openGJK/examples/matlab/runme.m

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% Copyright 2022 Mattia Montanari, University of Oxford                          %
%                                                                                %
% This program is free software: you can redistribute it and/or modify it under  %
% the terms of the GNU General Public License as published by the Free Software  %
% Foundation, either version 3 of the License. You should have received a copy   %
% of the GNU General Public License along with this program. If not, visit       %
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%     https://www.gnu.org/licenses/                                              %
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% This program is distributed in the hope that it will be useful, but WITHOUT    %
% ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS  %
% FOR A PARTICULAR PURPOSE. See GNU General Public License for details.          %

clearvars

% SELECT OPTIMISATION FLAG - FASTER BUT NOT SUITABLE FOR DEBUGGING
if 0
    optflug = '-g'; %#ok<*UNRCH>
else
    optflug = '-O';
end
% SELECT SILET COMPILATION MODE.
if 1 
    silflag = '-silent'; 
else
    silflag = '-v';
end

% TRY COMPILING MEX FILE
fprintf('Compiling mex function... ')
try
mex(fullfile('..','..','src','openGJK.c'),...  % Source of openGJK 
    '-largeArrayDims', ...      % Support large arrays
    optflug, ...                % Compiler flag for debug/optimisation
    fullfile('-I..','..','include'),...      % Folder to header files
    '-outdir', pwd,...          % Ouput directory for writing mex function
    '-output', 'openGJK',...    % Name of ouput mex file
    '-DMATLAB_MEX_BUILD',...  % Define variable for mex function in source files
    silflag )                   % Silent/verbose flag

    % File compiled without errors. Return path and name of mex file
    fprintf('completed!\n')
    fprintf('The following mex file has been generated:')
    fprintf('\t%s\n',[pwd,filesep,'openGJK.',mexext]) 
catch
    % Build failed, refer to documentation
    fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
    fprintf('\tFor more information, see ')
    fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
    return
end
 
% RUN EXAMPLE
fprintf('Running example... ')
main
fprintf('completed!\n')