openGJK/examples/matlab/runme.m

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% _____ _ _ __ %
% / ____| | | |/ / %
% ___ _ __ ___ _ __ | | __ | | ' / %
% / _ \| '_ \ / _ \ '_ \| | |_ |_ | | < %
% | (_) | |_) | __/ | | | |__| | |__| | . \ %
% \___/| .__/ \___|_| |_|\_____|\____/|_|\_\ %
% | | %
% |_| %
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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 %
% %
% https://www.gnu.org/licenses/ %
% %
% 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
'-DMATLABDOESMEXSTUFF',... % 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
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fprintf('completed!\n')