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

Format all c and h files

Browse Source
This commit is contained in:
Mattia Montanari
2023-02-13 14:35:05 +01:00
parent d9a9bf2a4b
commit 66002145bd
3 changed files with 341 additions and 227 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
include/openGJK/openGJK.h
View File

@@ -26,16 +26,14 @@
* @date 1 Jan 2022
* @brief Main interface of OpenGJK containing quick reference and API documentation.
*
* More extensive explanation of what the header
* @see http://google.com
* @see https://www.mattiamontanari.com/opengjk/
*/
#ifndef OPENGJK_H__
#define OPENGJK_H__
#ifdef __cplusplus
extern "C"
{
extern "C" {
#endif
/*! @brief Precision of floating-point numbers.
@@ -43,29 +41,29 @@ extern "C"
* Default is set to 64-bit (Double). Change this to quickly play around with 16- and 32-bit. */
#define gkFloat double
/*! @brief Data structure for convex polytopes.
/*! @brief Data structure for convex polytopes.
*
* Polytopes are three-dimensional shapes and the GJK algorithm works directly on their convex-hull. However the convex-hull is never computed explicity, instead each GJK-iteraion employs a support function that has a cost linearly dependen on the number of points defining the polytope. */
typedef struct gkPolytope_
{
int numpoints; /*!< Number of points defining the polytope. */
gkFloat s[3]; /*!< Furthest point retunred by the support function and updated at each GJK-iteration. For the first itearion this value is a guess - and this guess not irrelevant. */
gkFloat **coord; /*!< Coordinates of the points of the polytope. This is owned by user who manages and garbage-collects the memory for these coordinates. */
} gkPolytope;
typedef struct gkPolytope_ {
int numpoints; /*!< Number of points defining the polytope. */
gkFloat s
[3]; /*!< Furthest point retunred by the support function and updated at each GJK-iteration. For the first itearion this value is a guess - and this guess not irrelevant. */
gkFloat**
coord; /*!< Coordinates of the points of the polytope. This is owned by user who manages and garbage-collects the memory for these coordinates. */
} gkPolytope;
/*! @brief Data structure for simplex.
/*! @brief Data structure for simplex.
*
* The simplex is updated at each GJK-iteration. For the first itearion this value is a guess - and this guess not irrelevant. */
typedef struct gkSimplex_
{
int nvrtx; /*!< Number of points defining the simplex. */
gkFloat vrtx[4][3]; /*!< Coordinates of the points of the simplex. */
} gkSimplex;
typedef struct gkSimplex_ {
int nvrtx; /*!< Number of points defining the simplex. */
gkFloat vrtx[4][3]; /*!< Coordinates of the points of the simplex. */
} gkSimplex;
/*! @brief Invoke the GJK algorithm to compute the minimum distance between two polytopes.
/*! @brief Invoke the GJK algorithm to compute the minimum distance between two polytopes.
*
* The simplex has to be initialised prior the call to this function. */
gkFloat compute_minimum_distance(const gkPolytope p_, const gkPolytope q_, gkSimplex *s_);
gkFloat compute_minimum_distance(const gkPolytope p_, const gkPolytope q_, gkSimplex* s_);
#ifdef __cplusplus
}