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Merge pull request #40 from MattiaMontanari/add_github_action 

Add github actions to run examples
fixes-turtlebasket
Mattia Montanari 2023-02-14 17:28:18 +01:00 committed by GitHub
parent 2c621b56f6 b382c78d44
commit f9b1f94d52
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8 changed files with 146 additions and 102 deletions
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55
.github/workflows/github-opengjk-examples.yml vendored Normal file
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@ -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

29
CMakeLists.txt
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@ -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_VISIBILITY_INLINES_HIDDEN TRUE)
# set( CMAKE_C_VISIBILITY_PRESET hidden)
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)

6
examples/c/CMakeLists.txt
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@ -25,12 +25,12 @@ project(example_lib_opengjk_ce
VERSION 1.0.0
)
add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
target_link_libraries(${PROJECT_NAME} lib_opengjk_ce)
add_executable(example_lib_opengjk_ce ${CMAKE_CURRENT_SOURCE_DIR}/main.c)
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

14
examples/cs/main.cs
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@ -34,10 +34,13 @@ using System.Runtime.InteropServices;
public class Tester
{
#if UNIX
[DllImport("libopengjk_ce.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
#else
[DllImport("libopengjk_ce", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
#endif
[DllImport("libopenGJKlib", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
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();
}
}

56
examples/cython/pygjk_trial.py
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@ -1,38 +1,30 @@
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# ##### # # # #
# #### ##### ###### # # # # # # # #
# # # # # # ## # # # # # #
# # # # # ##### # # # # #### # ### #
# # # ##### # # # # # # # # # # #
# # # # # # ## # # # # # # #
# #### # ###### # # ##### ##### # # #
# #
# 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 #
# #
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
# _____ _ _ __ #
# / ____| | | |/ / #
# ___ _ __ ___ _ __ | | __ | | ' / #
# / _ \| '_ \ / _ \ '_ \| | |_ |_ | | < #
# | (_) | |_) | __/ | | | |__| | |__| | . \ #
# \___/| .__/ \___|_| |_|\_____|\____/|_|\_\ #
# | | #
# |_| #
# #
# Copyright 2022 Mattia Montanari, University of Oxford #
# #
# This program is free software: you can redistribute it and/or modify it under #
# the terms of the GNU General Public License as published by the Free Software #
# Foundation, either version 3 of the License. You should have received a copy #
# of the GNU General Public License along with this program. If not, visit #
# #
# https://www.gnu.org/licenses/ #
# #
# This program is distributed in the hope that it will be useful, but WITHOUT #
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS #
# FOR A PARTICULAR PURPOSE. See GNU General Public License for details. #
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.]])
a = np.array([[1.0,1.0,1.0],[1.0,1.0,1.0]])
b = np.array([[-1.,-1.,-1.],[-1.,-1.,-1.]])
d = opengjk.pygjk(a,b)
print(d)
print("Distance is:" , d)

3
examples/cython/setup.py
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@ -34,8 +34,7 @@ from Cython.Build import cythonize
exts = Extension(
"openGJK_cython",
sources = ["openGJK_cython.pyx"],
extra_compile_args=['-I../../include/','-fopenmp'],
extra_link_args=['-fopenmp'],
extra_compile_args=['-I../../include/']
)
setup(

58
examples/matlab/main.m
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@ -32,31 +32,33 @@ B = -A;
dist = openGJK( A, B );
fprintf('The minimum distance between A and B is %.2f\n',dist);
% VISUALISE RESULTS
% .. create new figure
figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
'Renderer','opengl')
% .. adjust properties
axis equal tight off; hold all;
% .. display body A
DT = delaunayTriangulation(A');
[K,~] = convexHull(DT);
trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
'EdgeColor','none','FaceColor',[.4 1 .9 ],...
'FaceLighting','flat' )
% .. display body B
DT = delaunayTriangulation(B');
[K,~] = convexHull(DT);
trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
'EdgeColor','none','FaceColor',[.4 1 .8 ],...
'FaceLighting','flat' )
% .. represent the computed distance as a sphere
[x,y,z] = sphere(100);
surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
% ... adjust point of view
view(42,21)
% ... add light
light('Position',[5 -10 20],'Style','local');
% VISUALISE RESULTS ONLY IN MATLAB
if(exist('OCTAVE_VERSION', 'builtin') == 0)
% .. create new figure
figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
'Renderer','opengl')
% .. adjust properties
axis equal tight off; hold all;
% .. display body A
DT = delaunayTriangulation(A');
[K,~] = convexHull(DT);
trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
'EdgeColor','none','FaceColor',[.4 1 .9 ],...
'FaceLighting','flat' )
% .. display body B
DT = delaunayTriangulation(B');
[K,~] = convexHull(DT);
trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
'EdgeColor','none','FaceColor',[.4 1 .8 ],...
'FaceLighting','flat' )
% .. represent the computed distance as a sphere
[x,y,z] = sphere(100);
surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
% ... adjust point of view
view(42,21)
% ... add light
light('Position',[5 -10 20],'Style','local');
end

25
examples/matlab/runme.m
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@ -35,29 +35,14 @@ else
silflag = '-v';
end
% TRY COMPILING MEX FILE
fprintf('Compiling mex function... ')
try
mex(fullfile('..','..','openGJK.c'),... % Source of openGJK
% COMPILE MEX FILE
mex(fullfile('..','..','openGJK.c'),...
'-largeArrayDims', ... % Support large arrays
optflug, ... % Compiler flag for debug/optimisation
fullfile('-I','..','..','include'),... % Folder to header files
'-outdir', pwd, ... % Ouput directory for writing mex function
optflug, ...
['-I',fullfile('..','..','include')],... % Folder to header files
'-output', 'openGJK',... % Name of ouput mex file
'-DMATLAB_MEX_BUILD',... % Define variable for mex function in source files
silflag ) % Silent/verbose flag
% 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
silflag )
% RUN EXAMPLE
fprintf('Running example... ')