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Commit 5f5fc33f authored by JasonPries's avatar JasonPries
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Translate project Mesh and test_Mesh

parent 1fcb7205
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.idea/Oersted.iml
View file @ 5f5fc33f
......@@ -2,22 +2,14 @@
<module type="CPP_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$">
<sourceFolder url="file://$MODULE_DIR$/lib/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/src/gtest_main.cc" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/src/gtest-all.cc" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/cmake/internal_utils.cmake" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Angle.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Vertical.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Sketch.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Curve.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Coincident.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Vertical.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Angle.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Vertex.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Curve.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Pattern.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Length.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Coincident.h" isTestSource="false" />
......@@ -27,12 +19,12 @@
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Vertex.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/LineSegment.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Curve.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Rotation.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Tangency.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Rotation.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Branch.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Branch.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/RotateCopy.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Constraint.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Star.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Symmetry.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Constraint.cpp" isTestSource="false" />
......@@ -43,10 +35,11 @@
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Radius.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Horizontal.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/CircularArc.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Distance.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Distance.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Symmetry.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Distance.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/MirrorCopy.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Pattern.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Constraint.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Star.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/LineSegment.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/MirrorCopy.cpp" isTestSource="false" />
......@@ -55,11 +48,24 @@
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/RotateCopy.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Tangency.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Contour.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Distance.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Rotation.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Pattern.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/Sketch.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/src/CircularArc.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/include/Sketch.hpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Sketch/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Mesh/src/Mesh.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Mesh/src/Mesh.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Mesh/src/Edge.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Mesh/src/Edge.h" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Mesh/include/Mesh.hpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/Mesh/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/src/gtest_main.cc" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/src/gtest-all.cc" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/lib/GoogleTest/googletest/cmake/internal_utils.cmake" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/main.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/CMakeLists.txt" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/Sketch/test_LineSegment.cpp" isTestSource="false" />
......@@ -71,6 +77,8 @@
<sourceFolder url="file://$MODULE_DIR$/test/Sketch/test_Star.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/Sketch/test_Sketch.hpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/Sketch/test_Contour.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/Mesh/test_Mesh.cpp" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/test/Mesh/test_Mesh.hpp" isTestSource="false" />
</content>
<orderEntry type="sourceFolder" forTests="false" />
<orderEntry type="module-library">
......
CMakeLists.txt
View file @ 5f5fc33f
......@@ -8,10 +8,16 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 --coverage")
find_package(Boost REQUIRED COMPONENTS system filesystem)
include_directories(${Boost_INCLUDE_DIR})
include_directories(./lib/ ./lib/Eigen/ ./lib/GoogleTest/googletest/include/gtest)
include_directories(./lib/)
include_directories(./lib/Eigen/)
include_directories(./lib/GoogleTest/googletest/include/gtest)
add_subdirectory(./lib/)
include_directories(./src/ ./src/Sketch/include)
include_directories(./src/)
include_directories(./src/Sketch/include/)
include_directories(./src/Mesh/include/)
add_subdirectory(./src/)
add_subdirectory(./test/)
build.sh
View file @ 5f5fc33f
......@@ -10,8 +10,9 @@ mkdir -p coverage
COV_FILE="coverage/coverage.info"
COV_DIR=".coverage"
COV_SITE=$COV_DIR/"index.html"
RM_PREFIX="${PWD%/*}/src"
lcov -c -d .. -o $COV_FILE
lcov -r $COV_FILE "*Oersted/lib/*" "*Oersted/test/*" "/usr/include/*" "/usr/lib/*" -o $COV_FILE
genhtml $COV_FILE -o $COV_DIR
genhtml $COV_FILE -o $COV_DIR -p $RM_PREFIX
google-chrome $COV_SITE
src/CMakeLists.txt
View file @ 5f5fc33f
include_directories(./Sketch/)
include_directories(./Mesh/)
add_subdirectory(./Sketch/)
add_subdirectory(./Mesh/)
\ No newline at end of file
src/Mesh/CMakeLists.txt 0 → 100644
View file @ 5f5fc33f
PROJECT(Oersted_Mesh)
set(SOURCE_FILES
./include/Mesh.hpp
./src/Mesh.h ./src/Mesh.cpp
./src/Edge.h ./src/Edge.cpp)
add_library(mesh STATIC ${SOURCE_FILES})
target_link_libraries(mesh ${Boost_LIBRARIES})
\ No newline at end of file
src/Mesh/include/Mesh.hpp 0 → 100644
View file @ 5f5fc33f
#ifndef OERSTED_MESH_HPP
#define OERSTED_MESH_HPP
#include "../src/Mesh.h"
#include "../src/Edge.h"
#endif //OERSTED_MESH_HPP
\ No newline at end of file
src/Mesh/src/Edge.cpp 0 → 100644
View file @ 5f5fc33f
#include "Mesh.hpp"
// Edge
Edge::Edge(Curve *c, bool direction) {
ConstraintCurve = c;
Node = new Point(direction ? c->start() : c->end());
Twin = this;
Next = nullptr;
Prev = nullptr;
Orientation = direction;
}
Edge::Edge(Curve *c, bool direction, const Point *v) {
ConstraintCurve = c;
Node = v; //Should have C->point(0.0) == *(v) || c->point(1.0) == *(v)
Twin = this;
Next = nullptr;
Prev = nullptr;
Orientation = direction;
}
// Test Methods
bool Edge::is_protruding() const {
/*
See Chapter 1.4 of "Triangulations and Applications" by Øyvind Hjelle and Morten Dæhlen
*/
const Point *v0 = Prev->Node;
const Point *v1 = Node;
const Point *v2 = Next->Node;
double v1x = v2->X - v1->X;
double v1y = v2->Y - v1->Y;
double v0x = v0->X - v1->X;
double v0y = v0->Y - v1->Y;
double area = v1x * v0y - v1y * v0x;
if (area > 0.0) {
// Make sure no boundary points interior to triangle
// Calculate barrycentric coordinates of p
Edge * e = Next->Next;
while (e != Prev) {
const Point *p = e->Node;
double v2x = v2->X - p->X;
double v2y = v2->Y - p->Y;
double v1x = v1->X - p->X;
double v1y = v1->Y - p->Y;
double v0x = v0->X - p->X;
double v0y = v0->Y - p->Y;
double b0 = (v0x * v1y - v0y * v1x);
double b1 = (v1x * v2y - v1y * v2x);
double b2 = (v2x * v0y - v2y * v0x);
if (b0 >= 0.0 && b0 <= area && b1 >= 0.0 && b1 <= area && b2 >= 0.0 && b2 <= area) {
return false; // Point is interior to triangle
} else {
e = e->Next;
}
}
return true;
} else {
return false;
}
}
bool Edge::is_locally_optimal() const {
/*
See Chapter 3.7 of "Triangulations and Applications" by Øyvind Hjelle and Morten Dæhlen
*/
if (ConstraintCurve != nullptr) {
return true;
} else {
const Point *p3 = Node;
const Point *p2 = Prev->Node;
const Point *p1 = Twin->Node;
const Point *p4 = Twin->Prev->Node;
double v1x = p3->X - p2->X;
double v1y = p3->Y - p2->Y;
double v2x = p1->X - p2->X;
double v2y = p1->Y - p2->Y;
double v3x = p1->X - p4->X;
double v3y = p1->Y - p4->Y;
double v4x = p3->X - p4->X;
double v4y = p3->Y - p4->Y;
double d1 = sqrt(v1x * v1x + v1y * v1y);
double d2 = sqrt(v2x * v2x + v2y * v2y);
double d3 = sqrt(v3x * v3x + v3y * v3y);
double d4 = sqrt(v4x * v4x + v4y * v4y);
double tol = -(d1 * d2 * d3 * d4 * FLT_EPSILON);
double sina = v1x * v2y - v1y * v2x;
double sinb = v3x * v4y - v3y * v4x;
double cosa = v1x * v2x + v1y * v2y;
double cosb = v3x * v4x + v3y * v4y;
double cct = sina * cosb + cosa * sinb;
return (cct < tol ? false : true);
}
}
bool Edge::is_valid() const {
bool value = true;
value = value && (this == Next->Prev);
value = value && (this == Prev->Next);
value = value && (this == Twin->Twin);
return value;
}
bool Edge::is_encroached(const Point *v2) const {
/*
A constrained edge is encroached if a triangle and it's circumcenter lie on opposite sides of the edge.
This is equivalent to a node being in the diameteral ball of the edge?
This only occurs if one of the triangles attached to the edge encroaches the edge?
This only occurs if the angle of the triangles attached to the edge has an angle opposite the edge of greater than 90 degrees.
Using the dot product, this requires that the normalized dot product < cos(90) = 0
*/
if (ConstraintCurve == nullptr) {
return false;
} else {
const Point *v0 = base();
const Point *v1 = tip();
double dx0 = v0->X - v2->X;
double dy0 = v0->Y - v2->Y;
double dx1 = v1->X - v2->X;
double dy1 = v1->Y - v2->Y;
double dot = dx0 * dx1 + dy0 * dy1;
double tol = sqrt(dx0 * dx0 + dy0 * dy0) * sqrt(dx1 * dx1 + dy1 * dy1) * FLT_EPSILON;
return (dot < tol ? true : false);
}
}
bool Edge::is_attached(const Point *p, Edge *&e) const {
if (*this->tip() == *p) {
return true;
}
e = const_cast<Edge *>(this);
if (e != e->Twin) {
e = e->Twin->Next;
while (e != this) {
if (*e->tip() == *p) {
return true;
} else if (e->Twin != e) {
e = e->Twin->Next;
} else {
break;
}
}
}
if (e == e->Twin) {
e = this->Prev;
while (e != e->Twin) {
if (*e->base() == *p) {
e = e->Twin;
return true;
} else {
e = e->Twin->Prev;
}
}
}
return false;
}
// Topology Altering Methods
bool Edge::swap() {
if (ConstraintCurve == nullptr) {
Edge * e1 = Next;
Edge * e2 = Prev;
Edge * e3 = Twin->Next;
Edge * e4 = Twin->Prev;
Node = e2->Node;
Next = e4;
Prev = e1;
Mark = false;
Twin->Node = e4->Node;
Twin->Next = e2;
Twin->Prev = e3;
Twin->Mark = false;
e1->Next = this;
e1->Prev = e4;
e1->Mark = false;
e2->Next = e3;
e2->Prev = Twin;
e2->Mark = false;
e3->Next = Twin;
e3->Prev = e2;
e3->Mark = false;
e4->Next = e1;
e4->Prev = this;
e4->Mark = false;
return true;
} else {
Mark = false;
return false;
}
}
bool Edge::recursive_swap() {
// #TODO, May need to have two different recursive swap methods, one for midpoint insertion and one for circumcenter insertion
if (!is_locally_optimal() && swap()) {
Edge * next = Next;
Edge * prev = Prev;
Edge * tnext = Twin->Next;
Edge * tprev = Twin->Prev;
next->recursive_swap();
prev->recursive_swap();
tnext->recursive_swap();
tprev->recursive_swap();
return true;
} else {
return false;
}
}
void Edge::split_edge(std::vector<const Point *> &points, std::vector<Edge *> &edges) {
/*
Splits edge into two edges at the midpoint without creating any new triangles.
Used for initial polygon refinement.
*/
Point * p = new Point;
points.push_back(p);
Curve *c;
if (ConstraintCurve != nullptr) { // Constrained Edge
Vertex *v = new Vertex; // #TODO: Need to manage this memory. Destructors.
c = ConstraintCurve->split(v, 0.5);
p->X = v->x();
p->Y = v->y();
} else { // Unconstrained Edge
c = nullptr;
*(p) = Point((Node->X + Next->Node->X) / 2.0, (Node->Y + Next->Node->Y) / 2.0);
}
if (this == Twin) { // Boundary Edge
Edge * e = new Edge;
edges.push_back(e);
// Constraint Curve
e->Orientation = Orientation;
if (Orientation) {
e->ConstraintCurve = c;
} else {
e->ConstraintCurve = ConstraintCurve;
ConstraintCurve = c;
}
// Connectivity
e->Node = p;
e->Next = Next;
e->Prev = this;
e->Twin = e;
e->Mark = false;
Next->Prev = e;
Next->Mark = false;
Next = e;
Mark = false;
} else { // Interior Edge
Edge * e0 = new Edge;
edges.push_back(e0);
Edge * e1 = new Edge;
edges.push_back(e1);
// Constraint Curve
e0->Orientation = Orientation;
e1->Orientation = !Orientation;
Twin->Orientation = !Orientation;
if (Orientation) {
e0->ConstraintCurve = c;
} else {
e0->ConstraintCurve = ConstraintCurve;
ConstraintCurve = c;
}
Twin->ConstraintCurve = e0->ConstraintCurve;
e1->ConstraintCurve = ConstraintCurve;
// Connectivity
e0->Node = p;
e0->Next = Next;
e0->Prev = this;
e0->Twin = Twin;
e0->Mark = false;
e1->Node = p;
e1->Next = Twin->Next;
e1->Prev = Twin;
e1->Twin = this;
e1->Mark = false;
if (Twin->Next != nullptr) {
Twin->Next->Prev = e1;
Twin->Next->Mark = false;
}
Twin->Next = e1;
Twin->Twin = e0;
Twin->Mark = false;
if (Next != nullptr) {
Next->Prev = e0;
Next->Mark = false;
}
Next = e0;
Twin = e1;
Mark = false;
}
}
// Calculation Methods
Point Edge::circumcenter() const {
double xa = Node->X;
double ya = Node->Y;
double xb = Prev->Node->X - xa;
double yb = Prev->Node->Y - ya;
double xc = Next->Node->X - xa;
double yc = Next->Node->Y - ya;
double d = 2.0 * (xb * yc - yb * xc);
double db = xb * xb + yb * yb;
double dc = xc * xc + yc * yc;
double x = (yc * db - yb * dc) / d + xa;
double y = (xb * dc - xc * db) / d + ya;
return Point{x, y};
}
double Edge::circumradius() const {
double xa = Node->X;
double ya = Node->Y;
double xb = Prev->Node->X - xa;
double yb = Prev->Node->Y - ya;
double xc = Next->Node->X - xa;
double yc = Next->Node->Y - ya;
xa = xb - xc;
ya = yb - yc;
double den = 2.0 * abs(xb * yc - yb * xc);
double num = sqrt(xa * xa + ya * ya) * sqrt(xb * xb + yb * yb) * sqrt(xc * xc + yc * yc);
return num / den;
}
double Edge::length() const {
double dx = Node->X - Next->Node->X;
double dy = Node->Y - Next->Node->Y;
return sqrt(dx * dx + dy * dy);
}
double Edge::shortest_edge_length() const {
double x0 = Node->X;
double y0 = Node->Y;
double x1 = Next->Node->X;
double y1 = Next->Node->Y;
double x2 = Prev->Node->X;
double y2 = Prev->Node->Y;
double dx = x0 - x1;
double dy = y0 - y1;
double dl = dx * dx + dy * dy;
dx = x1 - x2;
dy = y1 - y2;
dl = fmin(dl, dx * dx + dy * dy);
dx = x2 - x0;
dy = y2 - y0;
dl = fmin(dl, dx * dx + dy * dy);
return sqrt(dl);
}
// Auxillary Method
void Edge::recursive_mark() {
if (Mark && Next->Mark && Prev->Mark) {
Next->Mark = false;
Prev->Mark = false;
}
}
// Friend Utility
bool are_intersecting(const Edge *e0, const Edge *e1) {
// #TODO, Make more detailed return type enumeration
if (e0->ConstraintCurve != nullptr && e0->ConstraintCurve == e1->ConstraintCurve) {
return false;
}
const Point *v00 = e0->base();
const Point *v01 = e0->tip();
const Point *v10 = e1->base();
const Point *v11 = e1->tip();
double xs0 = (v00->X + v01->X) / 2.0;
double ys0 = (v00->Y + v01->Y) / 2.0;
double xs1 = (v10->X + v11->X) / 2.0;
double ys1 = (v10->Y + v11->Y) / 2.0;
double xd0 = (v00->X - v01->X) / 2.0;
double yd0 = (v00->Y - v01->Y) / 2.0;
double xd1 = (v10->X - v11->X) / 2.0;
double yd1 = (v10->Y - v11->Y) / 2.0;
double d0 = xd0 * xd0 + yd0 * yd0;
double d1 = xd1 * xd1 + yd1 * yd1;
double cross = abs(xd0 * yd1 - xd1 * yd0);
double tol = (d0 * d1) * FLT_EPSILON;
if (cross < tol) {
/*
Lines are nearly parallel
There are four possible minimum distance points between the lines
*/
double s, dx, dy, dmin = DBL_MAX;
s = ((xd0 - xd1) * (xs0 - xs1) + (yd0 - yd1) * (ys0 - ys1)) /
((xd0 - xd1) * (xd0 - xd1) + (yd0 - yd1) * (yd0 - yd1));
if (abs(s) < 1.0 - FLT_EPSILON) {
dx = xs0 + xd0 * s - xs1 - xd1 * s;
dy = ys0 + yd0 * s - ys1 - yd1 * s;
dmin = fmin(dmin, dx * dx + dy * dy);
dx = xs0 - xd0 * s - xs1 + xd1 * s;
dy = ys0 - yd0 * s - ys1 + yd1 * s;
dmin = fmin(dmin, dx * dx + dy * dy);
}
s = ((xd0 + xd1) * (xs0 - xs1) + (yd0 + yd1) * (ys0 - ys1)) /
((xd0 + xd1) * (xd0 + xd1) + (yd0 + yd1) * (yd0 + yd1));
if (abs(s) < 1.0 - FLT_EPSILON) {
dx = xs0 + xd0 * s - xs1 + xd1 * s;