Fix exit condition, remove Werror flag

CMakeLists.txt

@@ -42,23 +42,23 @@ ENDIF()
 
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
   # using GCC
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -finline-functions")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra -finline-functions")
   set(CMAKE_CXX_FLAGS_DEBUG "-g -DDEBUG")
-  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Werror")
+  set(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -finline-functions")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wextra -finline-functions")
   set(CMAKE_C_FLAGS_DEBUG "-g -DDEBUG")
-  set(CMAKE_C_FLAGS_RELEASE "-O3 -Werror")
+  set(CMAKE_C_FLAGS_RELEASE "-O3")
 
   add_compile_options(-static-libgcc -static-libstdc++ )
   add_definitions(-DMT)
 elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
   # using Visual Studio C++
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Wall /WX /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711 /wd5045")
   set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi  /Ob0 /Od /RTC1")
   set(CMAKE_CXX_FLAGS_RELEASE "/Ox")
 
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /Wall /WX /wd4131 /wd4701 /wd4255 /wd4710  /wd4820 /wd4711")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /wd4131 /wd4701 /wd4255 /wd4710  /wd4820 /wd4711 /wd5045")
   set(CMAKE_C_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi  /Ob0 /Od /RTC1")
   set(CMAKE_C_FLAGS_RELEASE "/Ox")
 

example1_c/main.c

@@ -26,6 +26,7 @@
  *
  */
 
+#define _CRT_HAS_CXX17 0
 #include <stdio.h>
 
 /* For importing openGJK this is Step 1: include header in subfolder. */
@@ -58,7 +59,7 @@ int readinput ( const char *inputfile, double ***pts, int * out ) {
   }
 
   /* Read number of input vertices. */
-  if (fscanf_s(fp, "%1d", &npoints) != 1)
+  if (fscanf_s(fp, "%d", &npoints) != 1)
     return 1;
 
   /* Allocate memory. */

lib/CMakeLists.txt

@@ -16,8 +16,7 @@ project (openGJKlib)
 set(CMAKE_C_STANDARD 11)
 
 # SELECT USER OPTIONS
-option(VERSION_ACCURATE  "Reduce speed to maximise accuracy (OFF)"
+option(VERSION_ACCURATE  "Reduce speed to maximise accuracy (OFF)"   OFF )
-        OFF )
 
 # APPLY USER OPTIONS
 IF(VERSION_ACCURATE)
@@ -46,8 +45,8 @@ IF(USE_PREDICATES)
 ENDIF()
 
 # Create the (dynamic) library
-add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${SOURCE_HEADS})
+add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES} ${SOURCE_HEADS})
-add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=TRUE)
+add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=FALSE)
 
 # Link include file
 target_include_directories( ${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR}/include)

lib/src/openGJK.c

@@ -26,6 +26,7 @@
  *
  */
 
+#define _CRT_HAS_CXX17 0
 #include <stdio.h>
 
 #include "openGJK/openGJK.h"
@@ -777,18 +778,19 @@ void subalgorithm  ( struct simplex *s ) {
 double gjk ( struct bd bd1, struct bd bd2, struct simplex *s) {
 
   int k = 0;                /**< Iteration counter            */
-  int i;                    /**< General purpose index        */
+  int i;                    /**< General purpose counter      */
-  int mk = 1000;            /**< Maximum number of iterations */
+  int mk = 100;             /**< Maximum number of iterations of the GJK algorithm */
   double v[3];              /**< Search direction             */
   double vminus[3];         /**< Search direction             */
   double w[3];              /**< Vertex on CSO frontier       */
   double eps_rel = 1e-10;   /**< Tolerance on relative        */
-  double eps_tot = 1e-14;   /**< Tolerance on total           */
+  double eps_tot = 1e-13;
   double dd = -1;           /**< Squared distance             */
   int maxitreached = 0;     /**< Flag for maximum iterations  */
   int origininsimplex = 0;  /**< Flag for origin in simples   */
   int exeedtol_rel = 0;     /**< Flag for 1st exit condition  */
   int exeedtol_tot = 0;     /**< Flag for 2nd exit condition  */ 
+  int nullV = 0;            /**< Flag for 3rd exit condition  */ 
 
 #ifdef ADAPTIVEFP
   exactinit();
@@ -800,34 +802,11 @@ double gjk ( struct bd bd1, struct bd bd2, struct simplex *s) {
     vminus[i] = -v[i];
   }
 
-  
-#if 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
-
   /* Begin GJK iteration */
   do {
     /* Increment iteration counter */
     k++;
 
-#ifdef DEBUG
-    mexPrintf ("iteration number = %i \n",k );
-#endif
-    /* Evaluate support function*/
     /* Support function on polytope A */
     support( &bd1 , vminus );
     /* Support function on polytope B */
@@ -840,7 +819,11 @@ double gjk ( struct bd bd1, struct bd bd2, struct simplex *s) {
     /* Test first exit condition (can't move further) */
     exeedtol_rel = (norm2(v) - dotprod (v,w) ) <= eps_rel * norm2(v);
     if ( exeedtol_rel ){
-      continue;
+      break;
+    }
+    nullV = norm2(v) < eps_rel;
+    if (nullV) {
+      break;
     }
 
     /* Add support vertex to simplex at the position nvrtx+1 */
@@ -851,9 +834,6 @@ double gjk ( struct bd bd1, struct bd bd2, struct simplex *s) {
     /* Invoke sub-distance algorithm */
     subalgorithm ( s );
 
-#ifdef DEBUG
-    mexPrintf ("Elm in simplex = %i \n",s->nvrtx );
-#endif
     /* Termination tests */
     maxitreached = k == mk;
     origininsimplex = s->nvrtx == 4;
@@ -1010,25 +990,6 @@ double csFunction( int nCoordsA, double *inCoordsA, int nCoordsB, double *inCoor
   double distance = 0;
   int i, j;
 
-
-#ifdef DEBUG
-  printf("Coordinates of A\n");
-  for (i = 0; i < nCoordsA; i++){
-    for (j = 0; j < 3; j++){
-        printf("%.4f ", inCoordsA[i+j*nCoordsA] );
-    }
-    printf("\n");
-  }
-
-  printf("Coordinates of B\n");
-  for (i = 0; i < nCoordsB; i++){
-    for (j = 0; j < 3; j++){
-        printf("%.4f ", inCoordsB[i+j*nCoordsB] );
-    }
-    printf("\n");
-  }
-#endif
-
   /*----------------------------------------------------------------*/
   /* POPULATE BODIES' STRUCTURES  */