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Merge branch 'dev' into mm-fixes

fixes-turtlebasket
Mattia Montanari 2020-05-21 17:52:28 +01:00 committed by GitHub
parent 07f444a0f1 0bb555f0a1
commit d090fafe02
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7 changed files with 222 additions and 212 deletions
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4
.github/workflows/ccpp.yml vendored
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@ -12,8 +12,8 @@ jobs:
- name: Install Eigen and Pybind11
run: sudo apt update && sudo apt install -y libeigen3-dev && pip3 install pybind11 pytest numpy scipy
- name: Compile
run: export CPATH=/usr/include/eigen3 && cd python && source build.sh
run: export CPATH=/usr/include/eigen3 && cd examples/python && source build.sh
- name: Test
run: |
cd python
cd examples/python
python3 -m pytest -s -v test.py

5
.gitignore vendored
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@ -210,3 +210,8 @@ callgrind.out.*
# Jetbrains IDE project files
/.idea
/*.iml
# Pytest
.cache
.pytest_cache
.mypy_cache

2
examples/python/build.sh Executable file
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@ -0,0 +1,2 @@
#!/bin/bash
g++ -Wall -fPIC -fopenmp -shared `python3 -m pybind11 --includes` -I ../../include -I/usr/include/eigen3 pyopenGJK.cpp ../../src/openGJK.c -o opengjkc`python3-config --extension-suffix`

0
python/pyopenGJK.cpp → examples/python/pyopenGJK.cpp
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22
python/test.py → examples/python/test.py
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@ -2,7 +2,10 @@ import opengjkc as opengjk
from scipy.spatial.transform import Rotation as R
import numpy as np
import pytest
#from IPython import embed
def settol():
return 1e-12
def distance_point_to_line_3D(P1, P2, point):
"""
@ -29,7 +32,7 @@ def test_line_point_distance(delta):
actual_distance = distance_point_to_line_3D(
line[0], line[1], point)
print(distance, actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
assert(np.isclose(distance, actual_distance, atol=settol() ))
@pytest.mark.parametrize("delta", [0.1, 1e-12, 0])
@ -43,7 +46,7 @@ def test_line_line_distance(delta):
actual_distance = distance_point_to_line_3D(
line[0], line[1], line_2[0])
print(distance, actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
assert(np.isclose(distance, actual_distance, atol=settol() ))
@pytest.mark.parametrize("delta", [0.1**(3*i) for i in range(6)])
@ -58,7 +61,8 @@ def test_tri_distance(delta):
distance = opengjk.gjk(tri_1, tri_2)
print("Computed distance ", distance, "Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
#embed()
assert(np.isclose(distance, actual_distance, atol=settol() ))
@pytest.mark.parametrize("delta", [0.1*0.1**(3*i) for i in range(6)])
@ -74,7 +78,7 @@ def test_quad_distance2d(delta):
distance = opengjk.gjk(quad_1, quad_2)
print("Computed distance ", distance, "Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
assert(np.isclose(distance, actual_distance, atol=settol() ))
@pytest.mark.parametrize("delta", [1*0.5**(3*i) for i in range(7)])
@ -88,7 +92,7 @@ def test_tetra_distance_3d(delta):
distance = opengjk.gjk(tetra_1, tetra_2)
print("Computed distance ", distance, "Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
assert(np.isclose(distance, actual_distance, atol=settol() ))
@pytest.mark.parametrize("delta", [(-1)**i*np.sqrt(2)*0.1**(3*i)
@ -103,11 +107,11 @@ def test_tetra_collision_3d(delta):
distance = opengjk.gjk(tetra_1, tetra_2)
if delta < 0:
assert(np.isclose(distance, 0, atol=1e-15))
assert(np.isclose(distance, 0, atol=settol()))
else:
print("Computed distance ", distance,
"Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
assert(np.isclose(distance, actual_distance, atol=settol()))
@pytest.mark.parametrize("delta", [0, -0.1, -0.49, -0.51])
@ -133,11 +137,11 @@ def test_hex_collision_3d(delta):
distance = opengjk.gjk(hex_1, hex_2)
if P0[0] < 1:
assert(np.isclose(distance, 0, atol=1e-15))
assert(np.isclose(distance, 0, atol=settol()))
else:
print("Computed distance ", distance,
"Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=1e-15))
assert(np.isclose(distance, actual_distance, atol=settol()))
@pytest.mark.parametrize("c0", [0, 1, 2, 3])

2
python/build.sh
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@ -1,2 +0,0 @@
#!/bin/bash
g++ -Wall -fPIC -fopenmp -shared `python3 -m pybind11 --includes` -I../include -I/usr/include/eigen3 pyopenGJK.cpp ../src/openGJK.c -o opengjkc`python3-config --extension-suffix`

17
src/openGJK.c
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@ -37,8 +37,8 @@
#define mexPrintf printf
#endif
#define eps_rel22 1e-5
#define eps_tot22 1e-14
#define eps_rel22 1e-10
#define eps_tot22 1e-12
/* Select distance sub-algorithm */
@ -295,7 +295,7 @@ inline static void S2D(struct simplex * s, double *v)
}
else if (hff1f_s13) {
if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update v
return; // Return V{1,2,3}
}
else
@ -675,7 +675,7 @@ double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
int k = 0; /**< Iteration counter */
int i; /**< General purpose counter */
int mk = 5000; /**< Maximum number of iterations of the GJK algorithm */
int mk = 25; /**< Maximum number of iterations of the GJK algorithm */
int absTestin;
double norm2Wmax = 0;
double tesnorm;
@ -685,7 +685,7 @@ double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
double eps_rel = eps_rel22; /**< Tolerance on relative */
double eps_rel2 = eps_rel * eps_rel;
double eps_tot = eps_tot22;
int exeedtol_rel = 0; /**< Flag for 1st exit condition */
double exeedtol_rel; /**< Test for 1st exit condition */
int nullV = 0;
#ifdef DEBUG
@ -738,8 +738,8 @@ double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
w[t] = bd1.s[t] - bd2.s[t];
/* Test first exit condition (new point already in simplex/can't move further) */
exeedtol_rel = (norm2(v) - dotProduct(v, w)) <= eps_rel2 * norm2(v);
if (exeedtol_rel) {
exeedtol_rel = (norm2(v) - dotProduct(v, w));
if ( exeedtol_rel <= (eps_rel * norm2(v)) || exeedtol_rel < eps_tot22) {
break;
}
@ -766,8 +766,9 @@ double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
}
absTestin = (norm2(v) <= (eps_tot * eps_tot * norm2Wmax));
if (absTestin)
if (absTestin) {
break;
}
} while ((s->nvrtx != 4) && (k != mk));