66 lines
3.5 KiB
C#
66 lines
3.5 KiB
C#
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
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* ##### # # # *
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* #### ##### ###### # # # # # # # *
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* # # # # # ## # # # # # *
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* # # # # ##### # # # # #### # ### *
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* # # ##### # # # # # # # # # # *
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* # # # # # ## # # # # # # *
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* #### # ###### # # ##### ##### # # *
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* *
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* This file is part of openGJK. *
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* *
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* openGJK is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* any later version. *
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* *
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* openGJK is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See The *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with Foobar. If not, see <https://www.gnu.org/licenses/>. *
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* *
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* openGJK: open-source Gilbert-Johnson-Keerthi algorithm *
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* Copyright (C) Mattia Montanari 2018 - 2019 *
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* http://iel.eng.ox.ac.uk/?page_id=504 *
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* *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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using System;
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using System.Runtime.InteropServices;
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public class Tester
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{
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#if UNIX
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[DllImport("libopengjk_ce.so", EntryPoint="csFunction", CallingConvention = CallingConvention.StdCall)]
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#else
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[DllImport("libopengjk_ce", EntryPoint = "csFunction", CallingConvention = CallingConvention.StdCall)]
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#endif
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static extern float compute_minimum_distance(int na, float[,] ia, int nb, float[,] ib);
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public static void Main(string[] args)
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{
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float dist;
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// Define array A with coordinates
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int nCoordsA = 9;
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var inCoordsA = new float[3, 9] { { 0.0f, 2.3f, 8.1f, 4.3f, 2.5f, 7.1f, 1.0f, 3.3f, 6.0f }, { 5.5f, 1.0f, 4.0f, 5.0f, 1.0f, 1.0f, 1.5f, 0.5f, 1.4f }, { 0.0f, -2.0f, 2.4f, 2.2f, 2.3f, 2.4f, 0.3f, 0.3f, 0.2f } };
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// Define array B with coordinates
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int nCoordsB = 9;
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var inCoordsB = new float[3, 9] { { -0.0f, -2.3f, -8.1f, -4.3f, -2.5f, -7.1f, -1.0f, -3.3f, -6.0f }, { -5.5f, -1.0f, -4.0f, -5.0f, -1.0f, -1.0f, -1.5f, -0.5f, -1.4f }, { -0.0f, 2.0f, -2.4f, -2.2f, -2.3f, -2.4f, -0.3f, -0.3f, -0.2f } };
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// Invoke GJK to compute distance
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dist = compute_minimum_distance(nCoordsA, inCoordsA, nCoordsB, inCoordsB);
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// Output results
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var s = string.Format("{0:0.##}", dist);
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var message = string.Format("The distance between {0} is {1}", "A and B", s);
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Console.WriteLine(message);
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}
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}
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