Major changes: build static and dyn library. the first is for C example, the latter for CS example. The CS example is also ran in the action

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

@@ -13,6 +13,26 @@ jobs:
       - run: cmake --build build
       - run: cmake -E chdir build/examples/c/ ./example_lib_opengjk_ce
 
+  Cython:
+    runs-on: ubuntu-latest
+    container: mmontanari/devenv:buildenv-ubuntu
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: cd examples/cython/ && python3 setup.py build_ext --inplace && python3 pygjk_trial.py
+      - run: cd examples/cython/ && pytest test.py
+
+  CSharp:
+    runs-on: ubuntu-latest
+    container: mmontanari/devenv:mono:latest
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: apt-get update && apt-get install gcc cmake -y
+      - run: cmake -E make_directory build
+      - run: cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MONO=ON ..
+      - run: cd examples/cs/ && mcs -out:main.exe main.cs && mono main.exe
+
   GO:
     runs-on: ubuntu-latest
     container: mmontanari/devenv:buildenv-fedora
@@ -31,12 +51,3 @@ jobs:
       - name: Check out repository code
         uses: actions/checkout@v3
       - run: cd examples/matlab/; octave runme.m
-
-  Cython:
-    runs-on: ubuntu-latest
-    container: mmontanari/devenv:buildenv-ubuntu
-    steps:
-      - name: Check out repository code
-        uses: actions/checkout@v3
-      - run: cd examples/cython/ && python3 setup.py build_ext --inplace && python3 pygjk_trial.py
-      - run: cd examples/cython/ && pytest test.py

CMakeLists.txt

@@ -21,15 +21,16 @@
 #  FOR A PARTICULAR PURPOSE. See GNU General Public License for details.           #
 
 # User options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
-option(BUILD_EXAMPLE "Build demo"        ON)
+option(BUILD_EXAMPLE "Build demo"        ON )
+option(BUILD_MONO    "Build C# example"  OFF)
 
 # CMake setup  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
 cmake_minimum_required(VERSION          3.0) # You can downgrade to 2.8, but I don't maintain it anymore
 cmake_policy(SET CMP0048                NEW) 
 cmake_policy(SET CMP0063                NEW) # Visibility of preset and hidden lines on shared libs
 
-set( CMAKE_C_VISIBILITY_PRESET           hidden)
+# set( CMAKE_C_VISIBILITY_PRESET           hidden)
-set( CMAKE_VISIBILITY_INLINES_HIDDEN     TRUE)
+set( CMAKE_VISIBILITY_INLINES_HIDDEN     FALSE)
 set( CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS    ON)
 
 # Project setup  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
@@ -58,26 +59,34 @@ elseif (CMAKE_C_COMPILER_ID STREQUAL "MSVC")
 endif()
 
 # Target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
-add_library( ${PROJECT_NAME} 
+
-    STATIC
+if(BUILD_MONO)
+    add_compile_definitions(CS_MONO_BUILD)
+endif(BUILD_MONO)
+
+add_library( obj_openGJK 
+    OBJECT
         ${CMAKE_CURRENT_SOURCE_DIR}/openGJK.c 
         ${CMAKE_CURRENT_SOURCE_DIR}/include/openGJK/openGJK.h
 )
 
-target_include_directories( ${PROJECT_NAME} 
+target_include_directories( obj_openGJK 
 PUBLIC 
 ${CMAKE_CURRENT_SOURCE_DIR}/include
 ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-target_link_libraries(${PROJECT_NAME} PRIVATE m)
+target_link_libraries(obj_openGJK PRIVATE m)
 
-set_target_properties(${PROJECT_NAME} 
+set_target_properties(obj_openGJK 
     PROPERTIES 
         C_STANDARD 11
         PUBLIC_HEADER ${CMAKE_CURRENT_SOURCE_DIR}/include/openGJK/openGJK.h
+        POSITION_INDEPENDENT_CODE 1
 )
 
+add_library(opengjk_ce SHARED $<TARGET_OBJECTS:obj_openGJK>)
+
 # Build demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
 if(BUILD_EXAMPLE)
     add_subdirectory(examples/c)
@@ -85,11 +94,11 @@ endif(BUILD_EXAMPLE)
 
 # Install  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
 if (UNIX)
-    install(TARGETS ${PROJECT_NAME} PERMISSIONS WORLD_WRITE )
     set(DESTDIR "/usr")
-    INSTALL(TARGETS ${PROJECT_NAME} 
+    INSTALL(TARGETS opengjk_ce 
         LIBRARY DESTINATION "${DESTDIR}/lib"
         PUBLIC_HEADER DESTINATION "${DESTDIR}/include"
+        PERMISSIONS WORLD_WRITE
     )
 endif (UNIX)
 

examples/c/CMakeLists.txt

@@ -25,12 +25,12 @@ project(example_lib_opengjk_ce
     VERSION 1.0.0 
 )
 
-add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
+add_executable(example_lib_opengjk_ce ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
-target_link_libraries(${PROJECT_NAME} lib_opengjk_ce)
+target_link_libraries(example_lib_opengjk_ce obj_openGJK m)
 
 # Copy input files for this example after build
 add_custom_command(
-    TARGET ${PROJECT_NAME} POST_BUILD
+    TARGET example_lib_opengjk_ce POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E copy
             ${CMAKE_CURRENT_SOURCE_DIR}/userP.dat
             ${CMAKE_CURRENT_BINARY_DIR}/userP.dat 

examples/cs/main.cs

@@ -34,10 +34,13 @@ using System.Runtime.InteropServices;
 
 public class Tester 
 {
+#if UNIX
+    [DllImport("libopengjk_ce.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
+#else 
+    [DllImport("libopengjk_ce", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
+#endif
  
-    [DllImport("libopenGJKlib", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
+    static extern double compute_minimum_distance(int na, double [,] ia, int nb, double [,] ib);
- 
-    static extern double gjk(int na, double [,] ia, int nb, double [,] ib);
 
         public static void Main(string[] args)
         {
@@ -51,13 +54,12 @@ public class Tester
                 var inCoordsB = new double[3,9] { {-0.0 , -2.3 , -8.1 , -4.3  ,-2.5 , -7.1 , -1.0 , -3.3 , -6.0} , { -5.5 , -1.0 ,- 4.0 ,- 5.0  ,-1.0,  -1.0,  -1.5,  -0.5 , -1.4} ,{ -0.0 , 2.0,  -2.4,  -2.2,  -2.3 , -2.4 , -0.3 , -0.3 , -0.2} };
 
 		// Invoke GJK to compute distance
-		dist = gjk( nCoordsA, inCoordsA, nCoordsB, inCoordsB );
+		dist = compute_minimum_distance( nCoordsA, inCoordsA, nCoordsB, inCoordsB );
  
 		// Output results
 		var s = string.Format("{0:0.##}", dist);
 		var message = string.Format("The distance between {0} is {1}","A and B",s);
 		Console.WriteLine(message);
-		Console.WriteLine("Press any key to exit");
+
-		Console.ReadLine();
         }
 }