112 lines
4.1 KiB
Cython
112 lines
4.1 KiB
Cython
#!python
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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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# #
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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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# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #
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# cython: language_level=3
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# distutils: sources = ../../openGJK.c
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# distutils: include_dirs = ../../include/openGJK
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cimport openGJK_cython
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import numpy as np
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from libc.stdlib cimport free, malloc
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from cpython.mem cimport PyMem_Malloc, PyMem_Free
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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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gkSimplex_ s
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gkPolytope_ bd1
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gkPolytope_ bd2
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double dist2
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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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bd1.numpoints = np.size(bod1,0) - 1
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else:
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bd1.numpoints = np.size(bod1,0)
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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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bd2.numpoints = np.size(bod2,0) - 1
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else:
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bd2.numpoints = np.size(bod2,0)
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# Allocate memory for bodies
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bd1.coord = <double **> malloc(bd1.numpoints * sizeof(double *))
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if not bd1.coord:
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raise NameError('Not enough memory for bd1.coord')
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for i in range(0, bd1.numpoints):
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bd1.coord[i] = <double *> malloc(3 * sizeof(double))
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if not bd1.coord[i]:
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raise NameError('Not enough memory for bd1.coord[]')
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bd2.coord = <double **> malloc(bd2.numpoints * sizeof(double *))
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if not bd2.coord:
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raise NameError('Not enough memory for bd2.coord')
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for j in range(0, bd2.numpoints):
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bd2.coord[j] = <double *> malloc(3 * sizeof(double))
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if not bd2.coord[j]:
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raise NameError('Not enough memory for bd2.coord[]')
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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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# Assign coordinate values
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for i in range(0, bd1.numpoints):
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for j in range(0,3):
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bd1.coord[i][j] = narr1[i,j]
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for i in range(0, bd2.numpoints):
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for j in range(0,3):
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bd2.coord[i][j] = narr2[i,j]
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# Call C function
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dist2 = compute_minimum_distance(bd1, bd2, &s)
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# Free the memory
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for ii in range(0, bd1.numpoints):
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free(bd1.coord[ii])
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free(bd1.coord)
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for jj in range(0, bd2.numpoints):
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free(bd2.coord[jj])
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free(bd2.coord)
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return dist2
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