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diff --git a/Cython/__pycache__/test.cpython-37-pytest-5.4.2.pyc b/Cython/__pycache__/test.cpython-37-pytest-5.4.2.pyc
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diff --git a/Cython/openGJK.c b/Cython/openGJK.c
new file mode 100644
index 0000000..38733bf
--- /dev/null
+++ b/Cython/openGJK.c
@@ -0,0 +1,945 @@
+/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
+ * ##### # # # *
+ * #### ##### ###### # # # # # # # *
+ * # # # # # ## # # # # # *
+ * # # # # ##### # # # # #### # ### *
+ * # # ##### # # # # # # # # # # *
+ * # # # # # ## # # # # # # *
+ * #### # ###### # # ##### ##### # # *
+ * *
+ * 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 . *
+ * *
+ * openGJK: open-source Gilbert-Johnson-Keerthi algorithm *
+ * Copyright (C) Mattia Montanari 2018 - 2019 *
+ * http://iel.eng.ox.ac.uk/?page_id=504 *
+ * *
+ * - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
+
+#include "openGJK.h"
+
+/* If instricuted, compile a mex function for Matlab. */
+#ifdef MATLABDOESMEXSTUFF
+#include "mex.h"
+#else
+#define mexPrintf printf
+#endif
+
+#define eps_rel22 1e-5
+#define eps_tot22 1e-14
+
+/* Select distance sub-algorithm */
+
+#define norm2(a) (a[0]*a[0]+a[1]*a[1]+a[2]*a[2])
+
+#define dotProduct(a, b) (a[0]*b[0]+a[1]*b[1]+a[2]*b[2])
+
+#define S3Dregion1234() v[0] = 0;\
+ v[1] = 0;\
+ v[2] = 0;\
+ s->nvrtx = 4;
+
+#define select_1ik() s->nvrtx = 3;\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[2][t] = s->vrtx[3][t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[1][t] = si[t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[0][t] = sk[t];
+
+#define select_1ij() s->nvrtx = 3;\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[2][t] = s->vrtx[3][t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[1][t] = si[t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[0][t] = sj[t];
+
+#define select_1jk() s->nvrtx = 3;\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[2][t] = s->vrtx[3][t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[1][t] = sj[t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[0][t] = sk[t];
+
+#define select_1i() s->nvrtx = 2;\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[1][t] = s->vrtx[3][t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[0][t] = si[t];
+
+#define select_1j() s->nvrtx = 2;\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[1][t] = s->vrtx[3][t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[0][t] = sj[t];
+
+#define select_1k() s->nvrtx = 2;\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[1][t] = s->vrtx[3][t];\
+ for (t = 0; t < 3; t++)\
+ s->vrtx[0][t] = sk[t];
+
+#define getvrtx(point, location) point[0] = s->vrtx[location][0];\
+ point[1] = s->vrtx[location][1];\
+ point[2] = s->vrtx[location][2];
+
+#define calculateEdgeVector(p1p2, p2) p1p2[0] = p2[0] - s->vrtx[3][0];\
+ p1p2[1] = p2[1] - s->vrtx[3][1];\
+ p1p2[2] = p2[2] - s->vrtx[3][2];
+
+#define S1Dregion1() v[0] = s->vrtx[1][0];\
+ v[1] = s->vrtx[1][1];\
+ v[2] = s->vrtx[1][2];\
+ s->nvrtx = 1;\
+ s->vrtx[0][0] = s->vrtx[1][0];\
+ s->vrtx[0][1] = s->vrtx[1][1];\
+ s->vrtx[0][2] = s->vrtx[1][2];
+
+#define S2Dregion1() v[0] = s->vrtx[2][0];\
+ v[1] = s->vrtx[2][1];\
+ v[2] = s->vrtx[2][2];\
+ s->nvrtx = 1;\
+ s->vrtx[0][0] = s->vrtx[2][0];\
+ s->vrtx[0][1] = s->vrtx[2][1];\
+ s->vrtx[0][2] = s->vrtx[2][2];
+
+#define S2Dregion12() s->nvrtx = 2;\
+ s->vrtx[0][0] = s->vrtx[2][0];\
+ s->vrtx[0][1] = s->vrtx[2][1];\
+ s->vrtx[0][2] = s->vrtx[2][2];
+
+#define S2Dregion13() s->nvrtx = 2;\
+ s->vrtx[1][0] = s->vrtx[2][0];\
+ s->vrtx[1][1] = s->vrtx[2][1];\
+ s->vrtx[1][2] = s->vrtx[2][2];
+
+#define S3Dregion1() v[0] = s1[0];\
+ v[1] = s1[1];\
+ v[2] = s1[2];\
+ s->nvrtx = 1;\
+ s->vrtx[0][0] = s1[0];\
+ s->vrtx[0][1] = s1[1];\
+ s->vrtx[0][2] = s1[2];
+
+inline static double determinant(const double *p, const double *q, const double *r) {
+ return p[0] * ((q[1] * r[2]) - (r[1] * q[2])) - p[1] * (q[0] * r[2] - r[0] * q[2]) + p[2] * (q[0] * r[1] - r[0] * q[1]);
+}
+
+inline static void crossProduct(const double *a, const double *b, double *c)
+{
+ c[0] = a[1] * b[2] - a[2] * b[1];
+ c[1] = a[2] * b[0] - a[0] * b[2];
+ c[2] = a[0] * b[1] - a[1] * b[0];
+}
+
+inline static void projectOnLine(const double *p, const double *q, double *v)
+{
+ double pq[3];
+ double tmp;
+ pq[0] = p[0] - q[0];
+ pq[1] = p[1] - q[1];
+ pq[2] = p[2] - q[2];
+
+ tmp = dotProduct(p, pq) / dotProduct(pq, pq);
+
+ for (int i = 0; i < 3; i++)
+ v[i] = p[i] - pq[i] * tmp;
+}
+
+inline static void projectOnPlane(const double *p, const double *q, const double *r, double *v)
+{
+ double n[3], pq[3], pr[3];
+ double tmp;
+
+ for (int i = 0; i < 3; i++)
+ pq[i] = p[i] - q[i];
+
+ for (int i = 0; i < 3; i++)
+ pr[i] = p[i] - r[i];
+
+ crossProduct(pq, pr, n);
+ tmp = dotProduct(n, p) / dotProduct(n, n);
+
+ for (int i = 0; i < 3; i++)
+ v[i] = n[i] * tmp;
+}
+
+inline static int hff1(const double *p, const double *q)
+{
+ double tmp = 0;
+
+#pragma omp simd reduction(+:tmp)
+ for (int i = 0; i < 3; i++)
+ tmp += (p[i] * p[i] - p[i] * q[i]);
+
+ if (tmp > 0)
+ return 1; // keep q
+
+ return 0;
+}
+
+inline static int hff2(const double *p, const double *q, const double *r)
+{
+ double ntmp[3];
+ double n[3], pq[3], pr[3];
+ double tmp = 0;
+
+ for (int i = 0; i < 3; i++)
+ pq[i] = q[i] - p[i];
+
+ for (int i = 0; i < 3; i++)
+ pr[i] = r[i] - p[i];
+
+ crossProduct(pq, pr, ntmp);
+ crossProduct(pq, ntmp, n);
+
+#pragma omp simd reduction(+:tmp)
+ for (int i = 0; i < 3; i++)
+ tmp = tmp + (p[i] * n[i]);
+
+ if (tmp < 0)
+ return 1; // Discard r
+
+ return 0;
+}
+
+inline static int hff3(const double *p, const double *q, const double *r)
+{
+ double n[3], pq[3], pr[3];
+ double tmp = 0;
+
+ for (int i = 0; i < 3; i++)
+ pq[i] = q[i] - p[i];
+
+ for (int i = 0; i < 3; i++)
+ pr[i] = r[i] - p[i];
+
+ crossProduct(pq, pr, n);
+
+#pragma omp simd reduction(+:tmp)
+ for (int i = 0; i < 3; i++)
+ tmp = tmp + (p[i] * n[i]);
+
+ if (tmp > 0)
+ return 0; // discard s
+
+ return 1;
+}
+
+inline static void S1D(struct simplex * s, double *v)
+{
+ double *s1p = s->vrtx[1];
+ double *s2p = s->vrtx[0];
+
+ if (hff1(s1p, s2p)) {
+ projectOnLine(s1p, s2p, v); // Update v, no need to update s
+ return; // Return V{1,2}
+ }
+ else {
+ S1Dregion1(); // Update v and s
+ return; // Return V{1}
+ }
+}
+
+
+inline static void S2D(struct simplex * s, double *v)
+{
+ double *s1p = s->vrtx[2];
+ double *s2p = s->vrtx[1];
+ double *s3p = s->vrtx[0];
+ int hff1f_s12 = hff1(s1p, s2p);
+ int hff1f_s13 = hff1(s1p, s3p);
+ int hff2f_23 = !hff2(s1p, s2p, s3p);
+ int hff2f_32 = !hff2(s1p, s3p, s2p);
+
+ if (hff1f_s12) {
+ if (hff2f_23) {
+ if (hff1f_s13) {
+ if (hff2f_32) {
+ projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
+ return; // Return V{1,2,3}
+ }
+ else
+ {
+ projectOnLine(s1p, s3p, v); // Update v
+ S2Dregion13(); // Update s
+ return; // Return V{1,3}
+ }
+ }
+ else
+ {
+ projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
+ return; // Return V{1,2,3}
+ }
+ }
+ else
+ {
+ projectOnLine(s1p, s2p, v); // Update v
+ S2Dregion12(); // Update s
+ return; // Return V{1,2}
+ }
+ }
+ else if (hff1f_s13) {
+ if (hff2f_32) {
+ projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
+ return; // Return V{1,2,3}
+ }
+ else
+ {
+ projectOnLine(s1p, s3p, v); // Update v
+ S2Dregion13(); // Update s
+ return; // Return V{1,3}
+ }
+ }
+ else {
+ S2Dregion1(); // Update s and v
+ return; // Return V{1}
+ }
+
+}
+
+inline static void S3D(struct simplex * s, double *v) {
+
+ double s1[3], s2[3], s3[3], s4[3], s1s2[3], s1s3[3], s1s4[3];
+ double si[3], sj[3], sk[3];
+ int testLineThree, testLineFour, testPlaneTwo, testPlaneThree, testPlaneFour, dotTotal;
+ int i, j, k, t;
+
+ getvrtx(s1, 3);
+ getvrtx(s2, 2);
+ getvrtx(s3, 1);
+ getvrtx(s4, 0);
+ calculateEdgeVector(s1s2, s2);
+ calculateEdgeVector(s1s3, s3);
+ calculateEdgeVector(s1s4, s4);
+
+ int hff1_tests[3];
+ hff1_tests[2] = hff1(s1, s2);
+ hff1_tests[1] = hff1(s1, s3);
+ hff1_tests[0] = hff1(s1, s4);
+ testLineThree = hff1(s1, s3);
+ testLineFour = hff1(s1, s4);
+
+ dotTotal = hff1(s1, s2) + testLineThree + testLineFour;
+ if (dotTotal == 0) { /* case 0.0 -------------------------------------- */
+ S3Dregion1();
+ return;
+ }
+
+ double det134 = determinant(s1s3, s1s4, s1s2);
+ int sss;
+ if (det134 > 0) {
+ sss = 0;
+ }
+ else {
+ sss = 1;
+ }
+
+ testPlaneTwo = hff3(s1, s3, s4) - sss;
+ testPlaneTwo = testPlaneTwo * testPlaneTwo;
+ testPlaneThree = hff3(s1, s4, s2) - sss;
+ testPlaneThree = testPlaneThree * testPlaneThree;
+ testPlaneFour = hff3(s1, s2, s3) - sss;
+ testPlaneFour = testPlaneFour * testPlaneFour;
+
+ switch (testPlaneTwo + testPlaneThree + testPlaneFour) {
+ case 3:
+ S3Dregion1234();
+ break;
+
+ case 2:
+ // Only one facing the oring
+ // 1,i,j, are the indices of the points on the triangle and remove k from simplex
+ s->nvrtx = 3;
+ if (!testPlaneTwo) { // k = 2; removes s2
+ for (i = 0; i < 3; i++)
+ s->vrtx[2][i] = s->vrtx[3][i];
+ }
+ else if (!testPlaneThree) {// k = 1; // removes s3
+ for (i = 0; i < 3; i++)
+ s->vrtx[1][i] = s2[i];
+ for (i = 0; i < 3; i++)
+ s->vrtx[2][i] = s->vrtx[3][i];
+ }
+ else if (!testPlaneFour) { // k = 0; // removes s4 and no need to reorder
+ for (i = 0; i < 3; i++)
+ s->vrtx[0][i] = s3[i];
+ for (i = 0; i < 3; i++)
+ s->vrtx[1][i] = s2[i];
+ for (i = 0; i < 3; i++)
+ s->vrtx[2][i] = s->vrtx[3][i];
+ }
+ // Call S2D
+ S2D(s, v);
+ break;
+ case 1:
+ // Two triangles face the origins:
+ // The only positive hff3 is for triangle 1,i,j, therefore k must be in the solution as it supports the the point of minimum norm.
+
+ // 1,i,j, are the indices of the points on the triangle and remove k from simplex
+ s->nvrtx = 3;
+ if (testPlaneTwo) {
+ k = 2; // s2
+ i = 1;
+ j = 0;
+ }
+ else if (testPlaneThree) {
+ k = 1; // s3
+ i = 0;
+ j = 2;
+ }
+ else {
+ k = 0; // s4
+ i = 2;
+ j = 1;
+ }
+
+ getvrtx(si, i);
+ getvrtx(sj, j);
+ getvrtx(sk, k);
+
+ if (dotTotal == 1) {
+ if (hff1_tests[k]) {
+ if (!hff2(s1, sk, si)) {
+ select_1ik();
+ projectOnPlane(s1, si, sk, v);
+ }
+ else if (!hff2(s1, sk, sj)) {
+ select_1jk();
+ projectOnPlane(s1, sj, sk, v);
+ }
+ else {
+ select_1k(); // select region 1i
+ projectOnLine(s1, sk, v);
+ }
+ }
+ else if (hff1_tests[i]) {
+ if (!hff2(s1, si, sk)) {
+ select_1ik();
+ projectOnPlane(s1, si, sk, v);
+ }
+ else {
+ select_1i(); // select region 1i
+ projectOnLine(s1, si, v);
+ }
+ }
+ else {
+ if (!hff2(s1, sj, sk)) {
+ select_1jk();
+ projectOnPlane(s1, sj, sk, v);
+ }
+ else {
+ select_1j(); // select region 1i
+ projectOnLine(s1, sj, v);
+ }
+ }
+ }
+ else if (dotTotal == 2) {
+ // Two edges have positive hff1, meaning that for two edges the origin's project fall on the segement.
+ // Certainly the edge 1,k supports the the point of minimum norm, and so hff1_1k is positive
+
+ if (hff1_tests[i]) {
+ if (!hff2(s1, sk, si))
+ if (!hff2(s1, si, sk)) {
+ select_1ik(); // select region 1ik
+ projectOnPlane(s1, si, sk, v);
+ }
+ else {
+ select_1k(); // select region 1k
+ projectOnLine(s1, sk, v);
+ }
+ else {
+ if (!hff2(s1, sk, sj)) {
+ select_1jk(); // select region 1jk
+ projectOnPlane(s1, sj, sk, v);
+ }
+ else {
+ select_1k(); // select region 1k
+ projectOnLine(s1, sk, v);
+ }
+ }
+ }
+ else if (hff1_tests[j]) {// there is no other choice
+ if (!hff2(s1, sk, sj))
+ if (!hff2(s1, sj, sk)) {
+ select_1jk(); // select region 1jk
+ projectOnPlane(s1, sj, sk, v);
+ }
+ else {
+ select_1j(); // select region 1j
+ projectOnLine(s1, sj, v);
+ }
+ else {
+ if (!hff2(s1, sk, si)) {
+ select_1ik(); // select region 1ik
+ projectOnPlane(s1, si, sk, v);
+ }
+ else {
+ select_1k(); // select region 1k
+ projectOnLine(s1, sk, v);
+ }
+ }
+ }
+ else {
+ // ERROR;
+ }
+
+ }
+ else if (dotTotal == 3) {
+ // MM : ALL THIS HYPHOTESIS IS FALSE
+ // sk is s.t. hff3 for sk < 0. So, sk must support the origin because there are 2 triangles facing the origin.
+
+ int hff2_ik = hff2(s1,si,sk);
+ int hff2_jk = hff2(s1,sj,sk);
+ int hff2_ki = hff2(s1,sk,si);
+ int hff2_kj = hff2(s1,sk,sj);
+
+ if (hff2_ki == 0 && hff2_kj == 0){
+ mexPrintf("\n\n UNEXPECTED VALUES!!! \n\n");
+ }
+ if (hff2_ki == 1 && hff2_kj == 1){
+ select_1k();
+ projectOnLine(s1, sk, v);
+ }
+ else if (hff2_ki) {
+ // discard i
+ if (hff2_jk){
+ // discard k
+ select_1j();
+ projectOnLine(s1, sj, v);
+ }
+ else{
+ select_1jk();
+ projectOnPlane(s1, sk, sj, v);
+ }
+ }
+ else {
+ // discard j
+ if (hff2_ik){
+ // discard k
+ select_1i();
+ projectOnLine(s1, si, v);
+ }
+ else{
+ select_1ik();
+ projectOnPlane(s1, sk, si, v);
+ }
+ }
+ }
+ break;
+
+ case 0:
+ // The origin is outside all 3 triangles
+ if (dotTotal == 1) {
+ // Here si is set such that hff(s1,si) > 0
+ if (testLineThree) {
+ k = 2;
+ i = 1; // s3
+ j = 0;
+ }
+ else if (testLineFour) {
+ k = 1; // s3
+ i = 0;
+ j = 2;
+ }
+ else {
+ k = 0;
+ i = 2; // s2
+ j = 1;
+ }
+ getvrtx(si, i);
+ getvrtx(sj, j);
+ getvrtx(sk, k);
+
+ if (!hff2(s1, si, sj)) {
+ select_1ij();
+ projectOnPlane(s1, si, sj, v);
+ }
+ else if (!hff2(s1, si, sk)) {
+ select_1ik();
+ projectOnPlane(s1, si, sk, v);
+ }
+ else {
+ select_1i();
+ projectOnLine(s1, si, v);
+ }
+ }
+ else if (dotTotal == 2) {
+ // Here si is set such that hff(s1,si) < 0
+ s->nvrtx = 3;
+ if (!testLineThree) {
+ k = 2;
+ i = 1; // s3
+ j = 0;
+ }
+ else if (!testLineFour) {
+ k = 1;
+ i = 0; // s4
+ j = 2;
+ }
+ else {
+ k = 0;
+ i = 2; // s2
+ j = 1;
+ }
+ getvrtx(si, i);
+ getvrtx(sj, j);
+ getvrtx(sk, k);
+
+ if (!hff2(s1, sj, sk)) {
+ if (!hff2(s1, sk, sj)) {
+ select_1jk(); // select region 1jk
+ projectOnPlane(s1, sj, sk, v);
+ }
+ else if (!hff2(s1, sk, si)) {
+ select_1ik();
+ projectOnPlane(s1, sk, si, v);
+ }
+ else {
+ select_1k();
+ projectOnLine(s1, sk, v);
+ }
+ }
+ else if (!hff2(s1, sj, si)) {
+ select_1ij();
+ projectOnPlane(s1, si, sj, v);
+ }
+ else {
+ select_1j();
+ projectOnLine(s1, sj, v);
+ }
+ }
+ break;
+ default:
+ mexPrintf("\nERROR:\tunhandled");
+ }
+
+}
+
+inline static void support(struct bd *body, const double *v) {
+
+ double s, maxs;
+ double *vrt;
+ int better = -1;
+
+ maxs = dotProduct(body->s, v);
+
+ for (int i = 0; i < body->numpoints; ++i) {
+ vrt = body->coord[i];
+ s = dotProduct(vrt, v);
+ if (s > maxs) {
+ maxs = s;
+ better = i;
+ }
+ }
+
+ if (better != -1) {
+ body->s[0] = body->coord[better][0];
+ body->s[1] = body->coord[better][1];
+ body->s[2] = body->coord[better][2];
+ }
+}
+
+inline static void subalgorithm(struct simplex *s, double *v) {
+
+ switch (s->nvrtx) {
+ case 4:
+ S3D(s, v);
+ break;
+ case 3:
+ S2D(s, v);
+ break;
+ case 2:
+ S1D(s, v);
+ break;
+ default:
+ mexPrintf("\nERROR:\t invalid simplex\n");
+ }
+}
+
+double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
+
+ int k = 0; /**< Iteration counter */
+ int i; /**< General purpose counter */
+ int mk = 5000; /**< Maximum number of iterations of the GJK algorithm */
+ int absTestin;
+ double norm2Wmax = 0;
+ double tesnorm;
+ double v[3]; /**< Search direction */
+ double vminus[3]; /**< Search direction * -1 */
+ double w[3]; /**< Vertex on CSO boundary given by the difference of support functions on both bodies */
+ double eps_rel = eps_rel22; /**< Tolerance on relative */
+ double eps_rel2 = eps_rel * eps_rel;
+ double eps_tot = eps_tot22;
+ int exeedtol_rel = 0; /**< Flag for 1st exit condition */
+ int nullV = 0;
+
+#ifdef DEBUG
+ mexPrintf("Num points A = %i \n", bd1.numpoints);
+ mexPrintf("Num points B = %i \n", bd2.numpoints);
+ for (i = 0; i < bd1.numpoints; ++i) {
+ for (int j = 0; j < 3; j++) {
+ mexPrintf("%.4f ", bd1.coord[i][j]);
+ }
+ mexPrintf("\n");
+ }
+
+ for (i = 0; i < bd2.numpoints; ++i) {
+ for (int j = 0; j < 3; j++) {
+ mexPrintf("%.4f ", bd2.coord[i][j]);
+ }
+ mexPrintf("\n");
+ }
+#endif
+
+ /* Initialise search direction */
+ v[0] = bd1.coord[0][0] - bd2.coord[0][0];
+ v[1] = bd1.coord[0][1] - bd2.coord[0][1];
+ v[2] = bd1.coord[0][2] - bd2.coord[0][2];
+
+ /* Inialise simplex */
+ s->nvrtx = 1;
+ for (int t = 0; t < 3; ++t)
+ s->vrtx[0][t] = v[t];
+
+ for (int t = 0; t < 3; ++t)
+ bd1.s[t] = bd1.coord[0][t];
+
+ for (int t = 0; t < 3; ++t)
+ bd2.s[t] = bd2.coord[0][t];
+
+ /* Begin GJK iteration */
+ do {
+
+ k++;
+
+ /* Update negative search direction */
+ for (int t = 0; t < 3; ++t)
+ vminus[t] = -v[t];
+
+ /* Support function */
+ support(&bd1, vminus);
+ support(&bd2, v);
+ for (int t = 0; t < 3; ++t)
+ w[t] = bd1.s[t] - bd2.s[t];
+
+ /* Test first exit condition (new point already in simplex/can't move further) */
+ exeedtol_rel = (norm2(v) - dotProduct(v, w)) <= eps_rel2 * norm2(v);
+ if (exeedtol_rel) {
+ break;
+ }
+
+ nullV = norm2(v) < eps_rel2;
+ if (nullV) {
+ break;
+ }
+
+ /* Add new vertex to simplex */
+ i = s->nvrtx;
+ for (int t = 0; t < 3; ++t)
+ s->vrtx[i][t] = w[t];
+ s->nvrtx++;
+
+ /* Invoke distance sub-algorithm */
+ subalgorithm(s, v);
+
+ /* Test */
+ for (int jj = 0; jj < s->nvrtx; jj++) {
+ tesnorm = norm2(s->vrtx[jj]);
+ if (tesnorm > norm2Wmax) {
+ norm2Wmax = tesnorm;
+ }
+ }
+
+ absTestin = (norm2(v) <= (eps_tot * eps_tot * norm2Wmax));
+ if (absTestin)
+ break;
+
+ } while ((s->nvrtx != 4) && (k != mk));
+
+ if (k == mk) {
+ mexPrintf("\n * * * * * * * * * * * * MAXIMUM ITERATION NUMBER REACHED!!! * * * * * * * * * * * * * * \n");
+ }
+
+ return sqrt(norm2(v));
+}
+
+
+
+#ifdef MATLABDOESMEXSTUFF
+/**
+ * @brief Mex function for Matlab.
+ */
+void mexFunction(int nlhs, mxArray *plhs[],
+ int nrhs, const mxArray *prhs[])
+{
+
+ double *inCoordsA;
+ double *inCoordsB;
+ size_t nCoordsA;
+ size_t nCoordsB;
+ int i;
+ double *distance;
+ int c = 3;
+ int count = 0;
+ double**arr1;
+ double**arr2;
+
+ /**************** PARSE INPUTS AND OUTPUTS **********************/
+ /*----------------------------------------------------------------*/
+ /* Examine input (right-hand-side) arguments. */
+ if (nrhs != 2) {
+ mexErrMsgIdAndTxt("MyToolbox:gjk:nrhs", "Two inputs required.");
+ }
+ /* Examine output (left-hand-side) arguments. */
+ if (nlhs != 1) {
+ mexErrMsgIdAndTxt("MyToolbox:gjk:nlhs", "One output required.");
+ }
+
+ /* make sure the two input arguments are any numerical type */
+ /* .. first input */
+ if (!mxIsNumeric(prhs[0])) {
+ mexErrMsgIdAndTxt("MyToolbox:gjk:notNumeric", "Input matrix must be type numeric.");
+ }
+ /* .. second input */
+ if (!mxIsNumeric(prhs[1])) {
+ mexErrMsgIdAndTxt("MyToolbox:gjk:notNumeric", "Input matrix must be type numeric.");
+ }
+
+ /* make sure the two input arguments have 3 columns */
+ /* .. first input */
+ if (mxGetM(prhs[0]) != 3) {
+ mexErrMsgIdAndTxt("MyToolbox:gjk:notColumnVector", "First input must have 3 columns.");
+ }
+ /* .. second input */
+ if (mxGetM(prhs[1]) != 3) {
+ mexErrMsgIdAndTxt("MyToolbox:gjk:notColumnVector", "Second input must have 3 columns.");
+ }
+
+ /*----------------------------------------------------------------*/
+ /* CREATE DATA COMPATIBLE WITH MATALB */
+
+ /* create a pointer to the real data in the input matrix */
+ inCoordsA = mxGetPr(prhs[0]);
+ inCoordsB = mxGetPr(prhs[1]);
+
+ /* get the length of each input vector */
+ nCoordsA = mxGetN(prhs[0]);
+ nCoordsB = mxGetN(prhs[1]);
+
+ /* Create output */
+ plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
+
+ /* get a pointer to the real data in the output matrix */
+ distance = mxGetPr(plhs[0]);
+
+ /* Copy data from Matlab's vectors into two new arrays */
+ arr1 = (double **)mxMalloc(sizeof(double *) * (int)nCoordsA);
+ arr2 = (double **)mxMalloc(sizeof(double *) * (int)nCoordsB);
+
+ for (i = 0; i < nCoordsA; i++)
+ arr1[i] = &inCoordsA[i * 3];
+
+ for (i = 0; i < nCoordsB; i++)
+ arr2[i] = &inCoordsB[i * 3];
+
+ /*----------------------------------------------------------------*/
+ /* POPULATE BODIES' STRUCTURES */
+
+ struct bd bd1; /* Structure of body A */
+ struct bd bd2; /* Structure of body B */
+
+ /* Assign number of vertices to each body */
+ bd1.numpoints = (int)nCoordsA;
+ bd2.numpoints = (int)nCoordsB;
+
+ bd1.coord = arr1;
+ bd2.coord = arr2;
+
+ /*----------------------------------------------------------------*/
+ /*CALL COMPUTATIONAL ROUTINE */
+
+ struct simplex s;
+ s.nvrtx = 0;
+
+ /* Compute squared distance using GJK algorithm */
+ distance[0] = gjk(bd1, bd2, &s);
+
+ mxFree(arr1);
+ mxFree(arr2);
+
+}
+#endif
+
+/**
+ * @brief Invoke this function from C# applications
+ */
+double csFunction(int nCoordsA, double *inCoordsA, int nCoordsB, double *inCoordsB)
+{
+ double distance = 0;
+ int i, j;
+
+ /*----------------------------------------------------------------*/
+ /* POPULATE BODIES' STRUCTURES */
+
+ struct bd bd1; /* Structure of body A */
+ struct bd bd2; /* Structure of body B */
+
+ /* Assign number of vertices to each body */
+ bd1.numpoints = (int)nCoordsA;
+ bd2.numpoints = (int)nCoordsB;
+
+ double **pinCoordsA = (double **)malloc(bd1.numpoints * sizeof(double *));
+ for (i = 0; i < bd1.numpoints; i++)
+ pinCoordsA[i] = (double *)malloc(3 * sizeof(double));
+
+ for (i = 0; i < 3; i++)
+ for (j = 0; j < bd1.numpoints; j++)
+ pinCoordsA[j][i] = inCoordsA[i*bd1.numpoints + j];
+
+ double **pinCoordsB = (double **)malloc(bd2.numpoints * sizeof(double *));
+ for (i = 0; i < bd2.numpoints; i++)
+ pinCoordsB[i] = (double *)malloc(3 * sizeof(double));
+
+ for (i = 0; i < 3; i++)
+ for (j = 0; j < bd2.numpoints; j++)
+ pinCoordsB[j][i] = inCoordsB[i*bd2.numpoints + j];
+
+ bd1.coord = pinCoordsA;
+ bd2.coord = pinCoordsB;
+
+
+ /*----------------------------------------------------------------*/
+ /*CALL COMPUTATIONAL ROUTINE */
+ struct simplex s;
+
+ /* Initialise simplex as empty */
+ s.nvrtx = 0;
+
+ /* Compute squared distance using GJK algorithm */
+ distance = gjk(bd1, bd2, &s);
+
+ for (i = 0; i < bd1.numpoints; i++)
+ free(pinCoordsA[i]);
+ free(pinCoordsA);
+
+ for (i = 0; i < bd2.numpoints; i++)
+ free(pinCoordsB[i]);
+ free(pinCoordsB);
+
+ return distance;
+}
diff --git a/Cython/openGJK.h b/Cython/openGJK.h
new file mode 100644
index 0000000..9ea3970
--- /dev/null
+++ b/Cython/openGJK.h
@@ -0,0 +1,52 @@
+/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
+* ##### # # # *
+* #### ##### ###### # # # # # # # *
+* # # # # # ## # # # # # *
+* # # # # ##### # # # # #### # ### *
+* # # ##### # # # # # # # # # # *
+* # # # # # ## # # # # # # *
+* #### # ###### # # ##### ##### # # *
+* *
+* 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
+#include
+#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
\ No newline at end of file
diff --git a/Cython/openGJK.o b/Cython/openGJK.o
new file mode 100644
index 0000000..b07e029
Binary files /dev/null and b/Cython/openGJK.o differ
diff --git a/Cython/openGJK_cython.c b/Cython/openGJK_cython.c
new file mode 100644
index 0000000..65c19d9
--- /dev/null
+++ b/Cython/openGJK_cython.c
@@ -0,0 +1,3988 @@
+/* Generated by Cython 0.29.17 */
+
+/* BEGIN: Cython Metadata
+{
+ "distutils": {
+ "depends": [
+ "openGJK.h"
+ ],
+ "name": "openGJKpy",
+ "sources": [
+ "openGJK_cython.pyx",
+ "openGJK.c"
+ ]
+ },
+ "module_name": "openGJKpy"
+}
+END: Cython Metadata */
+
+#define PY_SSIZE_T_CLEAN
+#include "Python.h"
+#ifndef Py_PYTHON_H
+ #error Python headers needed to compile C extensions, please install development version of Python.
+#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
+ #error Cython requires Python 2.6+ or Python 3.3+.
+#else
+#define CYTHON_ABI "0_29_17"
+#define CYTHON_HEX_VERSION 0x001D11F0
+#define CYTHON_FUTURE_DIVISION 1
+#include
+#ifndef offsetof
+ #define offsetof(type, member) ( (size_t) & ((type*)0) -> member )
+#endif
+#if !defined(WIN32) && !defined(MS_WINDOWS)
+ #ifndef __stdcall
+ #define __stdcall
+ #endif
+ #ifndef __cdecl
+ #define __cdecl
+ #endif
+ #ifndef __fastcall
+ #define __fastcall
+ #endif
+#endif
+#ifndef DL_IMPORT
+ #define DL_IMPORT(t) t
+#endif
+#ifndef DL_EXPORT
+ #define DL_EXPORT(t) t
+#endif
+#define __PYX_COMMA ,
+#ifndef HAVE_LONG_LONG
+ #if PY_VERSION_HEX >= 0x02070000
+ #define HAVE_LONG_LONG
+ #endif
+#endif
+#ifndef PY_LONG_LONG
+ #define PY_LONG_LONG LONG_LONG
+#endif
+#ifndef Py_HUGE_VAL
+ #define Py_HUGE_VAL HUGE_VAL
+#endif
+#ifdef PYPY_VERSION
+ #define CYTHON_COMPILING_IN_PYPY 1
+ #define CYTHON_COMPILING_IN_PYSTON 0
+ #define CYTHON_COMPILING_IN_CPYTHON 0
+ #undef CYTHON_USE_TYPE_SLOTS
+ #define CYTHON_USE_TYPE_SLOTS 0
+ #undef CYTHON_USE_PYTYPE_LOOKUP
+ #define CYTHON_USE_PYTYPE_LOOKUP 0
+ #if PY_VERSION_HEX < 0x03050000
+ #undef CYTHON_USE_ASYNC_SLOTS
+ #define CYTHON_USE_ASYNC_SLOTS 0
+ #elif !defined(CYTHON_USE_ASYNC_SLOTS)
+ #define CYTHON_USE_ASYNC_SLOTS 1
+ #endif
+ #undef CYTHON_USE_PYLIST_INTERNALS
+ #define CYTHON_USE_PYLIST_INTERNALS 0
+ #undef CYTHON_USE_UNICODE_INTERNALS
+ #define CYTHON_USE_UNICODE_INTERNALS 0
+ #undef CYTHON_USE_UNICODE_WRITER
+ #define CYTHON_USE_UNICODE_WRITER 0
+ #undef CYTHON_USE_PYLONG_INTERNALS
+ #define CYTHON_USE_PYLONG_INTERNALS 0
+ #undef CYTHON_AVOID_BORROWED_REFS
+ #define CYTHON_AVOID_BORROWED_REFS 1
+ #undef CYTHON_ASSUME_SAFE_MACROS
+ #define CYTHON_ASSUME_SAFE_MACROS 0
+ #undef CYTHON_UNPACK_METHODS
+ #define CYTHON_UNPACK_METHODS 0
+ #undef CYTHON_FAST_THREAD_STATE
+ #define CYTHON_FAST_THREAD_STATE 0
+ #undef CYTHON_FAST_PYCALL
+ #define CYTHON_FAST_PYCALL 0
+ #undef CYTHON_PEP489_MULTI_PHASE_INIT
+ #define CYTHON_PEP489_MULTI_PHASE_INIT 0
+ #undef CYTHON_USE_TP_FINALIZE
+ #define CYTHON_USE_TP_FINALIZE 0
+ #undef CYTHON_USE_DICT_VERSIONS
+ #define CYTHON_USE_DICT_VERSIONS 0
+ #undef CYTHON_USE_EXC_INFO_STACK
+ #define CYTHON_USE_EXC_INFO_STACK 0
+#elif defined(PYSTON_VERSION)
+ #define CYTHON_COMPILING_IN_PYPY 0
+ #define CYTHON_COMPILING_IN_PYSTON 1
+ #define CYTHON_COMPILING_IN_CPYTHON 0
+ #ifndef CYTHON_USE_TYPE_SLOTS
+ #define CYTHON_USE_TYPE_SLOTS 1
+ #endif
+ #undef CYTHON_USE_PYTYPE_LOOKUP
+ #define CYTHON_USE_PYTYPE_LOOKUP 0
+ #undef CYTHON_USE_ASYNC_SLOTS
+ #define CYTHON_USE_ASYNC_SLOTS 0
+ #undef CYTHON_USE_PYLIST_INTERNALS
+ #define CYTHON_USE_PYLIST_INTERNALS 0
+ #ifndef CYTHON_USE_UNICODE_INTERNALS
+ #define CYTHON_USE_UNICODE_INTERNALS 1
+ #endif
+ #undef CYTHON_USE_UNICODE_WRITER
+ #define CYTHON_USE_UNICODE_WRITER 0
+ #undef CYTHON_USE_PYLONG_INTERNALS
+ #define CYTHON_USE_PYLONG_INTERNALS 0
+ #ifndef CYTHON_AVOID_BORROWED_REFS
+ #define CYTHON_AVOID_BORROWED_REFS 0
+ #endif
+ #ifndef CYTHON_ASSUME_SAFE_MACROS
+ #define CYTHON_ASSUME_SAFE_MACROS 1
+ #endif
+ #ifndef CYTHON_UNPACK_METHODS
+ #define CYTHON_UNPACK_METHODS 1
+ #endif
+ #undef CYTHON_FAST_THREAD_STATE
+ #define CYTHON_FAST_THREAD_STATE 0
+ #undef CYTHON_FAST_PYCALL
+ #define CYTHON_FAST_PYCALL 0
+ #undef CYTHON_PEP489_MULTI_PHASE_INIT
+ #define CYTHON_PEP489_MULTI_PHASE_INIT 0
+ #undef CYTHON_USE_TP_FINALIZE
+ #define CYTHON_USE_TP_FINALIZE 0
+ #undef CYTHON_USE_DICT_VERSIONS
+ #define CYTHON_USE_DICT_VERSIONS 0
+ #undef CYTHON_USE_EXC_INFO_STACK
+ #define CYTHON_USE_EXC_INFO_STACK 0
+#else
+ #define CYTHON_COMPILING_IN_PYPY 0
+ #define CYTHON_COMPILING_IN_PYSTON 0
+ #define CYTHON_COMPILING_IN_CPYTHON 1
+ #ifndef CYTHON_USE_TYPE_SLOTS
+ #define CYTHON_USE_TYPE_SLOTS 1
+ #endif
+ #if PY_VERSION_HEX < 0x02070000
+ #undef CYTHON_USE_PYTYPE_LOOKUP
+ #define CYTHON_USE_PYTYPE_LOOKUP 0
+ #elif !defined(CYTHON_USE_PYTYPE_LOOKUP)
+ #define CYTHON_USE_PYTYPE_LOOKUP 1
+ #endif
+ #if PY_MAJOR_VERSION < 3
+ #undef CYTHON_USE_ASYNC_SLOTS
+ #define CYTHON_USE_ASYNC_SLOTS 0
+ #elif !defined(CYTHON_USE_ASYNC_SLOTS)
+ #define CYTHON_USE_ASYNC_SLOTS 1
+ #endif
+ #if PY_VERSION_HEX < 0x02070000
+ #undef CYTHON_USE_PYLONG_INTERNALS
+ #define CYTHON_USE_PYLONG_INTERNALS 0
+ #elif !defined(CYTHON_USE_PYLONG_INTERNALS)
+ #define CYTHON_USE_PYLONG_INTERNALS 1
+ #endif
+ #ifndef CYTHON_USE_PYLIST_INTERNALS
+ #define CYTHON_USE_PYLIST_INTERNALS 1
+ #endif
+ #ifndef CYTHON_USE_UNICODE_INTERNALS
+ #define CYTHON_USE_UNICODE_INTERNALS 1
+ #endif
+ #if PY_VERSION_HEX < 0x030300F0
+ #undef CYTHON_USE_UNICODE_WRITER
+ #define CYTHON_USE_UNICODE_WRITER 0
+ #elif !defined(CYTHON_USE_UNICODE_WRITER)
+ #define CYTHON_USE_UNICODE_WRITER 1
+ #endif
+ #ifndef CYTHON_AVOID_BORROWED_REFS
+ #define CYTHON_AVOID_BORROWED_REFS 0
+ #endif
+ #ifndef CYTHON_ASSUME_SAFE_MACROS
+ #define CYTHON_ASSUME_SAFE_MACROS 1
+ #endif
+ #ifndef CYTHON_UNPACK_METHODS
+ #define CYTHON_UNPACK_METHODS 1
+ #endif
+ #ifndef CYTHON_FAST_THREAD_STATE
+ #define CYTHON_FAST_THREAD_STATE 1
+ #endif
+ #ifndef CYTHON_FAST_PYCALL
+ #define CYTHON_FAST_PYCALL 1
+ #endif
+ #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
+ #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
+ #endif
+ #ifndef CYTHON_USE_TP_FINALIZE
+ #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1)
+ #endif
+ #ifndef CYTHON_USE_DICT_VERSIONS
+ #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1)
+ #endif
+ #ifndef CYTHON_USE_EXC_INFO_STACK
+ #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3)
+ #endif
+#endif
+#if !defined(CYTHON_FAST_PYCCALL)
+#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
+#endif
+#if CYTHON_USE_PYLONG_INTERNALS
+ #include "longintrepr.h"
+ #undef SHIFT
+ #undef BASE
+ #undef MASK
+ #ifdef SIZEOF_VOID_P
+ enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) };
+ #endif
+#endif
+#ifndef __has_attribute
+ #define __has_attribute(x) 0
+#endif
+#ifndef __has_cpp_attribute
+ #define __has_cpp_attribute(x) 0
+#endif
+#ifndef CYTHON_RESTRICT
+ #if defined(__GNUC__)
+ #define CYTHON_RESTRICT __restrict__
+ #elif defined(_MSC_VER) && _MSC_VER >= 1400
+ #define CYTHON_RESTRICT __restrict
+ #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
+ #define CYTHON_RESTRICT restrict
+ #else
+ #define CYTHON_RESTRICT
+ #endif
+#endif
+#ifndef CYTHON_UNUSED
+# if defined(__GNUC__)
+# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
+# define CYTHON_UNUSED __attribute__ ((__unused__))
+# else
+# define CYTHON_UNUSED
+# endif
+# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER))
+# define CYTHON_UNUSED __attribute__ ((__unused__))
+# else
+# define CYTHON_UNUSED
+# endif
+#endif
+#ifndef CYTHON_MAYBE_UNUSED_VAR
+# if defined(__cplusplus)
+ template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { }
+# else
+# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x)
+# endif
+#endif
+#ifndef CYTHON_NCP_UNUSED
+# if CYTHON_COMPILING_IN_CPYTHON
+# define CYTHON_NCP_UNUSED
+# else
+# define CYTHON_NCP_UNUSED CYTHON_UNUSED
+# endif
+#endif
+#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None)
+#ifdef _MSC_VER
+ #ifndef _MSC_STDINT_H_
+ #if _MSC_VER < 1300
+ typedef unsigned char uint8_t;
+ typedef unsigned int uint32_t;
+ #else
+ typedef unsigned __int8 uint8_t;
+ typedef unsigned __int32 uint32_t;
+ #endif
+ #endif
+#else
+ #include
+#endif
+#ifndef CYTHON_FALLTHROUGH
+ #if defined(__cplusplus) && __cplusplus >= 201103L
+ #if __has_cpp_attribute(fallthrough)
+ #define CYTHON_FALLTHROUGH [[fallthrough]]
+ #elif __has_cpp_attribute(clang::fallthrough)
+ #define CYTHON_FALLTHROUGH [[clang::fallthrough]]
+ #elif __has_cpp_attribute(gnu::fallthrough)
+ #define CYTHON_FALLTHROUGH [[gnu::fallthrough]]
+ #endif
+ #endif
+ #ifndef CYTHON_FALLTHROUGH
+ #if __has_attribute(fallthrough)
+ #define CYTHON_FALLTHROUGH __attribute__((fallthrough))
+ #else
+ #define CYTHON_FALLTHROUGH
+ #endif
+ #endif
+ #if defined(__clang__ ) && defined(__apple_build_version__)
+ #if __apple_build_version__ < 7000000
+ #undef CYTHON_FALLTHROUGH
+ #define CYTHON_FALLTHROUGH
+ #endif
+ #endif
+#endif
+
+#ifndef CYTHON_INLINE
+ #if defined(__clang__)
+ #define CYTHON_INLINE __inline__ __attribute__ ((__unused__))
+ #elif defined(__GNUC__)
+ #define CYTHON_INLINE __inline__
+ #elif defined(_MSC_VER)
+ #define CYTHON_INLINE __inline
+ #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
+ #define CYTHON_INLINE inline
+ #else
+ #define CYTHON_INLINE
+ #endif
+#endif
+
+#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag)
+ #define Py_OptimizeFlag 0
+#endif
+#define __PYX_BUILD_PY_SSIZE_T "n"
+#define CYTHON_FORMAT_SSIZE_T "z"
+#if PY_MAJOR_VERSION < 3
+ #define __Pyx_BUILTIN_MODULE_NAME "__builtin__"
+ #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+ PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+ #define __Pyx_DefaultClassType PyClass_Type
+#else
+ #define __Pyx_BUILTIN_MODULE_NAME "builtins"
+#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
+ #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+ PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+#else
+ #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+ PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+#endif
+ #define __Pyx_DefaultClassType PyType_Type
+#endif
+#ifndef Py_TPFLAGS_CHECKTYPES
+ #define Py_TPFLAGS_CHECKTYPES 0
+#endif
+#ifndef Py_TPFLAGS_HAVE_INDEX
+ #define Py_TPFLAGS_HAVE_INDEX 0
+#endif
+#ifndef Py_TPFLAGS_HAVE_NEWBUFFER
+ #define Py_TPFLAGS_HAVE_NEWBUFFER 0
+#endif
+#ifndef Py_TPFLAGS_HAVE_FINALIZE
+ #define Py_TPFLAGS_HAVE_FINALIZE 0
+#endif
+#ifndef METH_STACKLESS
+ #define METH_STACKLESS 0
+#endif
+#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL)
+ #ifndef METH_FASTCALL
+ #define METH_FASTCALL 0x80
+ #endif
+ typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs);
+ typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args,
+ Py_ssize_t nargs, PyObject *kwnames);
+#else
+ #define __Pyx_PyCFunctionFast _PyCFunctionFast
+ #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords
+#endif
+#if CYTHON_FAST_PYCCALL
+#define __Pyx_PyFastCFunction_Check(func)\
+ ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS)))))
+#else
+#define __Pyx_PyFastCFunction_Check(func) 0
+#endif
+#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc)
+ #define PyObject_Malloc(s) PyMem_Malloc(s)
+ #define PyObject_Free(p) PyMem_Free(p)
+ #define PyObject_Realloc(p) PyMem_Realloc(p)
+#endif
+#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1
+ #define PyMem_RawMalloc(n) PyMem_Malloc(n)
+ #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n)
+ #define PyMem_RawFree(p) PyMem_Free(p)
+#endif
+#if CYTHON_COMPILING_IN_PYSTON
+ #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co)
+ #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno)
+#else
+ #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0)
+ #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno)
+#endif
+#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000
+ #define __Pyx_PyThreadState_Current PyThreadState_GET()
+#elif PY_VERSION_HEX >= 0x03060000
+ #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet()
+#elif PY_VERSION_HEX >= 0x03000000
+ #define __Pyx_PyThreadState_Current PyThreadState_GET()
+#else
+ #define __Pyx_PyThreadState_Current _PyThreadState_Current
+#endif
+#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT)
+#include "pythread.h"
+#define Py_tss_NEEDS_INIT 0
+typedef int Py_tss_t;
+static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) {
+ *key = PyThread_create_key();
+ return 0;
+}
+static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) {
+ Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t));
+ *key = Py_tss_NEEDS_INIT;
+ return key;
+}
+static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) {
+ PyObject_Free(key);
+}
+static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) {
+ return *key != Py_tss_NEEDS_INIT;
+}
+static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) {
+ PyThread_delete_key(*key);
+ *key = Py_tss_NEEDS_INIT;
+}
+static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) {
+ return PyThread_set_key_value(*key, value);
+}
+static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
+ return PyThread_get_key_value(*key);
+}
+#endif
+#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized)
+#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n))
+#else
+#define __Pyx_PyDict_NewPresized(n) PyDict_New()
+#endif
+#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION
+ #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y)
+ #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y)
+#else
+ #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y)
+ #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y)
+#endif
+#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS
+#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash)
+#else
+#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name)
+#endif
+#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND)
+ #define CYTHON_PEP393_ENABLED 1
+ #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\
+ 0 : _PyUnicode_Ready((PyObject *)(op)))
+ #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u)
+ #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i)
+ #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u)
+ #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u)
+ #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u)
+ #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i)
+ #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch)
+ #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u)))
+#else
+ #define CYTHON_PEP393_ENABLED 0
+ #define PyUnicode_1BYTE_KIND 1
+ #define PyUnicode_2BYTE_KIND 2
+ #define PyUnicode_4BYTE_KIND 4
+ #define __Pyx_PyUnicode_READY(op) (0)
+ #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u)
+ #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i]))
+ #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111)
+ #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE))
+ #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u))
+ #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i]))
+ #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch)
+ #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u))
+#endif
+#if CYTHON_COMPILING_IN_PYPY
+ #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b)
+ #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b)
+#else
+ #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b)
+ #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\
+ PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b))
+#endif
+#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains)
+ #define PyUnicode_Contains(u, s) PySequence_Contains(u, s)
+#endif
+#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check)
+ #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type)
+#endif
+#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format)
+ #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt)
+#endif
+#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b))
+#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b))
+#if PY_MAJOR_VERSION >= 3
+ #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b)
+#else
+ #define __Pyx_PyString_Format(a, b) PyString_Format(a, b)
+#endif
+#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII)
+ #define PyObject_ASCII(o) PyObject_Repr(o)
+#endif
+#if PY_MAJOR_VERSION >= 3
+ #define PyBaseString_Type PyUnicode_Type
+ #define PyStringObject PyUnicodeObject
+ #define PyString_Type PyUnicode_Type
+ #define PyString_Check PyUnicode_Check
+ #define PyString_CheckExact PyUnicode_CheckExact
+#ifndef PyObject_Unicode
+ #define PyObject_Unicode PyObject_Str
+#endif
+#endif
+#if PY_MAJOR_VERSION >= 3
+ #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj)
+ #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj)
+#else
+ #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj))
+ #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj))
+#endif
+#ifndef PySet_CheckExact
+ #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type)
+#endif
+#if CYTHON_ASSUME_SAFE_MACROS
+ #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq)
+#else
+ #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq)
+#endif
+#if PY_MAJOR_VERSION >= 3
+ #define PyIntObject PyLongObject
+ #define PyInt_Type PyLong_Type
+ #define PyInt_Check(op) PyLong_Check(op)
+ #define PyInt_CheckExact(op) PyLong_CheckExact(op)
+ #define PyInt_FromString PyLong_FromString
+ #define PyInt_FromUnicode PyLong_FromUnicode
+ #define PyInt_FromLong PyLong_FromLong
+ #define PyInt_FromSize_t PyLong_FromSize_t
+ #define PyInt_FromSsize_t PyLong_FromSsize_t
+ #define PyInt_AsLong PyLong_AsLong
+ #define PyInt_AS_LONG PyLong_AS_LONG
+ #define PyInt_AsSsize_t PyLong_AsSsize_t
+ #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask
+ #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask
+ #define PyNumber_Int PyNumber_Long
+#endif
+#if PY_MAJOR_VERSION >= 3
+ #define PyBoolObject PyLongObject
+#endif
+#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY
+ #ifndef PyUnicode_InternFromString
+ #define PyUnicode_InternFromString(s) PyUnicode_FromString(s)
+ #endif
+#endif
+#if PY_VERSION_HEX < 0x030200A4
+ typedef long Py_hash_t;
+ #define __Pyx_PyInt_FromHash_t PyInt_FromLong
+ #define __Pyx_PyInt_AsHash_t PyInt_AsLong
+#else
+ #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
+ #define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
+#endif
+#if PY_MAJOR_VERSION >= 3
+ #define __Pyx_PyMethod_New(func, self, klass) ((self) ? PyMethod_New(func, self) : (Py_INCREF(func), func))
+#else
+ #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass)
+#endif
+#if CYTHON_USE_ASYNC_SLOTS
+ #if PY_VERSION_HEX >= 0x030500B1
+ #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods
+ #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async)
+ #else
+ #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved))
+ #endif
+#else
+ #define __Pyx_PyType_AsAsync(obj) NULL
+#endif
+#ifndef __Pyx_PyAsyncMethodsStruct
+ typedef struct {
+ unaryfunc am_await;
+ unaryfunc am_aiter;
+ unaryfunc am_anext;
+ } __Pyx_PyAsyncMethodsStruct;
+#endif
+
+#if defined(WIN32) || defined(MS_WINDOWS)
+ #define _USE_MATH_DEFINES
+#endif
+#include
+#ifdef NAN
+#define __PYX_NAN() ((float) NAN)
+#else
+static CYTHON_INLINE float __PYX_NAN() {
+ float value;
+ memset(&value, 0xFF, sizeof(value));
+ return value;
+}
+#endif
+#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL)
+#define __Pyx_truncl trunc
+#else
+#define __Pyx_truncl truncl
+#endif
+
+
+#define __PYX_ERR(f_index, lineno, Ln_error) \
+{ \
+ __pyx_filename = __pyx_f[f_index]; __pyx_lineno = lineno; __pyx_clineno = __LINE__; goto Ln_error; \
+}
+
+#ifndef __PYX_EXTERN_C
+ #ifdef __cplusplus
+ #define __PYX_EXTERN_C extern "C"
+ #else
+ #define __PYX_EXTERN_C extern
+ #endif
+#endif
+
+#define __PYX_HAVE__openGJKpy
+#define __PYX_HAVE_API__openGJKpy
+/* Early includes */
+#include "openGJK.h"
+#ifdef _OPENMP
+#include
+#endif /* _OPENMP */
+
+#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS)
+#define CYTHON_WITHOUT_ASSERTIONS
+#endif
+
+typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding;
+ const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry;
+
+#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0
+#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0
+#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8)
+#define __PYX_DEFAULT_STRING_ENCODING ""
+#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString
+#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize
+#define __Pyx_uchar_cast(c) ((unsigned char)c)
+#define __Pyx_long_cast(x) ((long)x)
+#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\
+ (sizeof(type) < sizeof(Py_ssize_t)) ||\
+ (sizeof(type) > sizeof(Py_ssize_t) &&\
+ likely(v < (type)PY_SSIZE_T_MAX ||\
+ v == (type)PY_SSIZE_T_MAX) &&\
+ (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\
+ v == (type)PY_SSIZE_T_MIN))) ||\
+ (sizeof(type) == sizeof(Py_ssize_t) &&\
+ (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\
+ v == (type)PY_SSIZE_T_MAX))) )
+static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) {
+ return (size_t) i < (size_t) limit;
+}
+#if defined (__cplusplus) && __cplusplus >= 201103L
+ #include
+ #define __Pyx_sst_abs(value) std::abs(value)
+#elif SIZEOF_INT >= SIZEOF_SIZE_T
+ #define __Pyx_sst_abs(value) abs(value)
+#elif SIZEOF_LONG >= SIZEOF_SIZE_T
+ #define __Pyx_sst_abs(value) labs(value)
+#elif defined (_MSC_VER)
+ #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value))
+#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
+ #define __Pyx_sst_abs(value) llabs(value)
+#elif defined (__GNUC__)
+ #define __Pyx_sst_abs(value) __builtin_llabs(value)
+#else
+ #define __Pyx_sst_abs(value) ((value<0) ? -value : value)
+#endif
+static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*);
+static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length);
+#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s))
+#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l)
+#define __Pyx_PyBytes_FromString PyBytes_FromString
+#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize
+static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*);
+#if PY_MAJOR_VERSION < 3
+ #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString
+ #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize
+#else
+ #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString
+ #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize
+#endif
+#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s))
+#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s))
+#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s))
+#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s))
+#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s))
+#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s))
+#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s))
+#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s))
+#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s))
+#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s))
+#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s))
+#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s)
+#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s)
+#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s)
+#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s)
+#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s)
+static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) {
+ const Py_UNICODE *u_end = u;
+ while (*u_end++) ;
+ return (size_t)(u_end - u - 1);
+}
+#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u))
+#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode
+#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode
+#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj)
+#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None)
+static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b);
+static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*);
+static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*);
+static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
+#define __Pyx_PySequence_Tuple(obj)\
+ (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
+static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
+static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
+#if CYTHON_ASSUME_SAFE_MACROS
+#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
+#else
+#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x)
+#endif
+#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x))
+#if PY_MAJOR_VERSION >= 3
+#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x))
+#else
+#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x))
+#endif
+#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x))
+#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
+static int __Pyx_sys_getdefaultencoding_not_ascii;
+static int __Pyx_init_sys_getdefaultencoding_params(void) {
+ PyObject* sys;
+ PyObject* default_encoding = NULL;
+ PyObject* ascii_chars_u = NULL;
+ PyObject* ascii_chars_b = NULL;
+ const char* default_encoding_c;
+ sys = PyImport_ImportModule("sys");
+ if (!sys) goto bad;
+ default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL);
+ Py_DECREF(sys);
+ if (!default_encoding) goto bad;
+ default_encoding_c = PyBytes_AsString(default_encoding);
+ if (!default_encoding_c) goto bad;
+ if (strcmp(default_encoding_c, "ascii") == 0) {
+ __Pyx_sys_getdefaultencoding_not_ascii = 0;
+ } else {
+ char ascii_chars[128];
+ int c;
+ for (c = 0; c < 128; c++) {
+ ascii_chars[c] = c;
+ }
+ __Pyx_sys_getdefaultencoding_not_ascii = 1;
+ ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL);
+ if (!ascii_chars_u) goto bad;
+ ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL);
+ if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) {
+ PyErr_Format(
+ PyExc_ValueError,
+ "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.",
+ default_encoding_c);
+ goto bad;
+ }
+ Py_DECREF(ascii_chars_u);
+ Py_DECREF(ascii_chars_b);
+ }
+ Py_DECREF(default_encoding);
+ return 0;
+bad:
+ Py_XDECREF(default_encoding);
+ Py_XDECREF(ascii_chars_u);
+ Py_XDECREF(ascii_chars_b);
+ return -1;
+}
+#endif
+#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3
+#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL)
+#else
+#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL)
+#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
+static char* __PYX_DEFAULT_STRING_ENCODING;
+static int __Pyx_init_sys_getdefaultencoding_params(void) {
+ PyObject* sys;
+ PyObject* default_encoding = NULL;
+ char* default_encoding_c;
+ sys = PyImport_ImportModule("sys");
+ if (!sys) goto bad;
+ default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL);
+ Py_DECREF(sys);
+ if (!default_encoding) goto bad;
+ default_encoding_c = PyBytes_AsString(default_encoding);
+ if (!default_encoding_c) goto bad;
+ __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1);
+ if (!__PYX_DEFAULT_STRING_ENCODING) goto bad;
+ strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c);
+ Py_DECREF(default_encoding);
+ return 0;
+bad:
+ Py_XDECREF(default_encoding);
+ return -1;
+}
+#endif
+#endif
+
+
+/* Test for GCC > 2.95 */
+#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95)))
+ #define likely(x) __builtin_expect(!!(x), 1)
+ #define unlikely(x) __builtin_expect(!!(x), 0)
+#else /* !__GNUC__ or GCC < 2.95 */
+ #define likely(x) (x)
+ #define unlikely(x) (x)
+#endif /* __GNUC__ */
+static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; }
+
+static PyObject *__pyx_m = NULL;
+static PyObject *__pyx_d;
+static PyObject *__pyx_b;
+static PyObject *__pyx_cython_runtime = NULL;
+static PyObject *__pyx_empty_tuple;
+static PyObject *__pyx_empty_bytes;
+static PyObject *__pyx_empty_unicode;
+static int __pyx_lineno;
+static int __pyx_clineno = 0;
+static const char * __pyx_cfilenm= __FILE__;
+static const char *__pyx_filename;
+
+
+static const char *__pyx_f[] = {
+ "openGJK_cython.pyx",
+};
+
+/*--- Type declarations ---*/
+
+/* --- Runtime support code (head) --- */
+/* Refnanny.proto */
+#ifndef CYTHON_REFNANNY
+ #define CYTHON_REFNANNY 0
+#endif
+#if CYTHON_REFNANNY
+ typedef struct {
+ void (*INCREF)(void*, PyObject*, int);
+ void (*DECREF)(void*, PyObject*, int);
+ void (*GOTREF)(void*, PyObject*, int);
+ void (*GIVEREF)(void*, PyObject*, int);
+ void* (*SetupContext)(const char*, int, const char*);
+ void (*FinishContext)(void**);
+ } __Pyx_RefNannyAPIStruct;
+ static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL;
+ static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname);
+ #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL;
+#ifdef WITH_THREAD
+ #define __Pyx_RefNannySetupContext(name, acquire_gil)\
+ if (acquire_gil) {\
+ PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\
+ __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), __LINE__, __FILE__);\
+ PyGILState_Release(__pyx_gilstate_save);\
+ } else {\
+ __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), __LINE__, __FILE__);\
+ }
+#else
+ #define __Pyx_RefNannySetupContext(name, acquire_gil)\
+ __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), __LINE__, __FILE__)
+#endif
+ #define __Pyx_RefNannyFinishContext()\
+ __Pyx_RefNanny->FinishContext(&__pyx_refnanny)
+ #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), __LINE__)
+ #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), __LINE__)
+ #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), __LINE__)
+ #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), __LINE__)
+ #define __Pyx_XINCREF(r) do { if((r) != NULL) {__Pyx_INCREF(r); }} while(0)
+ #define __Pyx_XDECREF(r) do { if((r) != NULL) {__Pyx_DECREF(r); }} while(0)
+ #define __Pyx_XGOTREF(r) do { if((r) != NULL) {__Pyx_GOTREF(r); }} while(0)
+ #define __Pyx_XGIVEREF(r) do { if((r) != NULL) {__Pyx_GIVEREF(r);}} while(0)
+#else
+ #define __Pyx_RefNannyDeclarations
+ #define __Pyx_RefNannySetupContext(name, acquire_gil)
+ #define __Pyx_RefNannyFinishContext()
+ #define __Pyx_INCREF(r) Py_INCREF(r)
+ #define __Pyx_DECREF(r) Py_DECREF(r)
+ #define __Pyx_GOTREF(r)
+ #define __Pyx_GIVEREF(r)
+ #define __Pyx_XINCREF(r) Py_XINCREF(r)
+ #define __Pyx_XDECREF(r) Py_XDECREF(r)
+ #define __Pyx_XGOTREF(r)
+ #define __Pyx_XGIVEREF(r)
+#endif
+#define __Pyx_XDECREF_SET(r, v) do {\
+ PyObject *tmp = (PyObject *) r;\
+ r = v; __Pyx_XDECREF(tmp);\
+ } while (0)
+#define __Pyx_DECREF_SET(r, v) do {\
+ PyObject *tmp = (PyObject *) r;\
+ r = v; __Pyx_DECREF(tmp);\
+ } while (0)
+#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0)
+#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0)
+
+/* PyObjectGetAttrStr.proto */
+#if CYTHON_USE_TYPE_SLOTS
+static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name);
+#else
+#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n)
+#endif
+
+/* GetBuiltinName.proto */
+static PyObject *__Pyx_GetBuiltinName(PyObject *name);
+
+/* RaiseArgTupleInvalid.proto */
+static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact,
+ Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found);
+
+/* RaiseDoubleKeywords.proto */
+static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name);
+
+/* ParseKeywords.proto */
+static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\
+ PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\
+ const char* function_name);
+
+/* PyDictVersioning.proto */
+#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS
+#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1)
+#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag)
+#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\
+ (version_var) = __PYX_GET_DICT_VERSION(dict);\
+ (cache_var) = (value);
+#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\
+ static PY_UINT64_T __pyx_dict_version = 0;\
+ static PyObject *__pyx_dict_cached_value = NULL;\
+ if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\
+ (VAR) = __pyx_dict_cached_value;\
+ } else {\
+ (VAR) = __pyx_dict_cached_value = (LOOKUP);\
+ __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\
+ }\
+}
+static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj);
+static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj);
+static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version);
+#else
+#define __PYX_GET_DICT_VERSION(dict) (0)
+#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)
+#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP);
+#endif
+
+/* GetModuleGlobalName.proto */
+#if CYTHON_USE_DICT_VERSIONS
+#define __Pyx_GetModuleGlobalName(var, name) {\
+ static PY_UINT64_T __pyx_dict_version = 0;\
+ static PyObject *__pyx_dict_cached_value = NULL;\
+ (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\
+ (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\
+ __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\
+}
+#define __Pyx_GetModuleGlobalNameUncached(var, name) {\
+ PY_UINT64_T __pyx_dict_version;\
+ PyObject *__pyx_dict_cached_value;\
+ (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\
+}
+static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value);
+#else
+#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name)
+#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name)
+static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name);
+#endif
+
+/* PyCFunctionFastCall.proto */
+#if CYTHON_FAST_PYCCALL
+static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs);
+#else
+#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL)
+#endif
+
+/* PyFunctionFastCall.proto */
+#if CYTHON_FAST_PYCALL
+#define __Pyx_PyFunction_FastCall(func, args, nargs)\
+ __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL)
+#if 1 || PY_VERSION_HEX < 0x030600B1
+static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs);
+#else
+#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs)
+#endif
+#define __Pyx_BUILD_ASSERT_EXPR(cond)\
+ (sizeof(char [1 - 2*!(cond)]) - 1)
+#ifndef Py_MEMBER_SIZE
+#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
+#endif
+ static size_t __pyx_pyframe_localsplus_offset = 0;
+ #include "frameobject.h"
+ #define __Pxy_PyFrame_Initialize_Offsets()\
+ ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\
+ (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
+ #define __Pyx_PyFrame_GetLocalsplus(frame)\
+ (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
+#endif
+
+/* PyObjectCall.proto */
+#if CYTHON_COMPILING_IN_CPYTHON
+static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw);
+#else
+#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw)
+#endif
+
+/* PyObjectCall2Args.proto */
+static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2);
+
+/* PyObjectCallMethO.proto */
+#if CYTHON_COMPILING_IN_CPYTHON
+static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg);
+#endif
+
+/* PyObjectCallOneArg.proto */
+static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg);
+
+/* GetItemInt.proto */
+#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
+ (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
+ __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\
+ (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\
+ __Pyx_GetItemInt_Generic(o, to_py_func(i))))
+#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
+ (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
+ __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\
+ (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL))
+static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i,
+ int wraparound, int boundscheck);
+#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
+ (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
+ __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\
+ (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL))
+static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i,
+ int wraparound, int boundscheck);
+static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j);
+static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i,
+ int is_list, int wraparound, int boundscheck);
+
+/* ObjectGetItem.proto */
+#if CYTHON_USE_TYPE_SLOTS
+static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key);
+#else
+#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key)
+#endif
+
+/* Import.proto */
+static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level);
+
+/* PyThreadStateGet.proto */
+#if CYTHON_FAST_THREAD_STATE
+#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate;
+#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current;
+#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type
+#else
+#define __Pyx_PyThreadState_declare
+#define __Pyx_PyThreadState_assign
+#define __Pyx_PyErr_Occurred() PyErr_Occurred()
+#endif
+
+/* PyErrFetchRestore.proto */
+#if CYTHON_FAST_THREAD_STATE
+#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL)
+#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb)
+#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb)
+#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb)
+#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb)
+static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb);
+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
+#if CYTHON_COMPILING_IN_CPYTHON
+#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL))
+#else
+#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc)
+#endif
+#else
+#define __Pyx_PyErr_Clear() PyErr_Clear()
+#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc)
+#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb)
+#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb)
+#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb)
+#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb)
+#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb)
+#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb)
+#endif
+
+/* CLineInTraceback.proto */
+#ifdef CYTHON_CLINE_IN_TRACEBACK
+#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0)
+#else
+static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line);
+#endif
+
+/* CodeObjectCache.proto */
+typedef struct {
+ PyCodeObject* code_object;
+ int code_line;
+} __Pyx_CodeObjectCacheEntry;
+struct __Pyx_CodeObjectCache {
+ int count;
+ int max_count;
+ __Pyx_CodeObjectCacheEntry* entries;
+};
+static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL};
+static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line);
+static PyCodeObject *__pyx_find_code_object(int code_line);
+static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object);
+
+/* AddTraceback.proto */
+static void __Pyx_AddTraceback(const char *funcname, int c_line,
+ int py_line, const char *filename);
+
+/* CIntToPy.proto */
+static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value);
+
+/* CIntFromPy.proto */
+static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *);
+
+/* CIntToPy.proto */
+static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value);
+
+/* CIntFromPy.proto */
+static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *);
+
+/* FastTypeChecks.proto */
+#if CYTHON_COMPILING_IN_CPYTHON
+#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type)
+static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b);
+static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type);
+static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2);
+#else
+#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type)
+#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type)
+#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2))
+#endif
+#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception)
+
+/* CheckBinaryVersion.proto */
+static int __Pyx_check_binary_version(void);
+
+/* InitStrings.proto */
+static int __Pyx_InitStrings(__Pyx_StringTabEntry *t);
+
+
+/* Module declarations from 'openGJKpy' */
+#define __Pyx_MODULE_NAME "openGJKpy"
+extern int __pyx_module_is_main_openGJKpy;
+int __pyx_module_is_main_openGJKpy = 0;
+
+/* Implementation of 'openGJKpy' */
+static PyObject *__pyx_builtin_range;
+static const char __pyx_k_i[] = "i";
+static const char __pyx_k_j[] = "j";
+static const char __pyx_k_s[] = "s";
+static const char __pyx_k_np[] = "np";
+static const char __pyx_k_v1[] = "v1";
+static const char __pyx_k_v2[] = "v2";
+static const char __pyx_k_bd1[] = "bd1";
+static const char __pyx_k_bd2[] = "bd2";
+static const char __pyx_k_bod1[] = "bod1";
+static const char __pyx_k_bod2[] = "bod2";
+static const char __pyx_k_main[] = "__main__";
+static const char __pyx_k_name[] = "__name__";
+static const char __pyx_k_size[] = "size";
+static const char __pyx_k_test[] = "__test__";
+static const char __pyx_k_array[] = "array";
+static const char __pyx_k_numpy[] = "numpy";
+static const char __pyx_k_pygjk[] = "pygjk";
+static const char __pyx_k_range[] = "range";
+static const char __pyx_k_answer[] = "answer";
+static const char __pyx_k_import[] = "__import__";
+static const char __pyx_k_vstack[] = "vstack";
+static const char __pyx_k_dummyRow[] = "dummyRow";
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+}
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+}
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+ return NULL;
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+ return __Pyx_NewRef(__pyx_m);
+ modname = PyObject_GetAttrString(spec, "name");
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+ if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "origin", "__file__", 1) < 0)) goto bad;
+ if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "parent", "__package__", 1) < 0)) goto bad;
+ if (unlikely(__Pyx_copy_spec_to_module(spec, moddict, "submodule_search_locations", "__path__", 0) < 0)) goto bad;
+ return module;
+bad:
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+}
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+}
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+}
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+}
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+}
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+}
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+{
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+}
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+ continue;
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+ if (likely(PyUnicode_Check(key))) {
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+ (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 :
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+ name++;
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+ else {
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+ while (argname != first_kw_arg) {
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+ #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3
+ (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 :
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+ PyUnicode_Compare(**argname, key);
+ if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad;
+ if (cmp == 0) goto arg_passed_twice;
+ argname++;
+ }
+ }
+ } else
+ goto invalid_keyword_type;
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+ if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad;
+ } else {
+ goto invalid_keyword;
+ }
+ }
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+arg_passed_twice:
+ __Pyx_RaiseDoubleKeywordsError(function_name, key);
+ goto bad;
+invalid_keyword_type:
+ PyErr_Format(PyExc_TypeError,
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+ goto bad;
+invalid_keyword:
+ PyErr_Format(PyExc_TypeError,
+ #if PY_MAJOR_VERSION < 3
+ "%.200s() got an unexpected keyword argument '%.200s'",
+ function_name, PyString_AsString(key));
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+ "%s() got an unexpected keyword argument '%U'",
+ function_name, key);
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+bad:
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+}
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+/* PyDictVersioning */
+#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS
+static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) {
+ PyObject *dict = Py_TYPE(obj)->tp_dict;
+ return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0;
+}
+static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) {
+ PyObject **dictptr = NULL;
+ Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset;
+ if (offset) {
+#if CYTHON_COMPILING_IN_CPYTHON
+ dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj);
+#else
+ dictptr = _PyObject_GetDictPtr(obj);
+#endif
+ }
+ return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0;
+}
+static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) {
+ PyObject *dict = Py_TYPE(obj)->tp_dict;
+ if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict)))
+ return 0;
+ return obj_dict_version == __Pyx_get_object_dict_version(obj);
+}
+#endif
+
+/* GetModuleGlobalName */
+#if CYTHON_USE_DICT_VERSIONS
+static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value)
+#else
+static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name)
+#endif
+{
+ PyObject *result;
+#if !CYTHON_AVOID_BORROWED_REFS
+#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1
+ result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash);
+ __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
+ if (likely(result)) {
+ return __Pyx_NewRef(result);
+ } else if (unlikely(PyErr_Occurred())) {
+ return NULL;
+ }
+#else
+ result = PyDict_GetItem(__pyx_d, name);
+ __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
+ if (likely(result)) {
+ return __Pyx_NewRef(result);
+ }
+#endif
+#else
+ result = PyObject_GetItem(__pyx_d, name);
+ __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
+ if (likely(result)) {
+ return __Pyx_NewRef(result);
+ }
+ PyErr_Clear();
+#endif
+ return __Pyx_GetBuiltinName(name);
+}
+
+/* PyCFunctionFastCall */
+#if CYTHON_FAST_PYCCALL
+static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) {
+ PyCFunctionObject *func = (PyCFunctionObject*)func_obj;
+ PyCFunction meth = PyCFunction_GET_FUNCTION(func);
+ PyObject *self = PyCFunction_GET_SELF(func);
+ int flags = PyCFunction_GET_FLAGS(func);
+ assert(PyCFunction_Check(func));
+ assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS)));
+ assert(nargs >= 0);
+ assert(nargs == 0 || args != NULL);
+ /* _PyCFunction_FastCallDict() must not be called with an exception set,
+ because it may clear it (directly or indirectly) and so the
+ caller loses its exception */
+ assert(!PyErr_Occurred());
+ if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) {
+ return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL);
+ } else {
+ return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs);
+ }
+}
+#endif
+
+/* PyFunctionFastCall */
+#if CYTHON_FAST_PYCALL
+static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na,
+ PyObject *globals) {
+ PyFrameObject *f;
+ PyThreadState *tstate = __Pyx_PyThreadState_Current;
+ PyObject **fastlocals;
+ Py_ssize_t i;
+ PyObject *result;
+ assert(globals != NULL);
+ /* XXX Perhaps we should create a specialized
+ PyFrame_New() that doesn't take locals, but does
+ take builtins without sanity checking them.
+ */
+ assert(tstate != NULL);
+ f = PyFrame_New(tstate, co, globals, NULL);
+ if (f == NULL) {
+ return NULL;
+ }
+ fastlocals = __Pyx_PyFrame_GetLocalsplus(f);
+ for (i = 0; i < na; i++) {
+ Py_INCREF(*args);
+ fastlocals[i] = *args++;
+ }
+ result = PyEval_EvalFrameEx(f,0);
+ ++tstate->recursion_depth;
+ Py_DECREF(f);
+ --tstate->recursion_depth;
+ return result;
+}
+#if 1 || PY_VERSION_HEX < 0x030600B1
+static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) {
+ PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func);
+ PyObject *globals = PyFunction_GET_GLOBALS(func);
+ PyObject *argdefs = PyFunction_GET_DEFAULTS(func);
+ PyObject *closure;
+#if PY_MAJOR_VERSION >= 3
+ PyObject *kwdefs;
+#endif
+ PyObject *kwtuple, **k;
+ PyObject **d;
+ Py_ssize_t nd;
+ Py_ssize_t nk;
+ PyObject *result;
+ assert(kwargs == NULL || PyDict_Check(kwargs));
+ nk = kwargs ? PyDict_Size(kwargs) : 0;
+ if (Py_EnterRecursiveCall((char*)" while calling a Python object")) {
+ return NULL;
+ }
+ if (
+#if PY_MAJOR_VERSION >= 3
+ co->co_kwonlyargcount == 0 &&
+#endif
+ likely(kwargs == NULL || nk == 0) &&
+ co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) {
+ if (argdefs == NULL && co->co_argcount == nargs) {
+ result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals);
+ goto done;
+ }
+ else if (nargs == 0 && argdefs != NULL
+ && co->co_argcount == Py_SIZE(argdefs)) {
+ /* function called with no arguments, but all parameters have
+ a default value: use default values as arguments .*/
+ args = &PyTuple_GET_ITEM(argdefs, 0);
+ result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals);
+ goto done;
+ }
+ }
+ if (kwargs != NULL) {
+ Py_ssize_t pos, i;
+ kwtuple = PyTuple_New(2 * nk);
+ if (kwtuple == NULL) {
+ result = NULL;
+ goto done;
+ }
+ k = &PyTuple_GET_ITEM(kwtuple, 0);
+ pos = i = 0;
+ while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) {
+ Py_INCREF(k[i]);
+ Py_INCREF(k[i+1]);
+ i += 2;
+ }
+ nk = i / 2;
+ }
+ else {
+ kwtuple = NULL;
+ k = NULL;
+ }
+ closure = PyFunction_GET_CLOSURE(func);
+#if PY_MAJOR_VERSION >= 3
+ kwdefs = PyFunction_GET_KW_DEFAULTS(func);
+#endif
+ if (argdefs != NULL) {
+ d = &PyTuple_GET_ITEM(argdefs, 0);
+ nd = Py_SIZE(argdefs);
+ }
+ else {
+ d = NULL;
+ nd = 0;
+ }
+#if PY_MAJOR_VERSION >= 3
+ result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL,
+ args, (int)nargs,
+ k, (int)nk,
+ d, (int)nd, kwdefs, closure);
+#else
+ result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL,
+ args, (int)nargs,
+ k, (int)nk,
+ d, (int)nd, closure);
+#endif
+ Py_XDECREF(kwtuple);
+done:
+ Py_LeaveRecursiveCall();
+ return result;
+}
+#endif
+#endif
+
+/* PyObjectCall */
+#if CYTHON_COMPILING_IN_CPYTHON
+static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) {
+ PyObject *result;
+ ternaryfunc call = func->ob_type->tp_call;
+ if (unlikely(!call))
+ return PyObject_Call(func, arg, kw);
+ if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
+ return NULL;
+ result = (*call)(func, arg, kw);
+ Py_LeaveRecursiveCall();
+ if (unlikely(!result) && unlikely(!PyErr_Occurred())) {
+ PyErr_SetString(
+ PyExc_SystemError,
+ "NULL result without error in PyObject_Call");
+ }
+ return result;
+}
+#endif
+
+/* PyObjectCall2Args */
+static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) {
+ PyObject *args, *result = NULL;
+ #if CYTHON_FAST_PYCALL
+ if (PyFunction_Check(function)) {
+ PyObject *args[2] = {arg1, arg2};
+ return __Pyx_PyFunction_FastCall(function, args, 2);
+ }
+ #endif
+ #if CYTHON_FAST_PYCCALL
+ if (__Pyx_PyFastCFunction_Check(function)) {
+ PyObject *args[2] = {arg1, arg2};
+ return __Pyx_PyCFunction_FastCall(function, args, 2);
+ }
+ #endif
+ args = PyTuple_New(2);
+ if (unlikely(!args)) goto done;
+ Py_INCREF(arg1);
+ PyTuple_SET_ITEM(args, 0, arg1);
+ Py_INCREF(arg2);
+ PyTuple_SET_ITEM(args, 1, arg2);
+ Py_INCREF(function);
+ result = __Pyx_PyObject_Call(function, args, NULL);
+ Py_DECREF(args);
+ Py_DECREF(function);
+done:
+ return result;
+}
+
+/* PyObjectCallMethO */
+#if CYTHON_COMPILING_IN_CPYTHON
+static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) {
+ PyObject *self, *result;
+ PyCFunction cfunc;
+ cfunc = PyCFunction_GET_FUNCTION(func);
+ self = PyCFunction_GET_SELF(func);
+ if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
+ return NULL;
+ result = cfunc(self, arg);
+ Py_LeaveRecursiveCall();
+ if (unlikely(!result) && unlikely(!PyErr_Occurred())) {
+ PyErr_SetString(
+ PyExc_SystemError,
+ "NULL result without error in PyObject_Call");
+ }
+ return result;
+}
+#endif
+
+/* PyObjectCallOneArg */
+#if CYTHON_COMPILING_IN_CPYTHON
+static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) {
+ PyObject *result;
+ PyObject *args = PyTuple_New(1);
+ if (unlikely(!args)) return NULL;
+ Py_INCREF(arg);
+ PyTuple_SET_ITEM(args, 0, arg);
+ result = __Pyx_PyObject_Call(func, args, NULL);
+ Py_DECREF(args);
+ return result;
+}
+static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) {
+#if CYTHON_FAST_PYCALL
+ if (PyFunction_Check(func)) {
+ return __Pyx_PyFunction_FastCall(func, &arg, 1);
+ }
+#endif
+ if (likely(PyCFunction_Check(func))) {
+ if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) {
+ return __Pyx_PyObject_CallMethO(func, arg);
+#if CYTHON_FAST_PYCCALL
+ } else if (PyCFunction_GET_FLAGS(func) & METH_FASTCALL) {
+ return __Pyx_PyCFunction_FastCall(func, &arg, 1);
+#endif
+ }
+ }
+ return __Pyx__PyObject_CallOneArg(func, arg);
+}
+#else
+static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) {
+ PyObject *result;
+ PyObject *args = PyTuple_Pack(1, arg);
+ if (unlikely(!args)) return NULL;
+ result = __Pyx_PyObject_Call(func, args, NULL);
+ Py_DECREF(args);
+ return result;
+}
+#endif
+
+/* GetItemInt */
+static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) {
+ PyObject *r;
+ if (!j) return NULL;
+ r = PyObject_GetItem(o, j);
+ Py_DECREF(j);
+ return r;
+}
+static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i,
+ CYTHON_NCP_UNUSED int wraparound,
+ CYTHON_NCP_UNUSED int boundscheck) {
+#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
+ Py_ssize_t wrapped_i = i;
+ if (wraparound & unlikely(i < 0)) {
+ wrapped_i += PyList_GET_SIZE(o);
+ }
+ if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) {
+ PyObject *r = PyList_GET_ITEM(o, wrapped_i);
+ Py_INCREF(r);
+ return r;
+ }
+ return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
+#else
+ return PySequence_GetItem(o, i);
+#endif
+}
+static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i,
+ CYTHON_NCP_UNUSED int wraparound,
+ CYTHON_NCP_UNUSED int boundscheck) {
+#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
+ Py_ssize_t wrapped_i = i;
+ if (wraparound & unlikely(i < 0)) {
+ wrapped_i += PyTuple_GET_SIZE(o);
+ }
+ if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) {
+ PyObject *r = PyTuple_GET_ITEM(o, wrapped_i);
+ Py_INCREF(r);
+ return r;
+ }
+ return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
+#else
+ return PySequence_GetItem(o, i);
+#endif
+}
+static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list,
+ CYTHON_NCP_UNUSED int wraparound,
+ CYTHON_NCP_UNUSED int boundscheck) {
+#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS
+ if (is_list || PyList_CheckExact(o)) {
+ Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o);
+ if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) {
+ PyObject *r = PyList_GET_ITEM(o, n);
+ Py_INCREF(r);
+ return r;
+ }
+ }
+ else if (PyTuple_CheckExact(o)) {
+ Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o);
+ if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) {
+ PyObject *r = PyTuple_GET_ITEM(o, n);
+ Py_INCREF(r);
+ return r;
+ }
+ } else {
+ PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence;
+ if (likely(m && m->sq_item)) {
+ if (wraparound && unlikely(i < 0) && likely(m->sq_length)) {
+ Py_ssize_t l = m->sq_length(o);
+ if (likely(l >= 0)) {
+ i += l;
+ } else {
+ if (!PyErr_ExceptionMatches(PyExc_OverflowError))
+ return NULL;
+ PyErr_Clear();
+ }
+ }
+ return m->sq_item(o, i);
+ }
+ }
+#else
+ if (is_list || PySequence_Check(o)) {
+ return PySequence_GetItem(o, i);
+ }
+#endif
+ return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
+}
+
+/* ObjectGetItem */
+#if CYTHON_USE_TYPE_SLOTS
+static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) {
+ PyObject *runerr;
+ Py_ssize_t key_value;
+ PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence;
+ if (unlikely(!(m && m->sq_item))) {
+ PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name);
+ return NULL;
+ }
+ key_value = __Pyx_PyIndex_AsSsize_t(index);
+ if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) {
+ return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1);
+ }
+ if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) {
+ PyErr_Clear();
+ PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name);
+ }
+ return NULL;
+}
+static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) {
+ PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping;
+ if (likely(m && m->mp_subscript)) {
+ return m->mp_subscript(obj, key);
+ }
+ return __Pyx_PyObject_GetIndex(obj, key);
+}
+#endif
+
+/* Import */
+static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) {
+ PyObject *empty_list = 0;
+ PyObject *module = 0;
+ PyObject *global_dict = 0;
+ PyObject *empty_dict = 0;
+ PyObject *list;
+ #if PY_MAJOR_VERSION < 3
+ PyObject *py_import;
+ py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import);
+ if (!py_import)
+ goto bad;
+ #endif
+ if (from_list)
+ list = from_list;
+ else {
+ empty_list = PyList_New(0);
+ if (!empty_list)
+ goto bad;
+ list = empty_list;
+ }
+ global_dict = PyModule_GetDict(__pyx_m);
+ if (!global_dict)
+ goto bad;
+ empty_dict = PyDict_New();
+ if (!empty_dict)
+ goto bad;
+ {
+ #if PY_MAJOR_VERSION >= 3
+ if (level == -1) {
+ if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) {
+ module = PyImport_ImportModuleLevelObject(
+ name, global_dict, empty_dict, list, 1);
+ if (!module) {
+ if (!PyErr_ExceptionMatches(PyExc_ImportError))
+ goto bad;
+ PyErr_Clear();
+ }
+ }
+ level = 0;
+ }
+ #endif
+ if (!module) {
+ #if PY_MAJOR_VERSION < 3
+ PyObject *py_level = PyInt_FromLong(level);
+ if (!py_level)
+ goto bad;
+ module = PyObject_CallFunctionObjArgs(py_import,
+ name, global_dict, empty_dict, list, py_level, (PyObject *)NULL);
+ Py_DECREF(py_level);
+ #else
+ module = PyImport_ImportModuleLevelObject(
+ name, global_dict, empty_dict, list, level);
+ #endif
+ }
+ }
+bad:
+ #if PY_MAJOR_VERSION < 3
+ Py_XDECREF(py_import);
+ #endif
+ Py_XDECREF(empty_list);
+ Py_XDECREF(empty_dict);
+ return module;
+}
+
+/* PyErrFetchRestore */
+#if CYTHON_FAST_THREAD_STATE
+static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) {
+ PyObject *tmp_type, *tmp_value, *tmp_tb;
+ tmp_type = tstate->curexc_type;
+ tmp_value = tstate->curexc_value;
+ tmp_tb = tstate->curexc_traceback;
+ tstate->curexc_type = type;
+ tstate->curexc_value = value;
+ tstate->curexc_traceback = tb;
+ Py_XDECREF(tmp_type);
+ Py_XDECREF(tmp_value);
+ Py_XDECREF(tmp_tb);
+}
+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) {
+ *type = tstate->curexc_type;
+ *value = tstate->curexc_value;
+ *tb = tstate->curexc_traceback;
+ tstate->curexc_type = 0;
+ tstate->curexc_value = 0;
+ tstate->curexc_traceback = 0;
+}
+#endif
+
+/* CLineInTraceback */
+#ifndef CYTHON_CLINE_IN_TRACEBACK
+static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) {
+ PyObject *use_cline;
+ PyObject *ptype, *pvalue, *ptraceback;
+#if CYTHON_COMPILING_IN_CPYTHON
+ PyObject **cython_runtime_dict;
+#endif
+ if (unlikely(!__pyx_cython_runtime)) {
+ return c_line;
+ }
+ __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback);
+#if CYTHON_COMPILING_IN_CPYTHON
+ cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime);
+ if (likely(cython_runtime_dict)) {
+ __PYX_PY_DICT_LOOKUP_IF_MODIFIED(
+ use_cline, *cython_runtime_dict,
+ __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback))
+ } else
+#endif
+ {
+ PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback);
+ if (use_cline_obj) {
+ use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True;
+ Py_DECREF(use_cline_obj);
+ } else {
+ PyErr_Clear();
+ use_cline = NULL;
+ }
+ }
+ if (!use_cline) {
+ c_line = 0;
+ PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+ }
+ else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
+ c_line = 0;
+ }
+ __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback);
+ return c_line;
+}
+#endif
+
+/* CodeObjectCache */
+static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) {
+ int start = 0, mid = 0, end = count - 1;
+ if (end >= 0 && code_line > entries[end].code_line) {
+ return count;
+ }
+ while (start < end) {
+ mid = start + (end - start) / 2;
+ if (code_line < entries[mid].code_line) {
+ end = mid;
+ } else if (code_line > entries[mid].code_line) {
+ start = mid + 1;
+ } else {
+ return mid;
+ }
+ }
+ if (code_line <= entries[mid].code_line) {
+ return mid;
+ } else {
+ return mid + 1;
+ }
+}
+static PyCodeObject *__pyx_find_code_object(int code_line) {
+ PyCodeObject* code_object;
+ int pos;
+ if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) {
+ return NULL;
+ }
+ pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line);
+ if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) {
+ return NULL;
+ }
+ code_object = __pyx_code_cache.entries[pos].code_object;
+ Py_INCREF(code_object);
+ return code_object;
+}
+static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
+ int pos, i;
+ __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries;
+ if (unlikely(!code_line)) {
+ return;
+ }
+ if (unlikely(!entries)) {
+ entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry));
+ if (likely(entries)) {
+ __pyx_code_cache.entries = entries;
+ __pyx_code_cache.max_count = 64;
+ __pyx_code_cache.count = 1;
+ entries[0].code_line = code_line;
+ entries[0].code_object = code_object;
+ Py_INCREF(code_object);
+ }
+ return;
+ }
+ pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line);
+ if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) {
+ PyCodeObject* tmp = entries[pos].code_object;
+ entries[pos].code_object = code_object;
+ Py_DECREF(tmp);
+ return;
+ }
+ if (__pyx_code_cache.count == __pyx_code_cache.max_count) {
+ int new_max = __pyx_code_cache.max_count + 64;
+ entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc(
+ __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry));
+ if (unlikely(!entries)) {
+ return;
+ }
+ __pyx_code_cache.entries = entries;
+ __pyx_code_cache.max_count = new_max;
+ }
+ for (i=__pyx_code_cache.count; i>pos; i--) {
+ entries[i] = entries[i-1];
+ }
+ entries[pos].code_line = code_line;
+ entries[pos].code_object = code_object;
+ __pyx_code_cache.count++;
+ Py_INCREF(code_object);
+}
+
+/* AddTraceback */
+#include "compile.h"
+#include "frameobject.h"
+#include "traceback.h"
+static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
+ const char *funcname, int c_line,
+ int py_line, const char *filename) {
+ PyCodeObject *py_code = 0;
+ PyObject *py_srcfile = 0;
+ PyObject *py_funcname = 0;
+ #if PY_MAJOR_VERSION < 3
+ py_srcfile = PyString_FromString(filename);
+ #else
+ py_srcfile = PyUnicode_FromString(filename);
+ #endif
+ if (!py_srcfile) goto bad;
+ if (c_line) {
+ #if PY_MAJOR_VERSION < 3
+ py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+ #else
+ py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+ #endif
+ }
+ else {
+ #if PY_MAJOR_VERSION < 3
+ py_funcname = PyString_FromString(funcname);
+ #else
+ py_funcname = PyUnicode_FromString(funcname);
+ #endif
+ }
+ if (!py_funcname) goto bad;
+ py_code = __Pyx_PyCode_New(
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ __pyx_empty_bytes, /*PyObject *code,*/
+ __pyx_empty_tuple, /*PyObject *consts,*/
+ __pyx_empty_tuple, /*PyObject *names,*/
+ __pyx_empty_tuple, /*PyObject *varnames,*/
+ __pyx_empty_tuple, /*PyObject *freevars,*/
+ __pyx_empty_tuple, /*PyObject *cellvars,*/
+ py_srcfile, /*PyObject *filename,*/
+ py_funcname, /*PyObject *name,*/
+ py_line,
+ __pyx_empty_bytes /*PyObject *lnotab*/
+ );
+ Py_DECREF(py_srcfile);
+ Py_DECREF(py_funcname);
+ return py_code;
+bad:
+ Py_XDECREF(py_srcfile);
+ Py_XDECREF(py_funcname);
+ return NULL;
+}
+static void __Pyx_AddTraceback(const char *funcname, int c_line,
+ int py_line, const char *filename) {
+ PyCodeObject *py_code = 0;
+ PyFrameObject *py_frame = 0;
+ PyThreadState *tstate = __Pyx_PyThreadState_Current;
+ if (c_line) {
+ c_line = __Pyx_CLineForTraceback(tstate, c_line);
+ }
+ py_code = __pyx_find_code_object(c_line ? -c_line : py_line);
+ if (!py_code) {
+ py_code = __Pyx_CreateCodeObjectForTraceback(
+ funcname, c_line, py_line, filename);
+ if (!py_code) goto bad;
+ __pyx_insert_code_object(c_line ? -c_line : py_line, py_code);
+ }
+ py_frame = PyFrame_New(
+ tstate, /*PyThreadState *tstate,*/
+ py_code, /*PyCodeObject *code,*/
+ __pyx_d, /*PyObject *globals,*/
+ 0 /*PyObject *locals*/
+ );
+ if (!py_frame) goto bad;
+ __Pyx_PyFrame_SetLineNumber(py_frame, py_line);
+ PyTraceBack_Here(py_frame);
+bad:
+ Py_XDECREF(py_code);
+ Py_XDECREF(py_frame);
+}
+
+/* CIntFromPyVerify */
+#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\
+ __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0)
+#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\
+ __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1)
+#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\
+ {\
+ func_type value = func_value;\
+ if (sizeof(target_type) < sizeof(func_type)) {\
+ if (unlikely(value != (func_type) (target_type) value)) {\
+ func_type zero = 0;\
+ if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\
+ return (target_type) -1;\
+ if (is_unsigned && unlikely(value < zero))\
+ goto raise_neg_overflow;\
+ else\
+ goto raise_overflow;\
+ }\
+ }\
+ return (target_type) value;\
+ }
+
+/* CIntToPy */
+static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) {
+ const int neg_one = (int) ((int) 0 - (int) 1), const_zero = (int) 0;
+ const int is_unsigned = neg_one > const_zero;
+ if (is_unsigned) {
+ if (sizeof(int) < sizeof(long)) {
+ return PyInt_FromLong((long) value);
+ } else if (sizeof(int) <= sizeof(unsigned long)) {
+ return PyLong_FromUnsignedLong((unsigned long) value);
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) {
+ return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
+#endif
+ }
+ } else {
+ if (sizeof(int) <= sizeof(long)) {
+ return PyInt_FromLong((long) value);
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) {
+ return PyLong_FromLongLong((PY_LONG_LONG) value);
+#endif
+ }
+ }
+ {
+ int one = 1; int little = (int)*(unsigned char *)&one;
+ unsigned char *bytes = (unsigned char *)&value;
+ return _PyLong_FromByteArray(bytes, sizeof(int),
+ little, !is_unsigned);
+ }
+}
+
+/* CIntFromPy */
+static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) {
+ const int neg_one = (int) ((int) 0 - (int) 1), const_zero = (int) 0;
+ const int is_unsigned = neg_one > const_zero;
+#if PY_MAJOR_VERSION < 3
+ if (likely(PyInt_Check(x))) {
+ if (sizeof(int) < sizeof(long)) {
+ __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x))
+ } else {
+ long val = PyInt_AS_LONG(x);
+ if (is_unsigned && unlikely(val < 0)) {
+ goto raise_neg_overflow;
+ }
+ return (int) val;
+ }
+ } else
+#endif
+ if (likely(PyLong_Check(x))) {
+ if (is_unsigned) {
+#if CYTHON_USE_PYLONG_INTERNALS
+ const digit* digits = ((PyLongObject*)x)->ob_digit;
+ switch (Py_SIZE(x)) {
+ case 0: return (int) 0;
+ case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0])
+ case 2:
+ if (8 * sizeof(int) > 1 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) {
+ return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
+ }
+ }
+ break;
+ case 3:
+ if (8 * sizeof(int) > 2 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) {
+ return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
+ }
+ }
+ break;
+ case 4:
+ if (8 * sizeof(int) > 3 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) {
+ return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
+ }
+ }
+ break;
+ }
+#endif
+#if CYTHON_COMPILING_IN_CPYTHON
+ if (unlikely(Py_SIZE(x) < 0)) {
+ goto raise_neg_overflow;
+ }
+#else
+ {
+ int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
+ if (unlikely(result < 0))
+ return (int) -1;
+ if (unlikely(result == 1))
+ goto raise_neg_overflow;
+ }
+#endif
+ if (sizeof(int) <= sizeof(unsigned long)) {
+ __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x))
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) {
+ __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
+#endif
+ }
+ } else {
+#if CYTHON_USE_PYLONG_INTERNALS
+ const digit* digits = ((PyLongObject*)x)->ob_digit;
+ switch (Py_SIZE(x)) {
+ case 0: return (int) 0;
+ case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0]))
+ case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0])
+ case -2:
+ if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) {
+ return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
+ }
+ }
+ break;
+ case 2:
+ if (8 * sizeof(int) > 1 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) {
+ return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
+ }
+ }
+ break;
+ case -3:
+ if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) {
+ return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
+ }
+ }
+ break;
+ case 3:
+ if (8 * sizeof(int) > 2 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) {
+ return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
+ }
+ }
+ break;
+ case -4:
+ if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) {
+ return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
+ }
+ }
+ break;
+ case 4:
+ if (8 * sizeof(int) > 3 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) {
+ return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
+ }
+ }
+ break;
+ }
+#endif
+ if (sizeof(int) <= sizeof(long)) {
+ __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x))
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) {
+ __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x))
+#endif
+ }
+ }
+ {
+#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
+ PyErr_SetString(PyExc_RuntimeError,
+ "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
+#else
+ int val;
+ PyObject *v = __Pyx_PyNumber_IntOrLong(x);
+ #if PY_MAJOR_VERSION < 3
+ if (likely(v) && !PyLong_Check(v)) {
+ PyObject *tmp = v;
+ v = PyNumber_Long(tmp);
+ Py_DECREF(tmp);
+ }
+ #endif
+ if (likely(v)) {
+ int one = 1; int is_little = (int)*(unsigned char *)&one;
+ unsigned char *bytes = (unsigned char *)&val;
+ int ret = _PyLong_AsByteArray((PyLongObject *)v,
+ bytes, sizeof(val),
+ is_little, !is_unsigned);
+ Py_DECREF(v);
+ if (likely(!ret))
+ return val;
+ }
+#endif
+ return (int) -1;
+ }
+ } else {
+ int val;
+ PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
+ if (!tmp) return (int) -1;
+ val = __Pyx_PyInt_As_int(tmp);
+ Py_DECREF(tmp);
+ return val;
+ }
+raise_overflow:
+ PyErr_SetString(PyExc_OverflowError,
+ "value too large to convert to int");
+ return (int) -1;
+raise_neg_overflow:
+ PyErr_SetString(PyExc_OverflowError,
+ "can't convert negative value to int");
+ return (int) -1;
+}
+
+/* CIntToPy */
+static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
+ const long neg_one = (long) ((long) 0 - (long) 1), const_zero = (long) 0;
+ const int is_unsigned = neg_one > const_zero;
+ if (is_unsigned) {
+ if (sizeof(long) < sizeof(long)) {
+ return PyInt_FromLong((long) value);
+ } else if (sizeof(long) <= sizeof(unsigned long)) {
+ return PyLong_FromUnsignedLong((unsigned long) value);
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) {
+ return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
+#endif
+ }
+ } else {
+ if (sizeof(long) <= sizeof(long)) {
+ return PyInt_FromLong((long) value);
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) {
+ return PyLong_FromLongLong((PY_LONG_LONG) value);
+#endif
+ }
+ }
+ {
+ int one = 1; int little = (int)*(unsigned char *)&one;
+ unsigned char *bytes = (unsigned char *)&value;
+ return _PyLong_FromByteArray(bytes, sizeof(long),
+ little, !is_unsigned);
+ }
+}
+
+/* CIntFromPy */
+static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) {
+ const long neg_one = (long) ((long) 0 - (long) 1), const_zero = (long) 0;
+ const int is_unsigned = neg_one > const_zero;
+#if PY_MAJOR_VERSION < 3
+ if (likely(PyInt_Check(x))) {
+ if (sizeof(long) < sizeof(long)) {
+ __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x))
+ } else {
+ long val = PyInt_AS_LONG(x);
+ if (is_unsigned && unlikely(val < 0)) {
+ goto raise_neg_overflow;
+ }
+ return (long) val;
+ }
+ } else
+#endif
+ if (likely(PyLong_Check(x))) {
+ if (is_unsigned) {
+#if CYTHON_USE_PYLONG_INTERNALS
+ const digit* digits = ((PyLongObject*)x)->ob_digit;
+ switch (Py_SIZE(x)) {
+ case 0: return (long) 0;
+ case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0])
+ case 2:
+ if (8 * sizeof(long) > 1 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) {
+ return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
+ }
+ }
+ break;
+ case 3:
+ if (8 * sizeof(long) > 2 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) {
+ return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
+ }
+ }
+ break;
+ case 4:
+ if (8 * sizeof(long) > 3 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) {
+ return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
+ }
+ }
+ break;
+ }
+#endif
+#if CYTHON_COMPILING_IN_CPYTHON
+ if (unlikely(Py_SIZE(x) < 0)) {
+ goto raise_neg_overflow;
+ }
+#else
+ {
+ int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
+ if (unlikely(result < 0))
+ return (long) -1;
+ if (unlikely(result == 1))
+ goto raise_neg_overflow;
+ }
+#endif
+ if (sizeof(long) <= sizeof(unsigned long)) {
+ __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x))
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) {
+ __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
+#endif
+ }
+ } else {
+#if CYTHON_USE_PYLONG_INTERNALS
+ const digit* digits = ((PyLongObject*)x)->ob_digit;
+ switch (Py_SIZE(x)) {
+ case 0: return (long) 0;
+ case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0]))
+ case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0])
+ case -2:
+ if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
+ return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
+ }
+ }
+ break;
+ case 2:
+ if (8 * sizeof(long) > 1 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
+ return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
+ }
+ }
+ break;
+ case -3:
+ if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
+ return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
+ }
+ }
+ break;
+ case 3:
+ if (8 * sizeof(long) > 2 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
+ return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
+ }
+ }
+ break;
+ case -4:
+ if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
+ return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
+ }
+ }
+ break;
+ case 4:
+ if (8 * sizeof(long) > 3 * PyLong_SHIFT) {
+ if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
+ __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
+ } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
+ return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
+ }
+ }
+ break;
+ }
+#endif
+ if (sizeof(long) <= sizeof(long)) {
+ __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x))
+#ifdef HAVE_LONG_LONG
+ } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) {
+ __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x))
+#endif
+ }
+ }
+ {
+#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
+ PyErr_SetString(PyExc_RuntimeError,
+ "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
+#else
+ long val;
+ PyObject *v = __Pyx_PyNumber_IntOrLong(x);
+ #if PY_MAJOR_VERSION < 3
+ if (likely(v) && !PyLong_Check(v)) {
+ PyObject *tmp = v;
+ v = PyNumber_Long(tmp);
+ Py_DECREF(tmp);
+ }
+ #endif
+ if (likely(v)) {
+ int one = 1; int is_little = (int)*(unsigned char *)&one;
+ unsigned char *bytes = (unsigned char *)&val;
+ int ret = _PyLong_AsByteArray((PyLongObject *)v,
+ bytes, sizeof(val),
+ is_little, !is_unsigned);
+ Py_DECREF(v);
+ if (likely(!ret))
+ return val;
+ }
+#endif
+ return (long) -1;
+ }
+ } else {
+ long val;
+ PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
+ if (!tmp) return (long) -1;
+ val = __Pyx_PyInt_As_long(tmp);
+ Py_DECREF(tmp);
+ return val;
+ }
+raise_overflow:
+ PyErr_SetString(PyExc_OverflowError,
+ "value too large to convert to long");
+ return (long) -1;
+raise_neg_overflow:
+ PyErr_SetString(PyExc_OverflowError,
+ "can't convert negative value to long");
+ return (long) -1;
+}
+
+/* FastTypeChecks */
+#if CYTHON_COMPILING_IN_CPYTHON
+static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) {
+ while (a) {
+ a = a->tp_base;
+ if (a == b)
+ return 1;
+ }
+ return b == &PyBaseObject_Type;
+}
+static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) {
+ PyObject *mro;
+ if (a == b) return 1;
+ mro = a->tp_mro;
+ if (likely(mro)) {
+ Py_ssize_t i, n;
+ n = PyTuple_GET_SIZE(mro);
+ for (i = 0; i < n; i++) {
+ if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b)
+ return 1;
+ }
+ return 0;
+ }
+ return __Pyx_InBases(a, b);
+}
+#if PY_MAJOR_VERSION == 2
+static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) {
+ PyObject *exception, *value, *tb;
+ int res;
+ __Pyx_PyThreadState_declare
+ __Pyx_PyThreadState_assign
+ __Pyx_ErrFetch(&exception, &value, &tb);
+ res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0;
+ if (unlikely(res == -1)) {
+ PyErr_WriteUnraisable(err);
+ res = 0;
+ }
+ if (!res) {
+ res = PyObject_IsSubclass(err, exc_type2);
+ if (unlikely(res == -1)) {
+ PyErr_WriteUnraisable(err);
+ res = 0;
+ }
+ }
+ __Pyx_ErrRestore(exception, value, tb);
+ return res;
+}
+#else
+static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) {
+ int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0;
+ if (!res) {
+ res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2);
+ }
+ return res;
+}
+#endif
+static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) {
+ Py_ssize_t i, n;
+ assert(PyExceptionClass_Check(exc_type));
+ n = PyTuple_GET_SIZE(tuple);
+#if PY_MAJOR_VERSION >= 3
+ for (i=0; ip) {
+ #if PY_MAJOR_VERSION < 3
+ if (t->is_unicode) {
+ *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL);
+ } else if (t->intern) {
+ *t->p = PyString_InternFromString(t->s);
+ } else {
+ *t->p = PyString_FromStringAndSize(t->s, t->n - 1);
+ }
+ #else
+ if (t->is_unicode | t->is_str) {
+ if (t->intern) {
+ *t->p = PyUnicode_InternFromString(t->s);
+ } else if (t->encoding) {
+ *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL);
+ } else {
+ *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1);
+ }
+ } else {
+ *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1);
+ }
+ #endif
+ if (!*t->p)
+ return -1;
+ if (PyObject_Hash(*t->p) == -1)
+ return -1;
+ ++t;
+ }
+ return 0;
+}
+
+static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) {
+ return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str));
+}
+static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) {
+ Py_ssize_t ignore;
+ return __Pyx_PyObject_AsStringAndSize(o, &ignore);
+}
+#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
+#if !CYTHON_PEP393_ENABLED
+static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
+ char* defenc_c;
+ PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL);
+ if (!defenc) return NULL;
+ defenc_c = PyBytes_AS_STRING(defenc);
+#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
+ {
+ char* end = defenc_c + PyBytes_GET_SIZE(defenc);
+ char* c;
+ for (c = defenc_c; c < end; c++) {
+ if ((unsigned char) (*c) >= 128) {
+ PyUnicode_AsASCIIString(o);
+ return NULL;
+ }
+ }
+ }
+#endif
+ *length = PyBytes_GET_SIZE(defenc);
+ return defenc_c;
+}
+#else
+static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
+ if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL;
+#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
+ if (likely(PyUnicode_IS_ASCII(o))) {
+ *length = PyUnicode_GET_LENGTH(o);
+ return PyUnicode_AsUTF8(o);
+ } else {
+ PyUnicode_AsASCIIString(o);
+ return NULL;
+ }
+#else
+ return PyUnicode_AsUTF8AndSize(o, length);
+#endif
+}
+#endif
+#endif
+static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
+#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
+ if (
+#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
+ __Pyx_sys_getdefaultencoding_not_ascii &&
+#endif
+ PyUnicode_Check(o)) {
+ return __Pyx_PyUnicode_AsStringAndSize(o, length);
+ } else
+#endif
+#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE))
+ if (PyByteArray_Check(o)) {
+ *length = PyByteArray_GET_SIZE(o);
+ return PyByteArray_AS_STRING(o);
+ } else
+#endif
+ {
+ char* result;
+ int r = PyBytes_AsStringAndSize(o, &result, length);
+ if (unlikely(r < 0)) {
+ return NULL;
+ } else {
+ return result;
+ }
+ }
+}
+static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) {
+ int is_true = x == Py_True;
+ if (is_true | (x == Py_False) | (x == Py_None)) return is_true;
+ else return PyObject_IsTrue(x);
+}
+static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) {
+ int retval;
+ if (unlikely(!x)) return -1;
+ retval = __Pyx_PyObject_IsTrue(x);
+ Py_DECREF(x);
+ return retval;
+}
+static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) {
+#if PY_MAJOR_VERSION >= 3
+ if (PyLong_Check(result)) {
+ if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1,
+ "__int__ returned non-int (type %.200s). "
+ "The ability to return an instance of a strict subclass of int "
+ "is deprecated, and may be removed in a future version of Python.",
+ Py_TYPE(result)->tp_name)) {
+ Py_DECREF(result);
+ return NULL;
+ }
+ return result;
+ }
+#endif
+ PyErr_Format(PyExc_TypeError,
+ "__%.4s__ returned non-%.4s (type %.200s)",
+ type_name, type_name, Py_TYPE(result)->tp_name);
+ Py_DECREF(result);
+ return NULL;
+}
+static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) {
+#if CYTHON_USE_TYPE_SLOTS
+ PyNumberMethods *m;
+#endif
+ const char *name = NULL;
+ PyObject *res = NULL;
+#if PY_MAJOR_VERSION < 3
+ if (likely(PyInt_Check(x) || PyLong_Check(x)))
+#else
+ if (likely(PyLong_Check(x)))
+#endif
+ return __Pyx_NewRef(x);
+#if CYTHON_USE_TYPE_SLOTS
+ m = Py_TYPE(x)->tp_as_number;
+ #if PY_MAJOR_VERSION < 3
+ if (m && m->nb_int) {
+ name = "int";
+ res = m->nb_int(x);
+ }
+ else if (m && m->nb_long) {
+ name = "long";
+ res = m->nb_long(x);
+ }
+ #else
+ if (likely(m && m->nb_int)) {
+ name = "int";
+ res = m->nb_int(x);
+ }
+ #endif
+#else
+ if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) {
+ res = PyNumber_Int(x);
+ }
+#endif
+ if (likely(res)) {
+#if PY_MAJOR_VERSION < 3
+ if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) {
+#else
+ if (unlikely(!PyLong_CheckExact(res))) {
+#endif
+ return __Pyx_PyNumber_IntOrLongWrongResultType(res, name);
+ }
+ }
+ else if (!PyErr_Occurred()) {
+ PyErr_SetString(PyExc_TypeError,
+ "an integer is required");
+ }
+ return res;
+}
+static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
+ Py_ssize_t ival;
+ PyObject *x;
+#if PY_MAJOR_VERSION < 3
+ if (likely(PyInt_CheckExact(b))) {
+ if (sizeof(Py_ssize_t) >= sizeof(long))
+ return PyInt_AS_LONG(b);
+ else
+ return PyInt_AsSsize_t(b);
+ }
+#endif
+ if (likely(PyLong_CheckExact(b))) {
+ #if CYTHON_USE_PYLONG_INTERNALS
+ const digit* digits = ((PyLongObject*)b)->ob_digit;
+ const Py_ssize_t size = Py_SIZE(b);
+ if (likely(__Pyx_sst_abs(size) <= 1)) {
+ ival = likely(size) ? digits[0] : 0;
+ if (size == -1) ival = -ival;
+ return ival;
+ } else {
+ switch (size) {
+ case 2:
+ if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) {
+ return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
+ }
+ break;
+ case -2:
+ if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) {
+ return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
+ }
+ break;
+ case 3:
+ if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) {
+ return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
+ }
+ break;
+ case -3:
+ if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) {
+ return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
+ }
+ break;
+ case 4:
+ if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) {
+ return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
+ }
+ break;
+ case -4:
+ if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) {
+ return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
+ }
+ break;
+ }
+ }
+ #endif
+ return PyLong_AsSsize_t(b);
+ }
+ x = PyNumber_Index(b);
+ if (!x) return -1;
+ ival = PyInt_AsSsize_t(x);
+ Py_DECREF(x);
+ return ival;
+}
+static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
+ return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
+}
+static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) {
+ return PyInt_FromSize_t(ival);
+}
+
+
+#endif /* Py_PYTHON_H */
diff --git a/Cython/openGJK_cython.pyx b/Cython/openGJK_cython.pyx
new file mode 100644
index 0000000..b9c37a6
--- /dev/null
+++ b/Cython/openGJK_cython.pyx
@@ -0,0 +1,52 @@
+#cython: language_level=3, boundscheck=False
+import numpy as np
+
+cdef extern from "openGJK.h":
+ struct bd:
+ int numpoints
+ double s[3]
+ double** coord
+
+ struct simplex:
+ int nvrtx
+ double vrtx[4][3]
+ int wids[4]
+ double lambdas[4]
+
+ double gjk(bd bd1, bd bd2, simplex *s)
+
+def pygjk(bod1, bod2):
+ """Returns distance between two bodies, input: array of nodal coordinates for each body"""
+
+ cdef:
+ simplex s
+ bd bd1
+ bd bd2
+ double v1[3], v2[3]
+ int i, j
+
+ dummyRow = np.array([0.,0.,0.])
+
+ bd1.numpoints = np.size(bod1, 0)
+ if bd1.numpoints < 2:
+ bod1 = np.vstack([bod1, dummyRow])
+ for i in range(0, bd1.numpoints):
+ v1[0] = bod1[i,0]
+ v1[1] = bod1[i,1]
+ v1[2] = bod1[i,2]
+ bd1.coord[i] = v1
+
+ bd2.numpoints = np.size(bod2, 0)
+ if bd2.numpoints < 2:
+ bod2 = np.vstack([bod2, dummyRow])
+ for j in range(0, bd2.numpoints):
+ v2[0] = bod2[j,0]
+ v2[1] = bod2[j,1]
+ v2[2] = bod2[j,2]
+ bd2.coord[i] = v2
+
+ answer = gjk(bd1, bd2, &s)
+
+
+
+ return answer
\ No newline at end of file
diff --git a/Cython/setup.py b/Cython/setup.py
new file mode 100644
index 0000000..b3751b9
--- /dev/null
+++ b/Cython/setup.py
@@ -0,0 +1,12 @@
+
+from distutils.core import setup, Extension
+from Cython.Build import cythonize
+
+exts = Extension(
+ "openGJKpy",
+ sources = ["openGJK_cython.pyx", "openGJK.c"]
+ )
+
+setup(ext_modules = cythonize( [exts] ))
+
+
diff --git a/Cython/test.py b/Cython/test.py
new file mode 100644
index 0000000..e114c9e
--- /dev/null
+++ b/Cython/test.py
@@ -0,0 +1,181 @@
+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)