Commit v1.0 of openGJK
Mattia Montanari
parent
f0faa98e03
commit
bcc7cc6e2a
|
|
@ -0,0 +1,76 @@
|
||||||
|
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
|
||||||
|
# ##### # # # #
|
||||||
|
# #### ##### ###### # # # # # # # #
|
||||||
|
# # # # # # ## # # # # # #
|
||||||
|
# # # # # ##### # # # # #### # ### #
|
||||||
|
# # # ##### # # # # # # # # # # #
|
||||||
|
# # # # # # ## # # # # # # #
|
||||||
|
# #### # ###### # # ##### ##### # # #
|
||||||
|
# #
|
||||||
|
# Mattia Montanari | University of Oxford 2018 #
|
||||||
|
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
|
||||||
|
|
||||||
|
cmake_minimum_required(VERSION 3.5)
|
||||||
|
project(openGJK)
|
||||||
|
|
||||||
|
set(CMAKE_C_STANDARD 11)
|
||||||
|
|
||||||
|
message("[${CMAKE_PROJECT_NAME}] Welcome, please change user options if needed.")
|
||||||
|
|
||||||
|
# APPLY DEFAULT SETTINGS
|
||||||
|
if(NOT CMAKE_BUILD_TYPE)
|
||||||
|
message("[${CMAKE_PROJECT_NAME}] Use default CMAKE_BUILD_TYPE")
|
||||||
|
set(CMAKE_BUILD_TYPE Release)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
|
||||||
|
# PLATFORM-SPECIFIC SETTING
|
||||||
|
if (UNIX)
|
||||||
|
find_library(M_LIB m)
|
||||||
|
set(CMAKE_C_FLAGS "-lm")
|
||||||
|
set(CMAKE_CXX_FLAGS "-lm")
|
||||||
|
else ()
|
||||||
|
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
# COMPILER SETTING
|
||||||
|
IF(CMAKE_BUILD_TYPE MATCHES Release)
|
||||||
|
set(CMAKE_BUILD_TYPE Release)
|
||||||
|
ELSEIF(CMAKE_BUILD_TYPE MATCHES Debug)
|
||||||
|
set(CMAKE_BUILD_TYPE Debug)
|
||||||
|
ENDIF()
|
||||||
|
|
||||||
|
if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
|
||||||
|
# using GCC
|
||||||
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -finline-functions")
|
||||||
|
set(CMAKE_CXX_FLAGS_DEBUG "-g -DDEBUG")
|
||||||
|
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Werror")
|
||||||
|
|
||||||
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -finline-functions")
|
||||||
|
set(CMAKE_C_FLAGS_DEBUG "-g -DDEBUG")
|
||||||
|
set(CMAKE_C_FLAGS_RELEASE "-O3 -Werror")
|
||||||
|
|
||||||
|
add_compile_options(-static-libgcc -static-libstdc++ )
|
||||||
|
add_definitions(-DMT)
|
||||||
|
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
|
||||||
|
# using Visual Studio C++
|
||||||
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Wall /WX /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711")
|
||||||
|
set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi /Ob0 /Od /RTC1")
|
||||||
|
set(CMAKE_CXX_FLAGS_RELEASE "/Ox")
|
||||||
|
|
||||||
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /Wall /WX /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711")
|
||||||
|
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi /Ob0 /Od /RTC1")
|
||||||
|
set(CMAKE_C_FLAGS_RELEASE "/Ox")
|
||||||
|
|
||||||
|
set(CMAKE_SUPPRESS_REGENERATION true)
|
||||||
|
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# DEBUG FLAGS
|
||||||
|
IF(CMAKE_BUILD_TYPE MATCHES Debug)
|
||||||
|
add_definitions(-DDEBUG)
|
||||||
|
ENDIF()
|
||||||
|
|
||||||
|
# INCLUDE LIBRARY AND EXAMPLE DIR
|
||||||
|
add_subdirectory(lib)
|
||||||
|
add_subdirectory(example1_c)
|
||||||
232
README.md
232
README.md
|
|
@ -1,2 +1,230 @@
|
||||||
# openGJK
|
|
||||||
Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C# and Matlab
|
openGJK {#mainpage}
|
||||||
|
=======
|
||||||
|
|
||||||
|
The openGJK library uses the Gilbert-Johnson-Keerthi (GJK) algorithm to
|
||||||
|
compute the minimum distance between convex polytopes. The
|
||||||
|
implementation follows the description presented in
|
||||||
|
"[Improving the GJK Algorithm for Faster and More Reliable Distance
|
||||||
|
Queries Between Convex Objects. ACM Trans. on Graph. 2017](https://dl.acm.org/citation.cfm?id=3083724)" and has been tested
|
||||||
|
on Unix and Windows systems for C, C# and Matlab programs.
|
||||||
|
|
||||||
|
This library offers researchers a tool that works
|
||||||
|
out of the box: you can import it in your program and use it to measure
|
||||||
|
the distance between two convex polytopes in 3D. All it needs are the
|
||||||
|
coordinates of the vertices describing the two bodies.
|
||||||
|
This library is not optimised for production, but it does provide a comprehensive and robust implementation. It is sufficiently fast for
|
||||||
|
most applications, and you can also build from here to suite your own
|
||||||
|
application. For instance, openGJK is not for incremental and is not
|
||||||
|
for NURBS, but it offers a good starting point for such specific
|
||||||
|
applications.
|
||||||
|
|
||||||
|
## Getting Started
|
||||||
|
Using openGJK is very simple. This guide will help you getting
|
||||||
|
started compiling and using openGJK.
|
||||||
|
|
||||||
|
### When should I use openGJK?
|
||||||
|
|
||||||
|
OpenGJK is designed with accuracy and robustness in mind and is
|
||||||
|
suitable for engineering simulations. Good use of this library
|
||||||
|
include the finite element method (FEM) and discrete element method (DEM).
|
||||||
|
|
||||||
|
Basically, openGJK can measure the distance between **any convex polytope**. For example:
|
||||||
|
- line segments
|
||||||
|
- triangles
|
||||||
|
- tetrahedrons
|
||||||
|
- cubes.
|
||||||
|
|
||||||
|
### Installing the openGJK library
|
||||||
|
|
||||||
|
#### Prerequisites
|
||||||
|
|
||||||
|
1. A compiler (gnu or Microsoft Visual Studio for C)
|
||||||
|
2. CMake version 3.5 or above
|
||||||
|
3. Only for the Matlab interface you will need to build mex files (find out the requisites from [Mathworks documentation](https://uk.mathworks.com/help/matlab/matlab_external/what-you-need-to-build-mex-files.html)).
|
||||||
|
4. Only for the C# interface on Unix you will need [mono](http://www.mono-project.com/) and Microsoft Visual Studio toolchain for C# on Windows.
|
||||||
|
|
||||||
|
### Installation
|
||||||
|
|
||||||
|
There are CMake files for compiling openGJK in the usual
|
||||||
|
way:
|
||||||
|
1. Create a new folder in the folder containing this readme file.
|
||||||
|
2. Move into that folder and type `cmake -G <duild-system> ..`. For example,
|
||||||
|
on Windows you can type `cmake -G "Visual Studio 15 2017 Win64" ..`, on Unix `cmake -G "Unix Makefiles" ..`.
|
||||||
|
3. Use the files generated by Cmake to build the library. Whether you compile
|
||||||
|
with `make` or an IDE, you will build a shared library and an executable
|
||||||
|
for the C example. For Matlab and C# applications, see sections below.
|
||||||
|
|
||||||
|
To install the library you should copy the header file openGJK.h and the binaries in a folder accessible in the search path by all users (on Unix this would normally be /usr/local).
|
||||||
|
|
||||||
|
### Automated documentation
|
||||||
|
The folder `doc` contains a Doxygen file for generating the documentation of the whole
|
||||||
|
library. To build the documentation cd into `doc` and call Doxygen from the command line simply by typing `doxygen`. If correctly installed, Doxygen will create html documentation with graphs illustrating the call stack of the functions of the library.
|
||||||
|
|
||||||
|
## API user reference
|
||||||
|
|
||||||
|
```double gjk( struct bodyA, struct bodyB, struct simplex)```
|
||||||
|
|
||||||
|
### Parameters
|
||||||
|
* **bodyA** The first body.
|
||||||
|
* **bodyB** The second body.
|
||||||
|
* **simplex** The simplex used the GJK algorithm at the first iteration.
|
||||||
|
|
||||||
|
### Returns
|
||||||
|
* **double** the minimum distance between bodyA and bodyB.
|
||||||
|
|
||||||
|
### Description
|
||||||
|
The function `gjk` computes the minimum Euclidean distance between two bodies using the
|
||||||
|
GJK algorithm. Note that the simplex used at the first iteration may be initialised by the user, but this is not necessary.
|
||||||
|
|
||||||
|
|
||||||
|
## Configuration
|
||||||
|
|
||||||
|
openGJK comes in two flavours: *accurate* and *fast* (default). You can
|
||||||
|
change before compiling by editing the main 'lib\CMakeLists.txt' file
|
||||||
|
(in the folder `lib`). Set the option `VERSION_ACCURATE` to `ON` and
|
||||||
|
run CMake. You can verify what version is being compiled from the terminal,
|
||||||
|
if you do not see "Version: Accurate" when calling CMake, you have to clean
|
||||||
|
the CMake cache.
|
||||||
|
|
||||||
|
## Examples
|
||||||
|
|
||||||
|
This section presents three examples on how to use openGJK with C, C# and Matlab.
|
||||||
|
All the examples have been tested both Linux and Windows; the former used `make` and `gcc`,
|
||||||
|
the latter using `Visual studio 2017` and its compiler. Only x64 systems have been tested.
|
||||||
|
|
||||||
|
### C
|
||||||
|
This example illustrates how to include openGJK in an existing C
|
||||||
|
program.
|
||||||
|
|
||||||
|
All files for the example are in the `example1_c` folder. The executable built with
|
||||||
|
CMake reads the coordinates of two polytopes from the input files,
|
||||||
|
respectively userP.dat and userQ.dat, and computes the minimum distance
|
||||||
|
between them.
|
||||||
|
|
||||||
|
Notice that the input files must be in the folder from which the executable
|
||||||
|
is launched, otherwise an error is returned.
|
||||||
|
|
||||||
|
You can edit the coordinates in the input file to test different
|
||||||
|
polytopes; just remember to edit also the first number in the files
|
||||||
|
that corresponds to the numbers of vertices that the program will read.
|
||||||
|
|
||||||
|
### Matlab
|
||||||
|
This example illustrates how to invoke openGJK as a regular built-in
|
||||||
|
Matlab function.
|
||||||
|
|
||||||
|
Open Matlab and cd into the `example2_mex` folder. By running the
|
||||||
|
script `runme.m`, Matlab will first compile a mex file (telling you
|
||||||
|
about the name of the mex file generated) and will call the script
|
||||||
|
`main.m`. This invokes openGJK within Matlab and illustrates the
|
||||||
|
result.
|
||||||
|
|
||||||
|
The mex file may be copied and called from any other Matlab project.
|
||||||
|
|
||||||
|
### C# #
|
||||||
|
This example illustrates how to invoke openGJK in an applications written in C#.
|
||||||
|
The only file required is in the `example3_csharp` folder. This can be compiled in Unix
|
||||||
|
with mono, or in Windows using Visual Studio. Notice that, however, the openGJK library
|
||||||
|
is compiled for a specific architecture (usually x64), and this breaks the portability
|
||||||
|
of the .NET application compiled in this example.
|
||||||
|
|
||||||
|
Below are the steps for compiling the C# application on Windows and Linux. Both
|
||||||
|
procedures assume the dynamic library of openGJK has been already compiled.
|
||||||
|
|
||||||
|
#### Compile on Windows
|
||||||
|
1. Move into the folder `example3_csharp` and create a new folder `example3`.
|
||||||
|
2. Copy into this folder the openGJK library or make it available in any directory.
|
||||||
|
3. Open Visual Studio and create a new project. As project type select **Console App (.NET Framework)**.
|
||||||
|
4. Add to this project the `main.cs` file
|
||||||
|
5. Set x64 as the target platform, compile the application and run it.
|
||||||
|
|
||||||
|
|
||||||
|
#### Compile on Linux
|
||||||
|
1. Move into the folder `example3_csharp` and create a new folder `example3`.
|
||||||
|
2. Copy into this folder the openGJK library or install is so that is available in any directory.
|
||||||
|
3. Move into that new folder and open a terminal.
|
||||||
|
4. Type `mcs -out:example3demo -d:UNIX ../main.cs`
|
||||||
|
5. Run the example by typing `mono example3demo`
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
## Repository content
|
||||||
|
This repository contains the following files and folders:
|
||||||
|
|
||||||
|
```
|
||||||
|
│ CMakeLists.txt
|
||||||
|
│ README.md
|
||||||
|
│
|
||||||
|
├───doc
|
||||||
|
│ openGJKcustomfooter.html
|
||||||
|
│ openGJKcustomheader.html
|
||||||
|
│ openGJKcustomstyle.css
|
||||||
|
│ Doxyfile
|
||||||
|
│ oxfordLogo.jpg
|
||||||
|
│
|
||||||
|
├───example1_c
|
||||||
|
│ CMakeLists.txt
|
||||||
|
│ main.c
|
||||||
|
│ userP.dat
|
||||||
|
│ userQ.dat
|
||||||
|
│
|
||||||
|
├───example2_mex
|
||||||
|
│ main.m
|
||||||
|
│ runme.m
|
||||||
|
│
|
||||||
|
├───example3_csharp
|
||||||
|
│ main.cs
|
||||||
|
│
|
||||||
|
└───lib
|
||||||
|
│ CMakeLists.txt
|
||||||
|
│
|
||||||
|
├───ext
|
||||||
|
│ predicates.c
|
||||||
|
│ predicates.h
|
||||||
|
│
|
||||||
|
├───include
|
||||||
|
│ └───openGJK
|
||||||
|
│ openGJK.h
|
||||||
|
│
|
||||||
|
└───src
|
||||||
|
openGJK.c
|
||||||
|
```
|
||||||
|
|
||||||
|
## Where to go next?
|
||||||
|
|
||||||
|
A clear presentation of the GJK algorithm can be found in the
|
||||||
|
book by **Van der Bergen** *Collision Detection in Interactive 3D
|
||||||
|
Environments*, edited by Elsevier.
|
||||||
|
|
||||||
|
More details about the GJK algorithm can be found in the original paper
|
||||||
|
from Gilbert, Johnson and Keerthi [A fast procedure for computing the distance between complex objects in three-dimensional space](http://ieeexplore.ieee.org/document/2083/?arnumber=2083).
|
||||||
|
|
||||||
|
OpenGJK implements the GJK algorithm as described in: [Improving the GJK Algorithm for Faster and More Reliable Distance
|
||||||
|
Queries Between Convex Objects. ACM Trans. on Graph. 2017 ](https://dl.acm.org/citation.cfm?id=3083724). Refer to this papar for further details on the method.
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
## Licence
|
||||||
|
|
||||||
|
This open-source edition of openGJK is released under the terms of
|
||||||
|
[CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) License.
|
||||||
|
This means that any software created with this library you must comply
|
||||||
|
with the terms of this licence. If you are seeking another licence please
|
||||||
|
contact the author at the address at the end of this file.
|
||||||
|
|
||||||
|
openGJK may use the geometric predicates from *Routines for Arbitrary
|
||||||
|
Precision Floating-point Arithmetic*, by Jonathan Richard Shewchuk,
|
||||||
|
whose source code is included in the file predicates.c of this
|
||||||
|
repository for convenience.
|
||||||
|
|
||||||
|
------------------------------------------------------------------------
|
||||||
|
openGJK, Copyright (c) 2018
|
||||||
|
|
||||||
|
Impact Engineering Laboratory
|
||||||
|
Department of Engineering Science
|
||||||
|
University of Oxford
|
||||||
|
Parks Road, Oxford, OX1 3PJ
|
||||||
|
|
||||||
|
mattia.montanari@eng.ox.ac.uk
|
||||||
|
------------------------------------------------------------------------
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,21 @@
|
||||||
|
<!-- HTML footer for doxygen 1.8.14-->
|
||||||
|
<!-- start footer part -->
|
||||||
|
<!--BEGIN GENERATE_TREEVIEW-->
|
||||||
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||||||
|
<ul>
|
||||||
|
$navpath
|
||||||
|
<li class="footer">$generatedby
|
||||||
|
<a href="http://www.doxygen.org/index.html">
|
||||||
|
<img class="footer" src="$relpath^doxygen.png" alt="doxygen"/></a> $doxygenversion </li>
|
||||||
|
</ul>
|
||||||
|
</div>
|
||||||
|
<!--END GENERATE_TREEVIEW-->
|
||||||
|
<!--BEGIN !GENERATE_TREEVIEW-->
|
||||||
|
<hr class="footer"/><address class="footer"><small>
|
||||||
|
$generatedby  <a href="http://www.doxygen.org/index.html">
|
||||||
|
<img class="footer" src="$relpath^doxygen.png" alt="doxygen"/>
|
||||||
|
</a> $doxygenversion
|
||||||
|
</small></address>
|
||||||
|
<!--END !GENERATE_TREEVIEW-->
|
||||||
|
</body>
|
||||||
|
</html>
|
||||||
|
|
@ -0,0 +1,34 @@
|
||||||
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||||
|
<html xmlns="http://www.w3.org/1999/xhtml">
|
||||||
|
<head>
|
||||||
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||||
|
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
|
||||||
|
<meta name="generator" content="Doxygen 1.8.14"/>
|
||||||
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
||||||
|
<title>openGJK: Main Page</title>
|
||||||
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||||||
|
<script type="text/javascript" src="jquery.js"></script>
|
||||||
|
<script type="text/javascript" src="dynsections.js"></script>
|
||||||
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||||
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
||||||
|
<script type="text/javascript" src="search/search.js"></script>
|
||||||
|
<link href="openGJKcustomstyle.css" rel="stylesheet" type="text/css" />
|
||||||
|
</head>
|
||||||
|
<body>
|
||||||
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
||||||
|
<div id="titlearea">
|
||||||
|
<table cellspacing="0" cellpadding="0">
|
||||||
|
<tbody>
|
||||||
|
<tr style="height: 56px;">
|
||||||
|
<td id="projectlogo"><img alt="Logo" src="oxforduni.jpg" height="100px"/></td>
|
||||||
|
<td id="projectalign" style="padding-left: 2.5em;">
|
||||||
|
<div id="projectname">openGJK
|
||||||
|
 <span id="projectnumber">v 1.0</span>
|
||||||
|
</div>
|
||||||
|
<div id="projectbrief">Fast and reliable distance queries in 3D between convex polytopes.</div>
|
||||||
|
</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
</div>
|
||||||
|
<!-- end header part -->
|
||||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
|
After Width: | Height: | Size: 29 KiB |
|
|
@ -0,0 +1,28 @@
|
||||||
|
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
|
||||||
|
# ##### # # # #
|
||||||
|
# #### ##### ###### # # # # # # # #
|
||||||
|
# # # # # # ## # # # # # #
|
||||||
|
# # # # # ##### # # # # #### # ### #
|
||||||
|
# # # ##### # # # # # # # # # # #
|
||||||
|
# # # # # # ## # # # # # # #
|
||||||
|
# #### # ###### # # ##### ##### # # #
|
||||||
|
# #
|
||||||
|
# Mattia Montanari | University of Oxford 2018 #
|
||||||
|
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
|
||||||
|
|
||||||
|
|
||||||
|
project(openGJKdemo)
|
||||||
|
|
||||||
|
message( "[${CMAKE_PROJECT_NAME}] Compiling the executable ..")
|
||||||
|
|
||||||
|
# Set source file
|
||||||
|
set(SOURCE_FILES main.c )
|
||||||
|
|
||||||
|
# Create the executable
|
||||||
|
add_executable(demo ${SOURCE_FILES})
|
||||||
|
|
||||||
|
# Link to openGJK
|
||||||
|
target_link_libraries(demo openGJKlib )
|
||||||
|
|
||||||
|
# Report
|
||||||
|
message( ".. executable DONE!")
|
||||||
|
|
@ -0,0 +1,159 @@
|
||||||
|
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
|
||||||
|
* ##### # # # *
|
||||||
|
* #### ##### ###### # # # # # # # *
|
||||||
|
* # # # # # ## # # # # # *
|
||||||
|
* # # # # ##### # # # # #### # ### *
|
||||||
|
* # # ##### # # # # # # # # # # *
|
||||||
|
* # # # # # ## # # # # # # *
|
||||||
|
* #### # ###### # # ##### ##### # # *
|
||||||
|
* *
|
||||||
|
* Mattia Montanari | University of Oxford 2018 *
|
||||||
|
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
|
||||||
|
* *
|
||||||
|
* This file runs an example to illustrate how to invoke the openGJK lib *
|
||||||
|
* within a C program. An executable called 'demo' can be compiled with *
|
||||||
|
* CMake. This reads the coordinates of two polytopes from the input *
|
||||||
|
* files userP.dat and userQ.dat, respectively, and returns the minimum *
|
||||||
|
* distance between them computed using the openGJK library. *
|
||||||
|
* *
|
||||||
|
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file main.c
|
||||||
|
* @author Mattia Montanari
|
||||||
|
* @date April 2018
|
||||||
|
* @brief File illustrating an application that invokes openGJK.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
/* For importing openGJK this is Step 1: include header in subfolder. */
|
||||||
|
#include "openGJK/openGJK.h"
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef WIN32
|
||||||
|
#define fscanf_s fscanf
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Function for reading input file with body's coordinates.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
int readinput ( const char *inputfile, double ***pts, int * out ) {
|
||||||
|
int npoints = 0;
|
||||||
|
int idx = 0;
|
||||||
|
FILE *fp;
|
||||||
|
|
||||||
|
/* Open file. */
|
||||||
|
#ifdef WIN32
|
||||||
|
errno_t err;
|
||||||
|
if ((err = fopen_s(&fp, inputfile, "r")) != 0) {
|
||||||
|
#else
|
||||||
|
if ((fp = fopen(inputfile, "r")) == NULL) {
|
||||||
|
#endif
|
||||||
|
fprintf(stdout, "ERROR: input file %s not found!\n", inputfile);
|
||||||
|
fprintf(stdout, " -> The file must be in the folder from which this program is launched\n\n");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Read number of input vertices. */
|
||||||
|
if (fscanf_s(fp, "%1d", &npoints) != 1)
|
||||||
|
return 1;
|
||||||
|
|
||||||
|
/* Allocate memory. */
|
||||||
|
double **arr = (double **)malloc(npoints * sizeof(double *));
|
||||||
|
for (int i=0; i<npoints; i++)
|
||||||
|
arr[i] = (double *)malloc(3 * sizeof(double));
|
||||||
|
|
||||||
|
/* Read and store vertices' coordinates. */
|
||||||
|
for (idx = 0; idx < npoints; idx++)
|
||||||
|
{
|
||||||
|
if (fscanf_s(fp, "%lf %lf %lf\n", &arr[idx][0], &arr[idx][1], &arr[idx][2]) != 3 )
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Close file. */
|
||||||
|
fclose(fp);
|
||||||
|
|
||||||
|
/* Pass pointers. */
|
||||||
|
*pts = arr;
|
||||||
|
*out = idx;
|
||||||
|
|
||||||
|
return (0);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Main program of example1_c (described in Section 3.1 of the paper).
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
int main() {
|
||||||
|
/* Squared distance computed by openGJK. */
|
||||||
|
double dd;
|
||||||
|
/* Structure of simplex used by openGJK. */
|
||||||
|
struct simplex s;
|
||||||
|
/* Number of vertices defining body 1 and body 2, respectively. */
|
||||||
|
int nvrtx1,
|
||||||
|
nvrtx2;
|
||||||
|
/* Structures of body 1 and body 2, respectively. */
|
||||||
|
struct bd bd1;
|
||||||
|
struct bd bd2;
|
||||||
|
/* Specify name of input files for body 1 and body 2, respectively. */
|
||||||
|
char inputfileA[40] = "userP.dat",
|
||||||
|
inputfileB[40] = "userQ.dat";
|
||||||
|
/* Pointers to vertices' coordinates of body 1 and body 2, respectively. */
|
||||||
|
double (**vrtx1) = NULL,
|
||||||
|
(**vrtx2) = NULL;
|
||||||
|
|
||||||
|
/* For importing openGJK this is Step 2: adapt the data structure for the
|
||||||
|
* two bodies that will be passed to the GJK procedure. */
|
||||||
|
|
||||||
|
/* Import coordinates of object 1. */
|
||||||
|
if (readinput ( inputfileA, &vrtx1, &nvrtx1 ))
|
||||||
|
return (1);
|
||||||
|
bd1.coord = vrtx1;
|
||||||
|
bd1.numpoints = nvrtx1;
|
||||||
|
|
||||||
|
/* Import coordinates of object 2. */
|
||||||
|
if (readinput ( inputfileB, &vrtx2, &nvrtx2 ))
|
||||||
|
return (1);
|
||||||
|
bd2.coord = vrtx2;
|
||||||
|
bd2.numpoints = nvrtx2;
|
||||||
|
|
||||||
|
/* Initialise simplex as empty */
|
||||||
|
s.nvrtx = 0;
|
||||||
|
|
||||||
|
#ifdef DEBUG
|
||||||
|
/* Verify input of body A. */
|
||||||
|
for (int i = 0; i < bd1.numpoints; ++i) {
|
||||||
|
printf ( "%.2f ", vrtx1[i][0]);
|
||||||
|
printf ( "%.2f ", vrtx1[i][1]);
|
||||||
|
printf ( "%.2f\n", bd1.coord[i][2]);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Verify input of body B. */
|
||||||
|
for (int i = 0; i < bd2.numpoints; ++i) {
|
||||||
|
printf ( "%.2f ", bd2.coord[i][0]);
|
||||||
|
printf ( "%.2f ", bd2.coord[i][1]);
|
||||||
|
printf ( "%.2f\n", bd2.coord[i][2]);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* For importing openGJK this is Step 3: invoke the GJK procedure. */
|
||||||
|
/* Compute squared distance using GJK algorithm. */
|
||||||
|
dd = gjk (bd1, bd2, &s);
|
||||||
|
|
||||||
|
/* Print distance between objects. */
|
||||||
|
printf ("Distance between bodies %f\n", dd);
|
||||||
|
|
||||||
|
/* Free memory */
|
||||||
|
for (int i=0; i<bd1.numpoints; i++)
|
||||||
|
free(bd1.coord[i]);
|
||||||
|
free(bd1.coord);
|
||||||
|
for (int i=0; i<bd2.numpoints; i++)
|
||||||
|
free(bd2.coord[i]);
|
||||||
|
free(bd2.coord);
|
||||||
|
|
||||||
|
return (0);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
9
|
||||||
|
0.0 5.5 0.0
|
||||||
|
2.3 1.0 -2.0
|
||||||
|
8.1 4.0 2.4
|
||||||
|
4.3 5.0 2.2
|
||||||
|
2.5 1.0 2.3
|
||||||
|
7.1 1.0 2.4
|
||||||
|
1.0 1.5 0.3
|
||||||
|
3.3 0.5 0.3
|
||||||
|
6.0 1.4 0.2
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
9
|
||||||
|
-0.0 -5.5 0.0
|
||||||
|
-2.3 -1.0 2.0
|
||||||
|
-8.1 -4.0 -2.4
|
||||||
|
-4.3 -5.0 -2.2
|
||||||
|
-2.5 -1.0 -2.3
|
||||||
|
-7.1 -1.0 -2.4
|
||||||
|
-1.0 -1.5 -0.3
|
||||||
|
-3.3 -0.5 -0.3
|
||||||
|
-6.0 -1.4 -0.2
|
||||||
|
|
@ -0,0 +1,60 @@
|
||||||
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
||||||
|
% ##### # # # %
|
||||||
|
% #### ##### ###### # # # # # # # %
|
||||||
|
% # # # # # ## # # # # # %
|
||||||
|
% # # # # ##### # # # # #### # ### %
|
||||||
|
% # # ##### # # # # # # # # # # %
|
||||||
|
% # # # # # ## # # # # # # %
|
||||||
|
% #### # ###### # # ##### ##### # # %
|
||||||
|
% %
|
||||||
|
% Mattia Montanari | University of Oxford 2018 %
|
||||||
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
||||||
|
% %
|
||||||
|
% This file runs an example to illustrate how to invoke the openGJK lib %
|
||||||
|
% withing Matlab. It that assumes a mex file openGJK is availalbe, see %
|
||||||
|
% the runme.m script for information on how to compile it. %
|
||||||
|
% The example computes the minimum distance between two polytopes in 3D, %
|
||||||
|
% A and B, both defined as a list of points. %
|
||||||
|
% %
|
||||||
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
||||||
|
|
||||||
|
% DEFINE BODY A AS 3xN MATRIX, WHERE N IS THE NUMBER OF VERTICES OF BODY A
|
||||||
|
A = [ 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 BODY B IN THE OPPOSITE QUADRANT OF BODY A
|
||||||
|
B = -A;
|
||||||
|
|
||||||
|
% COMPUTE MINIMUM DISTANCE AND RETURN VALUE
|
||||||
|
dist = openGJK( A, B );
|
||||||
|
fprintf('The minimum distance between A and B is %.2f\n',dist);
|
||||||
|
|
||||||
|
% VISUALISE RESULTS
|
||||||
|
% .. create new figure
|
||||||
|
figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
|
||||||
|
'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
|
||||||
|
'Renderer','opengl')
|
||||||
|
% .. adjust properties
|
||||||
|
axis equal tight off; hold all;
|
||||||
|
% .. display body A
|
||||||
|
DT = delaunayTriangulation(A');
|
||||||
|
[K,~] = convexHull(DT);
|
||||||
|
trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
|
||||||
|
'EdgeColor','none','FaceColor',[.4 1 .9 ],...
|
||||||
|
'FaceLighting','flat' )
|
||||||
|
% .. display body B
|
||||||
|
DT = delaunayTriangulation(B');
|
||||||
|
[K,~] = convexHull(DT);
|
||||||
|
trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
|
||||||
|
'EdgeColor','none','FaceColor',[.4 1 .8 ],...
|
||||||
|
'FaceLighting','flat' )
|
||||||
|
% .. represent the computed distance as a sphere
|
||||||
|
[x,y,z] = sphere(100);
|
||||||
|
surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
|
||||||
|
'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
|
||||||
|
'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
|
||||||
|
% ... adjust point of view
|
||||||
|
view(42,21)
|
||||||
|
% ... add light
|
||||||
|
light('Position',[5 -10 20],'Style','local');
|
||||||
|
|
@ -0,0 +1,61 @@
|
||||||
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
||||||
|
% ##### # # # %
|
||||||
|
% #### ##### ###### # # # # # # # %
|
||||||
|
% # # # # # ## # # # # # %
|
||||||
|
% # # # # ##### # # # # #### # ### %
|
||||||
|
% # # ##### # # # # # # # # # # %
|
||||||
|
% # # # # # ## # # # # # # %
|
||||||
|
% #### # ###### # # ##### ##### # # %
|
||||||
|
% %
|
||||||
|
% Mattia Montanari | University of Oxford 2018 %
|
||||||
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
||||||
|
% %
|
||||||
|
% This file compiles a mex function from the openGJK library and runs an %
|
||||||
|
% example. If the mex function cannot be compiled an error is returned. %
|
||||||
|
% %
|
||||||
|
% - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %
|
||||||
|
|
||||||
|
% CLEAR ALL VARIABLES
|
||||||
|
clearvars
|
||||||
|
|
||||||
|
% SELECT OPTIMISATION FLAG - FASTER BUT NOT SUITABLE FOR DEBUGGING
|
||||||
|
if 0
|
||||||
|
optflug = '-g'; %#ok<*UNRCH>
|
||||||
|
else
|
||||||
|
optflug = '-O';
|
||||||
|
end
|
||||||
|
% SELECT SILET COMPILATION MODE.
|
||||||
|
if 1
|
||||||
|
silflag = '-silent';
|
||||||
|
else
|
||||||
|
silflag = '-v';
|
||||||
|
end
|
||||||
|
|
||||||
|
% TRY COMPILING MEX FILE
|
||||||
|
fprintf('Compiling mex function... ')
|
||||||
|
try
|
||||||
|
mex('../lib/src/openGJK.c',... % Source of openGJK
|
||||||
|
'-largeArrayDims', ... % Support large arrays
|
||||||
|
optflug, ... % Compiler flag for debug/optimisation
|
||||||
|
'-I../lib/include',... % Folder to header files
|
||||||
|
'-outdir', pwd,... % Ouput directory for writing mex function
|
||||||
|
'-output', 'openGJK',... % Name of ouput mex file
|
||||||
|
'-DMATLABDOESMEXSTUFF',... % Define variable for mex function in source files
|
||||||
|
silflag ) % Silent/verbose flag
|
||||||
|
|
||||||
|
% File compiled without errors. Return path and name of mex file
|
||||||
|
fprintf('completed!\n')
|
||||||
|
fprintf('The following mex file has been generated:')
|
||||||
|
fprintf('\t%s\n',[pwd,filesep,'openGJK.',mexext])
|
||||||
|
catch
|
||||||
|
% Build failed, refer to documentation
|
||||||
|
fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
|
||||||
|
fprintf('\tFor more information, see ')
|
||||||
|
fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
|
||||||
|
return
|
||||||
|
end
|
||||||
|
|
||||||
|
% RUN EXAMPLE
|
||||||
|
fprintf('Running example... ')
|
||||||
|
main
|
||||||
|
fprintf('completed!\n')
|
||||||
|
|
@ -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();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,63 @@
|
||||||
|
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
|
||||||
|
# ##### # # # #
|
||||||
|
# #### ##### ###### # # # # # # # #
|
||||||
|
# # # # # # ## # # # # # #
|
||||||
|
# # # # # ##### # # # # #### # ### #
|
||||||
|
# # # ##### # # # # # # # # # # #
|
||||||
|
# # # # # # ## # # # # # # #
|
||||||
|
# #### # ###### # # ##### ##### # # #
|
||||||
|
# #
|
||||||
|
# Mattia Montanari | University of Oxford 2018 #
|
||||||
|
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
|
||||||
|
|
||||||
|
|
||||||
|
project (openGJKlib)
|
||||||
|
|
||||||
|
set(CMAKE_C_STANDARD 11)
|
||||||
|
|
||||||
|
# SELECT USER OPTIONS
|
||||||
|
option(VERSION_ACCURATE "Reduce speed to maximise accuracy (OFF)"
|
||||||
|
OFF )
|
||||||
|
|
||||||
|
# APPLY USER OPTIONS
|
||||||
|
IF(VERSION_ACCURATE)
|
||||||
|
set(USE_PREDICATES ON)
|
||||||
|
set(openGJK_VERSION "Accurate")
|
||||||
|
ELSE()
|
||||||
|
set(USE_PREDICATES OFF)
|
||||||
|
set(openGJK_VERSION "Fast")
|
||||||
|
ENDIF()
|
||||||
|
|
||||||
|
# COMPILE
|
||||||
|
message( "[${CMAKE_PROJECT_NAME}] Compiling ..")
|
||||||
|
message(STATUS "Version (Accurate,Fast): " ${openGJK_VERSION} )
|
||||||
|
message(STATUS "Build type (Debug,Release): " ${CMAKE_BUILD_TYPE} )
|
||||||
|
|
||||||
|
# Select source files
|
||||||
|
set( SOURCE_FILES src/openGJK.c )
|
||||||
|
set( SOURCE_HEADS include/openGJK/openGJK.h)
|
||||||
|
|
||||||
|
IF(USE_PREDICATES)
|
||||||
|
# for adpative floating-point artim.
|
||||||
|
set( SOURCE_FILES ${SOURCE_FILES} ext/predicates.c)
|
||||||
|
set( SOURCE_HEADS ${SOURCE_HEADS} ext/predicates.h)
|
||||||
|
# Add flag for adpative floating-point artim.
|
||||||
|
add_definitions(-DADAPTIVEFP)
|
||||||
|
ENDIF()
|
||||||
|
|
||||||
|
# Create the (dynamic) library
|
||||||
|
add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${SOURCE_HEADS})
|
||||||
|
add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=TRUE)
|
||||||
|
|
||||||
|
# Link include file
|
||||||
|
target_include_directories( ${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR}/include)
|
||||||
|
|
||||||
|
IF(USE_PREDICATES)
|
||||||
|
# for adpative floating-point artim.
|
||||||
|
target_include_directories( ${PROJECT_NAME}
|
||||||
|
PUBLIC ${PROJECT_SOURCE_DIR}/ext
|
||||||
|
)
|
||||||
|
ENDIF()
|
||||||
|
|
||||||
|
# Report
|
||||||
|
message( ".. DONE!")
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,26 @@
|
||||||
|
//
|
||||||
|
// Created by mmontanari on 29/06/16.
|
||||||
|
//
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
|
#ifndef CGJK_PREDICATES_H
|
||||||
|
#define CGJK_PREDICATES_H
|
||||||
|
|
||||||
|
#endif //CGJK_PREDICATES_H
|
||||||
|
|
||||||
|
extern double orient3d(
|
||||||
|
double *pa,
|
||||||
|
double *pb,
|
||||||
|
double *pc,
|
||||||
|
double *pd
|
||||||
|
);
|
||||||
|
|
||||||
|
extern double orient2d(
|
||||||
|
double *pa,
|
||||||
|
double *pb,
|
||||||
|
double *pc
|
||||||
|
);
|
||||||
|
|
||||||
|
extern void exactinit();
|
||||||
|
|
@ -0,0 +1,63 @@
|
||||||
|
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
|
||||||
|
* ##### # # # *
|
||||||
|
* #### ##### ###### # # # # # # # *
|
||||||
|
* # # # # # ## # # # # # *
|
||||||
|
* # # # # ##### # # # # #### # ### *
|
||||||
|
* # # ##### # # # # # # # # # # *
|
||||||
|
* # # # # # ## # # # # # # *
|
||||||
|
* #### # ###### # # ##### ##### # # *
|
||||||
|
* *
|
||||||
|
* Mattia Montanari | University of Oxford 2018 *
|
||||||
|
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
|
||||||
|
* *
|
||||||
|
* This is the header file for the openGJK.c file. It defines the openGJK *
|
||||||
|
* function and it two important structures: bd and simplex. *
|
||||||
|
* *
|
||||||
|
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
|
||||||
|
|
||||||
|
#ifndef __OPENGJK_H__
|
||||||
|
#define __OPENGJK_H__
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include "math.h"
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Macro that implements the CompareSign function (see paper).
|
||||||
|
*/
|
||||||
|
#define SAMESIGN( a, b ) ( (a>0) == (b>0) )
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Structure of a body.
|
||||||
|
*/
|
||||||
|
struct bd {
|
||||||
|
int numpoints; /**< Number of points defining the body. */
|
||||||
|
double **coord; /**< Pointer to pointer to the points' coordinates. */
|
||||||
|
double s [3]; /**< Support mapping computed last. */
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Structure for a simplex.
|
||||||
|
*/
|
||||||
|
struct simplex {
|
||||||
|
int nvrtx ; /**< Number of simplex's vertices. */
|
||||||
|
double vrtx [4][3]; /**< Coordinates of simplex's vertices. */
|
||||||
|
int wids [4]; /**< Label of the simplex's vertices. */
|
||||||
|
double lambdas [4]; /**< Barycentric coordiantes for each vertex. */
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief The GJK algorithm which returns the minimum distance between
|
||||||
|
* two bodies.
|
||||||
|
*/
|
||||||
|
extern double gjk( struct bd, struct bd, struct simplex * ) ;
|
||||||
|
|
||||||
|
#endif
|
||||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue