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Merge branch 'dev' 

# Conflicts:
#	README.md
fixes-turtlebasket
Mattia Montanari 2021-07-03 13:48:06 +02:00
parent f2871569f5 5f03ab18f4
commit ee042622ff
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name: C/C++ CI
on: [push]
jobs:
build:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Install python moduels
run: sudo apt update && sudo apt install -y libeigen3-dev python3-setuptools && pip3 install pybind11 pytest numpy scipy cython
- name: Compile Bybind
run: export CPATH=/usr/include/eigen3 && cd examples/python && source build.sh
- name: Test Bybind
run: |
cd examples/python
python3 -m pytest -s -v test.py
- name: Run cython
run: |
cd examples/cython
python3 setup.py build_ext --inplace && python3 -m pytest -s -v test.py

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build*/* build*/*
*.so *.so
public/ public/
<<<<<<< HEAD
*.exe
=======
>>>>>>> master
# Eclispe setting --- do not ignore *.cproject and *.project # Eclispe setting --- do not ignore *.cproject and *.project
*/**/.settings */**/.settings
@ -91,7 +95,11 @@ DocProject/Help/Html2
DocProject/Help/html DocProject/Help/html
# Cmake, make and compiled objects on unix # Cmake, make and compiled objects on unix
<<<<<<< HEAD
#*.cmake
=======
*.cmake *.cmake
>>>>>>> master
*.c.o *.c.o
*/CMakeFiles/* */CMakeFiles/*
*/Makefile */Makefile
@ -141,6 +149,8 @@ Assets/AssetStoreTools*
# Visual Studio cache directory # Visual Studio cache directory
.vs/ .vs/
<<<<<<< HEAD
=======
# Visual Studio Code cache directory # Visual Studio Code cache directory
.vscode/* .vscode/*
!.vscode/settings.json !.vscode/settings.json
@ -152,6 +162,7 @@ Assets/AssetStoreTools*
# Local History for Visual Studio Code # Local History for Visual Studio Code
.history/ .history/
>>>>>>> master
# Autogenerated VS/MD/Consulo solution and project files # Autogenerated VS/MD/Consulo solution and project files
ExportedObj/ ExportedObj/
.consulo/ .consulo/
@ -185,3 +196,49 @@ sysinfo.txt
# Office # Office
~*.pptx ~*.pptx
<<<<<<< HEAD
#Cython https://github.com/cython/cython/blob/master/.gitignore
*.pyc
*.pyo
__pycache__
*.o
.*cache*/
*/cython/*.c
/TEST_TMP/
/build/
/cython_build/
/wheelhouse*/
!tests/build/
/dist/
.gitrev
.coverage
*.patch
*.diff
*.orig
*.prof
*.rej
*.log
*.dep
*.swp
*~
callgrind.out.*
.ipynb_checkpoints
# Jetbrains IDE project files
/.idea
/*.iml
# Pytest
.cache
.pytest_cache
.mypy_cache
<<<<<<< HEAD
=======
=======
>>>>>>> master
>>>>>>> cmakeWin

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CMakeLists.txt
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# # # #
# This file is part of openGJK. # # This file is part of openGJK. #
# # # #
# openGJK is free software: you can redistribute it and/or modify # # OpenGJK is free software: you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by # # it under the terms of the GNU General Public License as published by #
# the Free Software Foundation, either version 3 of the License, or # # the Free Software Foundation, either version 3 of the License, or #
# any later version. # # any later version. #
# # # #
# openGJK is distributed in the hope that it will be useful, # # OpenGJK is distributed in the hope that it will be useful, #
# but WITHOUT ANY WARRANTY; without even the implied warranty of # # but WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See The # # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See The #
# GNU General Public License for more details. # # GNU General Public License for more details. #
# # # #
# You should have received a copy of the GNU General Public License # # You should have received a copy of the GNU General Public License #
# along with Foobar. If not, see <https://www.gnu.org/licenses/>. # # along with OpenGJK. If not, see <https://www.gnu.org/licenses/>. #
# # # #
# openGJK: open-source Gilbert-Johnson-Keerthi algorithm # # openGJK: open-source Gilbert-Johnson-Keerthi algorithm #
# Copyright (C) Mattia Montanari 2018 - 2019 # # Copyright (C) Mattia Montanari 2018 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 # # http://iel.eng.ox.ac.uk/?page_id=504 #
# # # #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.13)
project(openGJK)
set(CMAKE_POLICY_DEFAULT_CMP0079 NEW)
set(LIBRARY_VERSION "2.0.3")
project(openGJKlib VERSION ${LIBRARY_VERSION} LANGUAGES C)
set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD 11)
message("[${CMAKE_PROJECT_NAME}] Welcome, please change user options if needed.") list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
include(CMakeDefaults)
include(CompilerFlags)
include(PlatformDefaults)
# APPLY DEFAULT SETTINGS message( "[${PROJECT_NAME}] CMake setting ..")
if(NOT CMAKE_BUILD_TYPE) message(STATUS "Version : " ${CMAKE_PROJECT_VERSION} )
message("[${CMAKE_PROJECT_NAME}] Use default CMAKE_BUILD_TYPE") message(STATUS "Build type : " ${CMAKE_BUILD_TYPE} )
set(CMAKE_BUILD_TYPE Release)
# Specify project specific and user custum options
include(CMakeProjectOptions)
set( SOURCE_FILES src/openGJK.c )
set( SOURCE_HEADS include/openGJK/openGJK.h)
IF(BUILD_STATIC_LIB)
add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES} ${SOURCE_HEADS})
add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=FALSE)
ELSE()
add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${SOURCE_HEADS})
add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=TRUE)
ENDIF(BUILD_STATIC_LIB)
set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER ${SOURCE_HEADS})
# Add compiler flags
include(CompilerFlags)
# Install setup
install(TARGETS ${PROJECT_NAME} PERMISSIONS WORLD_WRITE )
find_package(OpenMP REQUIRED)
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif() endif()
# Link include file
target_include_directories( ${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
# PLATFORM-SPECIFIC SETTING target_link_libraries(${PROJECT_NAME} ${CMOCKA_LIBRARY} )
if (UNIX)
find_library(M_LIB m)
set(CMAKE_C_FLAGS "-lm")
set(CMAKE_CXX_FLAGS "-lm")
else ()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
endif ()
# COMPILER SETTING set(DESTDIR "/usr")
IF(CMAKE_BUILD_TYPE MATCHES Release) INSTALL(TARGETS ${PROJECT_NAME}
set(CMAKE_BUILD_TYPE Release) LIBRARY DESTINATION "${DESTDIR}/lib"
ELSEIF(CMAKE_BUILD_TYPE MATCHES Debug) PUBLIC_HEADER DESTINATION "${DESTDIR}/include"
set(CMAKE_BUILD_TYPE Debug) )
ENDIF()
if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") if (WITH_EXAMPLES)
# using GCC add_subdirectory(examples/c)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra -finline-functions") endif (WITH_EXAMPLES)
set(CMAKE_CXX_FLAGS_DEBUG "-g -DDEBUG")
set(CMAKE_CXX_FLAGS_RELEASE "-O3")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wextra -finline-functions") message(STATUS "Completed CMake setting for ${PROJECT_NAME}" )
set(CMAKE_C_FLAGS_DEBUG "-g -DDEBUG")
set(CMAKE_C_FLAGS_RELEASE "-O3")
add_compile_options(-static-libgcc -static-libstdc++ )
add_definitions(-DMT)
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
# using Visual Studio C++
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711 /wd5045")
set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi /Ob0 /Od /RTC1")
set(CMAKE_CXX_FLAGS_RELEASE "/Ox")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711 /wd5045")
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi /Ob0 /Od /RTC1")
set(CMAKE_C_FLAGS_RELEASE "/Ox")
set(CMAKE_SUPPRESS_REGENERATION true)
endif()
# DEBUG FLAGS
IF(CMAKE_BUILD_TYPE MATCHES Debug)
add_definitions(-DDEBUG)
ENDIF()
# INCLUDE LIBRARY AND EXAMPLE DIR
add_subdirectory(lib)
add_subdirectory(example1_c)

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# How to compile openGJK
Using openGJK is very simple. This guide will help you getting started compiling and using openGJK.
## Requirements
### Common requirements
1. A C compiler
2. [CMake](http://www.cmake.org) version 3.5 or above
## Building
First, you need to configure the compilation, using CMake.
1. Go inside the `build` dir. Create it if it doesn't exist.
2. Move into `build` dir and use `cmake ..`. On Windows you can specify `cmake -G "Visual Studio 15 2017 Win64" ..`, on Unix `cmake -G "Unix Makefiles" ..`.
### CMake standard options
- CMAKE_BUILD_TYPE: The type of build (can be Debug or Release)
- CMAKE_C_COMPILER: The path to the C compiler
### CMake options defined for openGJK
Options are defined in the following files:
- CmakeOptions.cmake
They can be changed with the -D option:
`cmake -DVERSION_ACCURATE=ON ..`
In addition to passing options on the command line, you can browse and edit
CMake options using `cmakesetup` (Windows), `cmake-gui` or `ccmake` (GNU/Linux
and MacOS X).
- Go to the build dir
- On Windows: run `cmakesetup`
- On GNU/Linux and MacOS X: run `ccmake ..`
### Install and run
If all above building commands were executed from `build`, the openGJK library can be found in the `build/src` directory.
You can run the binaries in `build/examples/*`.
To install the library copy the header file openGJK.h and the binaries in a folder accessible in the search path by all users (on Unix this would normally be /usr/local).
## Testing
TO REWRITE!!
As mention above you can turn on the unit tests and make it possible to easily
execute them:
`cmake -DCMAKE_BUILD_TYPE=Debug -DUNIT_TESTING=ON ..`
After that you can simply call `make test` in the build directory or if you
want more output simply call `ctest -V`.
If you want to enable the generation of coverage files you can do this by
using the following options:
`cmake -DCMAKE_BUILD_TYPE=Profiling -DUNIT_TESTING=ON ..`
After building it you will see that you have several coverage options in
`make help`
You should have `make ExperimentalCoverage` and running it will create
coverage files. The result is stored in Testing directory.
## Examples
This section presents three examples on how to use openGJK with C, C# and Matlab.
### C
This example illustrates how to include openGJK in an existing C
program.
All files for the example are in the `example1_c` folder. The executable built with
CMake reads the coordinates of two polytopes from the input files,
respectively userP.dat and userQ.dat, and computes the minimum distance
between them.
Notice that the input files must be in the folder from which the executable
is launched, otherwise an error is returned.
You can edit the coordinates in the input file to test different
polytopes; just remember to edit also the first number in the files
that corresponds to the numbers of vertices that the program will read.
### Matlab
This example illustrates how to invoke openGJK as a regular built-in
Matlab function. You will need to build mex files (find out the requisites from [Mathworks documentation](https://uk.mathworks.com/help/matlab/matlab_external/what-you-need-to-build-mex-files.html)).
Open Matlab and cd into the `example2_mex` folder. By running the
script `runme.m`, Matlab will first compile a mex file (telling you
about the name of the mex file generated) and will call the script
`main.m`. This invokes openGJK within Matlab and illustrates the
result.
The mex file may be copied and called from any other Matlab project.
### C# #
This example illustrates how to invoke openGJK in an applications written in C#. You will need [mono](http://www.mono-project.com/) and Microsoft Visual Studio toolchain for C# on Windows.
The only file required is in the `example3_csharp` folder. This can be compiled in Unix
with mono, or in Windows using Visual Studio. Notice that, however, the openGJK library
is compiled for a specific architecture (usually x64), and this breaks the portability
of the .NET application compiled in this example.
Below are the steps for compiling the C# application on Windows and Linux. Both
procedures assume the dynamic library of openGJK has been already compiled.
#### Compile on Windows
1. Move into the folder `example3_csharp` and create a new folder `example3`.
2. Copy into this folder the openGJK library or make it available in any directory.
3. Open Visual Studio and create a new project. As project type select **Console App (.NET Framework)**.
4. Add to this project the `main.cs` file
5. Set x64 as the target platform, compile the application and run it.
#### Compile on Linux
1. Move into the folder `example3_csharp` and create a new folder `example3`.
2. Copy into this folder the openGJK library or install is so that is available in any directory.
3. Move into that new folder and open a terminal.
4. Type `mcs -out:example3demo -d:UNIX ../main.cs`
5. Run the example by typing `mono example3demo`
## API user reference
```double gjk( struct bodyA, struct bodyB, struct simplex)```
### Documentation
The folder `doc` contains a Doxygen file for generating the documentation of the whole
library. To build the documentation cd into `doc` and call Doxygen from the command line simply by typing `doxygen`. If correctly installed, Doxygen will create html documentation with graphs illustrating the call stack of the functions of the library.
### Parameters
* **bodyA** The first body.
* **bodyB** The second body.
* **simplex** The simplex used the GJK algorithm at the first iteration.
### Returns
* **double** the minimum distance between bodyA and bodyB.
### Description
The function `gjk` computes the minimum Euclidean distance between two bodies using the
GJK algorithm. Note that the simplex used at the first iteration may be initialised by the user, but this is not necessary.

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GNU GENERAL PUBLIC LICENSE
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Everyone is permitted to copy and distribute verbatim copies
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How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
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, or
(at your option) any later version.
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 the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

8
README.md
View File

@ -1,10 +1,12 @@
Hello! Hello!
=======
I'll never have enough time for this project, but contributes are welcome! Please check out [docs and more details here](https://www.mattiamontanari.com/opengjk/). This is a simple and reliable C implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm, [docs and details are available here](https://www.mattiamontanari.com/opengjk/).
The best code is in dev branch - Enjoy! All contributes are all welcome. For instance you could add:
- Support for other shapes: quadrics and splines (easy)
- More python examples and test (easy)
- EPA algorithm (hard)
> openGJK, Copyright (c) 2018-2021 > openGJK, Copyright (c) 2018-2021
> >

61
lib/CMakeLists.txt → cmake/CMakeDefaults.cmake
View File

@ -28,53 +28,24 @@
# # # #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# Include srcdir and builddir in include path to save typing ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY} in every subdir
set(CMAKE_INCLUDE_CURRENT_DIR ON)
project (openGJKlib) # Put the include dirs which are in the source or build tree
# before all other include dirs, so the headers in the sources
# are prefered over the already installed ones
# since cmake 2.4.1
set(CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
set(CMAKE_C_STANDARD 11) # Use colored output
set(CMAKE_COLOR_MAKEFILE ON)
# SELECT USER OPTIONS # Create the compile command database for clang by default
option(VERSION_ACCURATE "Reduce speed to maximise accuracy (OFF)" OFF ) set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# APPLY USER OPTIONS # Always build with -fPIC
IF(VERSION_ACCURATE) set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(USE_PREDICATES ON)
set(openGJK_VERSION "Accurate")
ELSE()
set(USE_PREDICATES OFF)
set(openGJK_VERSION "Fast")
ENDIF()
# COMPILE # Avoid source tree pollution
message( "[${CMAKE_PROJECT_NAME}] Compiling ..") set(CMAKE_DISABLE_SOURCE_CHANGES ON)
message(STATUS "Version (Accurate,Fast): " ${openGJK_VERSION} ) set(CMAKE_DISABLE_IN_SOURCE_BUILD ON)
message(STATUS "Build type (Debug,Release): " ${CMAKE_BUILD_TYPE} )
# Select source files
set( SOURCE_FILES src/openGJK.c )
set( SOURCE_HEADS include/openGJK/openGJK.h)
IF(USE_PREDICATES)
# for adpative floating-point artim.
set( SOURCE_FILES ${SOURCE_FILES} ext/predicates.c)
set( SOURCE_HEADS ${SOURCE_HEADS} ext/predicates.h)
# Add flag for adpative floating-point artim.
add_definitions(-DADAPTIVEFP)
ENDIF()
# Create the (dynamic) library
add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES} ${SOURCE_HEADS})
add_definitions(-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=TRUE -DBUILD_SHARED_LIBS=FALSE)
# Link include file
target_include_directories( ${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR}/include)
IF(USE_PREDICATES)
# for adpative floating-point artim.
target_include_directories( ${PROJECT_NAME}
PUBLIC ${PROJECT_SOURCE_DIR}/ext
)
ENDIF()
# Report
message( ".. DONE!")

25
example1_c/CMakeLists.txt → cmake/CMakeProjectOptions.cmake
View File

@ -23,23 +23,22 @@
# along with Foobar. If not, see <https://www.gnu.org/licenses/>. # # along with Foobar. If not, see <https://www.gnu.org/licenses/>. #
# # # #
# openGJK: open-source Gilbert-Johnson-Keerthi algorithm # # openGJK: open-source Gilbert-Johnson-Keerthi algorithm #
# Copyright (C) Mattia Montanari 2018 - 2019 # # Copyright (C) Mattia Montanari 2018 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 # # http://iel.eng.ox.ac.uk/?page_id=504 #
# # # #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
project(openGJKdemo) option(WITH_STATIC_LIB "Build static lib" OFF)
option(WITH_EXAMPLES "Build C example" ON)
message( "[${CMAKE_PROJECT_NAME}] Compiling the executable ..") # Default build type
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Release")
# Set source file # APPLY USER OPTIONS
set(SOURCE_FILES main.c ) IF (WITH_STATIC_LIB)
set(BUILD_STATIC_LIB ON)
ENDIF (WITH_STATIC_LIB)
# Create the executable # FEEDBACK
add_executable(demo ${SOURCE_FILES}) message(STATUS " Build static lib (ON): " ${WITH_STATIC_LIB})
message(STATUS " Build C examples (ON): " ${WITH_EXAMPLES})
# Link to openGJK
target_link_libraries(demo openGJKlib )
# Report
message( ".. executable DONE!")

22
cmake/COPYING-CMAKE-SCRIPTS Normal file
View File

@ -0,0 +1,22 @@
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. The name of the author may not be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

109
cmake/CompilerChecks.cmake Normal file
View File

@ -0,0 +1,109 @@
include(AddCCompilerFlag)
include(CheckCCompilerFlagSSP)
if (UNIX)
#
# Check for -Werror turned on if possible
#
# This will prevent that compiler flags are detected incorrectly.
#
check_c_compiler_flag("-Werror" REQUIRED_FLAGS_WERROR)
if (REQUIRED_FLAGS_WERROR)
set(CMAKE_REQUIRED_FLAGS "-Werror")
if (PICKY_DEVELOPER)
list(APPEND SUPPORTED_COMPILER_FLAGS "-Werror")
endif()
endif()
add_c_compiler_flag("-std=gnu99" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wpedantic" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wall" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wshadow" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wmissing-prototypes" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wcast-align" SUPPORTED_COMPILER_FLAGS)
#add_c_compiler_flag("-Wcast-qual" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=address" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wstrict-prototypes" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=strict-prototypes" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wwrite-strings" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=write-strings" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror-implicit-function-declaration" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wpointer-arith" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=pointer-arith" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wdeclaration-after-statement" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=declaration-after-statement" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wreturn-type" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=return-type" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wuninitialized" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=uninitialized" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wimplicit-fallthrough" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=strict-overflow" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wstrict-overflow=2" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wno-format-zero-length" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wmissing-field-initializers" SUPPORTED_COMPILER_FLAGS)
check_c_compiler_flag("-Wformat" REQUIRED_FLAGS_WFORMAT)
if (REQUIRED_FLAGS_WFORMAT)
list(APPEND SUPPORTED_COMPILER_FLAGS "-Wformat")
set(CMAKE_REQUIRED_FLAGS "${CMAKE_REQUIRED_FLAGS} -Wformat")
endif()
add_c_compiler_flag("-Wformat-security" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Werror=format-security" SUPPORTED_COMPILER_FLAGS)
# Allow zero for a variadic macro argument
string(TOLOWER "${CMAKE_C_COMPILER_ID}" _C_COMPILER_ID)
if ("${_C_COMPILER_ID}" STREQUAL "clang")
add_c_compiler_flag("-Wno-gnu-zero-variadic-macro-arguments" SUPPORTED_COMPILER_FLAGS)
endif()
add_c_compiler_flag("-fno-common" SUPPORTED_COMPILER_FLAGS)
if (CMAKE_BUILD_TYPE)
string(TOLOWER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_LOWER)
if (CMAKE_BUILD_TYPE_LOWER MATCHES (release|relwithdebinfo|minsizerel))
add_c_compiler_flag("-Wp,-D_FORTIFY_SOURCE=2" SUPPORTED_COMPILER_FLAGS)
endif()
endif()
check_c_compiler_flag_ssp("-fstack-protector-strong" WITH_STACK_PROTECTOR_STRONG)
if (WITH_STACK_PROTECTOR_STRONG)
list(APPEND SUPPORTED_COMPILER_FLAGS "-fstack-protector-strong")
# This is needed as Solaris has a seperate libssp
if (SOLARIS)
list(APPEND SUPPORTED_LINKER_FLAGS "-fstack-protector-strong")
endif()
else (WITH_STACK_PROTECTOR_STRONG)
check_c_compiler_flag_ssp("-fstack-protector" WITH_STACK_PROTECTOR)
if (WITH_STACK_PROTECTOR)
list(APPEND SUPPORTED_COMPILER_FLAGS "-fstack-protector")
# This is needed as Solaris has a seperate libssp
if (SOLARIS)
list(APPEND SUPPORTED_LINKER_FLAGS "-fstack-protector")
endif()
endif()
endif (WITH_STACK_PROTECTOR_STRONG)
check_c_compiler_flag_ssp("-fstack-clash-protection" WITH_STACK_CLASH_PROTECTION)
if (WITH_STACK_CLASH_PROTECTION)
list(APPEND SUPPORTED_COMPILER_FLAGS "-fstack-clash-protection")
endif()
if (PICKY_DEVELOPER)
add_c_compiler_flag("-Wno-error=deprecated-declarations" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("-Wno-error=tautological-compare" SUPPORTED_COMPILER_FLAGS)
endif()
# Unset CMAKE_REQUIRED_FLAGS
unset(CMAKE_REQUIRED_FLAGS)
endif()
if (MSVC)
add_c_compiler_flag("/D _CRT_SECURE_CPP_OVERLOAD_STANDARD_NAMES=1" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("/D _CRT_SECURE_CPP_OVERLOAD_STANDARD_NAMES_COUNT=1" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("/D _CRT_NONSTDC_NO_WARNINGS=1" SUPPORTED_COMPILER_FLAGS)
add_c_compiler_flag("/D _CRT_SECURE_NO_WARNINGS=1" SUPPORTED_COMPILER_FLAGS)
endif()
set(DEFAULT_C_COMPILE_FLAGS ${SUPPORTED_COMPILER_FLAGS} CACHE INTERNAL "Default C Compiler Flags" FORCE)
set(DEFAULT_LINK_FLAGS ${SUPPORTED_LINKER_FLAGS} CACHE INTERNAL "Default C Linker Flags" FORCE)

103
cmake/CompilerFlags.cmake Normal file
View File

@ -0,0 +1,103 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# PLATFORM-SPECIFIC SETTING
if (UNIX)
find_library(M_LIB m)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -lm")
else ()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
endif ()
if ("${CMAKE_C_COMPILER_ID}" STREQUAL "GNU")
# using GCC
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wextra -Werror")
add_compile_options(-static-libgcc -static-libstdc++ )
add_definitions(-DMT)
elseif ("${CMAKE_C_COMPILER_ID}" STREQUAL "MSVC")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /wd4131 /wd4701 /wd4255 /wd4710 /wd4820 /wd4711 /wd5045")
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG /D_DEBUG /MDd /Zi /Ob0 /Od /RTC1")
set(CMAKE_C_FLAGS_RELEASE "/Ox")
set(CMAKE_SUPPRESS_REGENERATION true)
endif()
if (UNIX AND NOT WIN32)
# Activate with: -DCMAKE_BUILD_TYPE=Debug
set(CMAKE_C_FLAGS_DEBUG "-g -DDEBUG -Wall -Wextra -Werror"
CACHE STRING "Flags used by the C compiler during DEBUG builds.")
# Activate with: -DCMAKE_BUILD_TYPE=Release
set(CMAKE_C_FLAGS_RELEASE "-O3 -Wall -finline-functions -Wextra -Werror"
CACHE STRING "Flags used by the C compiler during RELEASE builds.")
# Activate with: -DCMAKE_BUILD_TYPE=Profiling
set(CMAKE_C_FLAGS_PROFILING "-O0 -g -fprofile-arcs -ftest-coverage"
CACHE STRING "Flags used by the C compiler during PROFILING builds.")
set(CMAKE_CXX_FLAGS_PROFILING "-O0 -g -fprofile-arcs -ftest-coverage"
CACHE STRING "Flags used by the CXX compiler during PROFILING builds.")
set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "-fprofile-arcs -ftest-coverage"
CACHE STRING "Flags used by the linker during the creation of shared libraries during PROFILING builds.")
set(CMAKE_MODULE_LINKER_FLAGS_PROFILING "-fprofile-arcs -ftest-coverage"
CACHE STRING "Flags used by the linker during the creation of shared libraries during PROFILING builds.")
set(CMAKE_EXEC_LINKER_FLAGS_PROFILING "-fprofile-arcs -ftest-coverage"
CACHE STRING "Flags used by the linker during PROFILING builds.")
# Activate with: -DCMAKE_BUILD_TYPE=AddressSanitizer
set(CMAKE_C_FLAGS_ADDRESSSANITIZER "-g -O1 -fsanitize=address -fno-omit-frame-pointer"
CACHE STRING "Flags used by the C compiler during ADDRESSSANITIZER builds.")
set(CMAKE_CXX_FLAGS_ADDRESSSANITIZER "-g -O1 -fsanitize=address -fno-omit-frame-pointer"
CACHE STRING "Flags used by the CXX compiler during ADDRESSSANITIZER builds.")
set(CMAKE_SHARED_LINKER_FLAGS_ADDRESSSANITIZER "-fsanitize=address"
CACHE STRING "Flags used by the linker during the creation of shared libraries during ADDRESSSANITIZER builds.")
set(CMAKE_MODULE_LINKER_FLAGS_ADDRESSSANITIZER "-fsanitize=address"
CACHE STRING "Flags used by the linker during the creation of shared libraries during ADDRESSSANITIZER builds.")
set(CMAKE_EXEC_LINKER_FLAGS_ADDRESSSANITIZER "-fsanitize=address"
CACHE STRING "Flags used by the linker during ADDRESSSANITIZER builds.")
# Activate with: -DCMAKE_BUILD_TYPE=MemorySanitizer
set(CMAKE_C_FLAGS_MEMORYSANITIZER "-g -O2 -fsanitize=memory -fsanitize-memory-track-origins=2 -fno-omit-frame-pointer"
CACHE STRING "Flags used by the C compiler during MEMORYSANITIZER builds.")
set(CMAKE_CXX_FLAGS_MEMORYSANITIZER "-g -O2 -fsanitize=memory -fsanitize-memory-track-origins=2 -fno-omit-frame-pointer"
CACHE STRING "Flags used by the CXX compiler during MEMORYSANITIZER builds.")
set(CMAKE_SHARED_LINKER_FLAGS_MEMORYSANITIZER "-fsanitize=memory"
CACHE STRING "Flags used by the linker during the creation of shared libraries during MEMORYSANITIZER builds.")
set(CMAKE_MODULE_LINKER_FLAGS_MEMORYSANITIZER "-fsanitize=memory"
CACHE STRING "Flags used by the linker during the creation of shared libraries during MEMORYSANITIZER builds.")
set(CMAKE_EXEC_LINKER_FLAGS_MEMORYSANITIZER "-fsanitize=memory"
CACHE STRING "Flags used by the linker during MEMORYSANITIZER builds.")
endif()

149
cmake/ConfigureChecks.cmake Normal file
View File

@ -0,0 +1,149 @@
include(CheckIncludeFile)
include(CheckSymbolExists)
include(CheckFunctionExists)
include(CheckLibraryExists)
include(CheckTypeSize)
include(CheckCXXSourceCompiles)
include(CheckStructHasMember)
include(TestBigEndian)
set(PACKAGE ${PROJECT_NAME})
set(VERSION ${PROJECT_VERSION})
set(DATADIR ${DATA_INSTALL_DIR})
set(LIBDIR ${CMAKE_INSTALL_LIBDIR})
set(PLUGINDIR "${PLUGIN_INSTALL_DIR}-${LIBRARY_SOVERSION}")
set(SYSCONFDIR ${SYSCONF_INSTALL_DIR})
set(BINARYDIR ${CMAKE_BINARY_DIR})
set(SOURCEDIR ${CMAKE_SOURCE_DIR})
function(COMPILER_DUMPVERSION _OUTPUT_VERSION)
# Remove whitespaces from the argument.
# This is needed for CC="ccache gcc" cmake ..
string(REPLACE " " "" _C_COMPILER_ARG "${CMAKE_C_COMPILER_ARG1}")
execute_process(
COMMAND
${CMAKE_C_COMPILER} ${_C_COMPILER_ARG} -dumpversion
OUTPUT_VARIABLE _COMPILER_VERSION
)
string(REGEX REPLACE "([0-9])\\.([0-9])(\\.[0-9])?" "\\1\\2"
_COMPILER_VERSION ${_COMPILER_VERSION})
set(${_OUTPUT_VERSION} ${_COMPILER_VERSION} PARENT_SCOPE)
endfunction()
if(CMAKE_COMPILER_IS_GNUCC AND NOT MINGW)
compiler_dumpversion(GNUCC_VERSION)
if (NOT GNUCC_VERSION EQUAL 34)
check_c_compiler_flag("-fvisibility=hidden" WITH_VISIBILITY_HIDDEN)
endif (NOT GNUCC_VERSION EQUAL 34)
endif(CMAKE_COMPILER_IS_GNUCC AND NOT MINGW)
# DEFINITIONS
if (SOLARIS)
add_definitions(-D__EXTENSIONS__)
endif (SOLARIS)
# HEADER FILES
check_include_file(assert.h HAVE_ASSERT_H)
check_include_file(inttypes.h HAVE_INTTYPES_H)
check_include_file(io.h HAVE_IO_H)
check_include_file(malloc.h HAVE_MALLOC_H)
check_include_file(memory.h HAVE_MEMORY_H)
check_include_file(setjmp.h HAVE_SETJMP_H)
check_include_file(signal.h HAVE_SIGNAL_H)
check_include_file(stdarg.h HAVE_STDARG_H)
check_include_file(stddef.h HAVE_STDDEF_H)
check_include_file(stdint.h HAVE_STDINT_H)
check_include_file(stdio.h HAVE_STDIO_H)
check_include_file(stdlib.h HAVE_STDLIB_H)
check_include_file(string.h HAVE_STRING_H)
check_include_file(strings.h HAVE_STRINGS_H)
check_include_file(sys/stat.h HAVE_SYS_STAT_H)
check_include_file(sys/types.h HAVE_SYS_TYPES_H)
check_include_file(time.h HAVE_TIME_H)
check_include_file(unistd.h HAVE_UNISTD_H)
if (HAVE_TIME_H)
check_struct_has_member("struct timespec" tv_sec "time.h" HAVE_STRUCT_TIMESPEC)
endif (HAVE_TIME_H)
# FUNCTIONS
check_function_exists(calloc HAVE_CALLOC)
check_function_exists(exit HAVE_EXIT)
check_function_exists(fprintf HAVE_FPRINTF)
check_function_exists(free HAVE_FREE)
check_function_exists(longjmp HAVE_LONGJMP)
check_function_exists(siglongjmp HAVE_SIGLONGJMP)
check_function_exists(malloc HAVE_MALLOC)
check_function_exists(memcpy HAVE_MEMCPY)
check_function_exists(memset HAVE_MEMSET)
check_function_exists(printf HAVE_PRINTF)
check_function_exists(setjmp HAVE_SETJMP)
check_function_exists(signal HAVE_SIGNAL)
check_function_exists(strsignal HAVE_STRSIGNAL)
check_function_exists(strcmp HAVE_STRCMP)
check_function_exists(clock_gettime HAVE_CLOCK_GETTIME)
if (WIN32)
check_function_exists(_vsnprintf_s HAVE__VSNPRINTF_S)
check_function_exists(_vsnprintf HAVE__VSNPRINTF)
check_function_exists(_snprintf HAVE__SNPRINTF)
check_function_exists(_snprintf_s HAVE__SNPRINTF_S)
check_symbol_exists(snprintf stdio.h HAVE_SNPRINTF)
check_symbol_exists(vsnprintf stdio.h HAVE_VSNPRINTF)
else (WIN32)
check_function_exists(sprintf HAVE_SNPRINTF)
check_function_exists(vsnprintf HAVE_VSNPRINTF)
endif (WIN32)
find_library(RT_LIBRARY rt)
if (RT_LIBRARY AND NOT LINUX AND NOT ANDROID)
set(CMOCKA_REQUIRED_LIBRARIES ${RT_LIBRARY} CACHE INTERNAL "cmocka required system libraries")
endif ()
# OPTIONS
check_c_source_compiles("
__thread int tls;
int main(void) {
return 0;
}" HAVE_GCC_THREAD_LOCAL_STORAGE)
if (WIN32)
check_c_source_compiles("
__declspec(thread) int tls;
int main(void) {
return 0;
}" HAVE_MSVC_THREAD_LOCAL_STORAGE)
endif(WIN32)
if (HAVE_TIME_H AND HAVE_STRUCT_TIMESPEC AND HAVE_CLOCK_GETTIME)
if (RT_LIBRARY)
set(CMAKE_REQUIRED_LIBRARIES ${RT_LIBRARY})
endif()
check_c_source_compiles("
#include <time.h>
int main(void) {
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
return 0;
}" HAVE_CLOCK_REALTIME)
# reset cmake requirements
set(CMAKE_REQUIRED_INCLUDES)
set(CMAKE_REQUIRED_LIBRARIES)
endif ()
# ENDIAN
if (NOT WIN32)
set(WORDS_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P})
test_big_endian(WORDS_BIGENDIAN)
endif (NOT WIN32)

21
cmake/PlatformDefaults.cmake Normal file
View File

@ -0,0 +1,21 @@
# Set system vars
if (CMAKE_SYSTEM_NAME MATCHES "Linux")
set(LINUX TRUE)
endif(CMAKE_SYSTEM_NAME MATCHES "Linux")
if (CMAKE_SYSTEM_NAME MATCHES "FreeBSD")
set(FREEBSD TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "FreeBSD")
if (CMAKE_SYSTEM_NAME MATCHES "OpenBSD")
set(OPENBSD TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "OpenBSD")
if (CMAKE_SYSTEM_NAME MATCHES "NetBSD")
set(NETBSD TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "NetBSD")
if (CMAKE_SYSTEM_NAME MATCHES "(Solaris|SunOS)")
set(SOLARIS TRUE)
endif (CMAKE_SYSTEM_NAME MATCHES "(Solaris|SunOS)")

67
examples/c/CMakeLists.txt Normal file
View File

@ -0,0 +1,67 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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}" )

39
example1_c/main.c → examples/c/main.c
View File

@ -36,7 +36,7 @@
* * * *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ * - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
/** /**
* @file main.c * @file main.c
* @author Mattia Montanari * @author Mattia Montanari
* @date April 2018 * @date April 2018
@ -45,9 +45,10 @@
*/ */
#define _CRT_HAS_CXX17 0 #define _CRT_HAS_CXX17 0
#include <stdlib.h>
#include <stdio.h> #include <stdio.h>
/* For importing openGJK this is Step 1: include header in subfolder. */ /* For importing openGJK this is Step 1: include header in subfolder. */
#include "openGJK/openGJK.h" #include "openGJK/openGJK.h"
#ifndef WIN32 #ifndef WIN32
@ -58,7 +59,7 @@
* @brief Function for reading input file with body's coordinates. * @brief Function for reading input file with body's coordinates.
* *
*/ */
int readinput ( const char *inputfile, double ***pts, int * out ) { int readinput(const char *inputfile, double ***pts, int * out) {
int npoints = 0; int npoints = 0;
int idx = 0; int idx = 0;
FILE *fp; FILE *fp;
@ -76,18 +77,18 @@ int readinput ( const char *inputfile, double ***pts, int * out ) {
} }
/* Read number of input vertices. */ /* Read number of input vertices. */
if (fscanf_s(fp, "%d", &npoints) != 1) if (fscanf(fp, "%d", &npoints) != 1)
return 1; return 1;
/* Allocate memory. */ /* Allocate memory. */
double **arr = (double **)malloc(npoints * sizeof(double *)); double **arr = (double **)malloc(npoints * sizeof(double *));
for (int i=0; i<npoints; i++) for (int i = 0; i < npoints; i++)
arr[i] = (double *)malloc(3 * sizeof(double)); arr[i] = (double *)malloc(3 * sizeof(double));
/* Read and store vertices' coordinates. */ /* Read and store vertices' coordinates. */
for (idx = 0; idx < npoints; idx++) for (idx = 0; idx < npoints; idx++)
{ {
if (fscanf_s(fp, "%lf %lf %lf\n", &arr[idx][0], &arr[idx][1], &arr[idx][2]) != 3 ) if (fscanf(fp, "%lf %lf %lf\n", &arr[idx][0], &arr[idx][1], &arr[idx][2]) != 3)
return 1; return 1;
} }
@ -121,20 +122,20 @@ int main() {
char inputfileA[40] = "userP.dat", char inputfileA[40] = "userP.dat",
inputfileB[40] = "userQ.dat"; inputfileB[40] = "userQ.dat";
/* Pointers to vertices' coordinates of body 1 and body 2, respectively. */ /* Pointers to vertices' coordinates of body 1 and body 2, respectively. */
double (**vrtx1) = NULL, double(**vrtx1) = NULL,
(**vrtx2) = NULL; (**vrtx2) = NULL;
/* For importing openGJK this is Step 2: adapt the data structure for the /* For importing openGJK this is Step 2: adapt the data structure for the
* two bodies that will be passed to the GJK procedure. */ * two bodies that will be passed to the GJK procedure. */
/* Import coordinates of object 1. */ /* Import coordinates of object 1. */
if (readinput ( inputfileA, &vrtx1, &nvrtx1 )) if (readinput(inputfileA, &vrtx1, &nvrtx1))
return (1); return (1);
bd1.coord = vrtx1; bd1.coord = vrtx1;
bd1.numpoints = nvrtx1; bd1.numpoints = nvrtx1;
/* Import coordinates of object 2. */ /* Import coordinates of object 2. */
if (readinput ( inputfileB, &vrtx2, &nvrtx2 )) if (readinput(inputfileB, &vrtx2, &nvrtx2))
return (1); return (1);
bd2.coord = vrtx2; bd2.coord = vrtx2;
bd2.numpoints = nvrtx2; bd2.numpoints = nvrtx2;
@ -145,31 +146,31 @@ int main() {
#ifdef DEBUG #ifdef DEBUG
/* Verify input of body A. */ /* Verify input of body A. */
for (int i = 0; i < bd1.numpoints; ++i) { for (int i = 0; i < bd1.numpoints; ++i) {
printf ( "%.2f ", vrtx1[i][0]); printf("%.2f ", vrtx1[i][0]);
printf ( "%.2f ", vrtx1[i][1]); printf("%.2f ", vrtx1[i][1]);
printf ( "%.2f\n", bd1.coord[i][2]); printf("%.2f\n", bd1.coord[i][2]);
} }
/* Verify input of body B. */ /* Verify input of body B. */
for (int i = 0; i < bd2.numpoints; ++i) { for (int i = 0; i < bd2.numpoints; ++i) {
printf ( "%.2f ", bd2.coord[i][0]); printf("%.2f ", bd2.coord[i][0]);
printf ( "%.2f ", bd2.coord[i][1]); printf("%.2f ", bd2.coord[i][1]);
printf ( "%.2f\n", bd2.coord[i][2]); printf("%.2f\n", bd2.coord[i][2]);
} }
#endif #endif
/* For importing openGJK this is Step 3: invoke the GJK procedure. */ /* For importing openGJK this is Step 3: invoke the GJK procedure. */
/* Compute squared distance using GJK algorithm. */ /* Compute squared distance using GJK algorithm. */
dd = gjk (bd1, bd2, &s); dd = gjk(bd1, bd2, &s);
/* Print distance between objects. */ /* Print distance between objects. */
printf ("Distance between bodies %f\n", dd); printf("Distance between bodies %f\n", dd);
/* Free memory */ /* Free memory */
for (int i=0; i<bd1.numpoints; i++) for (int i = 0; i < bd1.numpoints; i++)
free(bd1.coord[i]); free(bd1.coord[i]);
free(bd1.coord); free(bd1.coord);
for (int i=0; i<bd2.numpoints; i++) for (int i = 0; i < bd2.numpoints; i++)
free(bd2.coord[i]); free(bd2.coord[i]);
free(bd2.coord); free(bd2.coord);

0
example1_c/userP.dat → examples/c/userP.dat
View File

0
example1_c/userQ.dat → examples/c/userQ.dat
View File

6
example3_csharp/main.cs → examples/cs/main.cs
View File

@ -35,12 +35,8 @@ using System.Runtime.InteropServices;
public class Tester public class Tester
{ {
[DllImport("libopenGJKlib", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
#if UNIX
[DllImport("libopenGJKlib.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
#else
[DllImport("openGJKlib", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
#endif
static extern double gjk(int na, double [,] ia, int nb, double [,] ib); static extern double gjk(int na, double [,] ia, int nb, double [,] ib);
public static void Main(string[] args) public static void Main(string[] args)

44
examples/cython/openGJK_cython.pxd Normal file
View File

@ -0,0 +1,44 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# Declare C function and data types
cdef extern from "openGJK.h":
struct bd:
int numpoints
double s[3]
double ** coord
struct simplex:
int nvrtx
double vrtx[4][3]
int wids[4]
double lambdas[4]
double gjk(bd bd1, bd bd2, simplex *s)

111
examples/cython/openGJK_cython.pyx Normal file
View File

@ -0,0 +1,111 @@
#!python
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# cython: language_level=3
# distutils: sources = ../../src/openGJK.c
# distutils: include_dirs = ../../include/openGJK
cimport openGJK_cython
import numpy as np
from libc.stdlib cimport free, malloc
from cpython.mem cimport PyMem_Malloc, PyMem_Free
# Create Python function
def pygjk(bod1, bod2):
# Declare data types
cdef:
simplex s
bd bd1
bd bd2
double dist2
# Convert 1D array to 2D, if any
if bod1.ndim < 2:
bod1 = np.append([bod1], [[1.,1.,1.]], axis = 0)
bd1.numpoints = np.size(bod1,0) - 1
else:
bd1.numpoints = np.size(bod1,0)
if bod2.ndim < 2:
bod2 = np.append([bod2], [[1.,1.,1.]], axis = 0)
bd2.numpoints = np.size(bod2,0) - 1
else:
bd2.numpoints = np.size(bod2,0)
# Allocate memory for bodies
bd1.coord = <double **> malloc(bd1.numpoints * sizeof(double *))
if not bd1.coord:
raise NameError('Not enough memory for bd1.coord')
for i in range(0, bd1.numpoints):
bd1.coord[i] = <double *> malloc(3 * sizeof(double))
if not bd1.coord[i]:
raise NameError('Not enough memory for bd1.coord[]')
bd2.coord = <double **> malloc(bd2.numpoints * sizeof(double *))
if not bd2.coord:
raise NameError('Not enough memory for bd2.coord')
for j in range(0, bd2.numpoints):
bd2.coord[j] = <double *> malloc(3 * sizeof(double))
if not bd2.coord[j]:
raise NameError('Not enough memory for bd2.coord[]')
# Create numpy-array MemoryView
cdef:
double [:,:] narr1 = bod1
double [:,:] narr2 = bod2
# Assign coordinate values
for i in range(0, bd1.numpoints):
for j in range(0,3):
bd1.coord[i][j] = narr1[i,j]
for i in range(0, bd2.numpoints):
for j in range(0,3):
bd2.coord[i][j] = narr2[i,j]
# Call C function
dist2 = gjk(bd1, bd2, &s)
# Free the memory
for ii in range(0, bd1.numpoints):
free(bd1.coord[ii])
free(bd1.coord)
for jj in range(0, bd2.numpoints):
free(bd2.coord[jj])
free(bd2.coord)
return dist2

38
examples/cython/pygjk_trial.py Normal file
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@ -0,0 +1,38 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
import numpy as np
import openGJK_cython as opengjk
a = np.array([[1.,1.,1.],[1.,1.,1.]])
b = np.array([[11.,1.,1.],[1.,1.,1.]])
d = opengjk.pygjk(a,b)
print(d)

44
examples/cython/setup.py Normal file
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@ -0,0 +1,44 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
from setuptools import Extension, setup
from Cython.Build import cythonize
exts = Extension(
"openGJK_cython",
sources = ["openGJK_cython.pyx"],
extra_compile_args=['-I../../include/','-fopenmp'],
extra_link_args=['-fopenmp'],
)
setup(
name='openGJK-cython-version',
ext_modules = cythonize( [exts] )
)

185
examples/cython/test.py Normal file
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@ -0,0 +1,185 @@
import openGJK_cython 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):
"""
distance from point to line
"""
return np.linalg.norm(np.cross(P2-P1, P1-point))/np.linalg.norm(P2-P1)
def distance_point_to_plane_3D(P1, P2, P3, point):
"""
Distance from point to plane
"""
return np.abs(np.dot(np.cross(P2-P1, P3-P1) /
np.linalg.norm(np.cross(P2-P1, P3-P1)), point-P2))
@pytest.mark.parametrize("delta", [0.1, 1e-12, 0, -2])
def test_line_point_distance(delta):
line = np.array([[0.1, 0.2, 0.3], [0.5, 0.8, 0.7]], dtype=np.float64)
point_on_line = line[0] + 0.27*(line[1]-line[0])
normal = np.cross(line[0], line[1])
point = point_on_line + delta * normal
distance = opengjk.pygjk(line, point)
actual_distance = distance_point_to_line_3D(
line[0], line[1], point)
print(distance, actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol() ))
@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=settol() ))
@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)
#embed()
assert(np.isclose(distance, actual_distance, atol=settol() ))
@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=settol() ))
@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=settol() ))
@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=settol()))
else:
print("Computed distance ", distance,
"Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol()))
@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=settol()))
else:
print("Computed distance ", distance,
"Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol()))
@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]))
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))
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)

0
example2_mex/main.m → examples/matlab/main.m
View File

4
example2_mex/runme.m → examples/matlab/runme.m
View File

@ -52,10 +52,10 @@ end
% TRY COMPILING MEX FILE % TRY COMPILING MEX FILE
fprintf('Compiling mex function... ') fprintf('Compiling mex function... ')
try try
mex(fullfile('..','lib','src','openGJK.c'),... % Source of openGJK mex(fullfile('..','..','src','openGJK.c'),... % Source of openGJK
'-largeArrayDims', ... % Support large arrays '-largeArrayDims', ... % Support large arrays
optflug, ... % Compiler flag for debug/optimisation optflug, ... % Compiler flag for debug/optimisation
fullfile('-I..','lib','include'),... % Folder to header files fullfile('-I..','..','include'),... % Folder to header files
'-outdir', pwd,... % Ouput directory for writing mex function '-outdir', pwd,... % Ouput directory for writing mex function
'-output', 'openGJK',... % Name of ouput mex file '-output', 'openGJK',... % Name of ouput mex file
'-DMATLABDOESMEXSTUFF',... % Define variable for mex function in source files '-DMATLABDOESMEXSTUFF',... % Define variable for mex function in source files

2
examples/python/build.sh Executable file
View File

@ -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`

31
examples/python/pyopenGJK.cpp Normal file
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@ -0,0 +1,31 @@
#include "openGJK/openGJK.h"
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
namespace py = pybind11;
PYBIND11_MODULE(opengjkc, m)
{
m.def("gjk",
[](Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor>& arr1,
Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor>& arr2)
-> double {
struct simplex s;
struct bd bd1;
struct bd bd2;
bd1.numpoints = arr1.rows();
std::vector<double*> arr1_rows(arr1.rows());
for (int i = 0; i < arr1.rows(); ++i)
arr1_rows[i] = arr1.row(i).data();
bd1.coord = arr1_rows.data();
bd2.numpoints = arr2.rows();
std::vector<double*> arr2_rows(arr2.rows());
for (int i = 0; i < arr2.rows(); ++i)
arr2_rows[i] = arr2.row(i).data();
bd2.coord = arr2_rows.data();
double a = gjk(bd1, bd2, &s);
return a;
});
}

185
examples/python/test.py Normal file
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@ -0,0 +1,185 @@
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):
"""
distance from point to line
"""
return np.linalg.norm(np.cross(P2-P1, P1-point))/np.linalg.norm(P2-P1)
def distance_point_to_plane_3D(P1, P2, P3, point):
"""
Distance from point to plane
"""
return np.abs(np.dot(np.cross(P2-P1, P3-P1) /
np.linalg.norm(np.cross(P2-P1, P3-P1)), point-P2))
@pytest.mark.parametrize("delta", [0.1, 1e-12, 0, -2])
def test_line_point_distance(delta):
line = np.array([[0.1, 0.2, 0.3], [0.5, 0.8, 0.7]], dtype=np.float64)
point_on_line = line[0] + 0.27*(line[1]-line[0])
normal = np.cross(line[0], line[1])
point = point_on_line + delta * normal
distance = opengjk.gjk(line, point)
actual_distance = distance_point_to_line_3D(
line[0], line[1], point)
print(distance, actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol() ))
@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.gjk(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=settol() ))
@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.gjk(tri_1, tri_2)
print("Computed distance ", distance, "Actual distance ", actual_distance)
#embed()
assert(np.isclose(distance, actual_distance, atol=settol() ))
@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.gjk(quad_1, quad_2)
print("Computed distance ", distance, "Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol() ))
@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.gjk(tetra_1, tetra_2)
print("Computed distance ", distance, "Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol() ))
@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.gjk(tetra_1, tetra_2)
if delta < 0:
assert(np.isclose(distance, 0, atol=settol()))
else:
print("Computed distance ", distance,
"Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol()))
@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.gjk(hex_1, hex_2)
if P0[0] < 1:
assert(np.isclose(distance, 0, atol=settol()))
else:
print("Computed distance ", distance,
"Actual distance ", actual_distance)
assert(np.isclose(distance, actual_distance, atol=settol()))
@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]))
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.gjk(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.gjk(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.gjk(arr1, arr2)

52
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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

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lib/ext/predicates.c
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lib/ext/predicates.h
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/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
#include <stdio.h>
#include <stdlib.h>
#ifndef CGJK_PREDICATES_H
#define CGJK_PREDICATES_H
#endif //CGJK_PREDICATES_H
extern double orient3d(
double *pa,
double *pb,
double *pc,
double *pd
);
extern double orient2d(
double *pa,
double *pb,
double *pc
);
extern void exactinit();

83
lib/include/openGJK/openGJK.h
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@ -1,83 +0,0 @@
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 is the header file for the openGJK.c file. It defines the *
* openGJK function and its structures. *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
#ifndef __OPENGJK_H__
#define __OPENGJK_H__
#include <stdio.h>
#include <stdlib.h>
#include "math.h"
/**
* @brief Macro that implements the CompareSign function (see paper).
*/
#define SAMESIGN( a, b ) ( (a>0) == (b>0) )
/**
* @brief Structure of a body.
*/
struct bd {
int numpoints; /**< Number of points defining the body. */
double **coord; /**< Pointer to pointer to the points' coordinates. */
double s [3]; /**< Support mapping computed last. */
};
/**
* @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. */
double p [4][3]; /**< Points of P that form the simplex */
double q [4][3]; /**< Points of Q that form the simplex */
};
/**
* @brief The GJK algorithm which returns the minimum distance between
* two bodies.
*/
extern double gjk( struct bd, struct bd, struct simplex * ) ;
#endif

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lib/src/openGJK.c
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/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
* ##### # # # *
* #### ##### ###### # # # # # # # *
* # # # # # ## # # # # # *
* # # # # ##### # # # # #### # ### *
* # # ##### # # # # # # # # # # *
* # # # # # ## # # # # # # *
* #### # ###### # # ##### ##### # # *
* *
* 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 *
* *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
#include "openGJK/openGJK.h"
/* If instricuted, compile a mex function for Matlab. */
#ifdef MATLABDOESMEXSTUFF
#include "mex.h"
#else
#define mexPrintf printf
#endif
#define eps_rel22 1e-10
#define eps_tot22 1e-12
/* Select distance sub-algorithm */
#define norm2(a) (a[0]*a[0]+a[1]*a[1]+a[2]*a[2])
#define dotProduct(a, b) (a[0]*b[0]+a[1]*b[1]+a[2]*b[2])
#define S3Dregion1234() v[0] = 0;\
v[1] = 0;\
v[2] = 0;\
s->nvrtx = 4;
#define select_1ik() s->nvrtx = 3;\
for (t = 0; t < 3; t++)\
s->vrtx[2][t] = s->vrtx[3][t];\
for (t = 0; t < 3; t++)\
s->vrtx[1][t] = si[t];\
for (t = 0; t < 3; t++)\
s->vrtx[0][t] = sk[t];
#define select_1ij() s->nvrtx = 3;\
for (t = 0; t < 3; t++)\
s->vrtx[2][t] = s->vrtx[3][t];\
for (t = 0; t < 3; t++)\
s->vrtx[1][t] = si[t];\
for (t = 0; t < 3; t++)\
s->vrtx[0][t] = sj[t];
#define select_1jk() s->nvrtx = 3;\
for (t = 0; t < 3; t++)\
s->vrtx[2][t] = s->vrtx[3][t];\
for (t = 0; t < 3; t++)\
s->vrtx[1][t] = sj[t];\
for (t = 0; t < 3; t++)\
s->vrtx[0][t] = sk[t];
#define select_1i() s->nvrtx = 2;\
for (t = 0; t < 3; t++)\
s->vrtx[1][t] = s->vrtx[3][t];\
for (t = 0; t < 3; t++)\
s->vrtx[0][t] = si[t];
#define select_1j() s->nvrtx = 2;\
for (t = 0; t < 3; t++)\
s->vrtx[1][t] = s->vrtx[3][t];\
for (t = 0; t < 3; t++)\
s->vrtx[0][t] = sj[t];
#define select_1k() s->nvrtx = 2;\
for (t = 0; t < 3; t++)\
s->vrtx[1][t] = s->vrtx[3][t];\
for (t = 0; t < 3; t++)\
s->vrtx[0][t] = sk[t];
#define getvrtx(point, location) point[0] = s->vrtx[location][0];\
point[1] = s->vrtx[location][1];\
point[2] = s->vrtx[location][2];
#define calculateEdgeVector(p1p2, p2) p1p2[0] = p2[0] - s->vrtx[3][0];\
p1p2[1] = p2[1] - s->vrtx[3][1];\
p1p2[2] = p2[2] - s->vrtx[3][2];
#define S1Dregion1() v[0] = s->vrtx[1][0];\
v[1] = s->vrtx[1][1];\
v[2] = s->vrtx[1][2];\
s->nvrtx = 1;\
s->vrtx[0][0] = s->vrtx[1][0];\
s->vrtx[0][1] = s->vrtx[1][1];\
s->vrtx[0][2] = s->vrtx[1][2];
#define S2Dregion1() v[0] = s->vrtx[2][0];\
v[1] = s->vrtx[2][1];\
v[2] = s->vrtx[2][2];\
s->nvrtx = 1;\
s->vrtx[0][0] = s->vrtx[2][0];\
s->vrtx[0][1] = s->vrtx[2][1];\
s->vrtx[0][2] = s->vrtx[2][2];
#define S2Dregion12() s->nvrtx = 2;\
s->vrtx[0][0] = s->vrtx[2][0];\
s->vrtx[0][1] = s->vrtx[2][1];\
s->vrtx[0][2] = s->vrtx[2][2];
#define S2Dregion13() s->nvrtx = 2;\
s->vrtx[1][0] = s->vrtx[2][0];\
s->vrtx[1][1] = s->vrtx[2][1];\
s->vrtx[1][2] = s->vrtx[2][2];
#define S3Dregion1() v[0] = s1[0];\
v[1] = s1[1];\
v[2] = s1[2];\
s->nvrtx = 1;\
s->vrtx[0][0] = s1[0];\
s->vrtx[0][1] = s1[1];\
s->vrtx[0][2] = s1[2];
inline static double determinant(const double *p, const double *q, const double *r) {
return p[0] * ((q[1] * r[2]) - (r[1] * q[2])) - p[1] * (q[0] * r[2] - r[0] * q[2]) + p[2] * (q[0] * r[1] - r[0] * q[1]);
}
inline static void crossProduct(const double *a, const double *b, double *c)
{
c[0] = a[1] * b[2] - a[2] * b[1];
c[1] = a[2] * b[0] - a[0] * b[2];
c[2] = a[0] * b[1] - a[1] * b[0];
}
inline static void projectOnLine(const double *p, const double *q, double *v)
{
double pq[3];
double tmp;
pq[0] = p[0] - q[0];
pq[1] = p[1] - q[1];
pq[2] = p[2] - q[2];
tmp = dotProduct(p, pq) / dotProduct(pq, pq);
for (int i = 0; i < 3; i++)
v[i] = p[i] - pq[i] * tmp;
}
inline static void projectOnPlane(const double *p, const double *q, const double *r, double *v)
{
double n[3], pq[3], pr[3];
double tmp;
for (int i = 0; i < 3; i++)
pq[i] = p[i] - q[i];
for (int i = 0; i < 3; i++)
pr[i] = p[i] - r[i];
crossProduct(pq, pr, n);
tmp = dotProduct(n, p) / dotProduct(n, n);
for (int i = 0; i < 3; i++)
v[i] = n[i] * tmp;
}
inline static int hff1(const double *p, const double *q)
{
double tmp = 0;
#pragma omp simd reduction(+:tmp)
for (int i = 0; i < 3; i++)
tmp += (p[i] * p[i] - p[i] * q[i]);
if (tmp > 0)
return 1; // keep q
return 0;
}
inline static int hff2(const double *p, const double *q, const double *r)
{
double ntmp[3];
double n[3], pq[3], pr[3];
double tmp = 0;
for (int i = 0; i < 3; i++)
pq[i] = q[i] - p[i];
for (int i = 0; i < 3; i++)
pr[i] = r[i] - p[i];
crossProduct(pq, pr, ntmp);
crossProduct(pq, ntmp, n);
#pragma omp simd reduction(+:tmp)
for (int i = 0; i < 3; i++)
tmp = tmp + (p[i] * n[i]);
if (tmp < 0)
return 1; // Discard r
return 0;
}
inline static int hff3(const double *p, const double *q, const double *r)
{
double n[3], pq[3], pr[3];
double tmp = 0;
for (int i = 0; i < 3; i++)
pq[i] = q[i] - p[i];
for (int i = 0; i < 3; i++)
pr[i] = r[i] - p[i];
crossProduct(pq, pr, n);
#pragma omp simd reduction(+:tmp)
for (int i = 0; i < 3; i++)
tmp = tmp + (p[i] * n[i]);
if (tmp > 0)
return 0; // discard s
return 1;
}
inline static void S1D(struct simplex * s, double *v)
{
double *s1p = s->vrtx[1];
double *s2p = s->vrtx[0];
if (hff1(s1p, s2p)) {
projectOnLine(s1p, s2p, v); // Update v, no need to update s
return; // Return V{1,2}
}
else {
S1Dregion1(); // Update v and s
return; // Return V{1}
}
}
inline static void S2D(struct simplex * s, double *v)
{
double *s1p = s->vrtx[2];
double *s2p = s->vrtx[1];
double *s3p = s->vrtx[0];
int hff1f_s12 = hff1(s1p, s2p);
int hff1f_s13 = hff1(s1p, s3p);
int hff2f_23 = !hff2(s1p, s2p, s3p);
int hff2f_32 = !hff2(s1p, s3p, s2p);
if (hff1f_s12) {
if (hff2f_23) {
if (hff1f_s13) {
if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
return; // Return V{1,2,3}
}
else
{
projectOnLine(s1p, s3p, v); // Update v
S2Dregion13(); // Update s
return; // Return V{1,3}
}
}
else
{
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update c
return; // Return V{1,2,3}
}
}
else
{
projectOnLine(s1p, s2p, v); // Update v
S2Dregion12(); // Update s
return; // Return V{1,2}
}
}
else if (hff1f_s13) {
if (hff2f_32) {
projectOnPlane(s1p, s2p, s3p, v); // Update s, no need to update v
return; // Return V{1,2,3}
}
else
{
projectOnLine(s1p, s3p, v); // Update v
S2Dregion13(); // Update s
return; // Return V{1,3}
}
}
else {
S2Dregion1(); // Update s and v
return; // Return V{1}
}
}
inline static void S3D(struct simplex * s, double *v) {
double s1[3], s2[3], s3[3], s4[3], s1s2[3], s1s3[3], s1s4[3];
double si[3], sj[3], sk[3];
int testLineThree, testLineFour, testPlaneTwo, testPlaneThree, testPlaneFour, dotTotal;
int i, j, k, t;
getvrtx(s1, 3);
getvrtx(s2, 2);
getvrtx(s3, 1);
getvrtx(s4, 0);
calculateEdgeVector(s1s2, s2);
calculateEdgeVector(s1s3, s3);
calculateEdgeVector(s1s4, s4);
int hff1_tests[3];
hff1_tests[2] = hff1(s1, s2);
hff1_tests[1] = hff1(s1, s3);
hff1_tests[0] = hff1(s1, s4);
testLineThree = hff1(s1, s3);
testLineFour = hff1(s1, s4);
dotTotal = hff1(s1, s2) + testLineThree + testLineFour;
if (dotTotal == 0) { /* case 0.0 -------------------------------------- */
S3Dregion1();
return;
}
double det134 = determinant(s1s3, s1s4, s1s2);
int sss;
if (det134 > 0) {
sss = 0;
}
else {
sss = 1;
}
testPlaneTwo = hff3(s1, s3, s4) - sss;
testPlaneTwo = testPlaneTwo * testPlaneTwo;
testPlaneThree = hff3(s1, s4, s2) - sss;
testPlaneThree = testPlaneThree * testPlaneThree;
testPlaneFour = hff3(s1, s2, s3) - sss;
testPlaneFour = testPlaneFour * testPlaneFour;
switch (testPlaneTwo + testPlaneThree + testPlaneFour) {
case 3:
S3Dregion1234();
break;
case 2:
// Only one facing the oring
// 1,i,j, are the indices of the points on the triangle and remove k from simplex
s->nvrtx = 3;
if (!testPlaneTwo) { // k = 2; removes s2
for (i = 0; i < 3; i++)
s->vrtx[2][i] = s->vrtx[3][i];
}
else if (!testPlaneThree) {// k = 1; // removes s3
for (i = 0; i < 3; i++)
s->vrtx[1][i] = s2[i];
for (i = 0; i < 3; i++)
s->vrtx[2][i] = s->vrtx[3][i];
}
else if (!testPlaneFour) { // k = 0; // removes s4 and no need to reorder
for (i = 0; i < 3; i++)
s->vrtx[0][i] = s3[i];
for (i = 0; i < 3; i++)
s->vrtx[1][i] = s2[i];
for (i = 0; i < 3; i++)
s->vrtx[2][i] = s->vrtx[3][i];
}
// Call S2D
S2D(s, v);
break;
case 1:
// Two triangles face the origins:
// The only positive hff3 is for triangle 1,i,j, therefore k must be in the solution as it supports the the point of minimum norm.
// 1,i,j, are the indices of the points on the triangle and remove k from simplex
s->nvrtx = 3;
if (testPlaneTwo) {
k = 2; // s2
i = 1;
j = 0;
}
else if (testPlaneThree) {
k = 1; // s3
i = 0;
j = 2;
}
else {
k = 0; // s4
i = 2;
j = 1;
}
getvrtx(si, i);
getvrtx(sj, j);
getvrtx(sk, k);
if (dotTotal == 1) {
if (hff1_tests[k]) {
if (!hff2(s1, sk, si)) {
select_1ik();
projectOnPlane(s1, si, sk, v);
}
else if (!hff2(s1, sk, sj)) {
select_1jk();
projectOnPlane(s1, sj, sk, v);
}
else {
select_1k(); // select region 1i
projectOnLine(s1, sk, v);
}
}
else if (hff1_tests[i]) {
if (!hff2(s1, si, sk)) {
select_1ik();
projectOnPlane(s1, si, sk, v);
}
else {
select_1i(); // select region 1i
projectOnLine(s1, si, v);
}
}
else {
if (!hff2(s1, sj, sk)) {
select_1jk();
projectOnPlane(s1, sj, sk, v);
}
else {
select_1j(); // select region 1i
projectOnLine(s1, sj, v);
}
}
}
else if (dotTotal == 2) {
// Two edges have positive hff1, meaning that for two edges the origin's project fall on the segement.
// Certainly the edge 1,k supports the the point of minimum norm, and so hff1_1k is positive
if (hff1_tests[i]) {
if (!hff2(s1, sk, si))
if (!hff2(s1, si, sk)) {
select_1ik(); // select region 1ik
projectOnPlane(s1, si, sk, v);
}
else {
select_1k(); // select region 1k
projectOnLine(s1, sk, v);
}
else {
if (!hff2(s1, sk, sj)) {
select_1jk(); // select region 1jk
projectOnPlane(s1, sj, sk, v);
}
else {
select_1k(); // select region 1k
projectOnLine(s1, sk, v);
}
}
}
else if (hff1_tests[j]) {// there is no other choice
if (!hff2(s1, sk, sj))
if (!hff2(s1, sj, sk)) {
select_1jk(); // select region 1jk
projectOnPlane(s1, sj, sk, v);
}
else {
select_1j(); // select region 1j
projectOnLine(s1, sj, v);
}
else {
if (!hff2(s1, sk, si)) {
select_1ik(); // select region 1ik
projectOnPlane(s1, si, sk, v);
}
else {
select_1k(); // select region 1k
projectOnLine(s1, sk, v);
}
}
}
else {
// ERROR;
}
}
else if (dotTotal == 3) {
// MM : ALL THIS HYPHOTESIS IS FALSE
// sk is s.t. hff3 for sk < 0. So, sk must support the origin because there are 2 triangles facing the origin.
int hff2_ik = hff2(s1,si,sk);
int hff2_jk = hff2(s1,sj,sk);
int hff2_ki = hff2(s1,sk,si);
int hff2_kj = hff2(s1,sk,sj);
if (hff2_ki == 0 && hff2_kj == 0){
mexPrintf("\n\n UNEXPECTED VALUES!!! \n\n");
}
if (hff2_ki == 1 && hff2_kj == 1){
select_1k();
projectOnLine(s1, sk, v);
}
else if (hff2_ki) {
// discard i
if (hff2_jk){
// discard k
select_1j();
projectOnLine(s1, sj, v);
}
else{
select_1jk();
projectOnPlane(s1, sk, sj, v);
}
}
else {
// discard j
if (hff2_ik){
// discard k
select_1i();
projectOnLine(s1, si, v);
}
else{
select_1ik();
projectOnPlane(s1, sk, si, v);
}
}
}
break;
case 0:
// The origin is outside all 3 triangles
if (dotTotal == 1) {
// Here si is set such that hff(s1,si) > 0
if (testLineThree) {
k = 2;
i = 1; // s3
j = 0;
}
else if (testLineFour) {
k = 1; // s3
i = 0;
j = 2;
}
else {
k = 0;
i = 2; // s2
j = 1;
}
getvrtx(si, i);
getvrtx(sj, j);
getvrtx(sk, k);
if (!hff2(s1, si, sj)) {
select_1ij();
projectOnPlane(s1, si, sj, v);
}
else if (!hff2(s1, si, sk)) {
select_1ik();
projectOnPlane(s1, si, sk, v);
}
else {
select_1i();
projectOnLine(s1, si, v);
}
}
else if (dotTotal == 2) {
// Here si is set such that hff(s1,si) < 0
s->nvrtx = 3;
if (!testLineThree) {
k = 2;
i = 1; // s3
j = 0;
}
else if (!testLineFour) {
k = 1;
i = 0; // s4
j = 2;
}
else {
k = 0;
i = 2; // s2
j = 1;
}
getvrtx(si, i);
getvrtx(sj, j);
getvrtx(sk, k);
if (!hff2(s1, sj, sk)) {
if (!hff2(s1, sk, sj)) {
select_1jk(); // select region 1jk
projectOnPlane(s1, sj, sk, v);
}
else if (!hff2(s1, sk, si)) {
select_1ik();
projectOnPlane(s1, sk, si, v);
}
else {
select_1k();
projectOnLine(s1, sk, v);
}
}
else if (!hff2(s1, sj, si)) {
select_1ij();
projectOnPlane(s1, si, sj, v);
}
else {
select_1j();
projectOnLine(s1, sj, v);
}
}
break;
default:
mexPrintf("\nERROR:\tunhandled");
}
}
inline static void support(struct bd *body, const double *v) {
double s, maxs;
double *vrt;
int better = -1;
maxs = dotProduct(body->s, v);
for (int i = 0; i < body->numpoints; ++i) {
vrt = body->coord[i];
s = dotProduct(vrt, v);
if (s > maxs) {
maxs = s;
better = i;
}
}
if (better != -1) {
body->s[0] = body->coord[better][0];
body->s[1] = body->coord[better][1];
body->s[2] = body->coord[better][2];
}
}
inline static void subalgorithm(struct simplex *s, double *v) {
switch (s->nvrtx) {
case 4:
S3D(s, v);
break;
case 3:
S2D(s, v);
break;
case 2:
S1D(s, v);
break;
default:
mexPrintf("\nERROR:\t invalid simplex\n");
}
}
double gjk(struct bd bd1, struct bd bd2, struct simplex *s) {
int k = 0; /**< Iteration counter */
int i; /**< General purpose counter */
int mk = 25; /**< Maximum number of iterations of the GJK algorithm */
int absTestin;
double norm2Wmax = 0;
double tesnorm;
double v[3]; /**< Search direction */
double vminus[3]; /**< Search direction * -1 */
double w[3]; /**< Vertex on CSO boundary given by the difference of support functions on both bodies */
double eps_rel = eps_rel22; /**< Tolerance on relative */
double eps_rel2 = eps_rel * eps_rel;
double eps_tot = eps_tot22;
double exeedtol_rel; /**< Test for 1st exit condition */
int nullV = 0;
#ifdef DEBUG
mexPrintf("Num points A = %i \n", bd1.numpoints);
mexPrintf("Num points B = %i \n", bd2.numpoints);
for (i = 0; i < bd1.numpoints; ++i) {
for (int j = 0; j < 3; j++) {
mexPrintf("%.4f ", bd1.coord[i][j]);
}
mexPrintf("\n");
}
for (i = 0; i < bd2.numpoints; ++i) {
for (int j = 0; j < 3; j++) {
mexPrintf("%.4f ", bd2.coord[i][j]);
}
mexPrintf("\n");
}
#endif
/* Initialise search direction */
v[0] = bd1.coord[0][0] - bd2.coord[0][0];
v[1] = bd1.coord[0][1] - bd2.coord[0][1];
v[2] = bd1.coord[0][2] - bd2.coord[0][2];
/* Inialise simplex */
s->nvrtx = 1;
for (int t = 0; t < 3; ++t)
s->vrtx[0][t] = v[t];
for (int t = 0; t < 3; ++t)
bd1.s[t] = bd1.coord[0][t];
for (int t = 0; t < 3; ++t)
bd2.s[t] = bd2.coord[0][t];
/* Begin GJK iteration */
do {
k++;
/* Update negative search direction */
for (int t = 0; t < 3; ++t)
vminus[t] = -v[t];
/* Support function */
support(&bd1, vminus);
support(&bd2, v);
for (int t = 0; t < 3; ++t)
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));
if ( exeedtol_rel <= (eps_rel * norm2(v)) || exeedtol_rel < eps_tot22) {
break;
}
nullV = norm2(v) < eps_rel2;
if (nullV) {
break;
}
/* Add new vertex to simplex */
i = s->nvrtx;
for (int t = 0; t < 3; ++t)
s->vrtx[i][t] = w[t];
s->nvrtx++;
/* Invoke distance sub-algorithm */
subalgorithm(s, v);
/* Test */
for (int jj = 0; jj < s->nvrtx; jj++) {
tesnorm = norm2(s->vrtx[jj]);
if (tesnorm > norm2Wmax) {
norm2Wmax = tesnorm;
}
}
absTestin = (norm2(v) <= (eps_tot * eps_tot * norm2Wmax));
if (absTestin) {
break;
}
} while ((s->nvrtx != 4) && (k != mk));
if (k == mk) {
mexPrintf("\n * * * * * * * * * * * * MAXIMUM ITERATION NUMBER REACHED!!! * * * * * * * * * * * * * * \n");
}
return sqrt(norm2(v));
}
#ifdef MATLABDOESMEXSTUFF
/**
* @brief Mex function for Matlab.
*/
void mexFunction(int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[])
{
double *inCoordsA;
double *inCoordsB;
size_t nCoordsA;
size_t nCoordsB;
int i;
double *distance;
int c = 3;
int count = 0;
double**arr1;
double**arr2;
/**************** PARSE INPUTS AND OUTPUTS **********************/
/*----------------------------------------------------------------*/
/* Examine input (right-hand-side) arguments. */
if (nrhs != 2) {
mexErrMsgIdAndTxt("MyToolbox:gjk:nrhs", "Two inputs required.");
}
/* Examine output (left-hand-side) arguments. */
if (nlhs != 1) {
mexErrMsgIdAndTxt("MyToolbox:gjk:nlhs", "One output required.");
}
/* make sure the two input arguments are any numerical type */
/* .. first input */
if (!mxIsNumeric(prhs[0])) {
mexErrMsgIdAndTxt("MyToolbox:gjk:notNumeric", "Input matrix must be type numeric.");
}
/* .. second input */
if (!mxIsNumeric(prhs[1])) {
mexErrMsgIdAndTxt("MyToolbox:gjk:notNumeric", "Input matrix must be type numeric.");
}
/* make sure the two input arguments have 3 columns */
/* .. first input */
if (mxGetM(prhs[0]) != 3) {
mexErrMsgIdAndTxt("MyToolbox:gjk:notColumnVector", "First input must have 3 columns.");
}
/* .. second input */
if (mxGetM(prhs[1]) != 3) {
mexErrMsgIdAndTxt("MyToolbox:gjk:notColumnVector", "Second input must have 3 columns.");
}
/*----------------------------------------------------------------*/
/* CREATE DATA COMPATIBLE WITH MATALB */
/* create a pointer to the real data in the input matrix */
inCoordsA = mxGetPr(prhs[0]);
inCoordsB = mxGetPr(prhs[1]);
/* get the length of each input vector */
nCoordsA = mxGetN(prhs[0]);
nCoordsB = mxGetN(prhs[1]);
/* Create output */
plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
/* get a pointer to the real data in the output matrix */
distance = mxGetPr(plhs[0]);
/* Copy data from Matlab's vectors into two new arrays */
arr1 = (double **)mxMalloc(sizeof(double *) * (int)nCoordsA);
arr2 = (double **)mxMalloc(sizeof(double *) * (int)nCoordsB);
for (i = 0; i < nCoordsA; i++)
arr1[i] = &inCoordsA[i * 3];
for (i = 0; i < nCoordsB; i++)
arr2[i] = &inCoordsB[i * 3];
/*----------------------------------------------------------------*/
/* POPULATE BODIES' STRUCTURES */
struct bd bd1; /* Structure of body A */
struct bd bd2; /* Structure of body B */
/* Assign number of vertices to each body */
bd1.numpoints = (int)nCoordsA;
bd2.numpoints = (int)nCoordsB;
bd1.coord = arr1;
bd2.coord = arr2;
/*----------------------------------------------------------------*/
/*CALL COMPUTATIONAL ROUTINE */
struct simplex s;
s.nvrtx = 0;
/* Compute squared distance using GJK algorithm */
distance[0] = gjk(bd1, bd2, &s);
mxFree(arr1);
mxFree(arr2);
}
#endif
/**
* @brief Invoke this function from C# applications
*/
double csFunction(int nCoordsA, double *inCoordsA, int nCoordsB, double *inCoordsB)
{
double distance = 0;
int i, j;
/*----------------------------------------------------------------*/
/* POPULATE BODIES' STRUCTURES */
struct bd bd1; /* Structure of body A */
struct bd bd2; /* Structure of body B */
/* Assign number of vertices to each body */
bd1.numpoints = (int)nCoordsA;
bd2.numpoints = (int)nCoordsB;
double **pinCoordsA = (double **)malloc(bd1.numpoints * sizeof(double *));
for (i = 0; i < bd1.numpoints; i++)
pinCoordsA[i] = (double *)malloc(3 * sizeof(double));
for (i = 0; i < 3; i++)
for (j = 0; j < bd1.numpoints; j++)
pinCoordsA[j][i] = inCoordsA[i*bd1.numpoints + j];
double **pinCoordsB = (double **)malloc(bd2.numpoints * sizeof(double *));
for (i = 0; i < bd2.numpoints; i++)
pinCoordsB[i] = (double *)malloc(3 * sizeof(double));
for (i = 0; i < 3; i++)
for (j = 0; j < bd2.numpoints; j++)
pinCoordsB[j][i] = inCoordsB[i*bd2.numpoints + j];
bd1.coord = pinCoordsA;
bd2.coord = pinCoordsB;
/*----------------------------------------------------------------*/
/*CALL COMPUTATIONAL ROUTINE */
struct simplex s;
/* Initialise simplex as empty */
s.nvrtx = 0;
/* Compute squared distance using GJK algorithm */
distance = gjk(bd1, bd2, &s);
for (i = 0; i < bd1.numpoints; i++)
free(pinCoordsA[i]);
free(pinCoordsA);
for (i = 0; i < bd2.numpoints; i++)
free(pinCoordsB[i]);
free(pinCoordsB);
return distance;
}