Function to manipulate sevral collision pairs structure in the environment.

Classes
struct	col_env_robot_context
	Struture that store sevral context of collisions for one robot. More...
struct	col_env_context
	Struture that store sevral context of collisions for one robot. More...
struct	col_env_context_env
	Structure to store the data of each environment. More...
Typedefs
typedef struct col_env_robot_context	p3d_col_env_robot_context
	Struture that store sevral context of collisions for one robot.
typedef struct col_env_context	p3d_col_env_context
	Struture that store sevral context of collisions for one robot.
typedef struct col_env_context_env	p3d_col_env_context_env
	Structure to store the data of each environment.
Functions
void	p3d_col_env_switch_env (p3d_type_col_env_context type)
	Select a new collision context.
void	p3d_col_env_switch_robot (p3d_rob *robotPt, p3d_type_col_env_context type)
	Select a new collision context.
void	p3d_col_env_restore (void)
	Restore a previous collision context.
void	p3d_col_env_start (void)
	Initialize collision context to start a new environment.
void	p3d_col_env_stop (void)
	Release the memory for collision context in all environment.
void	p3d_col_activate_obj_obj (p3d_obj *obj1, p3d_obj *obj2)
	Function to activate the collision between a pair of objets.
void	p3d_col_activate_obj_env (p3d_obj *obj)
	Function to activate the collision between one objet and the environment.
void	p3d_col_activate_rob_env (p3d_rob *robotPt)
	Function to activate the collision between one robot and the environment.
void	p3d_col_activate_rob_all_rob (p3d_rob *robotPt)
	Function to activate the collision between one robot and the other.
void	p3d_col_activate_obj_all_rob (p3d_obj *obj)
	Function to activate the collision between one Movable object of the current robot and all the other robots.
void	p3d_col_activate_rob (p3d_rob *rob)
	Function to activate the auto-collision for one robot.
void	p3d_col_deactivate_all (void)
	Function to deactivate collision between all objects pair.
void	p3d_col_activate_env (void)
	Function to activate all the collisions.
void	p3d_col_activate_robots (void)
	Function to activate all the collisions.
void	p3d_col_deactivate_rob_env (p3d_rob *robotPt)
	Function to deactivate the collision between one robot and the environment.
void	p3d_col_deactivate_rob_rob (p3d_rob *rob1, p3d_rob *rob2)
	Function to deactivate the collision between two robots.
void	p3d_col_deactivate_obj_rob (p3d_obj *obj, p3d_rob *rob)
	Function to deactivate the collision between a movable object and a robot.
void	p3d_col_deactivate_rob (p3d_rob *rob)
	Function to deactivate all the auto-collision for one robot.
void	p3d_col_deactivate_obj_all_rob (p3d_obj *obj)
	Function to deactivate all the collision between a Movable object and the other robots.

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Function Documentation

void p3d_col_activate_env

(

void

)

Function to activate all the collisions.

Note:

This function deactivate and then activate all pairs in all the context of the environment.

void p3d_col_activate_obj_all_rob

(

p3d_obj *

obj

)

Function to activate the collision between one Movable object of the current robot and all the other robots.

Parameters:

obj,:

The movable object

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_activate_obj_env

(

p3d_obj *

obj

)

Function to activate the collision between one objet and the environment.

Parameters:

obj,:

The object

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_activate_obj_obj	(	p3d_obj *	obj1,
		p3d_obj *	obj2
	)

Function to activate the collision between a pair of objets.

Parameters:

obj1,:	The first object
obj2,:	The second object

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_activate_rob

(

p3d_rob *

rob

)

Function to activate the auto-collision for one robot.

Parameters:

rob,:

The robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_activate_rob_all_rob

(

p3d_rob *

robotPt

)

Function to activate the collision between one robot and the other.

Parameters:

robotPt,:

The robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_activate_rob_env

(

p3d_rob *

robotPt

)

Function to activate the collision between one robot and the environment.

Parameters:

robotPt,:

The robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_activate_robots

(

void

)

Function to activate all the collisions.

Note:

This function does not deactive previous pair before the beginnig of the activation.

void p3d_col_deactivate_all

(

void

)

Function to deactivate collision between all objects pair.

Note:

This function deactivate and then activate all pairs in all the context of the environment.

void p3d_col_deactivate_obj_all_rob

(

p3d_obj *

obj

)

Function to deactivate all the collision between a Movable object and the other robots.

Parameters:

obj,:

The object

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_deactivate_obj_rob	(	p3d_obj *	obj,
		p3d_rob *	rob
	)

Function to deactivate the collision between a movable object and a robot.

Parameters:

obj,:	The movable object
rob,:	The robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_deactivate_rob

(

p3d_rob *

rob

)

Function to deactivate all the auto-collision for one robot.

Parameters:

rob,:

The robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_deactivate_rob_env

(

p3d_rob *

robotPt

)

Function to deactivate the collision between one robot and the environment.

Parameters:

robotPt,:

The robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_deactivate_rob_rob	(	p3d_rob *	rob1,
		p3d_rob *	rob2
	)

Function to deactivate the collision between two robots.

Parameters:

rob1,:	The first robot
rob2,:	The second robot

Note:

This function set the activate pair in all the context of the environment.

void p3d_col_env_restore

(

void

)

Restore a previous collision context.

Warning:

This function must be used after a call to p3d_col_env_switch_env() or to p3d_col_env_switch_robot()

void p3d_col_env_switch_env

(

p3d_type_col_env_context

type

)

Select a new collision context.

Parameters:

type,:

The type of context selected. It could be ::P3D_COL_ENV_ALL or ::P3D_COL_ENV_NONE.

Note:

Use p3d_col_env_switch_robot() to select a context specific to one robot.

Warning:

Do not forget to restore the previous context with p3d_col_env_restore()

void p3d_col_env_switch_robot	(	p3d_rob *	robotPt,
		p3d_type_col_env_context	type
	)

Select a new collision context.

Parameters:

robotPt,:	The robot.
type,:	The type of context selected. It could be ::P3D_COL_ROBOT_ALL, ::P3D_COL_ROBOT_ENV, ::P3D_COL_ROBOT_ALL_WITHOUT_AUTOCOL, ::P3D_COL_ROBOT_ALL_WITHOUT_OTHER or ::P3D_COL_ROBOT_AUTOCOL.

Note:

Use p3d_col_env_switch_env() to select a context specific to all robots.

Warning:

Do not forget to restore the previous context with p3d_col_env_restore()