Add octave github action

.github/workflows/github-opengjk-examples.yml

@@ -23,3 +23,11 @@ jobs:
         with:
           go-version: 1.15
       - run: cd examples/go/openGJK && go build && go test -v
+
+  Run_Octave_example:
+    runs-on: ubuntu-latest
+    container: gnuoctave/octave:7.3.0
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: cd examples/matlab/; run runme.m

examples/matlab/main.m

@@ -32,31 +32,33 @@ B = -A;
 dist = openGJK( A, B ); 
 fprintf('The minimum distance between A and B is %.2f\n',dist);
 
-% VISUALISE RESULTS
+% VISUALISE RESULTS ONLY IN MATLAB
-% .. create new figure
+if(exist('OCTAVE_VERSION', 'builtin') == 0)
-figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
+       % .. create new figure
+       figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
        'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
        'Renderer','opengl') 
-% .. adjust properties
+       % .. adjust properties
-axis equal tight off; hold all; 
+       axis equal tight off; hold all; 
-% .. display body A
+       % .. display body A
-DT = delaunayTriangulation(A');
+       DT = delaunayTriangulation(A');
-[K,~] = convexHull(DT);
+       [K,~] = convexHull(DT);
-trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
+       trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
               'EdgeColor','none','FaceColor',[.4 1 .9 ],...
               'FaceLighting','flat' )
-% .. display body B
+       % .. display body B
-DT = delaunayTriangulation(B');
+       DT = delaunayTriangulation(B');
-[K,~] = convexHull(DT);
+       [K,~] = convexHull(DT);
-trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
+       trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
               'EdgeColor','none','FaceColor',[.4 1 .8 ],...
               'FaceLighting','flat' )
-% .. represent the computed distance as a sphere
+       % .. represent the computed distance as a sphere
-[x,y,z] = sphere(100);
+       [x,y,z] = sphere(100);
-surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
+       surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
        'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
        'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
-% ... adjust point of view   
+       % ... adjust point of view   
-view(42,21)
+       view(42,21)
-% ... add light
+       % ... add light
-light('Position',[5 -10 20],'Style','local'); 
+       light('Position',[5 -10 20],'Style','local'); 
+end

examples/matlab/runme.m

@@ -35,29 +35,14 @@ else
     silflag = '-v';
 end
 
-% TRY COMPILING MEX FILE
+% COMPILE MEX FILE
-fprintf('Compiling mex function... ')
+mex(fullfile('..','..','openGJK.c'),...
-try
-mex(fullfile('..','..','openGJK.c'),...  % Source of openGJK 
     '-largeArrayDims', ...      % Support large arrays
-    optflug, ...                % Compiler flag for debug/optimisation
+    optflug, ...
-    fullfile('-I','..','..','include'),...      % Folder to header files
+    ['-I',fullfile('..','..','include')],...      % Folder to header files
-    '-outdir', pwd, ...         % Ouput directory for writing mex function
     '-output', 'openGJK',...    % Name of ouput mex file
     '-DMATLAB_MEX_BUILD',...  % Define variable for mex function in source files
-    silflag )                   % Silent/verbose flag
+    silflag )
-
-    % File compiled without errors. Return path and name of mex file
-    fprintf('completed!\n')
-    fprintf('The following mex file has been generated:')
-    fprintf('\t%s\n',[pwd,filesep,'openGJK.',mexext]) 
-catch
-    % Build failed, refer to documentation
-    fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
-    fprintf('\tFor more information, see ')
-    fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
-    return
-end
  
 % RUN EXAMPLE
 fprintf('Running example... ')