openGJK/Cython/openGJK.h

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2020-05-18 16:54:28 -07:00
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
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* Edward Garemo and Mattia Montanari *
* University of Oxford 2019 *
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* *
* This is the header file for the openGJK.c file. It defines the openGJK *
* function and it two important structures: bd and simplex. *
* *
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#ifndef __OPENGJK_H__
#define __OPENGJK_H__
#include <stdio.h>
#include <stdlib.h>
#include "math.h"
/**
* @brief Structure of a body.
*/
struct bd {
int numpoints; /**< Number of points defining the body. */
double s[3]; /**< Support mapping computed last. */
double **coord; /**< Pointer to pointer to the points' coordinates. */
};
/**
* @brief Structure for a simplex.
*/
struct simplex {
int nvrtx; /**< Number of simplex's vertices. */
double vrtx[4][3]; /**< Coordinates of simplex's vertices. */
int wids[4]; /**< Label of the simplex's vertices. */
double lambdas[4]; /**< Barycentric coordiantes for each vertex. */
};
/**
* @brief The GJK algorithm which returns the minimum distance between
* two bodies.
*/
extern double gjk(struct bd, struct bd, struct simplex *);
#endif