Cython wrapper trial 2

fixes-turtlebasket
Daniel Song 2020-05-19 17:44:27 +01:00
parent 5e29631244
commit b526fe1a9f
3 changed files with 32 additions and 4009 deletions

View File

@ -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 */

File diff suppressed because it is too large Load Diff

View File

@ -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