openGJK/examples/cython/openGJK_cython.pxd

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Cython

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# This file is part of openGJK. #
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# OpenGJK is free software: you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
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# OpenGJK is distributed in the hope that it will be useful, #
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# openGJK: open-source Gilbert-Johnson-Keerthi algorithm #
# Copyright (C) Mattia Montanari 2018 - 2020 #
# http://iel.eng.ox.ac.uk/?page_id=504 #
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# Declare C function and data types
cdef extern from "openGJK.h":
struct gkPolytope_:
int numpoints
double s[3]
double ** coord
struct gkSimplex_:
int nvrtx
double vrtx[4][3]
int wids[4]
double lambdas[4]
double compute_minimum_distance(gkPolytope_ bd1, gkPolytope_ bd2, gkSimplex_ *s)