From 1122ef3ea6191fb82941a4abf9942449425b9239 Mon Sep 17 00:00:00 2001
From: Mattia Montanari <mattia.montanari@eng.ox.ac.uk>
Date: Thu, 21 May 2020 16:30:12 +0100
Subject: [PATCH] Remove cache files

---
 Cython/.DS_Store                              | Bin 6148 -> 0 bytes
 Cython/__pycache__/pygjk_trial.cpython-37.pyc | Bin 316 -> 0 bytes
 .../test.cpython-37-pytest-5.4.2.pyc          | Bin 10694 -> 0 bytes
 Cython/test.py                                | 180 ------------------
 4 files changed, 180 deletions(-)
 delete mode 100644 Cython/.DS_Store
 delete mode 100644 Cython/__pycache__/pygjk_trial.cpython-37.pyc
 delete mode 100644 Cython/__pycache__/test.cpython-37-pytest-5.4.2.pyc
 delete mode 100644 Cython/test.py

diff --git a/Cython/.DS_Store b/Cython/.DS_Store
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diff --git a/Cython/test.py b/Cython/test.py
deleted file mode 100644
index e8b6354..0000000
--- a/Cython/test.py
+++ /dev/null
@@ -1,180 +0,0 @@
-import openGJKpy as opengjk
-from scipy.spatial.transform import Rotation as R
-import numpy as np
-import pytest
-
-
-def distance_point_to_line_3D(P1, P2, point):
-    """
-    distance from point to line
-    """
-    return np.linalg.norm(np.cross(P2-P1, P1-point))/np.linalg.norm(P2-P1)
-
-
-def distance_point_to_plane_3D(P1, P2, P3, point):
-    """
-    Distance from point to plane
-    """
-    return np.abs(np.dot(np.cross(P2-P1, P3-P1) /
-                         np.linalg.norm(np.cross(P2-P1, P3-P1)), point-P2))
-
-
-@pytest.mark.parametrize("delta", [0.1, 1e-12, 0, -2])
-def test_line_point_distance(delta):
-    line = np.array([[0.1, 0.2, 0.3], [0.5, 0.8, 0.7]], dtype=np.float64) # 
-    point_on_line = line[0] + 0.27*(line[1]-line[0])
-    normal = np.cross(line[0], line[1])
-    point = point_on_line + delta * normal
-    distance = opengjk.pygjk(line, point)
-    actual_distance = distance_point_to_line_3D(
-        line[0], line[1], point)
-    print(distance, actual_distance)
-    assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("delta", [0.1, 1e-12, 0])
-def test_line_line_distance(delta):
-    line = np.array([[-0.5, -0.7, -0.3], [1, 2, 3]], dtype=np.float64)
-    point_on_line = line[0] + 0.38*(line[1]-line[0])
-    normal = np.cross(line[0], line[1])
-    point = point_on_line + delta * normal
-    line_2 = np.array([point, [2, 5, 6]], dtype=np.float64)
-    distance = opengjk.pygjk(line, line_2)
-    actual_distance = distance_point_to_line_3D(
-        line[0], line[1], line_2[0])
-    print(distance, actual_distance)
-    assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("delta", [0.1**(3*i) for i in range(6)])
-def test_tri_distance(delta):
-    tri_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0]], dtype=np.float64)
-    tri_2 = np.array([[1, delta, 0], [3, 1.2, 0], [1, 1, 0]], dtype=np.float64)
-    P1 = tri_1[2]
-    P2 = tri_1[1]
-    point = tri_2[0]
-    actual_distance = distance_point_to_line_3D(P1, P2, point)
-    distance = opengjk.pygjk(tri_1, tri_2)
-    print("Computed distance ", distance, "Actual distance ", actual_distance)
-
-    assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("delta", [0.1*0.1**(3*i) for i in range(6)])
-def test_quad_distance2d(delta):
-    quad_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0],
-                       [1, 1, 0]], dtype=np.float64)
-    quad_2 = np.array([[0, 1+delta, 0], [2, 2, 0],
-                       [2, 4, 0], [4, 4, 0]], dtype=np.float64)
-    P1 = quad_1[2]
-    P2 = quad_1[3]
-    point = quad_2[0]
-    actual_distance = distance_point_to_line_3D(P1, P2, point)
-    distance = opengjk.pygjk(quad_1, quad_2)
-    print("Computed distance ", distance, "Actual distance ", actual_distance)
-
-    assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("delta", [1*0.5**(3*i) for i in range(7)])
-def test_tetra_distance_3d(delta):
-    tetra_1 = np.array([[0, 0, 0.2], [1, 0, 0.1], [0, 1, 0.3],
-                        [0, 0, 1]], dtype=np.float64)
-    tetra_2 = np.array([[0, 0, -3], [1, 0, -3], [0, 1, -3],
-                        [0.5, 0.3, -delta]], dtype=np.float64)
-    actual_distance = distance_point_to_plane_3D(tetra_1[0], tetra_1[1],
-                                                 tetra_1[2], tetra_2[3])
-    distance = opengjk.pygjk(tetra_1, tetra_2)
-    print("Computed distance ", distance, "Actual distance ", actual_distance)
-
-    assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("delta", [(-1)**i*np.sqrt(2)*0.1**(3*i)
-                                   for i in range(6)])
-def test_tetra_collision_3d(delta):
-    tetra_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0],
-                        [0, 0, 1]], dtype=np.float64)
-    tetra_2 = np.array([[0, 0, -3], [1, 0, -3], [0, 1, -3],
-                        [0.5, 0.3, -delta]], dtype=np.float64)
-    actual_distance = distance_point_to_plane_3D(tetra_1[0], tetra_1[1],
-                                                 tetra_1[2], tetra_2[3])
-    distance = opengjk.pygjk(tetra_1, tetra_2)
-
-    if delta < 0:
-        assert(np.isclose(distance, 0, atol=1e-15))
-    else:
-        print("Computed distance ", distance,
-              "Actual distance ", actual_distance)
-        assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("delta", [0, -0.1, -0.49, -0.51])
-def test_hex_collision_3d(delta):
-    hex_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [1, 1, 0],
-                      [0, 0, 1], [1, 0, 1], [0, 1, 1], [1, 1, 1]],
-                     dtype=np.float64)
-    P0 = np.array([1.5+delta, 1.5+delta, 0.5], dtype=np.float64)
-    P1 = np.array([2, 2, 1], dtype=np.float64)
-    P2 = np.array([2, 1.25, 0.25], dtype=np.float64)
-    P3 = P1 + P2 - P0
-    quad_1 = np.array([P0, P1, P2, P3], dtype=np.float64)
-    n = (np.cross(quad_1[1]-quad_1[0], quad_1[2]-quad_1[0]) /
-         np.linalg.norm(
-        np.cross(quad_1[1]-quad_1[0],
-                 quad_1[2]-quad_1[0])))
-    quad_2 = quad_1 + n
-    hex_2 = np.zeros((8, 3), dtype=np.float64)
-    hex_2[:4, :] = quad_1
-    hex_2[4:, :] = quad_2
-    actual_distance = np.linalg.norm(
-        np.array([1, 1, P0[2]], dtype=np.float64)-hex_2[0])
-    distance = opengjk.pygjk(hex_1, hex_2)
-
-    if P0[0] < 1:
-        assert(np.isclose(distance, 0, atol=1e-15))
-    else:
-        print("Computed distance ", distance,
-              "Actual distance ", actual_distance)
-        assert(np.isclose(distance, actual_distance, atol=1e-15))
-
-
-@pytest.mark.parametrize("c0", [0, 1, 2, 3])
-@pytest.mark.parametrize("c1", [0, 1, 2, 3])
-def test_cube_distance(c0, c1):
-    cubes = [np.array([[-1, -1, -1], [1, -1, -1], [-1, 1, -1], [1, 1, -1],
-                       [-1, -1, 1], [1, -1, 1], [-1, 1, 1], [1, 1, 1]],
-                      dtype=np.float64)]
-
-    r = R.from_euler('z', 45, degrees=True)
-    cubes.append(r.apply(cubes[0]))
-    r = R.from_euler('y', np.arctan2(1.0, np.sqrt(2)))
-    cubes.append(r.apply(cubes[1]))
-    r = R.from_euler('y', 45, degrees=True)
-    cubes.append(r.apply(cubes[0]))
-
-    dx = cubes[c0][:,0].max() - cubes[c1][:,0].min()
-    cube0 = cubes[c0]
-
-    for delta in [1e8, 1.0, 1e-4, 1e-8, 1e-12]:
-        cube1 = cubes[c1] + np.array([dx + delta, 0, 0])
-        distance = opengjk.pygjk(cube0, cube1)
-        print(distance, delta)
-        assert(np.isclose(distance, delta))
-
-def test_random_objects():
-    for i in range(1, 8):
-        for j in range(1, 8):
-            for k in range(1000):    
-                arr1 = np.random.rand(i, 3)
-                arr2 = np.random.rand(j, 3)
-                opengjk.pygjk(arr1, arr2) 
-
-
-def test_large_random_objects():
-    for i in range(1, 8):
-        for j in range(1, 8):
-            for k in range(1000):    
-                arr1 = 10000.0*np.random.rand(i, 3)
-                arr2 = 10000.0*np.random.rand(j, 3)
-                opengjk.pygjk(arr1, arr2)