#cython: language_level=3, boundscheck=False import numpy as np from libc.stdlib cimport free, malloc # Declare C function and data 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) # Create Python function def pygjk(bod1, bod2): # Declare data types cdef: simplex s bd bd1 bd bd2 int i, j double answer print("Break 1")#-------------------------------------------------- # Allocate memory for pointers bd1.coord = malloc(sizeof(double)*bod1.ndim) bd1.coord[0] = malloc(sizeof(double)*3) bd2.coord = malloc(sizeof(double)*bod2.ndim) bd2.coord[0] = malloc(sizeof(double)*3) # Convert 1D array to 2D, if any if bod1.ndim < 2: bod1 = np.append([bod1], [[1.,1.,1.]], axis = 0) if bod2.ndim < 2: bod2 = np.append([bod2], [[1.,1.,1.]], axis = 0) bd1.numpoints = np.size(bod1,0) bd2.numpoints = np.size(bod2,0) print("Break 2")#-------------------------------------------------- # Create numpy-array MemoryView cdef: double [:,:] narr1 = bod1 double [:,:] narr2 = bod2 print("Break 3")#-------------------------------------------------- # Assign coordinate values (Segmentation Fault Here!!, ) for i in range(0, bd1.numpoints): bd1.coord[i][0] = narr1[i,0] bd1.coord[i][1] = narr1[i,1] bd1.coord[i][2] = narr1[i,2] for j in range(0, bd2.numpoints): bd2.coord[j][0] = narr2[j,0] bd2.coord[j][1] = narr2[j,1] bd2.coord[j][2] = narr2[j,2] print("Break 4")#-------------------------------------------------- # Call C function answer = gjk(bd1, bd2, &s) # Free the memory free(bd1.coord) free(bd2.coord) return answer