63 lines
2.2 KiB
C
63 lines
2.2 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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* Mattia Montanari | University of Oxford 2018 *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *
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* *
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* This is the header file for the openGJK.c file. It defines the openGJK *
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* function and it two important structures: bd and simplex. *
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* *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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#ifndef __OPENGJK_H__
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#define __OPENGJK_H__
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#include <stdio.h>
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#include <stdlib.h>
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#include "math.h"
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/**
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* @brief Macro that implements the CompareSign function (see paper).
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*/
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#define SAMESIGN( a, b ) ( (a>0) == (b>0) )
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/**
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* @brief Structure of a body.
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*/
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struct bd {
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int numpoints; /**< Number of points defining the body. */
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double **coord; /**< Pointer to pointer to the points' coordinates. */
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double s [3]; /**< Support mapping computed last. */
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};
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/**
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* @brief Structure for a simplex.
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*/
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struct simplex {
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int nvrtx ; /**< Number of simplex's vertices. */
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double vrtx [4][3]; /**< Coordinates of simplex's vertices. */
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int wids [4]; /**< Label of the simplex's vertices. */
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double lambdas [4]; /**< Barycentric coordiantes for each vertex. */
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};
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/**
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* @brief The GJK algorithm which returns the minimum distance between
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* two bodies.
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*/
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extern double gjk( struct bd, struct bd, struct simplex * ) ;
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#endif |