openGJK/python/pyopenGJK.cpp

31 lines
946 B
C++

#include "openGJK/openGJK.h"
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
namespace py = pybind11;
PYBIND11_MODULE(opengjkc, m)
{
m.def("gjk",
[](Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor>& arr1,
Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor>& arr2)
-> double {
struct simplex s;
struct bd bd1;
struct bd bd2;
bd1.numpoints = arr1.rows();
std::vector<double*> arr1_rows(arr1.rows());
for (int i = 0; i < arr1.rows(); ++i)
arr1_rows[i] = arr1.row(i).data();
bd1.coord = arr1_rows.data();
bd2.numpoints = arr2.rows();
std::vector<double*> arr2_rows(arr2.rows());
for (int i = 0; i < arr2.rows(); ++i)
arr2_rows[i] = arr2.row(i).data();
bd2.coord = arr2_rows.data();
double a = gjk(bd1, bd2, &s);
return a;
});
}