Cython wrapper trial 5 malloc correct
Daniel Song
parent
fe821367e3
commit
d5dc76021f
Binary file not shown.
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@ -1784,7 +1784,6 @@ static const char __pyx_k_step[] = "step";
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static const char __pyx_k_stop[] = "stop";
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static const char __pyx_k_test[] = "__test__";
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static const char __pyx_k_ASCII[] = "ASCII";
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static const char __pyx_k_bdptr[] = "bdptr";
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static const char __pyx_k_class[] = "__class__";
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static const char __pyx_k_error[] = "error";
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static const char __pyx_k_flags[] = "flags";
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@ -1899,7 +1898,6 @@ static PyObject *__pyx_n_s_axis;
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static PyObject *__pyx_n_s_base;
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static PyObject *__pyx_n_s_bd1;
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static PyObject *__pyx_n_s_bd2;
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static PyObject *__pyx_n_s_bdptr;
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static PyObject *__pyx_n_s_bod1;
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static PyObject *__pyx_n_s_bod2;
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static PyObject *__pyx_n_s_c;
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@ -2137,7 +2135,6 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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int __pyx_v_i;
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int __pyx_v_j;
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double __pyx_v_answer;
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struct bd *__pyx_v_bdptr;
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__Pyx_memviewslice __pyx_v_narr1 = { 0, 0, { 0 }, { 0 }, { 0 } };
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__Pyx_memviewslice __pyx_v_narr2 = { 0, 0, { 0 }, { 0 }, { 0 } };
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PyObject *__pyx_r = NULL;
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@ -2609,107 +2606,57 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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/* "openGJK_cython.pyx":55
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*
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* # Allocate memory for pointer (not working)
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* cdef bd *bdptr = <bd *> malloc(sizeof(bd)) # <<<<<<<<<<<<<<
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*
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* if bd1.numpoints >= bd2.numpoints:
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*/
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__pyx_v_bdptr = ((struct bd *)malloc((sizeof(struct bd))));
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/* "openGJK_cython.pyx":57
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* cdef bd *bdptr = <bd *> malloc(sizeof(bd))
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*
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* if bd1.numpoints >= bd2.numpoints: # <<<<<<<<<<<<<<
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* bdptr.coord[0] = <double *> malloc(3 * sizeof(double))
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* bdptr.coord = <double **> malloc(bd1.numpoints * sizeof(bdptr.coord[0]))
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*/
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__pyx_t_3 = ((__pyx_v_bd1.numpoints >= __pyx_v_bd2.numpoints) != 0);
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if (__pyx_t_3) {
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/* "openGJK_cython.pyx":58
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*
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* if bd1.numpoints >= bd2.numpoints:
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* bdptr.coord[0] = <double *> malloc(3 * sizeof(double)) # <<<<<<<<<<<<<<
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* bdptr.coord = <double **> malloc(bd1.numpoints * sizeof(bdptr.coord[0]))
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* bd1.coord = <double **> malloc(bd1.numpoints * sizeof(double *)) # <<<<<<<<<<<<<<
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* bd2.coord = <double **> malloc(bd2.numpoints * sizeof(double *))
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*
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*/
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(__pyx_v_bdptr->coord[0]) = ((double *)malloc((3 * (sizeof(double)))));
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__pyx_v_bd1.coord = ((double **)malloc((__pyx_v_bd1.numpoints * (sizeof(double *)))));
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/* "openGJK_cython.pyx":59
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* if bd1.numpoints >= bd2.numpoints:
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* bdptr.coord[0] = <double *> malloc(3 * sizeof(double))
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* bdptr.coord = <double **> malloc(bd1.numpoints * sizeof(bdptr.coord[0])) # <<<<<<<<<<<<<<
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*
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* else:
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*/
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__pyx_v_bdptr->coord = ((double **)malloc((__pyx_v_bd1.numpoints * (sizeof((__pyx_v_bdptr->coord[0]))))));
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/* "openGJK_cython.pyx":57
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* cdef bd *bdptr = <bd *> malloc(sizeof(bd))
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*
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* if bd1.numpoints >= bd2.numpoints: # <<<<<<<<<<<<<<
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* bdptr.coord[0] = <double *> malloc(3 * sizeof(double))
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* bdptr.coord = <double **> malloc(bd1.numpoints * sizeof(bdptr.coord[0]))
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*/
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goto __pyx_L5;
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}
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/* "openGJK_cython.pyx":62
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*
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* else:
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* bdptr.coord[0] = <double *> malloc(3 * sizeof(double)) # <<<<<<<<<<<<<<
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* bdptr.coord = <double **> malloc(bd2.numpoints * sizeof(bdptr.coord[0]))
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*
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*/
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/*else*/ {
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(__pyx_v_bdptr->coord[0]) = ((double *)malloc((3 * (sizeof(double)))));
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/* "openGJK_cython.pyx":63
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* else:
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* bdptr.coord[0] = <double *> malloc(3 * sizeof(double))
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* bdptr.coord = <double **> malloc(bd2.numpoints * sizeof(bdptr.coord[0])) # <<<<<<<<<<<<<<
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/* "openGJK_cython.pyx":56
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* # Allocate memory for pointer (not working)
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* bd1.coord = <double **> malloc(bd1.numpoints * sizeof(double *))
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* bd2.coord = <double **> malloc(bd2.numpoints * sizeof(double *)) # <<<<<<<<<<<<<<
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*
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*
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*/
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__pyx_v_bdptr->coord = ((double **)malloc((__pyx_v_bd2.numpoints * (sizeof((__pyx_v_bdptr->coord[0]))))));
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}
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__pyx_L5:;
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__pyx_v_bd2.coord = ((double **)malloc((__pyx_v_bd2.numpoints * (sizeof(double *)))));
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/* "openGJK_cython.pyx":66
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/* "openGJK_cython.pyx":59
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*
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*
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* print("Break 2")#-------------------------------------------------- # <<<<<<<<<<<<<<
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*
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* # Create numpy-array MemoryView
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*/
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__pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_print, __pyx_tuple__2, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 66, __pyx_L1_error)
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__pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_print, __pyx_tuple__2, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 59, __pyx_L1_error)
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__Pyx_GOTREF(__pyx_t_1);
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__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
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/* "openGJK_cython.pyx":70
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/* "openGJK_cython.pyx":63
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* # Create numpy-array MemoryView
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* cdef:
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* double [:,:] narr1 = bod1 # <<<<<<<<<<<<<<
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* double [:,:] narr2 = bod2
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*
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*/
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__pyx_t_7 = __Pyx_PyObject_to_MemoryviewSlice_dsds_double(__pyx_v_bod1, PyBUF_WRITABLE); if (unlikely(!__pyx_t_7.memview)) __PYX_ERR(0, 70, __pyx_L1_error)
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__pyx_t_7 = __Pyx_PyObject_to_MemoryviewSlice_dsds_double(__pyx_v_bod1, PyBUF_WRITABLE); if (unlikely(!__pyx_t_7.memview)) __PYX_ERR(0, 63, __pyx_L1_error)
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__pyx_v_narr1 = __pyx_t_7;
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__pyx_t_7.memview = NULL;
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__pyx_t_7.data = NULL;
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/* "openGJK_cython.pyx":71
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/* "openGJK_cython.pyx":64
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* cdef:
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* double [:,:] narr1 = bod1
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* double [:,:] narr2 = bod2 # <<<<<<<<<<<<<<
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*
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* print(narr2[0,0]) # output a <double>, works fine
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*/
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__pyx_t_7 = __Pyx_PyObject_to_MemoryviewSlice_dsds_double(__pyx_v_bod2, PyBUF_WRITABLE); if (unlikely(!__pyx_t_7.memview)) __PYX_ERR(0, 71, __pyx_L1_error)
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__pyx_t_7 = __Pyx_PyObject_to_MemoryviewSlice_dsds_double(__pyx_v_bod2, PyBUF_WRITABLE); if (unlikely(!__pyx_t_7.memview)) __PYX_ERR(0, 64, __pyx_L1_error)
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__pyx_v_narr2 = __pyx_t_7;
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__pyx_t_7.memview = NULL;
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__pyx_t_7.data = NULL;
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/* "openGJK_cython.pyx":73
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/* "openGJK_cython.pyx":66
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* double [:,:] narr2 = bod2
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*
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* print(narr2[0,0]) # output a <double>, works fine # <<<<<<<<<<<<<<
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@ -2720,39 +2667,48 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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__pyx_t_9 = 0;
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if (__pyx_t_8 < 0) __pyx_t_8 += __pyx_v_narr2.shape[0];
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if (__pyx_t_9 < 0) __pyx_t_9 += __pyx_v_narr2.shape[1];
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__pyx_t_1 = PyFloat_FromDouble((*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr2.data + __pyx_t_8 * __pyx_v_narr2.strides[0]) ) + __pyx_t_9 * __pyx_v_narr2.strides[1]) )))); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 73, __pyx_L1_error)
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__pyx_t_1 = PyFloat_FromDouble((*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr2.data + __pyx_t_8 * __pyx_v_narr2.strides[0]) ) + __pyx_t_9 * __pyx_v_narr2.strides[1]) )))); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 66, __pyx_L1_error)
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__Pyx_GOTREF(__pyx_t_1);
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__pyx_t_5 = __Pyx_PyObject_CallOneArg(__pyx_builtin_print, __pyx_t_1); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 73, __pyx_L1_error)
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__pyx_t_5 = __Pyx_PyObject_CallOneArg(__pyx_builtin_print, __pyx_t_1); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 66, __pyx_L1_error)
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__Pyx_GOTREF(__pyx_t_5);
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__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
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__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
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/* "openGJK_cython.pyx":75
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/* "openGJK_cython.pyx":68
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* print(narr2[0,0]) # output a <double>, works fine
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*
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* print("Break 3")#-------------------------------------------------- # <<<<<<<<<<<<<<
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*
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* # Assign coordinate values (Segmentation Fault Here!!, )
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*/
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__pyx_t_5 = __Pyx_PyObject_Call(__pyx_builtin_print, __pyx_tuple__3, NULL); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 75, __pyx_L1_error)
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__pyx_t_5 = __Pyx_PyObject_Call(__pyx_builtin_print, __pyx_tuple__3, NULL); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 68, __pyx_L1_error)
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__Pyx_GOTREF(__pyx_t_5);
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__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
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/* "openGJK_cython.pyx":78
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/* "openGJK_cython.pyx":71
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*
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* # Assign coordinate values (Segmentation Fault Here!!, )
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* for i in range(0, bd1.numpoints): # <<<<<<<<<<<<<<
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* bd1.coord[i] = <double *> malloc(3 * sizeof(double))
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* bd1.coord[i][0] = narr1[i,0]
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* bd1.coord[i][1] = narr1[i,1]
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*/
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__pyx_t_6 = __pyx_v_bd1.numpoints;
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__pyx_t_10 = __pyx_t_6;
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for (__pyx_t_11 = 0; __pyx_t_11 < __pyx_t_10; __pyx_t_11+=1) {
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__pyx_v_i = __pyx_t_11;
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/* "openGJK_cython.pyx":79
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/* "openGJK_cython.pyx":72
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* # Assign coordinate values (Segmentation Fault Here!!, )
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* for i in range(0, bd1.numpoints):
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* bd1.coord[i] = <double *> malloc(3 * sizeof(double)) # <<<<<<<<<<<<<<
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* bd1.coord[i][0] = narr1[i,0]
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* bd1.coord[i][1] = narr1[i,1]
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*/
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(__pyx_v_bd1.coord[__pyx_v_i]) = ((double *)malloc((3 * (sizeof(double)))));
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/* "openGJK_cython.pyx":73
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* for i in range(0, bd1.numpoints):
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* bd1.coord[i] = <double *> malloc(3 * sizeof(double))
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* bd1.coord[i][0] = narr1[i,0] # <<<<<<<<<<<<<<
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* bd1.coord[i][1] = narr1[i,1]
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* bd1.coord[i][2] = narr1[i,2]
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@ -2763,8 +2719,8 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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if (__pyx_t_8 < 0) __pyx_t_8 += __pyx_v_narr1.shape[1];
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((__pyx_v_bd1.coord[__pyx_v_i])[0]) = (*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr1.data + __pyx_t_9 * __pyx_v_narr1.strides[0]) ) + __pyx_t_8 * __pyx_v_narr1.strides[1]) )));
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/* "openGJK_cython.pyx":80
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* for i in range(0, bd1.numpoints):
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/* "openGJK_cython.pyx":74
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* bd1.coord[i] = <double *> malloc(3 * sizeof(double))
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* bd1.coord[i][0] = narr1[i,0]
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* bd1.coord[i][1] = narr1[i,1] # <<<<<<<<<<<<<<
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* bd1.coord[i][2] = narr1[i,2]
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@ -2776,7 +2732,7 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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if (__pyx_t_9 < 0) __pyx_t_9 += __pyx_v_narr1.shape[1];
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((__pyx_v_bd1.coord[__pyx_v_i])[1]) = (*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr1.data + __pyx_t_8 * __pyx_v_narr1.strides[0]) ) + __pyx_t_9 * __pyx_v_narr1.strides[1]) )));
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/* "openGJK_cython.pyx":81
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/* "openGJK_cython.pyx":75
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* bd1.coord[i][0] = narr1[i,0]
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* bd1.coord[i][1] = narr1[i,1]
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* bd1.coord[i][2] = narr1[i,2] # <<<<<<<<<<<<<<
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@ -2790,21 +2746,30 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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((__pyx_v_bd1.coord[__pyx_v_i])[2]) = (*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr1.data + __pyx_t_9 * __pyx_v_narr1.strides[0]) ) + __pyx_t_8 * __pyx_v_narr1.strides[1]) )));
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}
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/* "openGJK_cython.pyx":84
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/* "openGJK_cython.pyx":78
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*
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*
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* for j in range(0, bd2.numpoints): # <<<<<<<<<<<<<<
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* bd2.coord[j] = <double *> malloc(3 * sizeof(double))
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* bd2.coord[j][0] = narr2[j,0]
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* bd2.coord[j][1] = narr2[j,1]
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*/
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__pyx_t_6 = __pyx_v_bd2.numpoints;
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__pyx_t_10 = __pyx_t_6;
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for (__pyx_t_11 = 0; __pyx_t_11 < __pyx_t_10; __pyx_t_11+=1) {
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__pyx_v_j = __pyx_t_11;
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/* "openGJK_cython.pyx":85
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/* "openGJK_cython.pyx":79
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*
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* for j in range(0, bd2.numpoints):
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* bd2.coord[j] = <double *> malloc(3 * sizeof(double)) # <<<<<<<<<<<<<<
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* bd2.coord[j][0] = narr2[j,0]
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* bd2.coord[j][1] = narr2[j,1]
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*/
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(__pyx_v_bd2.coord[__pyx_v_j]) = ((double *)malloc((3 * (sizeof(double)))));
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/* "openGJK_cython.pyx":80
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* for j in range(0, bd2.numpoints):
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* bd2.coord[j] = <double *> malloc(3 * sizeof(double))
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* bd2.coord[j][0] = narr2[j,0] # <<<<<<<<<<<<<<
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* bd2.coord[j][1] = narr2[j,1]
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* bd2.coord[j][2] = narr2[j,2]
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@ -2815,8 +2780,8 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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if (__pyx_t_9 < 0) __pyx_t_9 += __pyx_v_narr2.shape[1];
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((__pyx_v_bd2.coord[__pyx_v_j])[0]) = (*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr2.data + __pyx_t_8 * __pyx_v_narr2.strides[0]) ) + __pyx_t_9 * __pyx_v_narr2.strides[1]) )));
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/* "openGJK_cython.pyx":86
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* for j in range(0, bd2.numpoints):
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/* "openGJK_cython.pyx":81
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* bd2.coord[j] = <double *> malloc(3 * sizeof(double))
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* bd2.coord[j][0] = narr2[j,0]
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* bd2.coord[j][1] = narr2[j,1] # <<<<<<<<<<<<<<
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* bd2.coord[j][2] = narr2[j,2]
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@ -2828,7 +2793,7 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
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if (__pyx_t_8 < 0) __pyx_t_8 += __pyx_v_narr2.shape[1];
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((__pyx_v_bd2.coord[__pyx_v_j])[1]) = (*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr2.data + __pyx_t_9 * __pyx_v_narr2.strides[0]) ) + __pyx_t_8 * __pyx_v_narr2.strides[1]) )));
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/* "openGJK_cython.pyx":87
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/* "openGJK_cython.pyx":82
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* bd2.coord[j][0] = narr2[j,0]
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* bd2.coord[j][1] = narr2[j,1]
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* bd2.coord[j][2] = narr2[j,2] # <<<<<<<<<<<<<<
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@ -2842,18 +2807,18 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
|
|||
((__pyx_v_bd2.coord[__pyx_v_j])[2]) = (*((double *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_narr2.data + __pyx_t_8 * __pyx_v_narr2.strides[0]) ) + __pyx_t_9 * __pyx_v_narr2.strides[1]) )));
|
||||
}
|
||||
|
||||
/* "openGJK_cython.pyx":90
|
||||
/* "openGJK_cython.pyx":85
|
||||
*
|
||||
*
|
||||
* print("Break 4")#-------------------------------------------------- # <<<<<<<<<<<<<<
|
||||
*
|
||||
* # Call C function
|
||||
*/
|
||||
__pyx_t_5 = __Pyx_PyObject_Call(__pyx_builtin_print, __pyx_tuple__4, NULL); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 90, __pyx_L1_error)
|
||||
__pyx_t_5 = __Pyx_PyObject_Call(__pyx_builtin_print, __pyx_tuple__4, NULL); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 85, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_5);
|
||||
__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
|
||||
|
||||
/* "openGJK_cython.pyx":93
|
||||
/* "openGJK_cython.pyx":88
|
||||
*
|
||||
* # Call C function
|
||||
* answer = gjk(bd1, bd2, &s) # <<<<<<<<<<<<<<
|
||||
|
|
@ -2862,23 +2827,58 @@ static PyObject *__pyx_pf_9openGJKpy_pygjk(CYTHON_UNUSED PyObject *__pyx_self, P
|
|||
*/
|
||||
__pyx_v_answer = gjk(__pyx_v_bd1, __pyx_v_bd2, (&__pyx_v_s));
|
||||
|
||||
/* "openGJK_cython.pyx":96
|
||||
/* "openGJK_cython.pyx":91
|
||||
*
|
||||
* # Free the memory
|
||||
* free(bdptr) # <<<<<<<<<<<<<<
|
||||
*
|
||||
* return answer
|
||||
* for i in range(0, bd1.numpoints): # <<<<<<<<<<<<<<
|
||||
* free(bd1.coord[i])
|
||||
* for j in range(0, bd2.numpoints):
|
||||
*/
|
||||
free(__pyx_v_bdptr);
|
||||
__pyx_t_6 = __pyx_v_bd1.numpoints;
|
||||
__pyx_t_10 = __pyx_t_6;
|
||||
for (__pyx_t_11 = 0; __pyx_t_11 < __pyx_t_10; __pyx_t_11+=1) {
|
||||
__pyx_v_i = __pyx_t_11;
|
||||
|
||||
/* "openGJK_cython.pyx":98
|
||||
* free(bdptr)
|
||||
/* "openGJK_cython.pyx":92
|
||||
* # Free the memory
|
||||
* for i in range(0, bd1.numpoints):
|
||||
* free(bd1.coord[i]) # <<<<<<<<<<<<<<
|
||||
* for j in range(0, bd2.numpoints):
|
||||
* free(bd2.coord[j])
|
||||
*/
|
||||
free((__pyx_v_bd1.coord[__pyx_v_i]));
|
||||
}
|
||||
|
||||
/* "openGJK_cython.pyx":93
|
||||
* for i in range(0, bd1.numpoints):
|
||||
* free(bd1.coord[i])
|
||||
* for j in range(0, bd2.numpoints): # <<<<<<<<<<<<<<
|
||||
* free(bd2.coord[j])
|
||||
*
|
||||
*/
|
||||
__pyx_t_6 = __pyx_v_bd2.numpoints;
|
||||
__pyx_t_10 = __pyx_t_6;
|
||||
for (__pyx_t_11 = 0; __pyx_t_11 < __pyx_t_10; __pyx_t_11+=1) {
|
||||
__pyx_v_j = __pyx_t_11;
|
||||
|
||||
/* "openGJK_cython.pyx":94
|
||||
* free(bd1.coord[i])
|
||||
* for j in range(0, bd2.numpoints):
|
||||
* free(bd2.coord[j]) # <<<<<<<<<<<<<<
|
||||
*
|
||||
*
|
||||
*/
|
||||
free((__pyx_v_bd2.coord[__pyx_v_j]));
|
||||
}
|
||||
|
||||
/* "openGJK_cython.pyx":97
|
||||
*
|
||||
*
|
||||
* return answer # <<<<<<<<<<<<<<
|
||||
*
|
||||
*/
|
||||
__Pyx_XDECREF(__pyx_r);
|
||||
__pyx_t_5 = PyFloat_FromDouble(__pyx_v_answer); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 98, __pyx_L1_error)
|
||||
__pyx_t_5 = PyFloat_FromDouble(__pyx_v_answer); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 97, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_5);
|
||||
__pyx_r = __pyx_t_5;
|
||||
__pyx_t_5 = 0;
|
||||
|
|
@ -16529,7 +16529,6 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = {
|
|||
{&__pyx_n_s_base, __pyx_k_base, sizeof(__pyx_k_base), 0, 0, 1, 1},
|
||||
{&__pyx_n_s_bd1, __pyx_k_bd1, sizeof(__pyx_k_bd1), 0, 0, 1, 1},
|
||||
{&__pyx_n_s_bd2, __pyx_k_bd2, sizeof(__pyx_k_bd2), 0, 0, 1, 1},
|
||||
{&__pyx_n_s_bdptr, __pyx_k_bdptr, sizeof(__pyx_k_bdptr), 0, 0, 1, 1},
|
||||
{&__pyx_n_s_bod1, __pyx_k_bod1, sizeof(__pyx_k_bod1), 0, 0, 1, 1},
|
||||
{&__pyx_n_s_bod2, __pyx_k_bod2, sizeof(__pyx_k_bod2), 0, 0, 1, 1},
|
||||
{&__pyx_n_s_c, __pyx_k_c, sizeof(__pyx_k_c), 0, 0, 1, 1},
|
||||
|
|
@ -16608,7 +16607,7 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = {
|
|||
};
|
||||
static CYTHON_SMALL_CODE int __Pyx_InitCachedBuiltins(void) {
|
||||
__pyx_builtin_print = __Pyx_GetBuiltinName(__pyx_n_s_print); if (!__pyx_builtin_print) __PYX_ERR(0, 34, __pyx_L1_error)
|
||||
__pyx_builtin_range = __Pyx_GetBuiltinName(__pyx_n_s_range); if (!__pyx_builtin_range) __PYX_ERR(0, 78, __pyx_L1_error)
|
||||
__pyx_builtin_range = __Pyx_GetBuiltinName(__pyx_n_s_range); if (!__pyx_builtin_range) __PYX_ERR(0, 71, __pyx_L1_error)
|
||||
__pyx_builtin_ValueError = __Pyx_GetBuiltinName(__pyx_n_s_ValueError); if (!__pyx_builtin_ValueError) __PYX_ERR(1, 133, __pyx_L1_error)
|
||||
__pyx_builtin_MemoryError = __Pyx_GetBuiltinName(__pyx_n_s_MemoryError); if (!__pyx_builtin_MemoryError) __PYX_ERR(1, 148, __pyx_L1_error)
|
||||
__pyx_builtin_enumerate = __Pyx_GetBuiltinName(__pyx_n_s_enumerate); if (!__pyx_builtin_enumerate) __PYX_ERR(1, 151, __pyx_L1_error)
|
||||
|
|
@ -16636,36 +16635,36 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) {
|
|||
__Pyx_GOTREF(__pyx_tuple_);
|
||||
__Pyx_GIVEREF(__pyx_tuple_);
|
||||
|
||||
/* "openGJK_cython.pyx":66
|
||||
/* "openGJK_cython.pyx":59
|
||||
*
|
||||
*
|
||||
* print("Break 2")#-------------------------------------------------- # <<<<<<<<<<<<<<
|
||||
*
|
||||
* # Create numpy-array MemoryView
|
||||
*/
|
||||
__pyx_tuple__2 = PyTuple_Pack(1, __pyx_kp_u_Break_2); if (unlikely(!__pyx_tuple__2)) __PYX_ERR(0, 66, __pyx_L1_error)
|
||||
__pyx_tuple__2 = PyTuple_Pack(1, __pyx_kp_u_Break_2); if (unlikely(!__pyx_tuple__2)) __PYX_ERR(0, 59, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_tuple__2);
|
||||
__Pyx_GIVEREF(__pyx_tuple__2);
|
||||
|
||||
/* "openGJK_cython.pyx":75
|
||||
/* "openGJK_cython.pyx":68
|
||||
* print(narr2[0,0]) # output a <double>, works fine
|
||||
*
|
||||
* print("Break 3")#-------------------------------------------------- # <<<<<<<<<<<<<<
|
||||
*
|
||||
* # Assign coordinate values (Segmentation Fault Here!!, )
|
||||
*/
|
||||
__pyx_tuple__3 = PyTuple_Pack(1, __pyx_kp_u_Break_3); if (unlikely(!__pyx_tuple__3)) __PYX_ERR(0, 75, __pyx_L1_error)
|
||||
__pyx_tuple__3 = PyTuple_Pack(1, __pyx_kp_u_Break_3); if (unlikely(!__pyx_tuple__3)) __PYX_ERR(0, 68, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_tuple__3);
|
||||
__Pyx_GIVEREF(__pyx_tuple__3);
|
||||
|
||||
/* "openGJK_cython.pyx":90
|
||||
/* "openGJK_cython.pyx":85
|
||||
*
|
||||
*
|
||||
* print("Break 4")#-------------------------------------------------- # <<<<<<<<<<<<<<
|
||||
*
|
||||
* # Call C function
|
||||
*/
|
||||
__pyx_tuple__4 = PyTuple_Pack(1, __pyx_kp_u_Break_4); if (unlikely(!__pyx_tuple__4)) __PYX_ERR(0, 90, __pyx_L1_error)
|
||||
__pyx_tuple__4 = PyTuple_Pack(1, __pyx_kp_u_Break_4); if (unlikely(!__pyx_tuple__4)) __PYX_ERR(0, 85, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_tuple__4);
|
||||
__Pyx_GIVEREF(__pyx_tuple__4);
|
||||
|
||||
|
|
@ -16868,10 +16867,10 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) {
|
|||
*
|
||||
* # Declare data types
|
||||
*/
|
||||
__pyx_tuple__23 = PyTuple_Pack(11, __pyx_n_s_bod1, __pyx_n_s_bod2, __pyx_n_s_s, __pyx_n_s_bd1, __pyx_n_s_bd2, __pyx_n_s_i, __pyx_n_s_j, __pyx_n_s_answer, __pyx_n_s_bdptr, __pyx_n_s_narr1, __pyx_n_s_narr2); if (unlikely(!__pyx_tuple__23)) __PYX_ERR(0, 24, __pyx_L1_error)
|
||||
__pyx_tuple__23 = PyTuple_Pack(10, __pyx_n_s_bod1, __pyx_n_s_bod2, __pyx_n_s_s, __pyx_n_s_bd1, __pyx_n_s_bd2, __pyx_n_s_i, __pyx_n_s_j, __pyx_n_s_answer, __pyx_n_s_narr1, __pyx_n_s_narr2); if (unlikely(!__pyx_tuple__23)) __PYX_ERR(0, 24, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_tuple__23);
|
||||
__Pyx_GIVEREF(__pyx_tuple__23);
|
||||
__pyx_codeobj__24 = (PyObject*)__Pyx_PyCode_New(2, 0, 11, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__23, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_openGJK_cython_pyx, __pyx_n_s_pygjk, 24, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__24)) __PYX_ERR(0, 24, __pyx_L1_error)
|
||||
__pyx_codeobj__24 = (PyObject*)__Pyx_PyCode_New(2, 0, 10, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__23, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_openGJK_cython_pyx, __pyx_n_s_pygjk, 24, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__24)) __PYX_ERR(0, 24, __pyx_L1_error)
|
||||
|
||||
/* "View.MemoryView":286
|
||||
* return self.name
|
||||
|
|
|
|||
|
|
@ -52,15 +52,8 @@ def pygjk(bod1, bod2):
|
|||
|
||||
|
||||
# Allocate memory for pointer (not working)
|
||||
cdef bd *bdptr = <bd *> malloc(sizeof(bd))
|
||||
|
||||
if bd1.numpoints > bd2.numpoints:
|
||||
bdptr.coord[0] = <double *> malloc(3 * sizeof(double))
|
||||
bdptr.coord = <double **> malloc(bd1.numpoints * sizeof(bdptr.coord[0]))
|
||||
|
||||
else:
|
||||
bdptr.coord[0] = <double *> malloc(3 * sizeof(double))
|
||||
bdptr.coord = <double **> malloc(bd2.numpoints * sizeof(bdptr.coord[0]))
|
||||
bd1.coord = <double **> malloc(bd1.numpoints * sizeof(double *))
|
||||
bd2.coord = <double **> malloc(bd2.numpoints * sizeof(double *))
|
||||
|
||||
|
||||
print("Break 2")#--------------------------------------------------
|
||||
|
|
@ -76,12 +69,14 @@ def pygjk(bod1, bod2):
|
|||
|
||||
# Assign coordinate values (Segmentation Fault Here!!, )
|
||||
for i in range(0, bd1.numpoints):
|
||||
bd1.coord[i] = <double *> malloc(3 * sizeof(double))
|
||||
bd1.coord[i][0] = narr1[i,0]
|
||||
bd1.coord[i][1] = narr1[i,1]
|
||||
bd1.coord[i][2] = narr1[i,2]
|
||||
|
||||
|
||||
for j in range(0, bd2.numpoints):
|
||||
bd2.coord[j] = <double *> malloc(3 * sizeof(double))
|
||||
bd2.coord[j][0] = narr2[j,0]
|
||||
bd2.coord[j][1] = narr2[j,1]
|
||||
bd2.coord[j][2] = narr2[j,2]
|
||||
|
|
@ -93,7 +88,11 @@ def pygjk(bod1, bod2):
|
|||
answer = gjk(bd1, bd2, &s)
|
||||
|
||||
# Free the memory
|
||||
free(bdptr)
|
||||
for i in range(0, bd1.numpoints):
|
||||
free(bd1.coord[i])
|
||||
for j in range(0, bd2.numpoints):
|
||||
free(bd2.coord[j])
|
||||
|
||||
|
||||
return answer
|
||||
|
||||
|
|
|
|||
248
Cython/test.py
248
Cython/test.py
|
|
@ -32,150 +32,150 @@ def test_line_point_distance(delta):
|
|||
assert(np.isclose(distance, actual_distance, atol=1e-15))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("delta", [0.1, 1e-12, 0])
|
||||
# def test_line_line_distance(delta):
|
||||
# line = np.array([[-0.5, -0.7, -0.3], [1, 2, 3]], dtype=np.float64)
|
||||
# point_on_line = line[0] + 0.38*(line[1]-line[0])
|
||||
# normal = np.cross(line[0], line[1])
|
||||
# point = point_on_line + delta * normal
|
||||
# line_2 = np.array([point, [2, 5, 6]], dtype=np.float64)
|
||||
# distance = opengjk.pygjk(line, line_2)
|
||||
# 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))
|
||||
@pytest.mark.parametrize("delta", [0.1, 1e-12, 0])
|
||||
def test_line_line_distance(delta):
|
||||
line = np.array([[-0.5, -0.7, -0.3], [1, 2, 3]], dtype=np.float64)
|
||||
point_on_line = line[0] + 0.38*(line[1]-line[0])
|
||||
normal = np.cross(line[0], line[1])
|
||||
point = point_on_line + delta * normal
|
||||
line_2 = np.array([point, [2, 5, 6]], dtype=np.float64)
|
||||
distance = opengjk.pygjk(line, line_2)
|
||||
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))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("delta", [0.1**(3*i) for i in range(6)])
|
||||
# def test_tri_distance(delta):
|
||||
# tri_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0]], dtype=np.float64)
|
||||
# tri_2 = np.array([[1, delta, 0], [3, 1.2, 0], [
|
||||
# 1, 1, 0]], dtype=np.float64)
|
||||
# P1 = tri_1[2]
|
||||
# P2 = tri_1[1]
|
||||
# point = tri_2[0]
|
||||
# actual_distance = distance_point_to_line_3D(P1, P2, point)
|
||||
# distance = opengjk.pygjk(tri_1, tri_2)
|
||||
# print("Computed distance ", distance, "Actual distance ", actual_distance)
|
||||
@pytest.mark.parametrize("delta", [0.1**(3*i) for i in range(6)])
|
||||
def test_tri_distance(delta):
|
||||
tri_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0]], dtype=np.float64)
|
||||
tri_2 = np.array([[1, delta, 0], [3, 1.2, 0], [
|
||||
1, 1, 0]], dtype=np.float64)
|
||||
P1 = tri_1[2]
|
||||
P2 = tri_1[1]
|
||||
point = tri_2[0]
|
||||
actual_distance = distance_point_to_line_3D(P1, P2, point)
|
||||
distance = opengjk.pygjk(tri_1, tri_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=1e-15))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("delta", [0.1*0.1**(3*i) for i in range(6)])
|
||||
# def test_quad_distance2d(delta):
|
||||
# quad_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0],
|
||||
# [1, 1, 0]], dtype=np.float64)
|
||||
# quad_2 = np.array([[0, 1+delta, 0], [2, 2, 0],
|
||||
# [2, 4, 0], [4, 4, 0]], dtype=np.float64)
|
||||
# P1 = quad_1[2]
|
||||
# P2 = quad_1[3]
|
||||
# point = quad_2[0]
|
||||
# actual_distance = distance_point_to_line_3D(P1, P2, point)
|
||||
# distance = opengjk.pygjk(quad_1, quad_2)
|
||||
# print("Computed distance ", distance, "Actual distance ", actual_distance)
|
||||
@pytest.mark.parametrize("delta", [0.1*0.1**(3*i) for i in range(6)])
|
||||
def test_quad_distance2d(delta):
|
||||
quad_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0],
|
||||
[1, 1, 0]], dtype=np.float64)
|
||||
quad_2 = np.array([[0, 1+delta, 0], [2, 2, 0],
|
||||
[2, 4, 0], [4, 4, 0]], dtype=np.float64)
|
||||
P1 = quad_1[2]
|
||||
P2 = quad_1[3]
|
||||
point = quad_2[0]
|
||||
actual_distance = distance_point_to_line_3D(P1, P2, point)
|
||||
distance = opengjk.pygjk(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=1e-15))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("delta", [1*0.5**(3*i) for i in range(7)])
|
||||
# def test_tetra_distance_3d(delta):
|
||||
# tetra_1 = np.array([[0, 0, 0.2], [1, 0, 0.1], [0, 1, 0.3],
|
||||
# [0, 0, 1]], dtype=np.float64)
|
||||
# tetra_2 = np.array([[0, 0, -3], [1, 0, -3], [0, 1, -3],
|
||||
# [0.5, 0.3, -delta]], dtype=np.float64)
|
||||
# actual_distance = distance_point_to_plane_3D(tetra_1[0], tetra_1[1],
|
||||
# tetra_1[2], tetra_2[3])
|
||||
# distance = opengjk.pygjk(tetra_1, tetra_2)
|
||||
# print("Computed distance ", distance, "Actual distance ", actual_distance)
|
||||
@pytest.mark.parametrize("delta", [1*0.5**(3*i) for i in range(7)])
|
||||
def test_tetra_distance_3d(delta):
|
||||
tetra_1 = np.array([[0, 0, 0.2], [1, 0, 0.1], [0, 1, 0.3],
|
||||
[0, 0, 1]], dtype=np.float64)
|
||||
tetra_2 = np.array([[0, 0, -3], [1, 0, -3], [0, 1, -3],
|
||||
[0.5, 0.3, -delta]], dtype=np.float64)
|
||||
actual_distance = distance_point_to_plane_3D(tetra_1[0], tetra_1[1],
|
||||
tetra_1[2], tetra_2[3])
|
||||
distance = opengjk.pygjk(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=1e-15))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("delta", [(-1)**i*np.sqrt(2)*0.1**(3*i)
|
||||
# for i in range(6)])
|
||||
# def test_tetra_collision_3d(delta):
|
||||
# tetra_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0],
|
||||
# [0, 0, 1]], dtype=np.float64)
|
||||
# tetra_2 = np.array([[0, 0, -3], [1, 0, -3], [0, 1, -3],
|
||||
# [0.5, 0.3, -delta]], dtype=np.float64)
|
||||
# actual_distance = distance_point_to_plane_3D(tetra_1[0], tetra_1[1],
|
||||
# tetra_1[2], tetra_2[3])
|
||||
# distance = opengjk.pygjk(tetra_1, tetra_2)
|
||||
@pytest.mark.parametrize("delta", [(-1)**i*np.sqrt(2)*0.1**(3*i)
|
||||
for i in range(6)])
|
||||
def test_tetra_collision_3d(delta):
|
||||
tetra_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0],
|
||||
[0, 0, 1]], dtype=np.float64)
|
||||
tetra_2 = np.array([[0, 0, -3], [1, 0, -3], [0, 1, -3],
|
||||
[0.5, 0.3, -delta]], dtype=np.float64)
|
||||
actual_distance = distance_point_to_plane_3D(tetra_1[0], tetra_1[1],
|
||||
tetra_1[2], tetra_2[3])
|
||||
distance = opengjk.pygjk(tetra_1, tetra_2)
|
||||
|
||||
# if delta < 0:
|
||||
# assert(np.isclose(distance, 0, atol=1e-15))
|
||||
# else:
|
||||
# print("Computed distance ", distance,
|
||||
# "Actual distance ", actual_distance)
|
||||
# assert(np.isclose(distance, actual_distance, atol=1e-15))
|
||||
if delta < 0:
|
||||
assert(np.isclose(distance, 0, atol=1e-15))
|
||||
else:
|
||||
print("Computed distance ", distance,
|
||||
"Actual distance ", actual_distance)
|
||||
assert(np.isclose(distance, actual_distance, atol=1e-15))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("delta", [0, -0.1, -0.49, -0.51])
|
||||
# def test_hex_collision_3d(delta):
|
||||
# hex_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [1, 1, 0],
|
||||
# [0, 0, 1], [1, 0, 1], [0, 1, 1], [1, 1, 1]],
|
||||
# dtype=np.float64)
|
||||
# P0 = np.array([1.5+delta, 1.5+delta, 0.5], dtype=np.float64)
|
||||
# P1 = np.array([2, 2, 1], dtype=np.float64)
|
||||
# P2 = np.array([2, 1.25, 0.25], dtype=np.float64)
|
||||
# P3 = P1 + P2 - P0
|
||||
# quad_1 = np.array([P0, P1, P2, P3], dtype=np.float64)
|
||||
# n = (np.cross(quad_1[1]-quad_1[0], quad_1[2]-quad_1[0]) /
|
||||
# np.linalg.norm(
|
||||
# np.cross(quad_1[1]-quad_1[0],
|
||||
# quad_1[2]-quad_1[0])))
|
||||
# quad_2 = quad_1 + n
|
||||
# hex_2 = np.zeros((8, 3), dtype=np.float64)
|
||||
# hex_2[:4, :] = quad_1
|
||||
# hex_2[4:, :] = quad_2
|
||||
# actual_distance = np.linalg.norm(
|
||||
# np.array([1, 1, P0[2]], dtype=np.float64)-hex_2[0])
|
||||
# distance = opengjk.pygjk(hex_1, hex_2)
|
||||
@pytest.mark.parametrize("delta", [0, -0.1, -0.49, -0.51])
|
||||
def test_hex_collision_3d(delta):
|
||||
hex_1 = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [1, 1, 0],
|
||||
[0, 0, 1], [1, 0, 1], [0, 1, 1], [1, 1, 1]],
|
||||
dtype=np.float64)
|
||||
P0 = np.array([1.5+delta, 1.5+delta, 0.5], dtype=np.float64)
|
||||
P1 = np.array([2, 2, 1], dtype=np.float64)
|
||||
P2 = np.array([2, 1.25, 0.25], dtype=np.float64)
|
||||
P3 = P1 + P2 - P0
|
||||
quad_1 = np.array([P0, P1, P2, P3], dtype=np.float64)
|
||||
n = (np.cross(quad_1[1]-quad_1[0], quad_1[2]-quad_1[0]) /
|
||||
np.linalg.norm(
|
||||
np.cross(quad_1[1]-quad_1[0],
|
||||
quad_1[2]-quad_1[0])))
|
||||
quad_2 = quad_1 + n
|
||||
hex_2 = np.zeros((8, 3), dtype=np.float64)
|
||||
hex_2[:4, :] = quad_1
|
||||
hex_2[4:, :] = quad_2
|
||||
actual_distance = np.linalg.norm(
|
||||
np.array([1, 1, P0[2]], dtype=np.float64)-hex_2[0])
|
||||
distance = opengjk.pygjk(hex_1, hex_2)
|
||||
|
||||
# if P0[0] < 1:
|
||||
# assert(np.isclose(distance, 0, atol=1e-15))
|
||||
# else:
|
||||
# print("Computed distance ", distance,
|
||||
# "Actual distance ", actual_distance)
|
||||
# assert(np.isclose(distance, actual_distance, atol=1e-15))
|
||||
if P0[0] < 1:
|
||||
assert(np.isclose(distance, 0, atol=1e-15))
|
||||
else:
|
||||
print("Computed distance ", distance,
|
||||
"Actual distance ", actual_distance)
|
||||
assert(np.isclose(distance, actual_distance, atol=1e-15))
|
||||
|
||||
|
||||
# @pytest.mark.parametrize("c0", [0, 1, 2, 3])
|
||||
# @pytest.mark.parametrize("c1", [0, 1, 2, 3])
|
||||
# def test_cube_distance(c0, c1):
|
||||
# cubes = [np.array([[-1, -1, -1], [1, -1, -1], [-1, 1, -1], [1, 1, -1],
|
||||
# [-1, -1, 1], [1, -1, 1], [-1, 1, 1], [1, 1, 1]],
|
||||
# dtype=np.float64)]
|
||||
@pytest.mark.parametrize("c0", [0, 1, 2, 3])
|
||||
@pytest.mark.parametrize("c1", [0, 1, 2, 3])
|
||||
def test_cube_distance(c0, c1):
|
||||
cubes = [np.array([[-1, -1, -1], [1, -1, -1], [-1, 1, -1], [1, 1, -1],
|
||||
[-1, -1, 1], [1, -1, 1], [-1, 1, 1], [1, 1, 1]],
|
||||
dtype=np.float64)]
|
||||
|
||||
# r = R.from_euler('z', 45, degrees=True)
|
||||
# cubes.append(r.apply(cubes[0]))
|
||||
# r = R.from_euler('y', np.arctan2(1.0, np.sqrt(2)))
|
||||
# cubes.append(r.apply(cubes[1]))
|
||||
# r = R.from_euler('y', 45, degrees=True)
|
||||
# cubes.append(r.apply(cubes[0]))
|
||||
r = R.from_euler('z', 45, degrees=True)
|
||||
cubes.append(r.apply(cubes[0]))
|
||||
r = R.from_euler('y', np.arctan2(1.0, np.sqrt(2)))
|
||||
cubes.append(r.apply(cubes[1]))
|
||||
r = R.from_euler('y', 45, degrees=True)
|
||||
cubes.append(r.apply(cubes[0]))
|
||||
|
||||
# dx = cubes[c0][:,0].max() - cubes[c1][:,0].min()
|
||||
# cube0 = cubes[c0]
|
||||
dx = cubes[c0][:,0].max() - cubes[c1][:,0].min()
|
||||
cube0 = cubes[c0]
|
||||
|
||||
# for delta in [1e8, 1.0, 1e-4, 1e-8, 1e-12]:
|
||||
# cube1 = cubes[c1] + np.array([dx + delta, 0, 0])
|
||||
# distance = opengjk.pygjk(cube0, cube1)
|
||||
# print(distance, delta)
|
||||
# assert(np.isclose(distance, delta))
|
||||
for delta in [1e8, 1.0, 1e-4, 1e-8, 1e-12]:
|
||||
cube1 = cubes[c1] + np.array([dx + delta, 0, 0])
|
||||
distance = opengjk.pygjk(cube0, cube1)
|
||||
print(distance, delta)
|
||||
assert(np.isclose(distance, delta))
|
||||
|
||||
# def test_random_objects():
|
||||
# for i in range(1, 8):
|
||||
# for j in range(1, 8):
|
||||
# for k in range(1000):
|
||||
# arr1 = np.random.rand(i, 3)
|
||||
# arr2 = np.random.rand(j, 3)
|
||||
# opengjk.pygjk(arr1, arr2)
|
||||
def test_random_objects():
|
||||
for i in range(1, 8):
|
||||
for j in range(1, 8):
|
||||
for k in range(1000):
|
||||
arr1 = np.random.rand(i, 3)
|
||||
arr2 = np.random.rand(j, 3)
|
||||
opengjk.pygjk(arr1, arr2)
|
||||
|
||||
|
||||
# def test_large_random_objects():
|
||||
# for i in range(1, 8):
|
||||
# for j in range(1, 8):
|
||||
# for k in range(1000):
|
||||
# arr1 = 10000.0*np.random.rand(i, 3)
|
||||
# arr2 = 10000.0*np.random.rand(j, 3)
|
||||
# opengjk.pygjk(arr1, arr2)
|
||||
def test_large_random_objects():
|
||||
for i in range(1, 8):
|
||||
for j in range(1, 8):
|
||||
for k in range(1000):
|
||||
arr1 = 10000.0*np.random.rand(i, 3)
|
||||
arr2 = 10000.0*np.random.rand(j, 3)
|
||||
opengjk.pygjk(arr1, arr2)
|
||||
|
|
|
|||
Loading…
Reference in New Issue