/home/slemaign/softs-local/BioMove3D-git/include/environment.h

#ifndef _ENVIRONMENT_H
#define _ENVIRONMENT_H

#include "p3d.h"
#include "device.h"

/* Structure d'environnement */
typedef struct env {
  char      *name;
  char      *p3d_file_path; /* path to the loaded p3d file */
  char      *sce_file_path; /* path to the loaded sce file */
  int       num;
  int       nof_objs; /* total number of objects, both obstacles and robot bodies */
  int       no; /* number of obstacles */
  int       nr; /* number of robots */
  p3d_obj   **o,*ocur;  /* the obstacles*/
  p3d_rob   **robot,    /* array of robots for multi-robot */
    *cur_robot,         /* pointer to current robot */
    *active_robot;      /* pointer the active robot (this should not change durring env life)  */
  p3d_box   box;
  int INIT; /* environnement initialise graphiquement ou pas */
  double dmax; /* pas de discretisation maximal */
  double object_tolerance; /* real object tolerance (to enlarge objects)*/
  double graphic_dmin; /* pas de discretisation graphique */
  /*  struct graph *graphPt; */
  int      modif; /* TRUE if environment recently modified, FALSE otherwise */
  int   envBoxIsUpToDate; /* SDK: TRUE if the environment box (box field in
                             this struct) was computed after last modification
                             of environment, FALSE otherwise */
  int   ccIsUpToDate;     /* SDK: TRUE if a collision checker was initialized
                             after last modification of environment,
                             FALSE otherwise */
  int nof_new_obsts;      /* number of added obstacles after latest
                             (re)initialization or update of collision checker */
  int *new_obsts;         /* array of length nof_new_obsts, for each new obstacle
                             since latest (re)initialization or update of collision
                             checker we store the ranknumber in list p3d_obj **o
                             for that obstacle */
  struct p3d_statistics * stat;  /* Global Environment statistics ; Commit Jim ; date: 01/10/2008 */

  double background_color[3];

  p3d_vector3 *collisionCloud;
  int cloudSize;
} p3d_env,*pp3d_env;

#endif /* #ifndef _ENVIRONMENT_H */