Commit v1.0 of openGJK

example3_csharp/main.cs

@@ -0,0 +1,37 @@
+using System;
+
+using System.Runtime.InteropServices;
+
+public class Tester 
+{
+
+
+#if UNIX
+    [DllImport("libopenGJKlib.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
+#else 
+    [DllImport("openGJKlib", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
+#endif
+    static extern double gjk(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} };
+
+		// 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} };
+
+		// Invoke GJK to compute distance
+		dist = gjk( 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();
+        }
+}