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Enhance documentation in Readme and Header

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Mattia Montanari
2023-02-13 14:11:28 +01:00
parent 9d9e8e4d26
commit d9a9bf2a4b
2 changed files with 53 additions and 23 deletions
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include/openGJK/openGJK.h
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@@ -8,7 +8,7 @@
// |_| //
// //
// 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 //
@@ -20,34 +20,55 @@
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS //
// FOR A PARTICULAR PURPOSE. See GNU General Public License for details. //
/**
* @file openGJK.h
* @author Mattia Montanari
* @date 1 Jan 2022
* @brief Main interface of OpenGJK containing quick reference and API documentation.
*
* More extensive explanation of what the header
* @see http://google.com
*/
#ifndef OPENGJK_H__
#define OPENGJK_H__
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
/// @brief Use double as default precision
/*! @brief Precision of floating-point numbers.
*
* Default is set to 64-bit (Double). Change this to quickly play around with 16- and 32-bit. */
#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 Data structure for convex polytopes.
*
* Polytopes are three-dimensional shapes and the GJK algorithm works directly on their convex-hull. However the convex-hull is never computed explicity, instead each GJK-iteraion employs a support function that has a cost linearly dependen on the number of points defining the polytope. */
typedef struct gkPolytope_
{
int numpoints; /*!< Number of points defining the polytope. */
gkFloat s[3]; /*!< Furthest point retunred by the support function and updated at each GJK-iteration. For the first itearion this value is a guess - and this guess not irrelevant. */
gkFloat **coord; /*!< Coordinates of the points of the polytope. This is owned by user who manages and garbage-collects the memory for these coordinates. */
} gkPolytope;
/// @brief Structure of the simplex
typedef struct gkSimplex_ {
int nvrtx; // Number of simplex's vertices
gkFloat vrtx[4][3]; // Coordinates of simplex's vertices
} gkSimplex;
/*! @brief Data structure for simplex.
*
* The simplex is updated at each GJK-iteration. For the first itearion this value is a guess - and this guess not irrelevant. */
typedef struct gkSimplex_
{
int nvrtx; /*!< Number of points defining the simplex. */
gkFloat vrtx[4][3]; /*!< Coordinates of the points of the simplex. */
} 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_);
/*! @brief Invoke the GJK algorithm to compute the minimum distance between two polytopes.
*
* The simplex has to be initialised prior the call to this function. */
gkFloat compute_minimum_distance(const gkPolytope p_, const gkPolytope q_, gkSimplex *s_);
#ifdef __cplusplus
}
#endif
#endif // OPENGJK_H__
#endif // OPENGJK_H__