2018-11-13 14:17:15 -08:00
|
|
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
|
|
|
|
% ##### # # # %
|
|
|
|
|
% #### ##### ###### # # # # # # # %
|
|
|
|
|
% # # # # # ## # # # # # %
|
|
|
|
|
% # # # # ##### # # # # #### # ### %
|
|
|
|
|
% # # ##### # # # # # # # # # # %
|
|
|
|
|
% # # # # # ## # # # # # # %
|
|
|
|
|
% #### # ###### # # ##### ##### # # %
|
|
|
|
|
% %
|
2019-07-29 04:44:15 -07:00
|
|
|
% 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 Foobar. If not, see <https://www.gnu.org/licenses/>. %
|
|
|
|
|
% %
|
|
|
|
|
% openGJK: open-source Gilbert-Johnson-Keerthi algorithm %
|
|
|
|
|
% Copyright (C) Mattia Montanari 2018 - 2019 %
|
|
|
|
|
% http://iel.eng.ox.ac.uk/?page_id=504 %
|
|
|
|
|
% %
|
2018-11-13 14:17:15 -08:00
|
|
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
|
|
|
|
% %
|
|
|
|
|
% 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. %
|
|
|
|
|
% %
|
|
|
|
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
|
|
|
|
|
|
|
|
|
% 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
|
2019-03-16 12:00:33 -07:00
|
|
|
mex(fullfile('..','lib','src','openGJK.c'),... % Source of openGJK
|
2018-11-13 14:17:15 -08:00
|
|
|
'-largeArrayDims', ... % Support large arrays
|
|
|
|
|
optflug, ... % Compiler flag for debug/optimisation
|
2019-03-16 12:00:33 -07:00
|
|
|
fullfile('-I..','lib','include'),... % Folder to header files
|
2018-11-13 14:17:15 -08:00
|
|
|
'-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
|
|
|
|
|
fprintf('completed!\n')
|
