2019-07-29 04:44:15 -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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* # # ##### # # # # # # # # # # *
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* # # # # # ## # # # # # # *
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* #### # ###### # # ##### ##### # # *
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* *
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* This file is part of openGJK. *
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* *
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* openGJK is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* any later version. *
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* *
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* openGJK is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See The *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with Foobar. If not, see <https://www.gnu.org/licenses/>. *
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* *
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* openGJK: open-source Gilbert-Johnson-Keerthi algorithm *
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* Copyright (C) Mattia Montanari 2018 - 2019 *
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* http://iel.eng.ox.ac.uk/?page_id=504 *
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* *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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2018-11-13 14:17:15 -08:00
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using System;
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using System.Runtime.InteropServices;
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public class Tester
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{
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#if UNIX
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[DllImport("libopenGJKlib.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
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#else
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[DllImport("openGJKlib", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
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#endif
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static extern double gjk(int na, double [,] ia, int nb, double [,] ib);
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public static void Main(string[] args)
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{
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double dist;
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// Define array A with coordinates
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int nCoordsA = 9;
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var inCoordsA = new double[3,9] { {0.0 , 2.3 , 8.1 , 4.3 ,2.5 , 7.1 , 1.0 , 3.3 , 6.0} , { 5.5 , 1.0 , 4.0 , 5.0 ,1.0, 1.0, 1.5, 0.5 , 1.4} ,{ 0.0 , -2.0, 2.4, 2.2, 2.3 , 2.4 , 0.3 , 0.3 , 0.2} };
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// Define array B with coordinates
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int nCoordsB = 9;
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var inCoordsB = new double[3,9] { {-0.0 , -2.3 , -8.1 , -4.3 ,-2.5 , -7.1 , -1.0 , -3.3 , -6.0} , { -5.5 , -1.0 ,- 4.0 ,- 5.0 ,-1.0, -1.0, -1.5, -0.5 , -1.4} ,{ -0.0 , 2.0, -2.4, -2.2, -2.3 , -2.4 , -0.3 , -0.3 , -0.2} };
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// Invoke GJK to compute distance
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dist = gjk( nCoordsA, inCoordsA, nCoordsB, inCoordsB );
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// Output results
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var s = string.Format("{0:0.##}", dist);
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var message = string.Format("The distance between {0} is {1}","A and B",s);
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Console.WriteLine(message);
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Console.WriteLine("Press any key to exit");
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Console.ReadLine();
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}
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}
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