Merge pull request #40 from MattiaMontanari/add_github_action

Add github actions to run examples

.github/workflows/github-opengjk-examples.yml

@@ -0,0 +1,55 @@
+name: Run all demos
+run-name: ${{ github.actor }} is running
+on: [push]
+jobs:
+  C:
+    runs-on: ubuntu-latest
+    container: mmontanari/devenv:buildenv-fedora
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: cmake -E make_directory build
+      - run: cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release ..
+      - run: cmake --build build
+      - run: cmake -E chdir build/examples/c/ ./example_lib_opengjk_ce
+
+  Cython:
+    runs-on: ubuntu-latest
+    container: mmontanari/devenv:buildenv-ubuntu
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: cd examples/cython/ && python3 setup.py build_ext --inplace && python3 pygjk_trial.py
+      - run: cd examples/cython/ && pytest test.py
+
+  CSharp:
+    runs-on: ubuntu-latest
+    container: mono:latest
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: apt-get update && apt-get install gcc cmake -y
+      - run: cmake -E make_directory build
+      - run: cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MONO=ON ..
+      - run: cmake --build build
+      - run: cmake -E chdir build make install
+      - run: cd examples/cs/ && mcs -out:main.exe main.cs && mono main.exe
+
+  GO:
+    runs-on: ubuntu-latest
+    container: mmontanari/devenv:buildenv-fedora
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Go
+        uses: actions/setup-go@v3
+        with:
+          go-version: 1.15
+      - run: cd examples/go/openGJK && go build && go test -v
+
+  Octave:
+    runs-on: ubuntu-latest
+    container: gnuoctave/octave:7.3.0
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - run: cd examples/matlab/; octave runme.m

CMakeLists.txt

@@ -21,15 +21,16 @@
 #  FOR A PARTICULAR PURPOSE. See GNU General Public License for details.           #
 
 # User options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
-option(BUILD_EXAMPLE "Build demo"        ON)
+option(BUILD_EXAMPLE "Build demo"        ON )
+option(BUILD_MONO    "Build C# example"  OFF)
 
 # CMake setup  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
 cmake_minimum_required(VERSION          3.0) # You can downgrade to 2.8, but I don't maintain it anymore
 cmake_policy(SET CMP0048                NEW) 
 cmake_policy(SET CMP0063                NEW) # Visibility of preset and hidden lines on shared libs
 
-set( CMAKE_C_VISIBILITY_PRESET           hidden)
+# set( CMAKE_C_VISIBILITY_PRESET           hidden)
-set( CMAKE_VISIBILITY_INLINES_HIDDEN     TRUE)
+set( CMAKE_VISIBILITY_INLINES_HIDDEN     FALSE)
 set( CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS    ON)
 
 # Project setup  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
@@ -58,26 +59,34 @@ elseif (CMAKE_C_COMPILER_ID STREQUAL "MSVC")
 endif()
 
 # Target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
-add_library( ${PROJECT_NAME} 
+
-    STATIC
+if(BUILD_MONO)
+    add_compile_definitions(CS_MONO_BUILD)
+endif(BUILD_MONO)
+
+add_library( obj_openGJK 
+    OBJECT
         ${CMAKE_CURRENT_SOURCE_DIR}/openGJK.c 
         ${CMAKE_CURRENT_SOURCE_DIR}/include/openGJK/openGJK.h
 )
 
-target_include_directories( ${PROJECT_NAME} 
+target_include_directories( obj_openGJK 
 PUBLIC 
 ${CMAKE_CURRENT_SOURCE_DIR}/include
 ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-target_link_libraries(${PROJECT_NAME} PRIVATE m)
+target_link_libraries(obj_openGJK PRIVATE m)
 
-set_target_properties(${PROJECT_NAME} 
+set_target_properties(obj_openGJK 
     PROPERTIES 
         C_STANDARD 11
         PUBLIC_HEADER ${CMAKE_CURRENT_SOURCE_DIR}/include/openGJK/openGJK.h
+        POSITION_INDEPENDENT_CODE 1
 )
 
+add_library(opengjk_ce SHARED $<TARGET_OBJECTS:obj_openGJK>)
+
 # Build demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
 if(BUILD_EXAMPLE)
     add_subdirectory(examples/c)
@@ -85,11 +94,11 @@ endif(BUILD_EXAMPLE)
 
 # Install  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
 if (UNIX)
-    install(TARGETS ${PROJECT_NAME} PERMISSIONS WORLD_WRITE )
     set(DESTDIR "/usr")
-    INSTALL(TARGETS ${PROJECT_NAME} 
+    INSTALL(TARGETS opengjk_ce 
         LIBRARY DESTINATION "${DESTDIR}/lib"
         PUBLIC_HEADER DESTINATION "${DESTDIR}/include"
+        PERMISSIONS WORLD_WRITE
     )
 endif (UNIX)
 

examples/c/CMakeLists.txt

@@ -25,12 +25,12 @@ project(example_lib_opengjk_ce
     VERSION 1.0.0 
 )
 
-add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
+add_executable(example_lib_opengjk_ce ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
-target_link_libraries(${PROJECT_NAME} lib_opengjk_ce)
+target_link_libraries(example_lib_opengjk_ce obj_openGJK m)
 
 # Copy input files for this example after build
 add_custom_command(
-    TARGET ${PROJECT_NAME} POST_BUILD
+    TARGET example_lib_opengjk_ce POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E copy
             ${CMAKE_CURRENT_SOURCE_DIR}/userP.dat
             ${CMAKE_CURRENT_BINARY_DIR}/userP.dat 

examples/cs/main.cs

@@ -34,10 +34,13 @@ using System.Runtime.InteropServices;
 
 public class Tester 
 {
-
+#if UNIX
-    [DllImport("libopenGJKlib", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
+    [DllImport("libopengjk_ce.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
+#else 
+    [DllImport("libopengjk_ce", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
+#endif
  
-    static extern double gjk(int na, double [,] ia, int nb, double [,] ib);
+    static extern double compute_minimum_distance(int na, double [,] ia, int nb, double [,] ib);
 
         public static void Main(string[] args)
         {
@@ -51,13 +54,12 @@ public class Tester
                 var inCoordsB = new double[3,9] { {-0.0 , -2.3 , -8.1 , -4.3  ,-2.5 , -7.1 , -1.0 , -3.3 , -6.0} , { -5.5 , -1.0 ,- 4.0 ,- 5.0  ,-1.0,  -1.0,  -1.5,  -0.5 , -1.4} ,{ -0.0 , 2.0,  -2.4,  -2.2,  -2.3 , -2.4 , -0.3 , -0.3 , -0.2} };
 
 		// Invoke GJK to compute distance
-		dist = gjk( nCoordsA, inCoordsA, nCoordsB, inCoordsB );
+		dist = compute_minimum_distance( nCoordsA, inCoordsA, nCoordsB, inCoordsB );
  
 		// Output results
 		var s = string.Format("{0:0.##}", dist);
 		var message = string.Format("The distance between {0} is {1}","A and B",s);
 		Console.WriteLine(message);
-		Console.WriteLine("Press any key to exit");
+
-		Console.ReadLine();
         }
 }

examples/cython/pygjk_trial.py

@@ -1,38 +1,30 @@
-# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
+#                           _____      _ _  __                                   #
-#                                    #####        # #    #                #
+#                          / ____|    | | |/ /                                   #
-#        ####  #####  ###### #    # #     #       # #   #                 #
+#    ___  _ __   ___ _ __ | |  __     | | ' /                                    #
-#       #    # #    # #      ##   # #             # #  #                  #
+#   / _ \| '_ \ / _ \ '_ \| | |_ |_   | |  <                                     #
-#       #    # #    # #####  # #  # #  ####       # ###                   #
+#  | (_) | |_) |  __/ | | | |__| | |__| | . \                                    #
-#       #    # #####  #      #  # # #     # #     # #  #                  #
+#   \___/| .__/ \___|_| |_|\_____|\____/|_|\_\                                   #
-#       #    # #      #      #   ## #     # #     # #   #                 #
+#        | |                                                                     #
-#        ####  #      ###### #    #  #####   #####  #    #                #
+#        |_|                                                                     #
-#                                                                         #
+#                                                                                #
-#   This file is part of openGJK.                                         #
+# Copyright 2022 Mattia Montanari, University of Oxford                          #
-#                                                                         #
+#                                                                                #
-#   OpenGJK is free software: you can redistribute it and/or modify       #
+# This program is free software: you can redistribute it and/or modify it under  #
-#    it under the terms of the GNU General Public License as published by #
+# the terms of the GNU General Public License as published by the Free Software  #
-#    the Free Software Foundation, either version 3 of the License, or    #
+# Foundation, either version 3 of the License. You should have received a copy   #
-#    any later version.                                                   #
+# of the GNU General Public License along with this program. If not, visit       #
-#                                                                         #
+#                                                                                #
-#   OpenGJK is distributed in the hope that it will be useful,           #
+#     https://www.gnu.org/licenses/                                              #
-#    but WITHOUT ANY WARRANTY; without even the implied warranty of       #
+#                                                                                #
-#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See The        #
+# This program is distributed in the hope that it will be useful, but WITHOUT    #
-#    GNU General Public License for more details.                         #
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS  #
-#                                                                         #
+# FOR A PARTICULAR PURPOSE. See GNU General Public License for 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.]])
+a = np.array([[1.0,1.0,1.0],[1.0,1.0,1.0]])
-b = np.array([[11.,1.,1.],[1.,1.,1.]])
+b = np.array([[-1.,-1.,-1.],[-1.,-1.,-1.]])
 d = opengjk.pygjk(a,b)
 
-print(d)
+print("Distance is:" , d)

examples/cython/setup.py

@@ -34,8 +34,7 @@ from Cython.Build import cythonize
 exts = Extension(
 	"openGJK_cython",
 	sources = ["openGJK_cython.pyx"],
-	extra_compile_args=['-I../../include/','-fopenmp'],
+	extra_compile_args=['-I../../include/']
-	extra_link_args=['-fopenmp'],
 )
 
 setup(

examples/matlab/main.m

@@ -32,31 +32,33 @@ B = -A;
 dist = openGJK( A, B ); 
 fprintf('The minimum distance between A and B is %.2f\n',dist);
 
-% VISUALISE RESULTS
+% VISUALISE RESULTS ONLY IN MATLAB
-% .. create new figure
+if(exist('OCTAVE_VERSION', 'builtin') == 0)
-figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
+       % .. create new figure
-    'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
+       figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
-    'Renderer','opengl') 
+       'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
-% .. adjust properties
+       'Renderer','opengl') 
-axis equal tight off; hold all; 
+       % .. adjust properties
-% .. display body A
+       axis equal tight off; hold all; 
-DT = delaunayTriangulation(A');
+       % .. display body A
-[K,~] = convexHull(DT);
+       DT = delaunayTriangulation(A');
-trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
+       [K,~] = convexHull(DT);
-       'EdgeColor','none','FaceColor',[.4 1 .9 ],...
+       trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
-       'FaceLighting','flat' )
+              'EdgeColor','none','FaceColor',[.4 1 .9 ],...
-% .. display body B
+              'FaceLighting','flat' )
-DT = delaunayTriangulation(B');
+       % .. display body B
-[K,~] = convexHull(DT);
+       DT = delaunayTriangulation(B');
-trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
+       [K,~] = convexHull(DT);
-       'EdgeColor','none','FaceColor',[.4 1 .8 ],...
+       trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
-       'FaceLighting','flat' )
+              'EdgeColor','none','FaceColor',[.4 1 .8 ],...
-% .. represent the computed distance as a sphere
+              'FaceLighting','flat' )
-[x,y,z] = sphere(100);
+       % .. represent the computed distance as a sphere
-surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
+       [x,y,z] = sphere(100);
-    'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
+       surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
-    'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
+       'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
-% ... adjust point of view   
+       'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
-view(42,21)
+       % ... adjust point of view   
-% ... add light
+       view(42,21)
-light('Position',[5 -10 20],'Style','local'); 
+       % ... add light
+       light('Position',[5 -10 20],'Style','local'); 
+end

examples/matlab/runme.m

@@ -29,35 +29,20 @@ else
     optflug = '-O';
 end
 % SELECT SILET COMPILATION MODE.
-if 1 
+if 1
     silflag = '-silent'; 
 else
     silflag = '-v';
 end
 
-% TRY COMPILING MEX FILE
+% COMPILE MEX FILE
-fprintf('Compiling mex function... ')
+mex(fullfile('..','..','openGJK.c'),...
-try
-mex(fullfile('..','..','openGJK.c'),...  % Source of openGJK 
     '-largeArrayDims', ...      % Support large arrays
-    optflug, ...                % Compiler flag for debug/optimisation
+    optflug, ...
-    fullfile('-I','..','..','include'),...      % Folder to header files
+    ['-I',fullfile('..','..','include')],...      % Folder to header files
-    '-outdir', pwd, ...         % Ouput directory for writing mex function
     '-output', 'openGJK',...    % Name of ouput mex file
     '-DMATLAB_MEX_BUILD',...  % Define variable for mex function in source files
-    silflag )                   % Silent/verbose flag
+    silflag )
-
-    % File compiled without errors. Return path and name of mex file
-    fprintf('completed!\n')
-    fprintf('The following mex file has been generated:')
-    fprintf('\t%s\n',[pwd,filesep,'openGJK.',mexext]) 
-catch
-    % Build failed, refer to documentation
-    fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
-    fprintf('\tFor more information, see ')
-    fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
-    return
-end
  
 % RUN EXAMPLE
 fprintf('Running example... ')