openGJK/examples/matlab/runme.m

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Matlab
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% This file is part of openGJK. %
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% 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 Foobar. If not, see <https://www.gnu.org/licenses/>. %
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% openGJK: open-source Gilbert-Johnson-Keerthi algorithm %
% Copyright (C) Mattia Montanari 2018 - 2019 %
% http://iel.eng.ox.ac.uk/?page_id=504 %
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% This file compiles a mex function from the openGJK library and runs an %
% example. If the mex function cannot be compiled an error is returned. %
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% CLEAR ALL VARIABLES
clearvars
% SELECT OPTIMISATION FLAG - FASTER BUT NOT SUITABLE FOR DEBUGGING
if 0
optflug = '-g'; %#ok<*UNRCH>
else
optflug = '-O';
end
% SELECT SILET COMPILATION MODE.
if 1
silflag = '-silent';
else
silflag = '-v';
end
% TRY COMPILING MEX FILE
fprintf('Compiling mex function... ')
try
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mex(fullfile('..','..','src','openGJK.c'),... % Source of openGJK
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'-largeArrayDims', ... % Support large arrays
optflug, ... % Compiler flag for debug/optimisation
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fullfile('-I..','..','include'),... % Folder to header files
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'-outdir', pwd,... % Ouput directory for writing mex function
'-output', 'openGJK',... % Name of ouput mex file
'-DMATLABDOESMEXSTUFF',... % Define variable for mex function in source files
silflag ) % Silent/verbose flag
% File compiled without errors. Return path and name of mex file
fprintf('completed!\n')
fprintf('The following mex file has been generated:')
fprintf('\t%s\n',[pwd,filesep,'openGJK.',mexext])
catch
% Build failed, refer to documentation
fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
fprintf('\tFor more information, see ')
fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
return
end
% RUN EXAMPLE
fprintf('Running example... ')
main
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fprintf('completed!\n')