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Minalistic community edition (CE) library

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Mattia Montanari
2022-07-09 23:10:45 +02:00
parent 7471aa01e1
commit d8c123c434
29 changed files with 1575 additions and 7328 deletions
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include/openGJK/openGJK.h
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/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
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* *
* Edward Garemo and Mattia Montanari *
* University of Oxford 2019 *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* *
* 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 Structure of a body.
*/
struct bd {
int numpoints; /**< Number of points defining the body. */
double s[3]; /**< Support mapping computed last. */
double **coord; /**< Pointer to pointer to the points' coordinates. */
};
/**
* @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
// _____ _ _ __ //
// / ____| | | |/ / //
// ___ _ __ ___ _ __ | | __ | | ' / //
// / _ \| '_ \ / _ \ '_ \| | |_ |_ | | < //
// | (_) | |_) | __/ | | | |__| | |__| | . \ //
// \___/| .__/ \___|_| |_|\_____|\____/|_|\_\ //
// | | //
// |_| //
// //
// 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. //
#ifndef OPENGJK_H__
#define OPENGJK_H__
#ifdef __cplusplus
extern "C" {
#endif
/// @brief Use double as default precision
#define gkFloat double
/// @brief Structure of a body
typedef struct gkPolytope_ {
int numpoints; // Number of points defining the body
gkFloat s[3]; // Support mapping computed last
gkFloat **coord; // Points' coordinates
} gkPolytope;
/// @brief Structure of the simplex
typedef struct gkSimplex_ {
int nvrtx; // Number of simplex's vertices
int wids[4]; // Label of the simplex's vertices
gkFloat lambdas[4]; // Barycentric coordiantes for each vertex
gkFloat vrtx[4][3]; // Coordinates of simplex's vertices
} gkSimplex;
/// @brief Uses the GJK algorithm to compute the minimum distance between two bodies
gkFloat compute_minimum_distance(const gkPolytope p_, const gkPolytope q_, gkSimplex *s_);
#ifdef __cplusplus
}
#endif
#endif // OPENGJK_H__