Rename GJKEPA to UEPA

README.md

@@ -1,28 +1,27 @@
 # Unified EPA Demo 
 [![uepa_tests](https://github.com/notgiven688/unified_epa/actions/workflows/uepa_tests.yml/badge.svg)](https://github.com/notgiven688/unified_epa/actions/workflows/uepa_tests.yml)
 
-Robust and simple implementation of the **Gilbert-Johnson-Keerthi** (GJK) distance and the **Expanding Polytope Algorithm** (EPA).
+Robust and simple implementation of the **Expanding Polytope Algorithm** (EPA).
 
 The demo is written in C#, with [OpenTK](https://github.com/opentk/opentk) as only dependency.
 
 ## Some Details
 
-The implementation itself is contained in [GJKEPA.cs](src/GJKEPA.cs) with ~400 lines of code. The algorithm detects whether two convex objects are separated or colliding and returns the points of closest distance and deepest penetration, respectively.
+The implementation itself is contained in [UEPA.cs](src/UEPA.cs) with ~400 lines of code. The algorithm detects whether two convex objects are separated or colliding and returns the points of closest distance and deepest penetration, respectively.
 
-In contrast to other available implementations we only work with a convex hull with finite volume. Thus the GJK-phase differs from the computationally more efficient "traditional implementations" of GJK. The algorithm relies solely on point-triangle distances.
+A variant of the expanding polytope algorithm is used also for the separating case - simplifying
+the algorithm for collision detection for the general case.
 
 ## Run the demo
 
 The demo should be able to run cross-platform utilizing OpenGL.
-```
-1. Install the [.NET 8.0 SDK](https://dotnet.microsoft.com/download/dotnet/8.0)
+
+1. Install the [.NET 9.0 SDK](https://dotnet.microsoft.com/download/dotnet/9.0)
 2. git clone https://github.com/notgiven688/unified_epa.git
-3. cd unified_epa
-4. dotnet run -c Release
-```
+3. cd unified_epa && dotnet run -c Release
 
 ## Screenshots
 
 [YouTube Video](https://www.youtube.com/watch?v=NMdp7A13EAI)
 
-![alt text](screenshots/gjkepa.png?raw=true)
+![alt text](screenshots/uepa.png?raw=true)

src/Drawables/Camera.cs

@@ -25,7 +25,7 @@
 using OpenTK.Windowing.GraphicsLibraryFramework;
 using OpenTK.Windowing.Common;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class Camera : IDrawableComponent
     {

src/Drawables/Connection.cs

@@ -24,7 +24,7 @@
 using OpenTK.Mathematics;
 using OpenTK.Windowing.Common;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class Connection : IDrawableComponent
     {

src/Drawables/ImplicitShape.cs

@@ -30,7 +30,7 @@
 using OpenTK.Mathematics;
 using OpenTK.Windowing.Common;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class ImplicitShape : Primitive
     {

src/Drawables/Primitive.cs

@@ -27,7 +27,7 @@
 using OpenTK.Mathematics;
 using OpenTK.Windowing.Common;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class Primitive : IDrawableComponent
     {

src/Drawables/Showcase.cs

@@ -1,23 +1,23 @@
 /* Copyright <2021> <Thorben Linneweber>
-* 
+*
 * 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.
-* 
+*
 */
 using System;
 using System.Reflection;
@@ -27,7 +27,7 @@
 using OpenTK.Windowing.Common;
 using OpenTK.Windowing.GraphicsLibraryFramework;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class Showcase : IDrawableComponent
     {
@@ -121,7 +121,7 @@ public void Detect()
             string leftShape = PrimitiveLeft.SupportMap.GetType().GetCustomAttribute<ShapeAttribute>(true).Name;
             string rightShape = PrimitiveRight.SupportMap.GetType().GetCustomAttribute<ShapeAttribute>(true).Name;
 
-            Overlay.Text = $"GJK/EPA Demonstration ({leftShape}/{rightShape})\n\n";
+            Overlay.Text = $"UEPA Demonstration ({leftShape}/{rightShape})\n\n";
             Overlay.Text += "+ Controls\n\n";
             Overlay.Text += "  change shape distance       (k,l)\n";
             Overlay.Text += "  move the camera             (w,a,s,d,mouse)\n";
@@ -139,7 +139,7 @@ public void Detect()
             JVector pl, pr;
             double separation;
 
-            bool success = GJKEPA.Detect(PrimitiveLeft.SupportMap, PrimitiveRight.SupportMap,
+            bool success = UEPA.Detect(PrimitiveLeft.SupportMap, PrimitiveRight.SupportMap,
                 orientLeft, orientRight, posLeft, posRight,
                 out pl, out pr, out separation);
 
@@ -149,8 +149,8 @@ public void Detect()
                 Vector3 pB = new Vector3((float)pr.X, (float)pr.Y, (float)pr.Z);
 
                 Overlay.Text += $"  Collision:  {(separation < 0.0d).ToString()}\n";
-                Overlay.Text += $"  Iterations: {GJKEPA.epaSolver.Statistics.Iterations}\n";
-                Overlay.Text += $"  Accuracy:   {GJKEPA.epaSolver.Statistics.Accuracy:0E+00}\n";
+                Overlay.Text += $"  Iterations: {UEPA.epaSolver.Statistics.Iterations}\n";
+                Overlay.Text += $"  Accuracy:   {UEPA.epaSolver.Statistics.Accuracy:0E+00}\n";
                 Overlay.Text += $"  Separation: {separation:0.###}\n";
 
                 PrimitiveLeft.Alpha = separation > 0.0d ? 1.0f : 0.5f;
@@ -173,7 +173,7 @@ bool IsSwitched(Keys key) =>
 
             if (KeyState.IsKeyDown(Keys.K)) distance -= 0.03f * timescale;
             if (KeyState.IsKeyDown(Keys.L)) distance += 0.03f * timescale;
-        
+
             if (IsSwitched(Keys.R)) autorotate = !autorotate;
             if (IsSwitched(Keys.T)) advancerotation = true;
             if (IsSwitched(Keys.N)) NextRandomShapes();

src/Drawables/TextOverlay.cs

@@ -30,9 +30,9 @@
 using System.IO;
 using System.IO.Compression;
 
-using Font = GJKEPADemo.Monospace12;
+using Font = UEPADemo.Monospace12;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class TextOverlay : IDrawableComponent
     {
@@ -67,10 +67,10 @@ private TextureHandle CreateTexture(TextureUnit unit)
 
             unsafe
             {
-                byte[] raw = Font.GetData();
+                byte[] raw = Monospace12.GetData();
                 fixed(void* ptr = &raw[0])
                 {
-                    GL.TexImage2D(TextureTarget.Texture2d, 0, OpenTK.Graphics.OpenGL.InternalFormat.Rgba,  Font.TextureWidth, Font.TextureHeight, 0,
+                    GL.TexImage2D(TextureTarget.Texture2d, 0, OpenTK.Graphics.OpenGL.InternalFormat.Rgba,  Monospace12.TextureWidth, Monospace12.TextureHeight, 0,
                                 OpenTK.Graphics.OpenGL.PixelFormat.Rgba, PixelType.UnsignedByte, (IntPtr)ptr);
                 }
             }
@@ -90,17 +90,17 @@ private void AddGlyphs()
 
             for (int i = 0; i < len; i++)
             {
-                float deltaW = (float)Font.PixelWidth / (float)Font.TextureWidth;
-                float deltaH = (float)Font.PixelHeight / (float)Font.TextureHeight;
-                int numch = Font.NumberCharactersHorizontal;
+                float deltaW = (float)Monospace12.PixelWidth / (float)Monospace12.TextureWidth;
+                float deltaH = (float)Monospace12.PixelHeight / (float)Monospace12.TextureHeight;
+                int numch = Monospace12.NumberCharactersHorizontal;
 
-                vertices.Add(0); vertices.Add(Font.PixelHeight);
+                vertices.Add(0); vertices.Add(Monospace12.PixelHeight);
                 vertices.Add(deltaW * (float)((i % numch) + 0)); vertices.Add(deltaH * (float)(i / numch + 1));
 
-                vertices.Add(Font.PixelWidth); vertices.Add(Font.PixelHeight);
+                vertices.Add(Monospace12.PixelWidth); vertices.Add(Monospace12.PixelHeight);
                 vertices.Add(deltaW * (float)((i % numch) + 1)); vertices.Add(deltaH * (float)(i / numch + 1));
 
-                vertices.Add(Font.PixelWidth); vertices.Add(0);
+                vertices.Add(Monospace12.PixelWidth); vertices.Add(0);
                 vertices.Add(deltaW * (float)((i % numch) + 1)); vertices.Add(deltaH * (float)(i / numch + 0));
 
                 vertices.Add(0); vertices.Add(0);
@@ -168,7 +168,7 @@ public void Draw(FrameEventArgs e)
                     int index = (int)lines[i][k];
                     int pointer = (index - asciiMin) * 6;
 
-                    shader.Offset.Set(Position + new Vector2((Font.PixelWidth - Font.ExtraMargin) * k, (Font.PixelHeight - Font.ExtraMargin) * i));
+                    shader.Offset.Set(Position + new Vector2((Monospace12.PixelWidth - Monospace12.ExtraMargin) * k, (Monospace12.PixelHeight - Monospace12.ExtraMargin) * i));
                     GL.DrawElements(PrimitiveType.Triangles, 6, DrawElementsType.UnsignedInt, sizeof(float) * pointer);
                 }
             }

src/LinearMath/JMatrix.cs

@@ -22,7 +22,7 @@
 using System;
 using System.Runtime.CompilerServices;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     /// <summary>
     /// 3x3 Matrix. Member of the math namespace, so every method

src/LinearMath/JVector.cs

@@ -22,7 +22,7 @@
 using System;
 using System.Runtime.CompilerServices;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     /// <summary>
     /// A vector structure. Member of the math 

src/MinkowskiDifference.cs

@@ -1,4 +1,4 @@
-namespace GJKEPADemo;
+namespace UEPADemo;
 
 public struct MinkowskiDifference
 {

src/Program.cs

@@ -1,23 +1,23 @@
 /* Copyright <2021> <Thorben Linneweber>
-* 
+*
 * 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.
-* 
+*
 */
 using System;
 
@@ -26,7 +26,7 @@
 using OpenTK.Windowing.Common;
 using OpenTK.Windowing.Desktop;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public interface IDrawableComponent : IDisposable
     {
@@ -96,7 +96,7 @@ static void Main()
             GameWindowSettings gws = GameWindowSettings.Default;
             NativeWindowSettings nws = NativeWindowSettings.Default;
 
-            nws.Title = "GJK/EPA Demonstration";
+            nws.Title = "UEPA Demonstration";
             nws.Size = new Vector2i(1024, 768);
             new MainWindow(gws, nws).Run();
 

src/Shaders/NeonShader.cs

@@ -21,7 +21,7 @@
 */
 using System;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class NeonShader : BasicShader, IModelViewProjection
     {

src/Shaders/PhongShader.cs

@@ -21,7 +21,7 @@
 */
 using System;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class PhongShader : BasicShader, IModelViewProjection, IViewPosition
     {

src/Shaders/QuadShader.cs

@@ -21,7 +21,7 @@
 */
 using System;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class QuadShader : BasicShader
     {

src/Shaders/Shader.cs

@@ -1,23 +1,23 @@
 /* Copyright <2021> <Thorben Linneweber>
-* 
+*
 * 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.
-* 
+*
 */
 using System;
 using System.Collections.Generic;
@@ -26,7 +26,7 @@
 using OpenTK.Graphics.OpenGL;
 using OpenTK.Graphics;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     interface IModelViewProjection
     {

src/Shaders/Uniform.cs

@@ -24,7 +24,7 @@
 using OpenTK.Graphics.OpenGL;
 using OpenTK.Mathematics;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public abstract class Uniform
     {

src/Shapes.cs

@@ -23,7 +23,7 @@
 using System.Reflection;
 using System.Collections.Generic;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public class ShapeAttribute : Attribute
     {

src/Tests.cs

@@ -21,7 +21,7 @@
 */
 using System;
 
-namespace GJKEPADemo
+namespace UEPADemo
 {
     public static class Tests
     {
@@ -55,7 +55,7 @@ private static void CubeCube(int i)
             JVector p1, p2;
             double separation;
 
-            GJKEPA.Detect(s1, s2, rot1, rot2, pos1, pos2,
+            UEPA.Detect(s1, s2, rot1, rot2, pos1, pos2,
             out p1, out p2, out separation);
 
             double analyticalDistance = 2.0d * (double)i / 10.0d;
@@ -78,7 +78,7 @@ private static void CubeSphere(int i)
             JVector p1, p2;
             double separation;
 
-            GJKEPA.Detect(s1, s2, rot1, rot2, pos1, pos2,
+            UEPA.Detect(s1, s2, rot1, rot2, pos1, pos2,
             out p1, out p2, out separation);
         }
 
@@ -96,7 +96,7 @@ private static void SphereSphere(int i)
             JVector p1, p2;
             double separation;
 
-            GJKEPA.Detect(s1, s2, rot1, rot2, pos1, pos2,
+            UEPA.Detect(s1, s2, rot1, rot2, pos1, pos2,
             out p1, out p2, out separation);
 
             double analyticalDistance = (pos2 - pos1).Length() - 1.0d;