New sub-algorithm

include/openGJK/openGJK.h

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+/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  *
+*                                    #####        # #    #                *
+*        ####  #####  ###### #    # #     #       # #   #                 *
+*       #    # #    # #      ##   # #             # #  #                  *
+*       #    # #    # #####  # #  # #  ####       # ###                   *
+*       #    # #####  #      #  # # #     # #     # #  #                  *
+*       #    # #      #      #   ## #     # #     # #   #                 *
+*        ####  #      ###### #    #  #####   #####  #    #                *
+*                                                                         *
+*           	Edward Garemo and Mattia Montanari  					  *
+*					  University of Oxford 2019             			  *
+* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
+*                                                                         *
+* This is the header file for the openGJK.c file. It defines the openGJK  *
+*	function and it two important structures: bd and simplex.  	          *
+*                                                                         *
+* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  */
+
+#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