turtlebasket/openGJK
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Minalistic community edition (CE) library

Browse Source
This commit is contained in:
Mattia Montanari
2022-07-09 23:10:45 +02:00
parent 7471aa01e1
commit d8c123c434
29 changed files with 1575 additions and 7328 deletions
Download Patch File Download Diff File Expand all files Collapse all files

107
examples/c/CMakeLists.txt
View File

@@ -1,67 +1,40 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# This file is part of openGJK. #
# #
# openGJK is free software: you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation, either version 3 of the License, or #
# any later version. #
# #
# openGJK is distributed in the hope that it will be useful, #
# but WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See The #
# GNU General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with openGJK. If not, see <https://www.gnu.org/licenses/>. #
# #
# openGJK: open-source Gilbert-Johnson-Keerthi algorithm #
# Copyright (C) Mattia Montanari 2018 - 2019 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
project(openGJKdemo VERSION 1.0.0 LANGUAGES C)
set(APPLICATION_NAME ${PROJECT_NAME})
set(CMAKE_C_STANDARD 11)
set(TEST_NAME ${PROJECT_NAME}_CTEST)
message( "[${PROJECT_NAME}] CMake setting ..")
# Set source file
set(SOURCE_FILES main.c )
# Create the executable
add_executable(demo ${SOURCE_FILES})
# Copy input files for this example after build
add_custom_command(
TARGET demo POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_SOURCE_DIR}/userP.dat
${CMAKE_CURRENT_BINARY_DIR}/userP.dat )
add_custom_command(
TARGET demo POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_SOURCE_DIR}/userQ.dat
${CMAKE_CURRENT_BINARY_DIR}/userQ.dat )
# PLATFORM-SPECIFIC SETTING
if (UNIX)
find_library(M_LIB m)
# Link to openGJK and math library
target_link_libraries(demo openGJKlib m)
else ()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
target_link_libraries(demo openGJKlib)
endif ()
message(STATUS "Completed CMake setting for ${PROJECT_NAME}" )
# _____ _ _ __ #
# / ____| | | |/ / #
# ___ _ __ ___ _ __ | | __ | | ' / #
# / _ \| '_ \ / _ \ '_ \| | |_ |_ | | < #
# | (_) | |_) | __/ | | | |__| | |__| | . \ #
# \___/| .__/ \___|_| |_|\_____|\____/|_|\_\ #
# | | #
# |_| #
# #
# Copyright 2022 Mattia Montanari, University of Oxford #
# #
# This program is free software: you can redistribute it and/or modify it under #
# the terms of the GNU General Public License as published by the Free Software #
# Foundation, either version 3 of the License. You should have received a copy #
# of the GNU General Public License along with this program. If not, visit #
# #
# https://www.gnu.org/licenses/ #
# #
# This program is distributed in the hope that it will be useful, but WITHOUT #
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS #
# FOR A PARTICULAR PURPOSE. See GNU General Public License for details. #
project(example_lib_opengjk_ce
LANGUAGES C
VERSION 1.0.0
)
add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
target_link_libraries(${PROJECT_NAME} lib_opengjk_ce)
# Copy input files for this example after build
add_custom_command(
TARGET ${PROJECT_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_SOURCE_DIR}/userP.dat
${CMAKE_CURRENT_BINARY_DIR}/userP.dat
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_SOURCE_DIR}/userQ.dat
${CMAKE_CURRENT_BINARY_DIR}/userQ.dat
)

307
examples/c/main.c
View File

@@ -1,178 +1,129 @@
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* This file is part of openGJK. *
* *
* openGJK is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* any later version. *
* *
* openGJK is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See The *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with Foobar. If not, see <https://www.gnu.org/licenses/>. *
* *
* openGJK: open-source Gilbert-Johnson-Keerthi algorithm *
* Copyright (C) Mattia Montanari 2018 - 2019 *
* http://iel.eng.ox.ac.uk/?page_id=504 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* *
* 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.
*
*/
#define _CRT_HAS_CXX17 0
#include <stdlib.h>
#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(fp, "%d", &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(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);
}
// _____ _ _ __ //
// / ____| | | |/ / //
// ___ _ __ ___ _ __ | | __ | | ' / //
// / _ \| '_ \ / _ \ '_ \| | |_ |_ | | < //
// | (_) | |_) | __/ | | | |__| | |__| | . \ //
// \___/| .__/ \___|_| |_|\_____|\____/|_|\_\ //
// | | //
// |_| //
// //
// Copyright 2022 Mattia Montanari, University of Oxford //
// //
// This program is free software: you can redistribute it and/or modify it under //
// the terms of the GNU General Public License as published by the Free Software //
// Foundation, either version 3 of the License. You should have received a copy //
// of the GNU General Public License along with this program. If not, visit //
// //
// https://www.gnu.org/licenses/ //
// //
// This program is distributed in the hope that it will be useful, but WITHOUT //
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS //
// FOR A PARTICULAR PURPOSE. See GNU General Public License for details. //
/// @author Mattia Montanari
/// @date July 2022
#include <stdio.h>
#include <stdlib.h>
#include "openGJK/openGJK.h"
#define fscanf_s fscanf
/// @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, "%d", &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;
}
fclose(fp);
*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. */
gkSimplex s;
/* Number of vertices defining body 1 and body 2, respectively. */
int nvrtx1, nvrtx2;
/* Structures of body 1 and body 2, respectively. */
gkPolytope bd1;
gkPolytope 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;
/* For importing openGJK this is Step 3: invoke the GJK procedure. */
/* Compute squared distance using GJK algorithm. */
dd = compute_minimum_distance(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);
}

20
examples/c/userP.dat
View File

@@ -1,10 +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
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

20
examples/c/userQ.dat
View File

@@ -1,10 +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
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