turtlebasket
/
openGJK
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix exit condition, remove Werror flag

fixes-turtlebasket
mm 2019-03-18 17:47:04 +00:00
parent d67a1b7db6
commit 646c1d3edc
4 changed files with 24 additions and 63 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
CMakeLists.txt
View File

@ -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")

3
example1_c/main.c
View File

@ -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. */

7
lib/CMakeLists.txt
View File

@ -16,8 +16,7 @@ project (openGJKlib)
set(CMAKE_C_STANDARD 11)
# SELECT USER OPTIONS
option(VERSION_ACCURATE "Reduce speed to maximise accuracy (OFF)"
OFF )
option(VERSION_ACCURATE "Reduce speed to maximise accuracy (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} ${SOURCE_HEADS})
add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=TRUE)
add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES} ${SOURCE_HEADS})
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)

61
lib/src/openGJK.c
View File

@ -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 mk = 1000; /**< Maximum number of iterations */
int i; /**< General purpose counter */
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;
@ -1008,26 +988,7 @@ void mexFunction( int nlhs, mxArray *plhs[],
double csFunction( int nCoordsA, double *inCoordsA, int nCoordsB, double *inCoordsB )
{
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
int i, j;
/*----------------------------------------------------------------*/
/* POPULATE BODIES' STRUCTURES */