openGJK/examples/cython/openGJK_cython.pyx

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#!python
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# This file is part of openGJK. #
# #
# OpenGJK 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, or #
# any later version. #
# #
# OpenGJK 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 The #
# GNU General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with OpenGJK. If not, see <https://www.gnu.org/licenses/>. #
# #
# openGJK: open-source Gilbert-Johnson-Keerthi algorithm #
# Copyright (C) Mattia Montanari 2018 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
# #
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# cython: language_level=3
# distutils: sources = ../../openGJK.c
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# distutils: include_dirs = ../../include/openGJK
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cimport openGJK_cython
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import numpy as np
from libc.stdlib cimport free, malloc
from cpython.mem cimport PyMem_Malloc, PyMem_Free
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# Create Python function
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def pygjk(bod1, bod2):
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# Declare data types
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cdef:
gkSimplex_ s
gkPolytope_ bd1
gkPolytope_ bd2
double dist2
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# Convert 1D array to 2D, if any
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if bod1.ndim < 2:
bod1 = np.append([bod1], [[1.,1.,1.]], axis = 0)
bd1.numpoints = np.size(bod1,0) - 1
else:
bd1.numpoints = np.size(bod1,0)
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if bod2.ndim < 2:
bod2 = np.append([bod2], [[1.,1.,1.]], axis = 0)
bd2.numpoints = np.size(bod2,0) - 1
else:
bd2.numpoints = np.size(bod2,0)
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# Allocate memory for bodies
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bd1.coord = <double **> malloc(bd1.numpoints * sizeof(double *))
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if not bd1.coord:
raise NameError('Not enough memory for bd1.coord')
for i in range(0, bd1.numpoints):
bd1.coord[i] = <double *> malloc(3 * sizeof(double))
if not bd1.coord[i]:
raise NameError('Not enough memory for bd1.coord[]')
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bd2.coord = <double **> malloc(bd2.numpoints * sizeof(double *))
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if not bd2.coord:
raise NameError('Not enough memory for bd2.coord')
for j in range(0, bd2.numpoints):
bd2.coord[j] = <double *> malloc(3 * sizeof(double))
if not bd2.coord[j]:
raise NameError('Not enough memory for bd2.coord[]')
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# Create numpy-array MemoryView
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cdef:
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double [:,:] narr1 = bod1
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double [:,:] narr2 = bod2
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# Assign coordinate values
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for i in range(0, bd1.numpoints):
for j in range(0,3):
bd1.coord[i][j] = narr1[i,j]
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for i in range(0, bd2.numpoints):
for j in range(0,3):
bd2.coord[i][j] = narr2[i,j]
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# Call C function
dist2 = compute_minimum_distance(bd1, bd2, &s)
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# Free the memory
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for ii in range(0, bd1.numpoints):
free(bd1.coord[ii])
free(bd1.coord)
for jj in range(0, bd2.numpoints):
free(bd2.coord[jj])
free(bd2.coord)
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return dist2
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