31 lines
946 B
C++
31 lines
946 B
C++
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#include "openGJK/openGJK.h"
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#include <pybind11/eigen.h>
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#include <pybind11/pybind11.h>
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namespace py = pybind11;
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PYBIND11_MODULE(opengjkc, m)
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{
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m.def("gjk",
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[](Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor>& arr1,
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Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor>& arr2)
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-> double {
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struct simplex s;
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struct bd bd1;
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struct bd bd2;
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bd1.numpoints = arr1.rows();
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std::vector<double*> arr1_rows(arr1.rows());
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for (int i = 0; i < arr1.rows(); ++i)
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arr1_rows[i] = arr1.row(i).data();
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bd1.coord = arr1_rows.data();
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bd2.numpoints = arr2.rows();
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std::vector<double*> arr2_rows(arr2.rows());
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for (int i = 0; i < arr2.rows(); ++i)
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arr2_rows[i] = arr2.row(i).data();
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bd2.coord = arr2_rows.data();
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double a = gjk(bd1, bd2, &s);
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return a;
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});
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}
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