From bb5b5d44dd3939b2b45ff2679338ce40d302a033 Mon Sep 17 00:00:00 2001
From: Mattia Montanari <mattia.montanari@eng.ox.ac.uk>
Date: Sun, 2 Apr 2023 12:07:12 +0200
Subject: [PATCH] For Mono, use single precision - note that this does not work
 in unity

---
 .github/workflows/github-opengjk-examples.yml |  5 ++-
 examples/cs/main.cs                           | 40 +++++++++----------
 2 files changed, 23 insertions(+), 22 deletions(-)

diff --git a/.github/workflows/github-opengjk-examples.yml b/.github/workflows/github-opengjk-examples.yml
index 32336b5..2ce325c 100644
--- a/.github/workflows/github-opengjk-examples.yml
+++ b/.github/workflows/github-opengjk-examples.yml
@@ -30,8 +30,9 @@ jobs:
         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: cmake --build build
+      # Using single precision
+      - run: cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MONO=ON -DSINGLE_PRECISION=ON ..
+      - run: cmake --build build --target opengjk_ce
       - run: cmake -E chdir build make install
       - run: cd examples/cs/ && mcs -out:main.exe main.cs && mono main.exe
 
diff --git a/examples/cs/main.cs b/examples/cs/main.cs
index 5cb1023..6a12053 100644
--- a/examples/cs/main.cs
+++ b/examples/cs/main.cs
@@ -32,34 +32,34 @@ using System;
 
 using System.Runtime.InteropServices;
 
-public class Tester 
+public class Tester
 {
 #if UNIX
     [DllImport("libopengjk_ce.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
 #else 
     [DllImport("libopengjk_ce", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
 #endif
- 
-    static extern double compute_minimum_distance(int na, double [,] ia, int nb, double [,] ib);
 
-        public static void Main(string[] args)
-        {
-		double dist;
-		// Define array A with coordinates
-		int  nCoordsA = 9;
-                var inCoordsA = 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} };
+    static extern float compute_minimum_distance(int na, float[,] ia, int nb, float[,] ib);
 
-		// Define array B with coordinates 
-		int nCoordsB = 9;
-                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} };
+    public static void Main(string[] args)
+    {
+        float dist;
+        // Define array A with coordinates
+        int nCoordsA = 9;
+        var inCoordsA = new float[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 = 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);
+        // Define array B with coordinates 
+        int nCoordsB = 9;
+        var inCoordsB = new float[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 = 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);
+
+    }
 }