Cython wrapper trial 2

Cython/openGJK.c

@@ -671,6 +671,8 @@ inline static void subalgorithm(struct simplex *s, double *v) {
   }
 }
 
+#define DEBUG
+
 double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
 
   int k = 0;                /**< Iteration counter            */

Cython/openGJK_cython.pyx

@@ -1,5 +1,6 @@
 #cython: language_level=3, boundscheck=False
 import numpy as np 
+from libc.stdlib cimport free
 
 cdef extern from "openGJK.h":
 	struct bd: 
@@ -18,35 +19,42 @@ cdef extern from "openGJK.h":
 def pygjk(bod1, bod2):
 	"""Returns distance between two bodies, input: array of nodal coordinates for each body"""
 
+	print("Hello!!")
 	cdef: 
-		simplex s
+		simplex ss
 		bd bd1
 		bd bd2
-		double v1[3], v2[3]
 		int i, j
+		double answer
 
-	dummyRow = np.array([0.,0.,0.])
+	if bod1.ndim < 2:
+		bod1 = np.append([bod1], [[1.,1.,1.]], axis = 0)
+	if bod2.ndim < 2:
+		bod2 = np.append([bod2], [[1.,1.,1.]], axis = 0)
+
+	bd1.numpoints = np.size(bod1,0)
+	bd2.numpoints = np.size(bod2,0)
+
+	cdef:	
+		double [:,:] narr1 = bod1 	# create numpy-array MemoryView
+		double [:,:] narr2 = bod2
+
+	
+	for i in range(0, bd1.numpoints):
+		bd1.coord[i] = hex(id(bod1[i]))
 
-	bd1.numpoints = np.size(bod1, 0)
-	if bd1.numpoints < 2:
-		bod1 = np.vstack([bod1, dummyRow])
-	for i in range(0, bd1.numpoints):
-		v1[0] = bod1[i,0]
-		v1[1] = bod1[i,1]
-		v1[2] = bod1[i,2]
-		bd1.coord[i] = v1
 	
-	bd2.numpoints = np.size(bod2, 0)
-	if bd2.numpoints < 2:
-		bod2 = np.vstack([bod2, dummyRow])
 	for j in range(0, bd2.numpoints):
-		v2[0] = bod2[j,0]
-		v2[1] = bod2[j,1]
-		v2[2] = bod2[j,2]
-		bd2.coord[i] = v2
-
-	answer = gjk(bd1, bd2, &s)
+		bd2.coord[i][0] = narr2[j,0]
+		bd2.coord[i][1] = narr2[j,1]
+		bd2.coord[i][2] = narr2[j,2]
 
 
+	answer = gjk(bd1, bd2, &ss)
+
+	free(bd1.coord)
+	free(bd2.coord)
+
+
+	return answer
 
-	return answer