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Update copyright and license

fixes-turtlebasket
mm 2019-07-29 12:44:15 +01:00
parent 214af94bd0
commit 15cd434e4b
15 changed files with 378 additions and 83 deletions
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20
CMakeLists.txt
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@ -7,7 +7,25 @@
# # # # # # ## # # # # # # # # # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # # # #### # ###### # # ##### ##### # # #
# # # #
# Mattia Montanari | University of Oxford 2018 # # 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 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)

0
LICENSE → COPYING
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43
doc/Doxyfile
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@ -1,17 +1,32 @@
# Doxyfile 1.8.14 # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# This file describes the settings to be used by the documentation system # #### ##### ###### # # # # # # # #
# doxygen (www.doxygen.org) for a project. # # # # # # ## # # # # # #
# # # # # # ##### # # # # #### # ### #
# All text after a double hash (##) is considered a comment and is placed in # # # ##### # # # # # # # # # # #
# front of the TAG it is preceding. # # # # # # ## # # # # # # #
# # #### # ###### # # ##### ##### # # #
# All text after a single hash (#) is considered a comment and will be ignored. # #
# The format is: # This file is part of openGJK. #
# TAG = value [value, ...] # #
# For lists, items can also be appended using: # openGJK is free software: you can redistribute it and/or modify #
# TAG += value [value, ...] # it under the terms of the GNU General Public License as published by #
# Values that contain spaces should be placed between quotes (\" \"). # 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 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
#--------------------------------------------------------------------------- #---------------------------------------------------------------------------
# Project related configuration options # Project related configuration options

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doc/openGJKcustomfooter.html
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@ -1,5 +1,32 @@
<!-- HTML footer for doxygen 1.8.14--> <!-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
<!-- start footer part --> * ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -->
<!--BEGIN GENERATE_TREEVIEW--> <!--BEGIN GENERATE_TREEVIEW-->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul> <ul>

32
doc/openGJKcustomheader.html
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@ -1,4 +1,34 @@
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <!-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml"> <html xmlns="http://www.w3.org/1999/xhtml">
<head> <head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>

30
doc/openGJKcustomstyle.css
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@ -1,4 +1,32 @@
/* The standard CSS for doxygen 1.8.14 */ /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
body, table, div, p, dl { body, table, div, p, dl {
font: 400 14px/22px Roboto,sans-serif; font: 400 14px/22px Roboto,sans-serif;

21
example1_c/CMakeLists.txt
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@ -7,10 +7,27 @@
# # # # # # ## # # # # # # # # # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # # # #### # ###### # # ##### ##### # # #
# # # #
# Mattia Montanari | University of Oxford 2018 # # 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 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
project(openGJKdemo) project(openGJKdemo)
message( "[${CMAKE_PROJECT_NAME}] Compiling the executable ..") message( "[${CMAKE_PROJECT_NAME}] Compiling the executable ..")

55
example1_c/main.c
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@ -1,22 +1,40 @@
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # * * ##### # # # *
* #### ##### ###### # # # # # # # * * #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # * * # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### * * # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # * * # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # * * # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # * * #### # ###### # # ##### ##### # # *
* * * *
* Mattia Montanari | University of Oxford 2019 * * This file is part of openGJK. *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * * *
* * * openGJK is free software: you can redistribute it and/or modify *
* This file runs an example to illustrate how to invoke the openGJK lib * * it under the terms of the GNU General Public License as published by *
* within a C program. An executable called 'demo' can be compiled with * * the Free Software Foundation, either version 3 of the License, or *
* CMake. This reads the coordinates of two polytopes from the input * * any later version. *
* files userP.dat and userQ.dat, respectively, and returns the minimum * * *
* distance between them computed using the openGJK library. * * 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* *
* This file runs an example to illustrate how to invoke the openGJK lib *
* within a C program. An executable called 'demo' can be compiled with *
* CMake. This reads the coordinates of two polytopes from the input *
* files userP.dat and userQ.dat, respectively, and returns the minimum *
* distance between them computed using the openGJK library. *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
/** /**
* @file main.c * @file main.c
@ -32,7 +50,6 @@
/* For importing openGJK this is Step 1: include header in subfolder. */ /* For importing openGJK this is Step 1: include header in subfolder. */
#include "openGJK/openGJK.h" #include "openGJK/openGJK.h"
#ifndef WIN32 #ifndef WIN32
#define fscanf_s fscanf #define fscanf_s fscanf
#endif #endif

24
example2_mex/main.m
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@ -7,11 +7,29 @@
% # # # # # ## # # # # # # % % # # # # # ## # # # # # # %
% #### # ###### # # ##### ##### # # % % #### # ###### # # ##### ##### # # %
% % % %
% Mattia Montanari | University of Oxford 2018 % % 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 %
% %
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - % % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
% % % %
% This file runs an example to illustrate how to invoke the openGJK lib % % This file runs an example to illustrate how to cll the openGJK library %
% withing Matlab. It that assumes a mex file openGJK is availalbe, see % % withing Matlab. It assumes that a mex file openGJK is availalbe, see %
% the runme.m script for information on how to compile it. % % the runme.m script for information on how to compile it. %
% The example computes the minimum distance between two polytopes in 3D, % % The example computes the minimum distance between two polytopes in 3D, %
% A and B, both defined as a list of points. % % A and B, both defined as a list of points. %

21
example2_mex/runme.m
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@ -7,7 +7,25 @@
% # # # # # ## # # # # # # % % # # # # # ## # # # # # # %
% #### # ###### # # ##### ##### # # % % #### # ###### # # ##### ##### # # %
% % % %
% Mattia Montanari | University of Oxford 2019 % % 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 %
% %
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - % % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
% % % %
% This file compiles a mex function from the openGJK library and runs an % % This file compiles a mex function from the openGJK library and runs an %
@ -50,7 +68,6 @@ mex(fullfile('..','lib','src','openGJK.c'),... % Source of openGJK
catch catch
% Build failed, refer to documentation % Build failed, refer to documentation
fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n') fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
fprintf('\tThoubleshooting: chance your current folder to ..\openGJK\1_src\example2_mex')
fprintf('\tFor more information, see ') fprintf('\tFor more information, see ')
fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n') fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
return return

30
example3_csharp/main.cs
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@ -1,3 +1,33 @@
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
using System; using System;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;

20
lib/CMakeLists.txt
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@ -7,7 +7,25 @@
# # # # # # ## # # # # # # # # # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # # # #### # ###### # # ##### ##### # # #
# # # #
# Mattia Montanari | University of Oxford 2019 # # 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 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #

31
lib/ext/predicates.h
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@ -1,6 +1,31 @@
// /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
// Created by mmontanari on 29/06/16. * ##### # # # *
// * #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>

48
lib/include/openGJK/openGJK.h
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@ -1,19 +1,37 @@
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # * * ##### # # # *
* #### ##### ###### # # # # # # # * * #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # * * # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### * * # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # * * # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # * * # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # * * #### # ###### # # ##### ##### # # *
* * * *
* Mattia Montanari | University of Oxford 2019 * * This file is part of openGJK. *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * * *
* * * openGJK is free software: you can redistribute it and/or modify *
* This is the header file for the openGJK.c file. It defines the openGJK * * it under the terms of the GNU General Public License as published by *
* function and it two important structures: bd and simplex. * * 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* *
* This is the header file for the openGJK.c file. It defines the *
* openGJK function and its structures. *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
#ifndef __OPENGJK_H__ #ifndef __OPENGJK_H__
#define __OPENGJK_H__ #define __OPENGJK_H__

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lib/src/openGJK.c
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/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # * * ##### # # # *
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* * * *
* * * This file is part of openGJK. *
* Mattia Montanari | University of Oxford 2019 * * *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * * openGJK is free software: you can redistribute it and/or modify *
* * * it under the terms of the GNU General Public License as published by *
* This file implements the GJK algorithm and the Signed Volumes method as * * the Free Software Foundation, either version 3 of the License, or *
* presented in: * * any later version. *
* M. Montanari, N. Petrinic, E. Barbieri, "Improving the GJK Algorithm * * *
* for Faster and More Reliable Distance Queries Between Convex Objects" * * openGJK is distributed in the hope that it will be useful, *
* ACM Transactions on Graphics, vol. 36, no. 3, Jun. 2017. * * 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* *
* This file implements the GJK algorithm and the Signed Volumes method as*
* presented in: *
* M. Montanari, N. Petrinic, E. Barbieri, "Improving the GJK Algorithm *
* for Faster and More Reliable Distance Queries Between Convex Objects"*
* ACM Transactions on Graphics, vol. 36, no. 3, Jun. 2017. *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
/** /**
* @file openGJK.c * @file openGJK.c