just in case thats the code

#include <stdio.h>
#include <stdbool.h>
#include <math.h>

static inline double dot(const double* a, const double* b) { return a[0]*b[0] + a[1]*b[1] + a[2]*b[2]; }
static inline double mind(double a, double b) { return a < b ? a : b; }
static inline double maxd(double a, double b) { return a > b ? a : b; }

static inline bool intersect_ray_sphere(const double* p, const double* dir, const double* sc, double sr, double* t)
{
    const double m[] = {p[0] - sc[0], p[1] - sc[1], p[2] - sc[2]};
    const double b = dot(m, dir), c = dot(m,m) - sr*sr;
    if(c > 0 && b > 0) return false;
    const double discr = b*b - c;
    if(discr < 0) return false;

    *t = maxd(0, -b - sqrt(discr));
    return true;
}

static inline bool intersect_moving_sphere_sphere(const double* c0, double r0, const double* v0, const double* c1, double r1, const double* v1, double* t)
{
    // to transform to moving sphere vs stationery sphere: subtract v1 from both v1,v0
    // to transform to ray-sphere intersection: expand sphere1 by radius of s1

    const double r = r0+r1;
    double v[] = { v0[0] - v1[0], v0[1] - v1[1], v0[2] - v1[2] };

    double vlen = sqrt(dot(v,v));
    if(vlen < 1e-6) return false;
    v[0] /= vlen, v[1] /= vlen, v[2] /= vlen;

    bool ret = intersect_ray_sphere(c0, v, c1, r, t); *t /= vlen;
    return ret;
}

int main()
{
    unsigned N; double Rd; scanf("%u %lf\n", &N, &Rd);
    double c[N][3], v[N][3];
    for(unsigned i = 0, n = N ; i < n ; ++i) scanf("%lf %lf %lf %lf %lf %lf\n", &c[i][0], &c[i][1], &c[i][2], &v[i][0], &v[i][1], &v[i][2]);

    const double R = Rd / 2.0;

    double min_t; bool have_intersection = false; unsigned min_pair1, min_pair2;
    for(unsigned i = 0, n = N ; i < n ; ++i)
    for(unsigned j = i+1, m = N ; j < m ; ++j)
    {
        double t; bool intersect = intersect_moving_sphere_sphere(c[i], R, v[i], c[j], R, v[j], &t);
        if(intersect && (t < min_t || have_intersection == false))
            min_t = t, min_pair1 = i, min_pair2 = j, have_intersection = true;
    }

    if(have_intersection)   printf("ALARM!\n%.3f %u %u\n", min_t, min_pair1+1, min_pair2+1);
    else                    printf("OK\n");

    return 0;
}

Edited by author 31.07.2016 21:50

Edited by author 31.07.2016 21:51

Edited by author 31.07.2016 22:01