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