(L, arg, 3);
+    dst->v[2] = lua_tonumberx(L, -1, &isnum);
+    POP
+#undef POP
+        return 0;
+}
+
+int optvec3(lua_State *L, int arg, vec3_t *dst)
+{
+    int ec = testvec3(L, arg, dst);
+    if (ec < 0)
+        return argerror(L, arg, ec);
+    return ec;
+}
+
+int checkvec3(lua_State *L, int arg, vec3_t *dst)
+{
+    int ec = testvec3(L, arg, dst);
+    if (ec)
+        return argerror(L, arg, ec);
+    return ec;
+}
+
+void pushvec3(lua_State *L, const vec3_t *val)
+{
+    if (GLMATH_COMPAT)
+        lua_rawgeti(L, LUA_REGISTRYINDEX, tovec3);
+    lua_newtable(L);
+    lua_pushnumber(L, val->v[0]);
+    lua_rawseti(L, -2, 1);
+    lua_pushnumber(L, val->v[1]);
+    lua_rawseti(L, -2, 2);
+    lua_pushnumber(L, val->v[2]);
+    lua_rawseti(L, -2, 3);
+    if (GLMATH_COMPAT && lua_pcall(L, 1, 1, 0) != LUA_OK)
+    {
+        unexpected(L);
+        return;
+    }
+}
+
+vec3_t *checkvec3list(lua_State *L, int arg, int *countp, int *err)
+/* Check if the value at arg is a table of vecs and returns the corresponding
+ * array of vec3_t, stroing the size in *countp. The array is Malloc()'d and the
+ * caller is in charge of Free()ing it.
+ * If err=NULL, raises an error on failure, otherwise returns NULL and stores
+ * the ERR_XXX code in *err.
+ */
+{
+    int count, i;
+    vec3_t *dst = NULL;
+    *countp = 0;
+#define ERR(ec)                     \
+    do                              \
+    {                               \
+        if (err)                    \
+            *err = (ec);            \
+        else                        \
+            argerror(L, arg, (ec)); \
+        return NULL;                \
+    } while (0)
+    if (lua_isnoneornil(L, arg))
+        ERR(ERR_NOTPRESENT);
+    if (lua_type(L, arg) != LUA_TTABLE)
+        ERR(ERR_TABLE);
+
+    count = luaL_len(L, arg);
+    if (count == 0)
+        ERR(ERR_EMPTY);
+    dst = MallocNoErr(L, count * sizeof(vec3_t));
+    if (!dst)
+        ERR(ERR_MEMORY);
+    for (i = 0; i < count; i++)
+    {
+        lua_rawgeti(L, arg, i + 1);
+        if (testvec3(L, -1, &dst[i]) != 0)
+        {
+            Free(L, dst);
+            ERR(ERR_TYPE);
+        }
+        lua_pop(L, 1);
+    }
+#undef ERR
+    *countp = count;
+    if (err)
+        *err = 0;
+    return dst;
+}
+
+void pushvec3list(lua_State *L, const vec3_t *vecs, int count)
+{
+    int i;
+    lua_newtable(L);
+    for (i = 0; i < count; i++)
+    {
+        pushvec3(L, &vecs[i]);
+        lua_rawseti(L, -2, i + 1);
+    }
+}
+
+/* quat_t ----------------------------------------------------------*/
+
+int testquat(lua_State *L, int arg, quat_t *dst)
+{
+    int isnum;
+    int t = lua_type(L, arg);
+    switch (t)
+    {
+    case LUA_TNONE:
+    case LUA_TNIL:
+        return ERR_NOTPRESENT;
+    case LUA_TTABLE:
+        break;
+    default:
+        return ERR_TABLE;
+    }
+#define POP               \
+    if (!isnum)           \
+    {                     \
+        lua_pop(L, 1);    \
+        return ERR_VALUE; \
+    }                     \
+    lua_pop(L, 1);
+    lua_rawgeti(L, arg, 1);
+    dst->q[3] = lua_tonumberx(L, -1, &isnum);
+    POP // w
+        lua_rawgeti(L, arg, 2);
+    dst->q[0] = lua_tonumberx(L, -1, &isnum);
+    POP // x
+        lua_rawgeti(L, arg, 3);
+    dst->q[1] = lua_tonumberx(L, -1, &isnum);
+    POP // y
+        lua_rawgeti(L, arg, 4);
+    dst->q[2] = lua_tonumberx(L, -1, &isnum);
+    POP // z
+#undef POP
+        return 0;
+}
+
+int optquat(lua_State *L, int arg, quat_t *dst)
+{
+    int ec = testquat(L, arg, dst);
+    if (ec < 0)
+        return argerror(L, arg, ec);
+    return ec;
+}
+
+int checkquat(lua_State *L, int arg, quat_t *dst)
+{
+    int ec = testquat(L, arg, dst);
+    if (ec)
+        return argerror(L, arg, ec);
+    return ec;
+}
+
+void pushquat(lua_State *L, const quat_t *val)
+{
+    if (GLMATH_COMPAT)
+        lua_rawgeti(L, LUA_REGISTRYINDEX, toquat);
+    lua_newtable(L);
+    lua_pushnumber(L, val->q[3]);
+    lua_rawseti(L, -2, 1); // w
+    lua_pushnumber(L, val->q[0]);
+    lua_rawseti(L, -2, 2); // x
+    lua_pushnumber(L, val->q[1]);
+    lua_rawseti(L, -2, 3); // y
+    lua_pushnumber(L, val->q[2]);
+    lua_rawseti(L, -2, 4); // z
+    if (GLMATH_COMPAT && lua_pcall(L, 1, 1, 0) != LUA_OK)
+    {
+        unexpected(L);
+        return;
+    }
+}
+
+quat_t *checkquatlist(lua_State *L, int arg, int *countp, int *err)
+/* Check if the value at arg is a table of vecs and returns the corresponding
+ * array of quat_t, stroing the size in *countp. The array is Malloc()'d and the
+ * caller is in charge of Free()ing it.
+ * If err=NULL, raises an error on failure, otherwise returns NULL and stores
+ * the ERR_XXX code in *err.
+ */
+{
+    int count, i;
+    quat_t *dst = NULL;
+    *countp = 0;
+#define ERR(ec)                     \
+    do                              \
+    {                               \
+        if (err)                    \
+            *err = (ec);            \
+        else                        \
+            argerror(L, arg, (ec)); \
+        return NULL;                \
+    } while (0)
+    if (lua_isnoneornil(L, arg))
+        ERR(ERR_NOTPRESENT);
+    if (lua_type(L, arg) != LUA_TTABLE)
+        ERR(ERR_TABLE);
+
+    count = luaL_len(L, arg);
+    if (count == 0)
+        ERR(ERR_EMPTY);
+    dst = MallocNoErr(L, count * sizeof(quat_t));
+    if (!dst)
+        ERR(ERR_MEMORY);
+    for (i = 0; i < count; i++)
+    {
+        lua_rawgeti(L, arg, i + 1);
+        if (testquat(L, -1, &dst[i]) != 0)
+        {
+            Free(L, dst);
+            ERR(ERR_TYPE);
+        }
+        lua_pop(L, 1);
+    }
+#undef ERR
+    *countp = count;
+    if (err)
+        *err = 0;
+    return dst;
+}
+
+void pushquatlist(lua_State *L, const quat_t *vecs, int count)
+{
+    int i;
+    lua_newtable(L);
+    for (i = 0; i < count; i++)
+    {
+        pushquat(L, &vecs[i]);
+        lua_rawseti(L, -2, i + 1);
+    }
+}

code/framework/lualib-src/lua-ccd/internal.h

@@ -0,0 +1,238 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef internalDEFINED
+#define internalDEFINED
+
+#include <string.h>
+#include <stdlib.h>
+#include <time.h>
+#include "moonccd.h"
+
+#define TOSTR_(x) #x
+#define TOSTR(x) TOSTR_(x)
+
+#include "tree.h"
+#include "objects.h"
+
+/* Note: all the dynamic symbols of this library (should) start with 'moonccd_' .
+ * The only exception is the luaopen_moonccd() function, which is searched for
+ * with that name by Lua.
+ * MoonCCD's string references on the Lua registry also start with 'moonccd_'.
+ */
+
+#if 0
+/* .c */
+#define moonccd_
+#endif
+
+/* flags.c */
+#define checkflags(L, arg) luaL_checkinteger((L), (arg))
+#define optflags(L, arg, defval) luaL_optinteger((L), (arg), (defval))
+#define pushflags(L, val) lua_pushinteger((L), (val))
+
+/* utils.c */
+void moonccd_utils_init(lua_State *L);
+#define copytable moonccd_copytable
+int copytable(lua_State *L);
+#define noprintf moonccd_noprintf
+int noprintf(const char *fmt, ...);
+#define now moonccd_now
+double now(void);
+#define sleeep moonccd_sleeep
+void sleeep(double seconds);
+#define since(t) (now() - (t))
+#define notavailable moonccd_notavailable
+int notavailable(lua_State *L, ...);
+#define Malloc moonccd_Malloc
+void *Malloc(lua_State *L, size_t size);
+#define MallocNoErr moonccd_MallocNoErr
+void *MallocNoErr(lua_State *L, size_t size);
+#define Strdup moonccd_Strdup
+char *Strdup(lua_State *L, const char *s);
+#define Free moonccd_Free
+void Free(lua_State *L, void *ptr);
+#define checkboolean moonccd_checkboolean
+int checkboolean(lua_State *L, int arg);
+#define testboolean moonccd_testboolean
+int testboolean(lua_State *L, int arg, int *err);
+#define optboolean moonccd_optboolean
+int optboolean(lua_State *L, int arg, int d);
+#define checklightuserdata moonccd_checklightuserdata
+void *checklightuserdata(lua_State *L, int arg);
+#define checklightuserdataorzero moonccd_checklightuserdataorzero
+void *checklightuserdataorzero(lua_State *L, int arg);
+#define optlightuserdata moonccd_optlightuserdata
+void *optlightuserdata(lua_State *L, int arg);
+#define testindex moonccd_testindex
+int testindex(lua_State *L, int arg, int *err);
+#define checkindex moonccd_checkindex
+int checkindex(lua_State *L, int arg);
+#define optindex moonccd_optindex
+int optindex(lua_State *L, int arg, int optval);
+#define pushindex moonccd_pushindex
+void pushindex(lua_State *L, int val);
+
+/* datastructs.c */
+#define isglmathcompat moonccd_isglmathcompat
+int isglmathcompat(void);
+#define glmathcompat moonccd_glmathcompat
+int glmathcompat(lua_State *L, int on);
+#define testvec3 moonccd_testvec3
+int testvec3(lua_State *L, int arg, vec3_t *dst);
+#define optvec3 moonccd_optvec3
+int optvec3(lua_State *L, int arg, vec3_t *dst);
+#define checkvec3 moonccd_checkvec3
+int checkvec3(lua_State *L, int arg, vec3_t *dst);
+#define pushvec3 moonccd_pushvec3
+void pushvec3(lua_State *L, const vec3_t *val);
+#define checkvec3list moonccd_checkvec3list
+vec3_t *checkvec3list(lua_State *L, int arg, int *countp, int *err);
+#define pushvec3list moonccd_pushvec3list
+void pushvec3list(lua_State *L, const vec3_t *vecs, int count);
+#define testquat moonccd_testquat
+int testquat(lua_State *L, int arg, quat_t *dst);
+#define optquat moonccd_optquat
+int optquat(lua_State *L, int arg, quat_t *dst);
+#define checkquat moonccd_checkquat
+int checkquat(lua_State *L, int arg, quat_t *dst);
+#define pushquat moonccd_pushquat
+void pushquat(lua_State *L, const quat_t *val);
+#define checkquatlist moonccd_checkquatlist
+quat_t *checkquatlist(lua_State *L, int arg, int *countp, int *err);
+#define pushquatlist moonccd_pushquatlist
+void pushquatlist(lua_State *L, const quat_t *vecs, int count);
+
+/* Internal error codes */
+#define ERR_NOTPRESENT 1
+#define ERR_SUCCESS 0
+#define ERR_GENERIC -1
+#define ERR_TYPE -2
+#define ERR_ELEMTYPE -3
+#define ERR_VALUE -4
+#define ERR_ELEMVALUE -5
+#define ERR_TABLE -6
+#define ERR_FUNCTION -7
+#define ERR_EMPTY -8
+#define ERR_MEMORY -9
+#define ERR_MALLOC_ZERO -10
+#define ERR_LENGTH -11
+#define ERR_POOL -12
+#define ERR_BOUNDARIES -13
+#define ERR_RANGE -14
+#define ERR_FOPEN -15
+#define ERR_OPERATION -16
+#define ERR_UNKNOWN -17
+#define errstring moonccd_errstring
+const char *errstring(int err);
+
+/* tracing.c */
+#define trace_objects moonccd_trace_objects
+extern int trace_objects;
+
+/* main.c */
+extern lua_State *moonccd_L;
+int luaopen_moonccd(lua_State *L);
+void moonccd_open_tracing(lua_State *L);
+void moonccd_open_misc(lua_State *L);
+void moonccd_open_ccd(lua_State *L);
+
+/*------------------------------------------------------------------------------*
+ | Debug and other utilities                                                    |
+ *------------------------------------------------------------------------------*/
+
+/* If this is printed, it denotes a suspect bug: */
+#define UNEXPECTED_ERROR "unexpected error (%s, %d)", __FILE__, __LINE__
+#define unexpected(L) luaL_error((L), UNEXPECTED_ERROR)
+
+/* Errors with internal error code (ERR_XXX) */
+#define failure(L, errcode) luaL_error((L), errstring((errcode)))
+#define argerror(L, arg, errcode) luaL_argerror((L), (arg), errstring((errcode)))
+#define errmemory(L) luaL_error((L), errstring((ERR_MEMORY)))
+
+#define notsupported(L) luaL_error((L), "operation not supported")
+#define badvalue(L, s) lua_pushfstring((L), "invalid value '%s'", (s))
+
+/* Reference/unreference variables on the Lua registry */
+#define Unreference(L, ref)                            \
+    do                                                 \
+    {                                                  \
+        if ((ref) != LUA_NOREF)                        \
+        {                                              \
+            luaL_unref((L), LUA_REGISTRYINDEX, (ref)); \
+            (ref) = LUA_NOREF;                         \
+        }                                              \
+    } while (0)
+
+#define Reference(L, arg, ref)                  \
+    do                                          \
+    {                                           \
+        Unreference((L), (ref));                \
+        lua_pushvalue(L, (arg));                \
+        (ref) = luaL_ref(L, LUA_REGISTRYINDEX); \
+    } while (0)
+
+/* DEBUG -------------------------------------------------------- */
+#if defined(DEBUG)
+
+#define DBG printf
+#define TR()                                         \
+    do                                               \
+    {                                                \
+        printf("trace %s %d\n", __FILE__, __LINE__); \
+    } while (0)
+#define BK()                                         \
+    do                                               \
+    {                                                \
+        printf("break %s %d\n", __FILE__, __LINE__); \
+        getchar();                                   \
+    } while (0)
+#define TSTART double ts = now();
+#define TSTOP                                              \
+    do                                                     \
+    {                                                      \
+        ts = since(ts);                                    \
+        ts = ts * 1e6;                                     \
+        printf("%s %d %.3f us\n", __FILE__, __LINE__, ts); \
+        ts = now();                                        \
+    } while (0);
+
+#else
+
+#define DBG noprintf
+#define TR()
+#define BK()
+#define TSTART \
+    do         \
+    {          \
+    } while (0)
+#define TSTOP \
+    do        \
+    {         \
+    } while (0)
+
+#endif /* DEBUG ------------------------------------------------- */
+
+#endif /* internalDEFINED */

code/framework/lualib-src/lua-ccd/lua-ccd.c

@@ -0,0 +1,106 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+// https://github.com/stetre/moonccd
+
+lua_State *moonccd_L;
+
+static void AtExit(void)
+{
+    if (moonccd_L)
+    {
+        moonccd_L = NULL;
+    }
+}
+
+static int AddVersions(lua_State *L)
+{
+    lua_pushstring(L, "_VERSION");
+    lua_pushstring(L, "MoonCCD " MOONCCD_VERSION);
+    lua_settable(L, -3);
+
+    lua_pushstring(L, "_LIBCCD_VERSION");
+    lua_pushfstring(L, "libccd %s", VERSION);
+    lua_settable(L, -3);
+    return 0;
+}
+
+static int AddConstants(lua_State *L)
+{
+    lua_pushnumber(L, CCD_EPS);
+    lua_setfield(L, -2, "EPS");
+
+    lua_pushnumber(L, CCD_REAL_MAX);
+    lua_setfield(L, -2, "REAL_MAX");
+    return 0;
+}
+
+static int IsGlmathCompat(lua_State *L)
+{
+    lua_pushboolean(L, isglmathcompat());
+    return 1;
+}
+
+static int GlmathCompat(lua_State *L)
+{
+    int on = checkboolean(L, 1);
+    glmathcompat(L, on);
+    return 0;
+}
+
+static const struct luaL_Reg Functions[] =
+    {
+        {"is_glmath_compat", IsGlmathCompat},
+        {"glmath_compat", GlmathCompat},
+        {NULL, NULL} /* sentinel */
+};
+
+int luaopen_moonccd(lua_State *L)
+/* Lua calls this function to load the module */
+{
+    moonccd_L = L;
+
+    moonccd_utils_init(L);
+    atexit(AtExit);
+
+    lua_newtable(L); /* the module table */
+    AddVersions(L);
+    AddConstants(L);
+    luaL_setfuncs(L, Functions, 0);
+    moonccd_open_tracing(L);
+    moonccd_open_misc(L);
+    moonccd_open_ccd(L);
+
+// #if 0 //@@
+//     /* Add functions implemented in Lua */
+//     lua_pushvalue(L, -1); lua_setglobal(L, "moonccd");
+//     if(luaL_dostring(L, "require('moonccd.datastructs')") != 0) lua_error(L);
+//     lua_pushnil(L);  lua_setglobal(L, "moonccd");
+// #endif
+
+    return 1;
+}

code/framework/lualib-src/lua-ccd/misc.c

@@ -0,0 +1,311 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+static int Origin(lua_State *L)
+{
+    pushvec3(L, ccd_vec3_origin);
+    return 1;
+}
+
+static int Points_on_sphere(lua_State *L)
+{
+    pushvec3list(L, ccd_points_on_sphere, ccd_points_on_sphere_len);
+    return 1;
+}
+
+static int Sign(lua_State *L)
+{
+    double val = luaL_checknumber(L, 1);
+    lua_pushinteger(L, ccdSign(val));
+    return 1;
+}
+
+static int IsZero(lua_State *L)
+{
+    double val = luaL_checknumber(L, 1);
+    lua_pushboolean(L, ccdIsZero(val));
+    return 1;
+}
+
+static int Eq(lua_State *L)
+{
+    double a = luaL_checknumber(L, 1);
+    double b = luaL_checknumber(L, 2);
+    lua_pushboolean(L, ccdEq(a, b));
+    return 1;
+}
+
+static int Vec3Eq(lua_State *L)
+{
+    vec3_t a, b;
+    checkvec3(L, 1, &a);
+    checkvec3(L, 2, &b);
+    lua_pushboolean(L, ccdVec3Eq(&a, &b));
+    return 1;
+}
+
+static int Vec3Len2(lua_State *L)
+{
+    vec3_t v;
+    checkvec3(L, 1, &v);
+    lua_pushnumber(L, ccdVec3Len2(&v));
+    return 1;
+}
+
+static int Vec3Dist2(lua_State *L)
+{
+    vec3_t a, b;
+    checkvec3(L, 1, &a);
+    checkvec3(L, 2, &b);
+    lua_pushnumber(L, ccdVec3Dist2(&a, &b));
+    return 1;
+}
+
+static int Vec3Copy(lua_State *L)
+{
+    vec3_t v;
+    checkvec3(L, 1, &v);
+    //  ccdVec3Copy(&v, &w);
+    pushvec3(L, &v);
+    return 1;
+}
+
+static int Vec3Sub(lua_State *L)
+{
+    vec3_t a, b;
+    checkvec3(L, 1, &a);
+    checkvec3(L, 2, &b);
+    ccdVec3Sub(&a, &b);
+    pushvec3(L, &a);
+    return 1; // a - b
+}
+
+static int Vec3Add(lua_State *L)
+{
+    vec3_t a, b;
+    checkvec3(L, 1, &a);
+    checkvec3(L, 2, &b);
+    ccdVec3Add(&a, &b);
+    pushvec3(L, &a);
+    return 1; // a + b
+}
+
+static int Vec3Scale(lua_State *L)
+{
+    vec3_t v;
+    double k = luaL_checknumber(L, 2);
+    checkvec3(L, 1, &v);
+    ccdVec3Scale(&v, k); /* d = d * k; */
+    pushvec3(L, &v);
+    return 1; // d*v
+}
+
+static int Vec3Normalize(lua_State *L)
+{
+    vec3_t v;
+    checkvec3(L, 1, &v);
+    ccdVec3Normalize(&v);
+    pushvec3(L, &v);
+    return 1; // v/|v|
+}
+
+static int Vec3Dot(lua_State *L)
+{
+    vec3_t a, b;
+    checkvec3(L, 1, &a);
+    checkvec3(L, 2, &b);
+    lua_pushnumber(L, ccdVec3Dot(&a, &b));
+    return 1; // a·b
+}
+
+static int Vec3Cross(lua_State *L)
+{
+    vec3_t a, b, c;
+    checkvec3(L, 1, &a);
+    checkvec3(L, 2, &b);
+    ccdVec3Cross(&c, &a, &b);
+    pushvec3(L, &c);
+    return 1; // a x b
+}
+
+static int Vec3PointSegmentDist2(lua_State *L)
+{
+    vec3_t P, a, b, witness;
+    checkvec3(L, 1, &P);
+    checkvec3(L, 2, &a);
+    checkvec3(L, 3, &b);
+    lua_pushnumber(L, ccdVec3PointSegmentDist2(&P, &a, &b, &witness));
+    pushvec3(L, &witness);
+    return 2;
+}
+
+static int Vec3PointTriDist2(lua_State *L)
+{
+    vec3_t P, a, b, c, witness;
+    checkvec3(L, 1, &P);
+    checkvec3(L, 2, &a);
+    checkvec3(L, 3, &b);
+    checkvec3(L, 4, &c);
+    lua_pushnumber(L, ccdVec3PointTriDist2(&P, &a, &b, &c, &witness));
+    pushvec3(L, &witness);
+    return 2;
+}
+
+static int QuatLen2(lua_State *L)
+{
+    quat_t q;
+    checkquat(L, 1, &q);
+    lua_pushnumber(L, ccdQuatLen2(&q));
+    return 1;
+}
+
+static int QuatLen(lua_State *L)
+{
+    quat_t q;
+    checkquat(L, 1, &q);
+    lua_pushnumber(L, ccdQuatLen(&q));
+    return 1;
+}
+
+static int QuatCopy(lua_State *L)
+{
+    quat_t q;
+    checkquat(L, 1, &q);
+    //  ccdQuatCopy(&dst, q);
+    pushquat(L, &q);
+    return 1;
+}
+
+static int QuatNormalize(lua_State *L)
+{
+    int rc;
+    quat_t q;
+    checkquat(L, 1, &q);
+    rc = ccdQuatNormalize(&q);
+    if (rc != 0)
+        return argerror(L, 1, ERR_LENGTH);
+    pushquat(L, &q);
+    return 1;
+}
+
+static int QuatSetAngleAxis(lua_State *L)
+{
+    quat_t q;
+    vec3_t axis;
+    double angle = luaL_checknumber(L, 1);
+    checkvec3(L, 2, &axis);
+    ccdQuatSetAngleAxis(&q, angle, &axis);
+    pushquat(L, &q);
+    return 1;
+}
+
+static int QuatScale(lua_State *L)
+{
+    quat_t q;
+    double k = luaL_checknumber(L, 2);
+    checkquat(L, 1, &q);
+    ccdQuatScale(&q, k);
+    pushquat(L, &q);
+    return 1;
+}
+
+static int QuatMul(lua_State *L)
+{
+    quat_t q, q1;
+    checkquat(L, 1, &q);
+    checkquat(L, 2, &q1);
+    ccdQuatMul(&q, &q1);
+    pushquat(L, &q);
+    return 1;
+}
+
+static int QuatInvert(lua_State *L)
+{
+    int rc;
+    quat_t q;
+    checkquat(L, 1, &q);
+    rc = ccdQuatInvert(&q);
+    if (rc != 0)
+        return argerror(L, 1, ERR_LENGTH);
+    pushquat(L, &q);
+    return 1;
+}
+
+static int QuatRotVec(lua_State *L)
+{
+    vec3_t v;
+    quat_t q;
+    checkvec3(L, 1, &v);
+    checkquat(L, 2, &q);
+    ccdQuatRotVec(&v, &q);
+    pushvec3(L, &v);
+    return 1;
+}
+
+static const struct luaL_Reg Functions[] =
+    {
+        {"origin", Origin},
+        {"points_on_sphere", Points_on_sphere},
+        {"sign", Sign},
+        {"is_zero", IsZero},
+        {"eq", Eq},
+        //      { "vx", Vec3X },       --> x, y, z = v[1], v[2], v[3]
+        //      { "vy", Vec3Y },
+        //      { "vz", Vec3Z },
+        {"veq", Vec3Eq},
+        {"vlen2", Vec3Len2},
+        {"vdist2", Vec3Dist2},
+        //      { "vset", Vec3Set },   --> v = { x, y, z }
+        {"vcopy", Vec3Copy},
+        {"vsub", Vec3Sub},
+        {"vadd", Vec3Add},
+        //      { "vsub2", Vec3Sub2 },
+        {"vscale", Vec3Scale},
+        {"vnormalize", Vec3Normalize},
+        {"vdot", Vec3Dot},
+        {"vcross", Vec3Cross},
+        {"point_segment_dist2", Vec3PointSegmentDist2},
+        {"point_triangle_dist2", Vec3PointTriDist2},
+        {"qlen2", QuatLen2},
+        {"qlen", QuatLen},
+        //      { "qset", QuatSet },    --> q = { w, x, y, z }
+        {"qcopy", QuatCopy},
+        {"qnormalize", QuatNormalize},
+        {"qset_angle_axis", QuatSetAngleAxis},
+        {"qscale", QuatScale},
+        {"qmul", QuatMul},
+        //      { "qmul2", QuatMul2 },
+        {"qinvert", QuatInvert},
+        //      { "qinvert2", QuatInvert2 },
+        {"vrotate", QuatRotVec},
+        {NULL, NULL} /* sentinel */
+};
+
+void moonccd_open_misc(lua_State *L)
+{
+    luaL_setfuncs(L, Functions, 0);
+}

code/framework/lualib-src/lua-ccd/moonccd.h

@@ -0,0 +1,47 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef moonccdDEFINED
+#define moonccdDEFINED
+
+#include <lua.h>
+#include "lualib.h"
+#include "lauxlib.h"
+
+#include <ccd/config.h>
+#include <ccd/ccd.h>
+#include <ccd/vec3.h>
+#include <ccd/quat.h>
+
+#ifndef CCD_DOUBLE
+#error("MoonCCD requires CCD_DOUBLE")
+#endif
+
+#define MOONCCD_VERSION "0.1"
+#ifndef VERSION /* @@ defined in ccd/config.h, but not n the version installed on Ubuntu */
+#define VERSION "2.0"
+#endif
+
+#endif /* moonccdDEFINED */

code/framework/lualib-src/lua-ccd/objects.c

@@ -0,0 +1,216 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+ud_t *newuserdata(lua_State *L, void *handle, const char *mt, const char *tracename)
+{
+    ud_t *ud;
+    /* we use handle as search key */
+    ud = (ud_t *)udata_new(L, sizeof(ud_t), (uint64_t)(uintptr_t)handle, mt);
+    memset(ud, 0, sizeof(ud_t));
+    ud->handle = handle;
+    MarkValid(ud);
+    if (trace_objects)
+        printf("create %s %p (%p)\n", tracename, (void *)ud, handle);
+    return ud;
+}
+
+int freeuserdata(lua_State *L, ud_t *ud, const char *tracename)
+{
+    /* The 'Valid' mark prevents double calls when an object is explicitly destroyed, 
+     * and subsequently deleted also by the GC (the ud sticks around until the GC
+     * collects it, so we mark it as invalid when the object is explicitly destroyed
+     * by the script, or implicitly destroyed because child of a destroyed object). */
+    int i;
+    if (!IsValid(ud))
+        return 0;
+    CancelValid(ud);
+    if (ud->info)
+        Free(L, ud->info);
+    for (i = 0; i < 6; i++)
+        if (ud->ref[i] != LUA_NOREF)
+            luaL_unref(L, LUA_REGISTRYINDEX, ud->ref[i]);
+    if (trace_objects)
+        printf("delete %s %p (%p)\n", tracename, (void *)ud, ud->handle);
+    udata_free(L, (uint64_t)(uintptr_t)ud->handle);
+    return 1;
+}
+
+static int freeifchild(lua_State *L, const void *mem, const char *mt, const void *parent_ud)
+/* callback for udata_scan */
+{
+    ud_t *ud = (ud_t *)mem;
+    (void)mt;
+    if (IsValid(ud) && (ud->parent_ud == parent_ud))
+        ud->destructor(L, ud);
+    return 0;
+}
+
+int freechildren(lua_State *L, const char *mt, ud_t *parent_ud)
+/* calls the self destructor for all 'mt' objects that are children of the given parent_ud */
+{
+    return udata_scan(L, mt, parent_ud, freeifchild);
+}
+
+int pushuserdata(lua_State *L, ud_t *ud)
+{
+    if (!IsValid(ud))
+        return unexpected(L);
+    return udata_push(L, (uint64_t)(uintptr_t)ud->handle);
+}
+
+ud_t *userdata(const void *handle)
+{
+    ud_t *ud = (ud_t *)udata_mem((uint64_t)(uintptr_t)handle);
+    if (ud && IsValid(ud))
+        return ud;
+    return NULL;
+}
+
+void *testxxx(lua_State *L, int arg, ud_t **udp, const char *mt)
+{
+    ud_t *ud = (ud_t *)udata_test(L, arg, mt);
+    if (ud && IsValid(ud))
+    {
+        if (udp)
+            *udp = ud;
+        return ud->handle;
+    }
+    if (udp)
+        *udp = NULL;
+    return 0;
+}
+
+#if 0
+void *testoneofxxx(lua_State *L, int arg, ud_t **udp, char **mtp)
+    {
+    void *handle = NULL;
+    int i = 0;
+    char *mt = NULL;
+    while((mt = mtp[i++]) != NULL)
+        {
+        handle = testxxx(L, arg, udp, mt);
+        if(handle) return handle;
+        }
+    if(udp) *udp = NULL;
+    return 0;
+    }
+#endif
+
+void *checkxxx(lua_State *L, int arg, ud_t **udp, const char *mt)
+{
+    ud_t *ud = (ud_t *)udata_test(L, arg, mt);
+    if (ud && IsValid(ud))
+    {
+        if (udp)
+            *udp = ud;
+        return ud->handle;
+    }
+    lua_pushfstring(L, "not a %s", mt);
+    luaL_argerror(L, arg, lua_tostring(L, -1));
+    return 0;
+}
+
+void *optxxx(lua_State *L, int arg, ud_t **udp, const char *mt)
+/* This differs from testxxx in that it fails in case the argument is
+ * something different than either none/nil or the expected userdata type
+ */
+{
+    if (lua_isnoneornil(L, arg))
+    {
+        if (udp)
+            *udp = NULL;
+        return 0;
+    }
+    return checkxxx(L, arg, udp, mt);
+}
+
+int pushxxx(lua_State *L, void *handle)
+{
+    return udata_push(L, (uint64_t)(uintptr_t)handle);
+}
+
+void **checkxxxlist(lua_State *L, int arg, int *count, int *err, const char *mt)
+/* xxx* checkxxxlist(lua_State *L, int arg, int *count, int *err)
+ * Checks if the variable at arg on the Lua stack is a list of xxx objects.
+ * On success, returns an array of xxx handles and sets its length in *count.
+ * The array s Malloc'd and must be released by the caller using Free(L, ...).
+ * On error, sets *err to ERR_XXX, *count to 0, and returns NULL. 
+ */
+{
+    void **list;
+    int i;
+
+    *count = 0;
+    *err = 0;
+    if (lua_isnoneornil(L, arg))
+    {
+        *err = ERR_NOTPRESENT;
+        return NULL;
+    }
+    if (lua_type(L, arg) != LUA_TTABLE)
+    {
+        *err = ERR_TABLE;
+        return NULL;
+    }
+    *count = luaL_len(L, arg);
+    if (*count == 0)
+    {
+        *err = ERR_EMPTY;
+        return NULL;
+    }
+    list = (void **)MallocNoErr(L, sizeof(void *) * (*count));
+
+    if (!list)
+    {
+        *count = 0;
+        *err = ERR_MEMORY;
+        return NULL;
+    }
+
+    for (i = 0; i < *count; i++)
+    {
+        lua_rawgeti(L, arg, i + 1);
+        list[i] = (void *)(uintptr_t)testxxx(L, -1, NULL, mt);
+        if (!list[i])
+        {
+            Free(L, list);
+            *count = 0;
+            *err = ERR_TYPE;
+            return NULL;
+        }
+        lua_pop(L, 1);
+    }
+    return list;
+}
+
+int setmetatable(lua_State *L, const char *mt)
+/* Sets the metatable of the table on top of the stack */
+{
+    luaL_getmetatable(L, mt);
+    lua_setmetatable(L, -2);
+    return 0;
+}

code/framework/lualib-src/lua-ccd/objects.h

@@ -0,0 +1,157 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef objectsDEFINED
+#define objectsDEFINED
+
+#include "tree.h"
+#include "udata.h"
+
+/* libccd renaming (for internal use) */
+#define vec3_t ccd_vec3_t
+#define quat_t ccd_quat_t
+#define real_t ccd_real_t
+
+/* Objects' metatable names */
+#define CCDPAR_MT "moonccd_ccdpar" /* ccd_t */
+
+/* Userdata memory associated with objects */
+#define ud_t moonccd_ud_t
+typedef struct moonccd_ud_s ud_t;
+
+struct moonccd_ud_s
+{
+    void *handle;                              /* the object handle bound to this userdata */
+    int (*destructor)(lua_State *L, ud_t *ud); /* self destructor */
+    ud_t *parent_ud;                           /* the ud of the parent object */
+    uint32_t marks;
+    int ref[6]; /* refs for callbacks, automatically unreferenced at destruction */
+    void *info; /* object specific info (ud_info_t, subject to Free() at destruction, if not NULL) */
+};
+
+/* Marks.  m_ = marks word (uint32_t) , i_ = bit number (0 .. 31)  */
+#define MarkGet(m_, i_) (((m_) & ((uint32_t)1 << (i_))) == ((uint32_t)1 << (i_)))
+#define MarkSet(m_, i_)                        \
+    do                                         \
+    {                                          \
+        (m_) = ((m_) | ((uint32_t)1 << (i_))); \
+    } while (0)
+#define MarkReset(m_, i_)                         \
+    do                                            \
+    {                                             \
+        (m_) = ((m_) & (~((uint32_t)1 << (i_)))); \
+    } while (0)
+
+#define IsValid(ud) MarkGet((ud)->marks, 0)
+#define MarkValid(ud) MarkSet((ud)->marks, 0)
+#define CancelValid(ud) MarkReset((ud)->marks, 0)
+
+#if 0
+/* .c */
+#define moonccd_
+#endif
+
+#define setmetatable moonccd_setmetatable
+int setmetatable(lua_State *L, const char *mt);
+
+#define newuserdata moonccd_newuserdata
+ud_t *newuserdata(lua_State *L, void *handle, const char *mt, const char *tracename);
+#define freeuserdata moonccd_freeuserdata
+int freeuserdata(lua_State *L, ud_t *ud, const char *tracename);
+#define pushuserdata moonccd_pushuserdata
+int pushuserdata(lua_State *L, ud_t *ud);
+
+#define freechildren moonccd_freechildren
+int freechildren(lua_State *L, const char *mt, ud_t *parent_ud);
+
+#define userdata_unref(L, handle) udata_unref((L), (handle))
+
+#define UD(handle) userdata((handle)) /* dispatchable objects only */
+#define userdata moonccd_userdata
+ud_t *userdata(const void *handle);
+#define testxxx moonccd_testxxx
+void *testxxx(lua_State *L, int arg, ud_t **udp, const char *mt);
+#define checkxxx moonccd_checkxxx
+void *checkxxx(lua_State *L, int arg, ud_t **udp, const char *mt);
+#define optxxx moonccd_optxxx
+void *optxxx(lua_State *L, int arg, ud_t **udp, const char *mt);
+#define pushxxx moonccd_pushxxx
+int pushxxx(lua_State *L, void *handle);
+#define checkxxxlist moonccd_checkxxxlist
+void **checkxxxlist(lua_State *L, int arg, int *count, int *err, const char *mt);
+
+#if 0 // 7yy
+/* zzz.c */
+#define checkzzz(L, arg, udp) (zzz_t *)checkxxx((L), (arg), (udp), ZZZ_MT)
+#define testzzz(L, arg, udp) (zzz_t *)testxxx((L), (arg), (udp), ZZZ_MT)
+#define optzzz(L, arg, udp) (zzz_t *)optxxx((L), (arg), (udp), ZZZ_MT)
+#define pushzzz(L, handle) pushxxx((L), (void *)(handle))
+#define checkzzzlist(L, arg, count, err) checkxxxlist((L), (arg), (count), (err), ZZZ_MT)
+
+#endif
+
+/* ccd.c */
+#define checkccd(L, arg, udp) (ccd_t *)checkxxx((L), (arg), (udp), CCDPAR_MT)
+#define testccd(L, arg, udp) (ccd_t *)testxxx((L), (arg), (udp), CCDPAR_MT)
+#define optccd(L, arg, udp) (ccd_t *)optxxx((L), (arg), (udp), CCDPAR_MT)
+#define pushccd(L, handle) pushxxx((L), (void *)(handle))
+#define checkccdlist(L, arg, count, err) checkxxxlist((L), (arg), (count), (err), CCDPAR_MT)
+
+#define RAW_FUNC(xxx)                                          \
+    static int Raw(lua_State *L)                               \
+    {                                                          \
+        lua_pushinteger(L, (uintptr_t)check##xxx(L, 1, NULL)); \
+        return 1;                                              \
+    }
+
+#define TYPE_FUNC(xxx) /* NONCL */    \
+    static int Type(lua_State *L)     \
+    {                                 \
+        (void)check##xxx(L, 1, NULL); \
+        lua_pushstring(L, "" #xxx);   \
+        return 1;                     \
+    }
+
+#define DESTROY_FUNC(xxx)                   \
+    static int Destroy(lua_State *L)        \
+    {                                       \
+        ud_t *ud;                           \
+        (void)test##xxx(L, 1, &ud);         \
+        if (!ud)                            \
+            return 0; /* already deleted */ \
+        return ud->destructor(L, ud);       \
+    }
+
+#define PARENT_FUNC(xxx)                       \
+    static int Parent(lua_State *L)            \
+    {                                          \
+        ud_t *ud;                              \
+        (void)check##xxx(L, 1, &ud);           \
+        if (!ud->parent_ud)                    \
+            return 0;                          \
+        return pushuserdata(L, ud->parent_ud); \
+    }
+
+#endif /* objectsDEFINED */

code/framework/lualib-src/lua-ccd/test.lua

@@ -0,0 +1,54 @@
+-- MoonCCD example: hello.lua
+local ccd = require("moonccd")
+
+-- Support function for box objects:
+local function support(obj, dir)
+    -- Assume obj is a user defined table containing info about the object,
+    -- in this case a box: obj = { pos, quat, x, y, z } where pos is the
+    -- position, quat is the rotation, and x, y, z are the dimensions.
+    -- Apply the rotation on direction vector:
+    local qinv = ccd.qinvert(obj.quat)
+    dir = ccd.vrotate(dir, qinv)
+    -- Compute the support point in the specified direction:
+    local v = {0.5 * ccd.sign(dir[1]) * obj.x, 0.5 * ccd.sign(dir[2]) * obj.y, 0.5 * ccd.sign(dir[3]) * obj.z}
+    -- Transform support point according to the rotation of the object and return it
+    v = ccd.vrotate(v, obj.quat)
+    v = ccd.vadd(v, obj.pos)
+    return v
+end
+
+-- Create two box objects:
+local box1 = {
+    pos = {-5, 0, 0},
+    quat = {1, 0, 0, 0},
+    x = 1,
+    y = 2,
+    z = 1,
+}
+local box2 = {
+    pos = {0, 0, 0},
+    quat = {1, 0, 0, 0},
+    x = 2,
+    y = 1,
+    z = 2,
+}
+
+-- Create and initialize the ccd parameters:
+local ccdpar = ccd.new({
+    support1 = support, -- support function for first object
+    support2 = support, -- support function for second object
+    max_iterations = 100, -- maximum number of iterations
+})
+
+for i = 0, 99 do
+    local intersect = ccd.gjk_intersect(ccdpar, box1, box2)
+    -- now intersect is true if the two boxes intersect, false otherwise
+    -- print(i, intersect, box1.pos[1], box2.pos[1])
+    if i < 35 or i > 65 then
+        assert(not intersect)
+    elseif i ~= 35 and i ~= 65 then
+        assert(intersect)
+    end
+    -- move first box along the x axis:
+    box1.pos[1] = box1.pos[1] + 0.1
+end

code/framework/lualib-src/lua-ccd/tracing.c

@@ -0,0 +1,62 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+int trace_objects = 0;
+
+static int TraceObjects(lua_State *L)
+{
+    trace_objects = checkboolean(L, 1);
+    return 0;
+}
+
+static int Now(lua_State *L)
+{
+    lua_pushnumber(L, now());
+    return 1;
+}
+
+static int Since(lua_State *L)
+{
+    double t = luaL_checknumber(L, 1);
+    lua_pushnumber(L, since(t));
+    return 1;
+}
+
+/* ----------------------------------------------------------------------- */
+
+static const struct luaL_Reg Functions[] =
+    {
+        {"trace_objects", TraceObjects},
+        {"now", Now},
+        {"since", Since},
+        {NULL, NULL} /* sentinel */
+};
+
+void moonccd_open_tracing(lua_State *L)
+{
+    luaL_setfuncs(L, Functions, 0);
+}

code/framework/lualib-src/lua-ccd/tree.h

@@ -0,0 +1,858 @@
+/*  $OpenBSD: tree.h,v 1.14 2015/05/25 03:07:49 deraadt Exp $   */
+/*
+ * Copyright 2002 Niels Provos <provos@citi.umich.edu>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _SYS_TREE_H_
+#define _SYS_TREE_H_
+
+/*
+ * This file defines data structures for different types of trees:
+ * splay trees and red-black trees.
+ *
+ * A splay tree is a self-organizing data structure.  Every operation
+ * on the tree causes a splay to happen.  The splay moves the requested
+ * node to the root of the tree and partly rebalances it.
+ *
+ * This has the benefit that request locality causes faster lookups as
+ * the requested nodes move to the top of the tree.  On the other hand,
+ * every lookup causes memory writes.
+ *
+ * The Balance Theorem bounds the total access time for m operations
+ * and n inserts on an initially empty tree as O((m + n)lg n).  The
+ * amortized cost for a sequence of m accesses to a splay tree is O(lg n);
+ *
+ * A red-black tree is a binary search tree with the node color as an
+ * extra attribute.  It fulfills a set of conditions:
+ *  - every search path from the root to a leaf consists of the
+ *    same number of black nodes,
+ *  - each red node (except for the root) has a black parent,
+ *  - each leaf node is black.
+ *
+ * Every operation on a red-black tree is bounded as O(lg n).
+ * The maximum height of a red-black tree is 2lg (n+1).
+ */
+
+#define SPLAY_HEAD(name, type)                        \
+    struct name                                       \
+    {                                                 \
+        struct type *sph_root; /* root of the tree */ \
+    }
+
+#define SPLAY_INITIALIZER(root) \
+    {                           \
+        NULL                    \
+    }
+
+#define SPLAY_INIT(root)         \
+    do                           \
+    {                            \
+        (root)->sph_root = NULL; \
+    } while (0)
+
+#define SPLAY_ENTRY(type)                           \
+    struct                                          \
+    {                                               \
+        struct type *spe_left;  /* left element */  \
+        struct type *spe_right; /* right element */ \
+    }
+
+#define SPLAY_LEFT(elm, field) (elm)->field.spe_left
+#define SPLAY_RIGHT(elm, field) (elm)->field.spe_right
+#define SPLAY_ROOT(head) (head)->sph_root
+#define SPLAY_EMPTY(head) (SPLAY_ROOT(head) == NULL)
+
+/* SPLAY_ROTATE_{LEFT,RIGHT} expect that tmp hold SPLAY_{RIGHT,LEFT} */
+#define SPLAY_ROTATE_RIGHT(head, tmp, field)                           \
+    do                                                                 \
+    {                                                                  \
+        SPLAY_LEFT((head)->sph_root, field) = SPLAY_RIGHT(tmp, field); \
+        SPLAY_RIGHT(tmp, field) = (head)->sph_root;                    \
+        (head)->sph_root = tmp;                                        \
+    } while (0)
+
+#define SPLAY_ROTATE_LEFT(head, tmp, field)                            \
+    do                                                                 \
+    {                                                                  \
+        SPLAY_RIGHT((head)->sph_root, field) = SPLAY_LEFT(tmp, field); \
+        SPLAY_LEFT(tmp, field) = (head)->sph_root;                     \
+        (head)->sph_root = tmp;                                        \
+    } while (0)
+
+#define SPLAY_LINKLEFT(head, tmp, field)                        \
+    do                                                          \
+    {                                                           \
+        SPLAY_LEFT(tmp, field) = (head)->sph_root;              \
+        tmp = (head)->sph_root;                                 \
+        (head)->sph_root = SPLAY_LEFT((head)->sph_root, field); \
+    } while (0)
+
+#define SPLAY_LINKRIGHT(head, tmp, field)                        \
+    do                                                           \
+    {                                                            \
+        SPLAY_RIGHT(tmp, field) = (head)->sph_root;              \
+        tmp = (head)->sph_root;                                  \
+        (head)->sph_root = SPLAY_RIGHT((head)->sph_root, field); \
+    } while (0)
+
+#define SPLAY_ASSEMBLE(head, node, left, right, field)                   \
+    do                                                                   \
+    {                                                                    \
+        SPLAY_RIGHT(left, field) = SPLAY_LEFT((head)->sph_root, field);  \
+        SPLAY_LEFT(right, field) = SPLAY_RIGHT((head)->sph_root, field); \
+        SPLAY_LEFT((head)->sph_root, field) = SPLAY_RIGHT(node, field);  \
+        SPLAY_RIGHT((head)->sph_root, field) = SPLAY_LEFT(node, field);  \
+    } while (0)
+
+/* Generates prototypes and inline functions */
+
+#define SPLAY_PROTOTYPE(name, type, field, cmp)                     \
+    void name##_SPLAY(struct name *, struct type *);                \
+    void name##_SPLAY_MINMAX(struct name *, int);                   \
+    struct type *name##_SPLAY_INSERT(struct name *, struct type *); \
+    struct type *name##_SPLAY_REMOVE(struct name *, struct type *); \
+                                                                    \
+    /* Finds the node with the same key as elm */                   \
+    static __inline struct type *                                   \
+        name##_SPLAY_FIND(struct name *head, struct type *elm)      \
+    {                                                               \
+        if (SPLAY_EMPTY(head))                                      \
+            return (NULL);                                          \
+        name##_SPLAY(head, elm);                                    \
+        if ((cmp)(elm, (head)->sph_root) == 0)                      \
+            return (head->sph_root);                                \
+        return (NULL);                                              \
+    }                                                               \
+                                                                    \
+    static __inline struct type *                                   \
+        name##_SPLAY_NEXT(struct name *head, struct type *elm)      \
+    {                                                               \
+        name##_SPLAY(head, elm);                                    \
+        if (SPLAY_RIGHT(elm, field) != NULL)                        \
+        {                                                           \
+            elm = SPLAY_RIGHT(elm, field);                          \
+            while (SPLAY_LEFT(elm, field) != NULL)                  \
+            {                                                       \
+                elm = SPLAY_LEFT(elm, field);                       \
+            }                                                       \
+        }                                                           \
+        else                                                        \
+            elm = NULL;                                             \
+        return (elm);                                               \
+    }                                                               \
+                                                                    \
+    static __inline struct type *                                   \
+        name##_SPLAY_MIN_MAX(struct name *head, int val)            \
+    {                                                               \
+        name##_SPLAY_MINMAX(head, val);                             \
+        return (SPLAY_ROOT(head));                                  \
+    }
+
+/* Main splay operation.
+ * Moves node close to the key of elm to top
+ */
+#define SPLAY_GENERATE(name, type, field, cmp)                                  \
+    struct type *                                                               \
+        name##_SPLAY_INSERT(struct name *head, struct type *elm)                \
+    {                                                                           \
+        if (SPLAY_EMPTY(head))                                                  \
+        {                                                                       \
+            SPLAY_LEFT(elm, field) = SPLAY_RIGHT(elm, field) = NULL;            \
+        }                                                                       \
+        else                                                                    \
+        {                                                                       \
+            int __comp;                                                         \
+            name##_SPLAY(head, elm);                                            \
+            __comp = (cmp)(elm, (head)->sph_root);                              \
+            if (__comp < 0)                                                     \
+            {                                                                   \
+                SPLAY_LEFT(elm, field) = SPLAY_LEFT((head)->sph_root, field);   \
+                SPLAY_RIGHT(elm, field) = (head)->sph_root;                     \
+                SPLAY_LEFT((head)->sph_root, field) = NULL;                     \
+            }                                                                   \
+            else if (__comp > 0)                                                \
+            {                                                                   \
+                SPLAY_RIGHT(elm, field) = SPLAY_RIGHT((head)->sph_root, field); \
+                SPLAY_LEFT(elm, field) = (head)->sph_root;                      \
+                SPLAY_RIGHT((head)->sph_root, field) = NULL;                    \
+            }                                                                   \
+            else                                                                \
+                return ((head)->sph_root);                                      \
+        }                                                                       \
+        (head)->sph_root = (elm);                                               \
+        return (NULL);                                                          \
+    }                                                                           \
+                                                                                \
+    struct type *                                                               \
+        name##_SPLAY_REMOVE(struct name *head, struct type *elm)                \
+    {                                                                           \
+        struct type *__tmp;                                                     \
+        if (SPLAY_EMPTY(head))                                                  \
+            return (NULL);                                                      \
+        name##_SPLAY(head, elm);                                                \
+        if ((cmp)(elm, (head)->sph_root) == 0)                                  \
+        {                                                                       \
+            if (SPLAY_LEFT((head)->sph_root, field) == NULL)                    \
+            {                                                                   \
+                (head)->sph_root = SPLAY_RIGHT((head)->sph_root, field);        \
+            }                                                                   \
+            else                                                                \
+            {                                                                   \
+                __tmp = SPLAY_RIGHT((head)->sph_root, field);                   \
+                (head)->sph_root = SPLAY_LEFT((head)->sph_root, field);         \
+                name##_SPLAY(head, elm);                                        \
+                SPLAY_RIGHT((head)->sph_root, field) = __tmp;                   \
+            }                                                                   \
+            return (elm);                                                       \
+        }                                                                       \
+        return (NULL);                                                          \
+    }                                                                           \
+                                                                                \
+    void                                                                        \
+        name##_SPLAY(struct name *head, struct type *elm)                       \
+    {                                                                           \
+        struct type __node, *__left, *__right, *__tmp;                          \
+        int __comp;                                                             \
+                                                                                \
+        SPLAY_LEFT(&__node, field) = SPLAY_RIGHT(&__node, field) = NULL;        \
+        __left = __right = &__node;                                             \
+                                                                                \
+        while ((__comp = (cmp)(elm, (head)->sph_root)))                         \
+        {                                                                       \
+            if (__comp < 0)                                                     \
+            {                                                                   \
+                __tmp = SPLAY_LEFT((head)->sph_root, field);                    \
+                if (__tmp == NULL)                                              \
+                    break;                                                      \
+                if ((cmp)(elm, __tmp) < 0)                                      \
+                {                                                               \
+                    SPLAY_ROTATE_RIGHT(head, __tmp, field);                     \
+                    if (SPLAY_LEFT((head)->sph_root, field) == NULL)            \
+                        break;                                                  \
+                }                                                               \
+                SPLAY_LINKLEFT(head, __right, field);                           \
+            }                                                                   \
+            else if (__comp > 0)                                                \
+            {                                                                   \
+                __tmp = SPLAY_RIGHT((head)->sph_root, field);                   \
+                if (__tmp == NULL)                                              \
+                    break;                                                      \
+                if ((cmp)(elm, __tmp) > 0)                                      \
+                {                                                               \
+                    SPLAY_ROTATE_LEFT(head, __tmp, field);                      \
+                    if (SPLAY_RIGHT((head)->sph_root, field) == NULL)           \
+                        break;                                                  \
+                }                                                               \
+                SPLAY_LINKRIGHT(head, __left, field);                           \
+            }                                                                   \
+        }                                                                       \
+        SPLAY_ASSEMBLE(head, &__node, __left, __right, field);                  \
+    }                                                                           \
+                                                                                \
+    /* Splay with either the minimum or the maximum element                     \
+     * Used to find minimum or maximum element in tree.                         \
+     */                                                                         \
+    void name##_SPLAY_MINMAX(struct name *head, int __comp)                     \
+    {                                                                           \
+        struct type __node, *__left, *__right, *__tmp;                          \
+                                                                                \
+        SPLAY_LEFT(&__node, field) = SPLAY_RIGHT(&__node, field) = NULL;        \
+        __left = __right = &__node;                                             \
+                                                                                \
+        while (1)                                                               \
+        {                                                                       \
+            if (__comp < 0)                                                     \
+            {                                                                   \
+                __tmp = SPLAY_LEFT((head)->sph_root, field);                    \
+                if (__tmp == NULL)                                              \
+                    break;                                                      \
+                if (__comp < 0)                                                 \
+                {                                                               \
+                    SPLAY_ROTATE_RIGHT(head, __tmp, field);                     \
+                    if (SPLAY_LEFT((head)->sph_root, field) == NULL)            \
+                        break;                                                  \
+                }                                                               \
+                SPLAY_LINKLEFT(head, __right, field);                           \
+            }                                                                   \
+            else if (__comp > 0)                                                \
+            {                                                                   \
+                __tmp = SPLAY_RIGHT((head)->sph_root, field);                   \
+                if (__tmp == NULL)                                              \
+                    break;                                                      \
+                if (__comp > 0)                                                 \
+                {                                                               \
+                    SPLAY_ROTATE_LEFT(head, __tmp, field);                      \
+                    if (SPLAY_RIGHT((head)->sph_root, field) == NULL)           \
+                        break;                                                  \
+                }                                                               \
+                SPLAY_LINKRIGHT(head, __left, field);                           \
+            }                                                                   \
+        }                                                                       \
+        SPLAY_ASSEMBLE(head, &__node, __left, __right, field);                  \
+    }
+
+#define SPLAY_NEGINF -1
+#define SPLAY_INF 1
+
+#define SPLAY_INSERT(name, x, y) name##_SPLAY_INSERT(x, y)
+#define SPLAY_REMOVE(name, x, y) name##_SPLAY_REMOVE(x, y)
+#define SPLAY_FIND(name, x, y) name##_SPLAY_FIND(x, y)
+#define SPLAY_NEXT(name, x, y) name##_SPLAY_NEXT(x, y)
+#define SPLAY_MIN(name, x) (SPLAY_EMPTY(x) ? NULL \
+                                           : name##_SPLAY_MIN_MAX(x, SPLAY_NEGINF))
+#define SPLAY_MAX(name, x) (SPLAY_EMPTY(x) ? NULL \
+                                           : name##_SPLAY_MIN_MAX(x, SPLAY_INF))
+
+#define SPLAY_FOREACH(x, name, head)  \
+    for ((x) = SPLAY_MIN(name, head); \
+         (x) != NULL;                 \
+         (x) = SPLAY_NEXT(name, head, x))
+
+/* Macros that define a red-black tree */
+#define RB_HEAD(name, type)                           \
+    struct name                                       \
+    {                                                 \
+        struct type *rbh_root; /* root of the tree */ \
+    }
+
+#define RB_INITIALIZER(root) \
+    {                        \
+        NULL                 \
+    }
+
+#define RB_INIT(root)            \
+    do                           \
+    {                            \
+        (root)->rbh_root = NULL; \
+    } while (0)
+
+#define RB_BLACK 0
+#define RB_RED 1
+#define RB_ENTRY(type)                                \
+    struct                                            \
+    {                                                 \
+        struct type *rbe_left;   /* left element */   \
+        struct type *rbe_right;  /* right element */  \
+        struct type *rbe_parent; /* parent element */ \
+        int rbe_color;           /* node color */     \
+    }
+
+#define RB_LEFT(elm, field) (elm)->field.rbe_left
+#define RB_RIGHT(elm, field) (elm)->field.rbe_right
+#define RB_PARENT(elm, field) (elm)->field.rbe_parent
+#define RB_COLOR(elm, field) (elm)->field.rbe_color
+#define RB_ROOT(head) (head)->rbh_root
+#define RB_EMPTY(head) (RB_ROOT(head) == NULL)
+
+#define RB_SET(elm, parent, field)                         \
+    do                                                     \
+    {                                                      \
+        RB_PARENT(elm, field) = parent;                    \
+        RB_LEFT(elm, field) = RB_RIGHT(elm, field) = NULL; \
+        RB_COLOR(elm, field) = RB_RED;                     \
+    } while (0)
+
+#define RB_SET_BLACKRED(black, red, field) \
+    do                                     \
+    {                                      \
+        RB_COLOR(black, field) = RB_BLACK; \
+        RB_COLOR(red, field) = RB_RED;     \
+    } while (0)
+
+#ifndef RB_AUGMENT
+#define RB_AUGMENT(x) \
+    do                \
+    {                 \
+    } while (0)
+#endif
+
+#define RB_ROTATE_LEFT(head, elm, tmp, field)                   \
+    do                                                          \
+    {                                                           \
+        (tmp) = RB_RIGHT(elm, field);                           \
+        if ((RB_RIGHT(elm, field) = RB_LEFT(tmp, field)))       \
+        {                                                       \
+            RB_PARENT(RB_LEFT(tmp, field), field) = (elm);      \
+        }                                                       \
+        RB_AUGMENT(elm);                                        \
+        if ((RB_PARENT(tmp, field) = RB_PARENT(elm, field)))    \
+        {                                                       \
+            if ((elm) == RB_LEFT(RB_PARENT(elm, field), field)) \
+                RB_LEFT(RB_PARENT(elm, field), field) = (tmp);  \
+            else                                                \
+                RB_RIGHT(RB_PARENT(elm, field), field) = (tmp); \
+        }                                                       \
+        else                                                    \
+            (head)->rbh_root = (tmp);                           \
+        RB_LEFT(tmp, field) = (elm);                            \
+        RB_PARENT(elm, field) = (tmp);                          \
+        RB_AUGMENT(tmp);                                        \
+        if ((RB_PARENT(tmp, field)))                            \
+            RB_AUGMENT(RB_PARENT(tmp, field));                  \
+    } while (0)
+
+#define RB_ROTATE_RIGHT(head, elm, tmp, field)                  \
+    do                                                          \
+    {                                                           \
+        (tmp) = RB_LEFT(elm, field);                            \
+        if ((RB_LEFT(elm, field) = RB_RIGHT(tmp, field)))       \
+        {                                                       \
+            RB_PARENT(RB_RIGHT(tmp, field), field) = (elm);     \
+        }                                                       \
+        RB_AUGMENT(elm);                                        \
+        if ((RB_PARENT(tmp, field) = RB_PARENT(elm, field)))    \
+        {                                                       \
+            if ((elm) == RB_LEFT(RB_PARENT(elm, field), field)) \
+                RB_LEFT(RB_PARENT(elm, field), field) = (tmp);  \
+            else                                                \
+                RB_RIGHT(RB_PARENT(elm, field), field) = (tmp); \
+        }                                                       \
+        else                                                    \
+            (head)->rbh_root = (tmp);                           \
+        RB_RIGHT(tmp, field) = (elm);                           \
+        RB_PARENT(elm, field) = (tmp);                          \
+        RB_AUGMENT(tmp);                                        \
+        if ((RB_PARENT(tmp, field)))                            \
+            RB_AUGMENT(RB_PARENT(tmp, field));                  \
+    } while (0)
+
+/* Generates prototypes and inline functions */
+#define RB_PROTOTYPE(name, type, field, cmp) \
+    RB_PROTOTYPE_INTERNAL(name, type, field, cmp, )
+#define RB_PROTOTYPE_STATIC(name, type, field, cmp) \
+    RB_PROTOTYPE_INTERNAL(name, type, field, cmp, __attribute__((__unused__)) static)
+#define RB_PROTOTYPE_INTERNAL(name, type, field, cmp, attr)                        \
+    attr void name##_RB_INSERT_COLOR(struct name *, struct type *);                \
+    attr void name##_RB_REMOVE_COLOR(struct name *, struct type *, struct type *); \
+    attr struct type *name##_RB_REMOVE(struct name *, struct type *);              \
+    attr struct type *name##_RB_INSERT(struct name *, struct type *);              \
+    attr struct type *name##_RB_FIND(struct name *, struct type *);                \
+    attr struct type *name##_RB_NFIND(struct name *, struct type *);               \
+    attr struct type *name##_RB_NEXT(struct type *);                               \
+    attr struct type *name##_RB_PREV(struct type *);                               \
+    attr struct type *name##_RB_MINMAX(struct name *, int);
+
+/* Main rb operation.
+ * Moves node close to the key of elm to top
+ */
+#define RB_GENERATE(name, type, field, cmp) \
+    RB_GENERATE_INTERNAL(name, type, field, cmp, )
+#define RB_GENERATE_STATIC(name, type, field, cmp) \
+    RB_GENERATE_INTERNAL(name, type, field, cmp, __attribute__((__unused__)) static)
+#define RB_GENERATE_INTERNAL(name, type, field, cmp, attr)                               \
+    attr void                                                                            \
+        name##_RB_INSERT_COLOR(struct name *head, struct type *elm)                      \
+    {                                                                                    \
+        struct type *parent, *gparent, *tmp;                                             \
+        while ((parent = RB_PARENT(elm, field)) &&                                       \
+               RB_COLOR(parent, field) == RB_RED)                                        \
+        {                                                                                \
+            gparent = RB_PARENT(parent, field);                                          \
+            if (parent == RB_LEFT(gparent, field))                                       \
+            {                                                                            \
+                tmp = RB_RIGHT(gparent, field);                                          \
+                if (tmp && RB_COLOR(tmp, field) == RB_RED)                               \
+                {                                                                        \
+                    RB_COLOR(tmp, field) = RB_BLACK;                                     \
+                    RB_SET_BLACKRED(parent, gparent, field);                             \
+                    elm = gparent;                                                       \
+                    continue;                                                            \
+                }                                                                        \
+                if (RB_RIGHT(parent, field) == elm)                                      \
+                {                                                                        \
+                    RB_ROTATE_LEFT(head, parent, tmp, field);                            \
+                    tmp = parent;                                                        \
+                    parent = elm;                                                        \
+                    elm = tmp;                                                           \
+                }                                                                        \
+                RB_SET_BLACKRED(parent, gparent, field);                                 \
+                RB_ROTATE_RIGHT(head, gparent, tmp, field);                              \
+            }                                                                            \
+            else                                                                         \
+            {                                                                            \
+                tmp = RB_LEFT(gparent, field);                                           \
+                if (tmp && RB_COLOR(tmp, field) == RB_RED)                               \
+                {                                                                        \
+                    RB_COLOR(tmp, field) = RB_BLACK;                                     \
+                    RB_SET_BLACKRED(parent, gparent, field);                             \
+                    elm = gparent;                                                       \
+                    continue;                                                            \
+                }                                                                        \
+                if (RB_LEFT(parent, field) == elm)                                       \
+                {                                                                        \
+                    RB_ROTATE_RIGHT(head, parent, tmp, field);                           \
+                    tmp = parent;                                                        \
+                    parent = elm;                                                        \
+                    elm = tmp;                                                           \
+                }                                                                        \
+                RB_SET_BLACKRED(parent, gparent, field);                                 \
+                RB_ROTATE_LEFT(head, gparent, tmp, field);                               \
+            }                                                                            \
+        }                                                                                \
+        RB_COLOR(head->rbh_root, field) = RB_BLACK;                                      \
+    }                                                                                    \
+                                                                                         \
+    attr void                                                                            \
+        name##_RB_REMOVE_COLOR(struct name *head, struct type *parent, struct type *elm) \
+    {                                                                                    \
+        struct type *tmp;                                                                \
+        while ((elm == NULL || RB_COLOR(elm, field) == RB_BLACK) &&                      \
+               elm != RB_ROOT(head))                                                     \
+        {                                                                                \
+            if (RB_LEFT(parent, field) == elm)                                           \
+            {                                                                            \
+                tmp = RB_RIGHT(parent, field);                                           \
+                if (RB_COLOR(tmp, field) == RB_RED)                                      \
+                {                                                                        \
+                    RB_SET_BLACKRED(tmp, parent, field);                                 \
+                    RB_ROTATE_LEFT(head, parent, tmp, field);                            \
+                    tmp = RB_RIGHT(parent, field);                                       \
+                }                                                                        \
+                if ((RB_LEFT(tmp, field) == NULL ||                                      \
+                     RB_COLOR(RB_LEFT(tmp, field), field) == RB_BLACK) &&                \
+                    (RB_RIGHT(tmp, field) == NULL ||                                     \
+                     RB_COLOR(RB_RIGHT(tmp, field), field) == RB_BLACK))                 \
+                {                                                                        \
+                    RB_COLOR(tmp, field) = RB_RED;                                       \
+                    elm = parent;                                                        \
+                    parent = RB_PARENT(elm, field);                                      \
+                }                                                                        \
+                else                                                                     \
+                {                                                                        \
+                    if (RB_RIGHT(tmp, field) == NULL ||                                  \
+                        RB_COLOR(RB_RIGHT(tmp, field), field) == RB_BLACK)               \
+                    {                                                                    \
+                        struct type *oleft;                                              \
+                        if ((oleft = RB_LEFT(tmp, field)))                               \
+                            RB_COLOR(oleft, field) = RB_BLACK;                           \
+                        RB_COLOR(tmp, field) = RB_RED;                                   \
+                        RB_ROTATE_RIGHT(head, tmp, oleft, field);                        \
+                        tmp = RB_RIGHT(parent, field);                                   \
+                    }                                                                    \
+                    RB_COLOR(tmp, field) = RB_COLOR(parent, field);                      \
+                    RB_COLOR(parent, field) = RB_BLACK;                                  \
+                    if (RB_RIGHT(tmp, field))                                            \
+                        RB_COLOR(RB_RIGHT(tmp, field), field) = RB_BLACK;                \
+                    RB_ROTATE_LEFT(head, parent, tmp, field);                            \
+                    elm = RB_ROOT(head);                                                 \
+                    break;                                                               \
+                }                                                                        \
+            }                                                                            \
+            else                                                                         \
+            {                                                                            \
+                tmp = RB_LEFT(parent, field);                                            \
+                if (RB_COLOR(tmp, field) == RB_RED)                                      \
+                {                                                                        \
+                    RB_SET_BLACKRED(tmp, parent, field);                                 \
+                    RB_ROTATE_RIGHT(head, parent, tmp, field);                           \
+                    tmp = RB_LEFT(parent, field);                                        \
+                }                                                                        \
+                if ((RB_LEFT(tmp, field) == NULL ||                                      \
+                     RB_COLOR(RB_LEFT(tmp, field), field) == RB_BLACK) &&                \
+                    (RB_RIGHT(tmp, field) == NULL ||                                     \
+                     RB_COLOR(RB_RIGHT(tmp, field), field) == RB_BLACK))                 \
+                {                                                                        \
+                    RB_COLOR(tmp, field) = RB_RED;                                       \
+                    elm = parent;                                                        \
+                    parent = RB_PARENT(elm, field);                                      \
+                }                                                                        \
+                else                                                                     \
+                {                                                                        \
+                    if (RB_LEFT(tmp, field) == NULL ||                                   \
+                        RB_COLOR(RB_LEFT(tmp, field), field) == RB_BLACK)                \
+                    {                                                                    \
+                        struct type *oright;                                             \
+                        if ((oright = RB_RIGHT(tmp, field)))                             \
+                            RB_COLOR(oright, field) = RB_BLACK;                          \
+                        RB_COLOR(tmp, field) = RB_RED;                                   \
+                        RB_ROTATE_LEFT(head, tmp, oright, field);                        \
+                        tmp = RB_LEFT(parent, field);                                    \
+                    }                                                                    \
+                    RB_COLOR(tmp, field) = RB_COLOR(parent, field);                      \
+                    RB_COLOR(parent, field) = RB_BLACK;                                  \
+                    if (RB_LEFT(tmp, field))                                             \
+                        RB_COLOR(RB_LEFT(tmp, field), field) = RB_BLACK;                 \
+                    RB_ROTATE_RIGHT(head, parent, tmp, field);                           \
+                    elm = RB_ROOT(head);                                                 \
+                    break;                                                               \
+                }                                                                        \
+            }                                                                            \
+        }                                                                                \
+        if (elm)                                                                         \
+            RB_COLOR(elm, field) = RB_BLACK;                                             \
+    }                                                                                    \
+                                                                                         \
+    attr struct type *                                                                   \
+        name##_RB_REMOVE(struct name *head, struct type *elm)                            \
+    {                                                                                    \
+        struct type *child, *parent, *old = elm;                                         \
+        int color;                                                                       \
+        if (RB_LEFT(elm, field) == NULL)                                                 \
+            child = RB_RIGHT(elm, field);                                                \
+        else if (RB_RIGHT(elm, field) == NULL)                                           \
+            child = RB_LEFT(elm, field);                                                 \
+        else                                                                             \
+        {                                                                                \
+            struct type *left;                                                           \
+            elm = RB_RIGHT(elm, field);                                                  \
+            while ((left = RB_LEFT(elm, field)))                                         \
+                elm = left;                                                              \
+            child = RB_RIGHT(elm, field);                                                \
+            parent = RB_PARENT(elm, field);                                              \
+            color = RB_COLOR(elm, field);                                                \
+            if (child)                                                                   \
+                RB_PARENT(child, field) = parent;                                        \
+            if (parent)                                                                  \
+            {                                                                            \
+                if (RB_LEFT(parent, field) == elm)                                       \
+                    RB_LEFT(parent, field) = child;                                      \
+                else                                                                     \
+                    RB_RIGHT(parent, field) = child;                                     \
+                RB_AUGMENT(parent);                                                      \
+            }                                                                            \
+            else                                                                         \
+                RB_ROOT(head) = child;                                                   \
+            if (RB_PARENT(elm, field) == old)                                            \
+                parent = elm;                                                            \
+            (elm)->field = (old)->field;                                                 \
+            if (RB_PARENT(old, field))                                                   \
+            {                                                                            \
+                if (RB_LEFT(RB_PARENT(old, field), field) == old)                        \
+                    RB_LEFT(RB_PARENT(old, field), field) = elm;                         \
+                else                                                                     \
+                    RB_RIGHT(RB_PARENT(old, field), field) = elm;                        \
+                RB_AUGMENT(RB_PARENT(old, field));                                       \
+            }                                                                            \
+            else                                                                         \
+                RB_ROOT(head) = elm;                                                     \
+            RB_PARENT(RB_LEFT(old, field), field) = elm;                                 \
+            if (RB_RIGHT(old, field))                                                    \
+                RB_PARENT(RB_RIGHT(old, field), field) = elm;                            \
+            if (parent)                                                                  \
+            {                                                                            \
+                left = parent;                                                           \
+                do                                                                       \
+                {                                                                        \
+                    RB_AUGMENT(left);                                                    \
+                } while ((left = RB_PARENT(left, field)));                               \
+            }                                                                            \
+            goto color;                                                                  \
+        }                                                                                \
+        parent = RB_PARENT(elm, field);                                                  \
+        color = RB_COLOR(elm, field);                                                    \
+        if (child)                                                                       \
+            RB_PARENT(child, field) = parent;                                            \
+        if (parent)                                                                      \
+        {                                                                                \
+            if (RB_LEFT(parent, field) == elm)                                           \
+                RB_LEFT(parent, field) = child;                                          \
+            else                                                                         \
+                RB_RIGHT(parent, field) = child;                                         \
+            RB_AUGMENT(parent);                                                          \
+        }                                                                                \
+        else                                                                             \
+            RB_ROOT(head) = child;                                                       \
+    color:                                                                               \
+        if (color == RB_BLACK)                                                           \
+            name##_RB_REMOVE_COLOR(head, parent, child);                                 \
+        return (old);                                                                    \
+    }                                                                                    \
+                                                                                         \
+    /* Inserts a node into the RB tree */                                                \
+    attr struct type *                                                                   \
+        name##_RB_INSERT(struct name *head, struct type *elm)                            \
+    {                                                                                    \
+        struct type *tmp;                                                                \
+        struct type *parent = NULL;                                                      \
+        int comp = 0;                                                                    \
+        tmp = RB_ROOT(head);                                                             \
+        while (tmp)                                                                      \
+        {                                                                                \
+            parent = tmp;                                                                \
+            comp = (cmp)(elm, parent);                                                   \
+            if (comp < 0)                                                                \
+                tmp = RB_LEFT(tmp, field);                                               \
+            else if (comp > 0)                                                           \
+                tmp = RB_RIGHT(tmp, field);                                              \
+            else                                                                         \
+                return (tmp);                                                            \
+        }                                                                                \
+        RB_SET(elm, parent, field);                                                      \
+        if (parent != NULL)                                                              \
+        {                                                                                \
+            if (comp < 0)                                                                \
+                RB_LEFT(parent, field) = elm;                                            \
+            else                                                                         \
+                RB_RIGHT(parent, field) = elm;                                           \
+            RB_AUGMENT(parent);                                                          \
+        }                                                                                \
+        else                                                                             \
+            RB_ROOT(head) = elm;                                                         \
+        name##_RB_INSERT_COLOR(head, elm);                                               \
+        return (NULL);                                                                   \
+    }                                                                                    \
+                                                                                         \
+    /* Finds the node with the same key as elm */                                        \
+    attr struct type *                                                                   \
+        name##_RB_FIND(struct name *head, struct type *elm)                              \
+    {                                                                                    \
+        struct type *tmp = RB_ROOT(head);                                                \
+        int comp;                                                                        \
+        while (tmp)                                                                      \
+        {                                                                                \
+            comp = cmp(elm, tmp);                                                        \
+            if (comp < 0)                                                                \
+                tmp = RB_LEFT(tmp, field);                                               \
+            else if (comp > 0)                                                           \
+                tmp = RB_RIGHT(tmp, field);                                              \
+            else                                                                         \
+                return (tmp);                                                            \
+        }                                                                                \
+        return (NULL);                                                                   \
+    }                                                                                    \
+                                                                                         \
+    /* Finds the first node greater than or equal to the search key */                   \
+    attr struct type *                                                                   \
+        name##_RB_NFIND(struct name *head, struct type *elm)                             \
+    {                                                                                    \
+        struct type *tmp = RB_ROOT(head);                                                \
+        struct type *res = NULL;                                                         \
+        int comp;                                                                        \
+        while (tmp)                                                                      \
+        {                                                                                \
+            comp = cmp(elm, tmp);                                                        \
+            if (comp < 0)                                                                \
+            {                                                                            \
+                res = tmp;                                                               \
+                tmp = RB_LEFT(tmp, field);                                               \
+            }                                                                            \
+            else if (comp > 0)                                                           \
+                tmp = RB_RIGHT(tmp, field);                                              \
+            else                                                                         \
+                return (tmp);                                                            \
+        }                                                                                \
+        return (res);                                                                    \
+    }                                                                                    \
+                                                                                         \
+    /* ARGSUSED */                                                                       \
+    attr struct type *                                                                   \
+        name##_RB_NEXT(struct type *elm)                                                 \
+    {                                                                                    \
+        if (RB_RIGHT(elm, field))                                                        \
+        {                                                                                \
+            elm = RB_RIGHT(elm, field);                                                  \
+            while (RB_LEFT(elm, field))                                                  \
+                elm = RB_LEFT(elm, field);                                               \
+        }                                                                                \
+        else                                                                             \
+        {                                                                                \
+            if (RB_PARENT(elm, field) &&                                                 \
+                (elm == RB_LEFT(RB_PARENT(elm, field), field)))                          \
+                elm = RB_PARENT(elm, field);                                             \
+            else                                                                         \
+            {                                                                            \
+                while (RB_PARENT(elm, field) &&                                          \
+                       (elm == RB_RIGHT(RB_PARENT(elm, field), field)))                  \
+                    elm = RB_PARENT(elm, field);                                         \
+                elm = RB_PARENT(elm, field);                                             \
+            }                                                                            \
+        }                                                                                \
+        return (elm);                                                                    \
+    }                                                                                    \
+                                                                                         \
+    /* ARGSUSED */                                                                       \
+    attr struct type *                                                                   \
+        name##_RB_PREV(struct type *elm)                                                 \
+    {                                                                                    \
+        if (RB_LEFT(elm, field))                                                         \
+        {                                                                                \
+            elm = RB_LEFT(elm, field);                                                   \
+            while (RB_RIGHT(elm, field))                                                 \
+                elm = RB_RIGHT(elm, field);                                              \
+        }                                                                                \
+        else                                                                             \
+        {                                                                                \
+            if (RB_PARENT(elm, field) &&                                                 \
+                (elm == RB_RIGHT(RB_PARENT(elm, field), field)))                         \
+                elm = RB_PARENT(elm, field);                                             \
+            else                                                                         \
+            {                                                                            \
+                while (RB_PARENT(elm, field) &&                                          \
+                       (elm == RB_LEFT(RB_PARENT(elm, field), field)))                   \
+                    elm = RB_PARENT(elm, field);                                         \
+                elm = RB_PARENT(elm, field);                                             \
+            }                                                                            \
+        }                                                                                \
+        return (elm);                                                                    \
+    }                                                                                    \
+                                                                                         \
+    attr struct type *                                                                   \
+        name##_RB_MINMAX(struct name *head, int val)                                     \
+    {                                                                                    \
+        struct type *tmp = RB_ROOT(head);                                                \
+        struct type *parent = NULL;                                                      \
+        while (tmp)                                                                      \
+        {                                                                                \
+            parent = tmp;                                                                \
+            if (val < 0)                                                                 \
+                tmp = RB_LEFT(tmp, field);                                               \
+            else                                                                         \
+                tmp = RB_RIGHT(tmp, field);                                              \
+        }                                                                                \
+        return (parent);                                                                 \
+    }
+
+#define RB_NEGINF -1
+#define RB_INF 1
+
+#define RB_INSERT(name, x, y) name##_RB_INSERT(x, y)
+#define RB_REMOVE(name, x, y) name##_RB_REMOVE(x, y)
+#define RB_FIND(name, x, y) name##_RB_FIND(x, y)
+#define RB_NFIND(name, x, y) name##_RB_NFIND(x, y)
+#define RB_NEXT(name, x, y) name##_RB_NEXT(y)
+#define RB_PREV(name, x, y) name##_RB_PREV(y)
+#define RB_MIN(name, x) name##_RB_MINMAX(x, RB_NEGINF)
+#define RB_MAX(name, x) name##_RB_MINMAX(x, RB_INF)
+
+#define RB_FOREACH(x, name, head)  \
+    for ((x) = RB_MIN(name, head); \
+         (x) != NULL;              \
+         (x) = name##_RB_NEXT(x))
+
+#define RB_FOREACH_SAFE(x, name, head, y)               \
+    for ((x) = RB_MIN(name, head);                      \
+         ((x) != NULL) && ((y) = name##_RB_NEXT(x), 1); \
+         (x) = (y))
+
+#define RB_FOREACH_REVERSE(x, name, head) \
+    for ((x) = RB_MAX(name, head);        \
+         (x) != NULL;                     \
+         (x) = name##_RB_PREV(x))
+
+#define RB_FOREACH_REVERSE_SAFE(x, name, head, y)       \
+    for ((x) = RB_MAX(name, head);                      \
+         ((x) != NULL) && ((y) = name##_RB_PREV(x), 1); \
+         (x) = (y))
+
+#endif /* _SYS_TREE_H_ */

code/framework/lualib-src/lua-ccd/udata.c

@@ -0,0 +1,315 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include "tree.h"
+#include "udata.h"
+#include "lua.h"
+#include "lauxlib.h"
+#include "lualib.h"
+
+struct moonccd_udata_s
+{
+    RB_ENTRY(moonccd_udata_s)
+    entry;
+    uint64_t id; /* object id (search key) */
+    /* references on the Lua registry */
+    int ref;   /* the correspoding userdata */
+    void *mem; /* userdata memory area allocated and released by Lua */
+    const char *mt;
+};
+
+#define UNEXPECTED_ERROR "unexpected error (%s, %d)", __FILE__, __LINE__
+
+static int cmp(udata_t *udata1, udata_t *udata2) /* the compare function */
+{
+    return (udata1->id < udata2->id ? -1 : udata1->id > udata2->id);
+}
+
+static RB_HEAD(udatatree_s, udata_s) Head = RB_INITIALIZER(&Head);
+
+RB_PROTOTYPE_STATIC(udatatree_s, udata_s, entry, cmp)
+RB_GENERATE_STATIC(udatatree_s, udata_s, entry, cmp)
+
+static udata_t *udata_remove(udata_t *udata)
+{
+    return RB_REMOVE(udatatree_s, &Head, udata);
+}
+static udata_t *udata_insert(udata_t *udata)
+{
+    return RB_INSERT(udatatree_s, &Head, udata);
+}
+static udata_t *udata_search(uint64_t id)
+{
+    udata_t tmp;
+    tmp.id = id;
+    return RB_FIND(udatatree_s, &Head, &tmp);
+}
+static udata_t *udata_first(uint64_t id)
+{
+    udata_t tmp;
+    tmp.id = id;
+    return RB_NFIND(udatatree_s, &Head, &tmp);
+}
+#if 0
+static udata_t *udata_next(udata_t *udata)
+    { return RB_NEXT(udatatree_s, &Head, udata); }
+static udata_t *udata_prev(udata_t *udata)
+    { return RB_PREV(udatatree_s, &Head, udata); }
+static udata_t *udata_min(void)
+    { return RB_MIN(udatatree_s, &Head); }
+static udata_t *udata_max(void)
+    { return RB_MAX(udatatree_s, &Head); }
+static udata_t *udata_root(void)
+    { return RB_ROOT(&Head); }
+#endif
+
+void *udata_new(lua_State *L, size_t size, uint64_t id_, const char *mt)
+/* Creates a new Lua userdata, optionally sets its metatable to mt (if != NULL),
+ * associates the userdata with the passed id and pushes the userdata on the stack.
+ *
+ * The userdata can be subsquently pushed on the Lua stack with udata_push(L, id).
+ * (This is useful to bind C/C++ objects to Lua userdata).
+ *
+ * If id=0, the pointer to the memory area allocated by Lua is used as identifier
+ * (this function returnes it).
+ */
+{
+    udata_t *udata;
+    if ((udata = (udata_t *)Malloc(L, sizeof(udata_t))) == NULL)
+    {
+        luaL_error(L, "cannot allocate memory");
+        return NULL;
+    }
+    memset(udata, 0, sizeof(udata_t));
+    udata->mem = lua_newuserdata(L, size);
+    if (!udata->mem)
+    {
+        Free(L, udata);
+        luaL_error(L, "lua_newuserdata error");
+        return NULL;
+    }
+    udata->id = id_ != 0 ? id_ : (uint64_t)(uintptr_t)(udata->mem);
+    if (udata_search(udata->id))
+    {
+        Free(L, udata);
+        luaL_error(L, "duplicated object %I", id_);
+        return NULL;
+    }
+    /* create a reference for later push's */
+    lua_pushvalue(L, -1); /* the newly created userdata */
+    udata->ref = luaL_ref(L, LUA_REGISTRYINDEX);
+    udata_insert(udata);
+    if (mt)
+    {
+        udata->mt = mt;
+        luaL_getmetatable(L, mt);
+        lua_setmetatable(L, -2);
+    }
+    return udata->mem;
+}
+
+void *udata_mem(uint64_t id)
+{
+    udata_t *udata = udata_search(id);
+    return udata ? udata->mem : NULL;
+}
+
+int udata_unref(lua_State *L, uint64_t id)
+/* unreference udata so that it will be garbage collected */
+{
+    //  printf("unref object %lu\n", id);
+    udata_t *udata = udata_search(id);
+    if (!udata)
+        return luaL_error(L, "invalid object identifier %p", id);
+    if (udata->ref != LUA_NOREF)
+    {
+        luaL_unref(L, LUA_REGISTRYINDEX, udata->ref);
+        udata->ref = LUA_NOREF;
+    }
+    return 0;
+}
+
+int udata_free(lua_State *L, uint64_t id)
+/* this should be called in the __gc metamethod
+ */
+{
+    udata_t *udata = udata_search(id);
+    //  printf("free object %lu\n", id);
+    if (!udata)
+        return luaL_error(L, "invalid object identifier %p", id);
+    /* release all references */
+    if (udata->ref != LUA_NOREF)
+        luaL_unref(L, LUA_REGISTRYINDEX, udata->ref);
+    udata_remove(udata);
+    Free(L, udata);
+    /* mem is released by Lua at garbage collection */
+    return 0;
+}
+
+int udata_push(lua_State *L, uint64_t id)
+{
+    udata_t *udata = udata_search(id);
+    if (!udata)
+        return luaL_error(L, "invalid object identifier %p", id);
+    if (udata->ref == LUA_NOREF)
+        return luaL_error(L, "unreferenced object");
+    if (lua_rawgeti(L, LUA_REGISTRYINDEX, udata->ref) != LUA_TUSERDATA)
+        return luaL_error(L, UNEXPECTED_ERROR);
+    return 1; /* one value pushed */
+}
+
+void udata_free_all(lua_State *L)
+/* free all without unreferencing (for atexit()) */
+{
+    udata_t *udata;
+    while ((udata = udata_first(0)))
+    {
+        udata_remove(udata);
+        Free(L, udata);
+    }
+}
+
+int udata_scan(lua_State *L, const char *mt,
+               void *info, int (*func)(lua_State *L, const void *mem, const char *mt, const void *info))
+/* scans the udata database, and calls the func callback for every 'mt' object found
+ * (the object may be deleted in the callback).
+ * func must return 0 to continue the scan, !=0 to interrupt it.
+ * returns 1 if interrupted, 0 otherwise
+ */
+{
+    int stop = 0;
+    uint64_t id = 0;
+    udata_t *udata;
+    while ((udata = udata_first(id)))
+    {
+        id = udata->id + 1;
+        if (mt == udata->mt)
+        {
+            stop = func(L, (const void *)(udata->mem), mt, info);
+            if (stop)
+                return 1;
+        }
+    }
+    return 0;
+}
+
+static int is_subclass(lua_State *L, int arg, int mt_index)
+{
+    int ok;
+    if (luaL_getmetafield(L, arg, "__index") == LUA_TNIL)
+        return 0;
+    if (lua_rawequal(L, mt_index, lua_gettop(L)))
+    {
+        lua_pop(L, 1);
+        return 1;
+    }
+    ok = is_subclass(L, lua_gettop(L), mt_index);
+    lua_pop(L, 1);
+    return ok;
+}
+
+void *udata_test(lua_State *L, int arg, const char *mt)
+/* same as luaL_testudata(), but succeeds also if the userdata has not
+ * mt as metatable but as ancestor
+ */
+{
+    void *mem;
+    int ok;
+    if ((mem = luaL_testudata(L, arg, mt)))
+        return mem;
+
+    if ((mem = lua_touserdata(L, arg)) == NULL)
+        return NULL;
+
+    if (luaL_getmetatable(L, mt) != LUA_TTABLE)
+    {
+        luaL_error(L, "cannot find metatable '%s'", mt);
+        return NULL;
+    }
+    ok = is_subclass(L, arg, lua_gettop(L));
+    lua_pop(L, 1);
+    return ok ? mem : NULL;
+}
+
+/*------------------------------------------------------------------------------*
+ | newmetatable for 'class' userdata                                            |
+ *------------------------------------------------------------------------------*/
+
+int udata_define(lua_State *L, const char *mt, const luaL_Reg *methods, const luaL_Reg *metamethods)
+{
+    /* create the metatable */
+    if (!luaL_newmetatable(L, mt))
+        return luaL_error(L, "cannot create metatable '%s'", mt);
+    lua_pushvalue(L, -1);
+    lua_setfield(L, -2, "__index");
+    if (metamethods)
+        /* add metamethods */
+        luaL_setfuncs(L, metamethods, 0);
+    if (methods)
+    {
+        /* add methods */
+        luaL_getsubtable(L, -1, "__index");
+        luaL_setfuncs(L, methods, 0);
+        lua_pop(L, 1);
+    }
+    lua_pop(L, 1);
+    return 0;
+}
+
+int udata_inherit(lua_State *L, const char *sub, const char *super)
+/* Sets  metatable(sub).__index = metatable(super)
+ *
+ * This way, if one accesses a field/method of a 'sub' object which is not defined in
+ * the 'sub' metatable, Lua searches for it in the 'super' metatable (i.e., the 'sub'
+ * type inherits from 'super').
+ */
+{
+    if (luaL_getmetatable(L, sub) != LUA_TTABLE)
+        return luaL_error(L, "cannot find metatable '%s'", sub);
+    luaL_getsubtable(L, -1, "__index");
+    if (luaL_getmetatable(L, super) != LUA_TTABLE)
+        return luaL_error(L, "cannot find metatable '%s'", super);
+    lua_setmetatable(L, -2);
+    lua_pop(L, 2);
+    return 0;
+}
+
+int udata_addmethods(lua_State *L, const char *mt, const luaL_Reg *methods)
+/* Adds methods to the metatable mt */
+{
+    if (luaL_getmetatable(L, mt) != LUA_TTABLE)
+        return luaL_error(L, "cannot find metatable '%s'", mt);
+    if (methods)
+    {
+        /* add methods */
+        luaL_getsubtable(L, -1, "__index");
+        luaL_setfuncs(L, methods, 0);
+        lua_pop(L, 1);
+    }
+    lua_pop(L, 1);
+    return 0;
+}

code/framework/lualib-src/lua-ccd/udata.h

@@ -0,0 +1,72 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+#include "lua.h"
+#include "lauxlib.h"
+
+#ifndef Malloc
+#define Malloc moonccd_Malloc
+    void *Malloc(lua_State *L, size_t size);
+#define Free moonccd_Free
+    void Free(lua_State *L, void *ptr);
+#endif
+
+#define udata_t moonccd_udata_t
+#define udata_s moonccd_udata_s
+#define moonccd_udata_t struct moonccd_udata_s
+
+#define udata_new moonccd_udata_new
+    void *udata_new(lua_State *, size_t, uint64_t, const char *);
+#define udata_unref moonccd_udata_unref
+    int udata_unref(lua_State *L, uint64_t);
+#define udata_free moonccd_udata_free
+    int udata_free(lua_State *, uint64_t);
+#define udata_mem moonccd_udata_mem
+    void *udata_mem(uint64_t);
+#define udata_push moonccd_udata_push
+    int udata_push(lua_State *, uint64_t);
+#define udata_free_all moonccd_udata_free_all
+    void udata_free_all(lua_State *L);
+#define udata_scan moonccd_udata_scan
+    int udata_scan(lua_State *L, const char *mt,
+                   void *info, int (*func)(lua_State *L, const void *mem, const char *mt, const void *info));
+#define udata_define moonccd_udata_define
+    int udata_define(lua_State *, const char *, const luaL_Reg *, const luaL_Reg *);
+#define udata_inherit moonccd_udata_inherit
+    int udata_inherit(lua_State *, const char *, const char *);
+#define udata_test moonccd_udata_test
+    void *udata_test(lua_State *, int, const char *);
+#define udata_addmethods moonccd_udata_addmethods
+    int udata_addmethods(lua_State *, const char *, const luaL_Reg *);
+
+#ifdef __cplusplus
+}
+#endif

code/framework/lualib-src/lua-ccd/utils.c

@@ -0,0 +1,410 @@
+/* The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Stefano Trettel
+ *
+ * Software repository: MoonCCD, https://github.com/stetre/moonccd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "internal.h"
+
+/*------------------------------------------------------------------------------*
+ | Misc utilities                                                               |
+ *------------------------------------------------------------------------------*/
+
+int noprintf(const char *fmt, ...)
+{
+    (void)fmt;
+    return 0;
+}
+
+int notavailable(lua_State *L, ...)
+{
+    return luaL_error(L, "function not available in this CL version");
+}
+
+/*------------------------------------------------------------------------------*
+ | Malloc                                                                       |
+ *------------------------------------------------------------------------------*/
+
+/* We do not use malloc(), free() etc directly. Instead, we inherit the memory 
+ * allocator from the main Lua state instead (see lua_getallocf in the Lua manual)
+ * and use that.
+ *
+ * By doing so, we can use an alternative malloc() implementation without recompiling
+ * this library (we have needs to recompile lua only, or execute it with LD_PRELOAD
+ * set to the path to the malloc library we want to use).
+ */
+static lua_Alloc Alloc = NULL;
+static void *AllocUd = NULL;
+
+static void malloc_init(lua_State *L)
+{
+    if (Alloc)
+        unexpected(L);
+    Alloc = lua_getallocf(L, &AllocUd);
+}
+
+static void *Malloc_(size_t size)
+{
+    return Alloc ? Alloc(AllocUd, NULL, 0, size) : NULL;
+}
+
+static void Free_(void *ptr)
+{
+    if (Alloc)
+        Alloc(AllocUd, ptr, 0, 0);
+}
+
+void *Malloc(lua_State *L, size_t size)
+{
+    void *ptr;
+    if (size == 0)
+    {
+        luaL_error(L, errstring(ERR_MALLOC_ZERO));
+        return NULL;
+    }
+    ptr = Malloc_(size);
+    if (ptr == NULL)
+    {
+        luaL_error(L, errstring(ERR_MEMORY));
+        return NULL;
+    }
+    memset(ptr, 0, size);
+    //DBG("Malloc %p\n", ptr);
+    return ptr;
+}
+
+void *MallocNoErr(lua_State *L, size_t size) /* do not raise errors (check the retval) */
+{
+    void *ptr = Malloc_(size);
+    (void)L;
+    if (ptr == NULL)
+        return NULL;
+    memset(ptr, 0, size);
+    //DBG("MallocNoErr %p\n", ptr);
+    return ptr;
+}
+
+char *Strdup(lua_State *L, const char *s)
+{
+    size_t len = strnlen(s, 256);
+    char *ptr = (char *)Malloc(L, len + 1);
+    if (len > 0)
+        memcpy(ptr, s, len);
+    ptr[len] = '\0';
+    return ptr;
+}
+
+void Free(lua_State *L, void *ptr)
+{
+    (void)L;
+    //DBG("Free %p\n", ptr);
+    if (ptr)
+        Free_(ptr);
+}
+
+/*------------------------------------------------------------------------------*
+ | Time utilities                                                               |
+ *------------------------------------------------------------------------------*/
+
+#if defined(LINUX)
+
+#if 0
+static double tstosec(const struct timespec *ts)
+    {
+    return ts->tv_sec*1.0+ts->tv_nsec*1.0e-9;
+    }
+#endif
+
+static void sectots(struct timespec *ts, double seconds)
+{
+    ts->tv_sec = (time_t)seconds;
+    ts->tv_nsec = (long)((seconds - ((double)ts->tv_sec)) * 1.0e9);
+}
+
+double now(void)
+{
+#if _POSIX_C_SOURCE >= 199309L
+    struct timespec ts;
+    if (clock_gettime(CLOCK_MONOTONIC, &ts) != 0)
+    {
+        printf("clock_gettime error\n");
+        return -1;
+    }
+    return ts.tv_sec + ts.tv_nsec * 1.0e-9;
+#else
+    struct timeval tv;
+    if (gettimeofday(&tv, NULL) != 0)
+    {
+        printf("gettimeofday error\n");
+        return -1;
+    }
+    return tv.tv_sec + tv.tv_usec * 1.0e-6;
+#endif
+}
+
+void sleeep(double seconds)
+{
+#if _POSIX_C_SOURCE >= 199309L
+    struct timespec ts, ts1;
+    struct timespec *req, *rem, *tmp;
+    sectots(&ts, seconds);
+    req = &ts;
+    rem = &ts1;
+    while (1)
+    {
+        if (nanosleep(req, rem) == 0)
+            return;
+        tmp = req;
+        req = rem;
+        rem = tmp;
+    }
+#else
+    usleep((useconds_t)(seconds * 1.0e6));
+#endif
+}
+
+#define time_init(L)              \
+    do                            \
+    {                             \
+        (void)L; /* do nothing */ \
+    } while (0)
+
+#elif defined(MINGW)
+
+#include <windows.h>
+
+static LARGE_INTEGER Frequency;
+double now(void)
+{
+    LARGE_INTEGER ts;
+    QueryPerformanceCounter(&ts);
+    return ((double)(ts.QuadPart)) / Frequency.QuadPart;
+}
+
+void sleeep(double seconds)
+{
+    DWORD msec = (DWORD)seconds * 1000;
+    //if(msec < 0) return;  DWORD seems to be unsigned
+    Sleep(msec);
+}
+
+static void time_init(lua_State *L)
+{
+    (void)L;
+    QueryPerformanceFrequency(&Frequency);
+}
+
+#endif
+
+/*------------------------------------------------------------------------------*
+ | Light userdata                                                               |
+ *------------------------------------------------------------------------------*/
+
+void *checklightuserdata(lua_State *L, int arg)
+{
+    if (lua_type(L, arg) != LUA_TLIGHTUSERDATA)
+    {
+        luaL_argerror(L, arg, "expected lightuserdata");
+        return NULL;
+    }
+    return lua_touserdata(L, arg);
+}
+
+void *optlightuserdata(lua_State *L, int arg)
+{
+    if (lua_isnoneornil(L, arg))
+        return NULL;
+    return checklightuserdata(L, arg);
+}
+
+void *checklightuserdataorzero(lua_State *L, int arg)
+{
+    int val, isnum;
+    val = lua_tointegerx(L, arg, &isnum);
+    if (!isnum)
+        return checklightuserdata(L, arg);
+    if (val != 0)
+        luaL_argerror(L, arg, "expected lightuserdata or 0");
+    return NULL;
+}
+
+/*------------------------------------------------------------------------------*
+ | Deep copy of a table                                                         |
+ *------------------------------------------------------------------------------*/
+
+int copytable(lua_State *L)
+/* Deep-copies the contents of the table at arg=-1 to the table at arg=-2
+ * Leaves them on the stack.
+ */
+{
+    int src = lua_gettop(L);
+    int dst = src - 1;
+    lua_pushnil(L);
+    while (lua_next(L, src))
+    {
+        lua_pushvalue(L, -2);              // key
+        if (lua_type(L, -1) == LUA_TTABLE) /* nested */
+        {
+            lua_newtable(L);      //dst
+            lua_pushvalue(L, -3); // value
+            copytable(L);
+            lua_pop(L, 1);
+        }
+        else
+            lua_pushvalue(L, -2); // value
+        lua_rawset(L, dst);
+        lua_pop(L, 1); // value
+    }
+    return 0;
+}
+
+/*------------------------------------------------------------------------------*
+ | Custom luaL_checkxxx() style functions                                       |
+ *------------------------------------------------------------------------------*/
+
+int checkboolean(lua_State *L, int arg)
+{
+    if (!lua_isboolean(L, arg))
+        return (int)luaL_argerror(L, arg, "boolean expected");
+    return lua_toboolean(L, arg); // ? 1 : 0;
+}
+
+int testboolean(lua_State *L, int arg, int *err)
+{
+    if (!lua_isboolean(L, arg))
+    {
+        *err = ERR_TYPE;
+        return 0;
+    }
+    *err = 0;
+    return lua_toboolean(L, arg); // ? 1 : 0;
+}
+
+int optboolean(lua_State *L, int arg, int d)
+{
+    if (!lua_isboolean(L, arg))
+        return d;
+    return lua_toboolean(L, arg);
+}
+
+/* 1-based index to 0-based ------------------------------------------*/
+
+int testindex(lua_State *L, int arg, int *err)
+{
+    int val;
+    if (!lua_isinteger(L, arg))
+    {
+        *err = ERR_TYPE;
+        return 0;
+    }
+    val = lua_tointeger(L, arg);
+    if (val < 1)
+    {
+        *err = ERR_GENERIC;
+        return 0;
+    }
+    *err = 0;
+    return val - 1;
+}
+
+int checkindex(lua_State *L, int arg)
+{
+    int val = luaL_checkinteger(L, arg);
+    if (val < 1)
+        return luaL_argerror(L, arg, "positive integer expected");
+    return val - 1;
+}
+
+int optindex(lua_State *L, int arg, int optval /* 0-based */)
+{
+    int val = luaL_optinteger(L, arg, optval + 1);
+    if (val < 1)
+        return luaL_argerror(L, arg, "positive integer expected");
+    return val - 1;
+}
+
+void pushindex(lua_State *L, int val)
+{
+    lua_pushinteger((L), (val) + 1);
+}
+
+/*------------------------------------------------------------------------------*
+ | Internal error codes                                                         |
+ *------------------------------------------------------------------------------*/
+
+const char *errstring(int err)
+{
+    switch (err)
+    {
+    case ERR_NOTPRESENT:
+        return "missing";
+    case ERR_SUCCESS:
+        return "success";
+    case ERR_GENERIC:
+        return "generic error";
+    case ERR_TABLE:
+        return "not a table";
+    case ERR_FUNCTION:
+        return "not a function";
+    case ERR_EMPTY:
+        return "empty list";
+    case ERR_TYPE:
+        return "invalid type";
+    case ERR_ELEMTYPE:
+        return "invalid element type";
+    case ERR_VALUE:
+        return "invalid value";
+    case ERR_ELEMVALUE:
+        return "invalid element value";
+    case ERR_MEMORY:
+        return "out of memory";
+    case ERR_MALLOC_ZERO:
+        return "zero bytes malloc";
+    case ERR_LENGTH:
+        return "invalid length";
+    case ERR_POOL:
+        return "elements are not from the same pool";
+    case ERR_BOUNDARIES:
+        return "invalid boundaries";
+    case ERR_RANGE:
+        return "out of range";
+    case ERR_FOPEN:
+        return "cannot open file";
+    case ERR_OPERATION:
+        return "operation failed";
+    case ERR_UNKNOWN:
+        return "unknown field name";
+    default:
+        return "???";
+    }
+    return NULL; /* unreachable */
+}
+
+/*------------------------------------------------------------------------------*
+ | Inits                                                                        |
+ *------------------------------------------------------------------------------*/
+
+void moonccd_utils_init(lua_State *L)
+{
+    malloc_init(L);
+    time_init(L);
+}