45 lines
2.4 KiB
Cython
45 lines
2.4 KiB
Cython
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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 OpenGJK. 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 - 2020 #
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# http://iel.eng.ox.ac.uk/?page_id=504 #
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# #
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# Declare C function and data types
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cdef extern from "openGJK.h":
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struct bd:
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int numpoints
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double s[3]
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double ** coord
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struct simplex:
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int nvrtx
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double vrtx[4][3]
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int wids[4]
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double lambdas[4]
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double gjk(bd bd1, bd bd2, simplex *s)
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