2022-07-09 14:10:45 -07:00
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% ___ _ __ ___ _ __ | | __ | | ' / %
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% / _ \| '_ \ / _ \ '_ \| | |_ |_ | | < %
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% | (_) | |_) | __/ | | | |__| | |__| | . \ %
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% \___/| .__/ \___|_| |_|\_____|\____/|_|\_\ %
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% |_| %
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% Copyright 2022 Mattia Montanari, University of Oxford %
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% %
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% This program is free software: you can redistribute it and/or modify it under %
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% the terms of the GNU General Public License as published by the Free Software %
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% Foundation, either version 3 of the License. You should have received a copy %
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% of the GNU General Public License along with this program. If not, visit %
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% %
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% https://www.gnu.org/licenses/ %
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% %
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% This program is distributed in the hope that it will be useful, but WITHOUT %
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% ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS %
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% FOR A PARTICULAR PURPOSE. See GNU General Public License for details. %
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% DEFINE BODY A AS 3xN MATRIX, WHERE N IS THE NUMBER OF VERTICES OF BODY A
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A = [ 0.0 2.3 8.1 4.3 2.5 7.1 1.0 3.3 6.0
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5.5 1.0 4.0 5.0 1.0 1.0 1.5 0.5 1.4
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0.0 -2.0 2.4 2.2 2.3 2.4 0.3 0.3 0.2];
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% DEFINE BODY B IN THE OPPOSITE QUADRANT OF BODY A
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B = -A;
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% COMPUTE MINIMUM DISTANCE AND RETURN VALUE
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dist = openGJK( A, B );
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fprintf('The minimum distance between A and B is %.2f\n',dist);
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% VISUALISE RESULTS
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% .. create new figure
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figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
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'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
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'Renderer','opengl')
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% .. adjust properties
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axis equal tight off; hold all;
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% .. display body A
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DT = delaunayTriangulation(A');
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[K,~] = convexHull(DT);
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trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
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'EdgeColor','none','FaceColor',[.4 1 .9 ],...
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'FaceLighting','flat' )
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% .. display body B
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DT = delaunayTriangulation(B');
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[K,~] = convexHull(DT);
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trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
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'EdgeColor','none','FaceColor',[.4 1 .8 ],...
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'FaceLighting','flat' )
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% .. represent the computed distance as a sphere
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[x,y,z] = sphere(100);
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surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
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'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
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'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
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% ... adjust point of view
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view(42,21)
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% ... add light
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light('Position',[5 -10 20],'Style','local');
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