using System;

using System.Runtime.InteropServices;

public class Tester 
{


#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);

        public static void Main(string[] args)
        {
		double dist;
		// Define array A with coordinates
		int  nCoordsA = 9;
                var inCoordsA = 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} };

		// Define array B with coordinates 
		int nCoordsB = 9;
                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 );
 
		// 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();
        }
}