/home/slemaign/softs-local/BioMove3D-git/p3d/p3d_BB.c File Reference

Bounding box management. More...

#include "Util-pkg.h"
#include "P3d-pkg.h"

Classes
struct	BB_env
	Structure to store the data of each environment. More...
Typedefs
typedef struct BB_env	p3d_BB_env
	Structure to store the data of each environment.
Functions
void	p3d_BB_set_selection_method (p3d_BB_selection_type type)
p3d_BB_selection_type	p3d_BB_get_selection_method (void)
void	p3d_BB_set_computation_method (p3d_BB_compute_type type)
p3d_BB_compute_type	p3d_BB_get_computation_method (void)
void	p3d_BB_set_mode_close (void)
void	p3d_BB_set_mode_large (void)
void	p3d_BB_set_mode_col (void)
void	p3d_BB_get_BB_poly1 (p3d_poly *p, double *x1, double *x2, double *y1, double *y2, double *z1, double *z2)
void	p3d_BB_update_BB_obj1 (p3d_obj *obj, p3d_matrix4 mat)
void	p3d_BB_init_BB0 ()
void	p3d_BB_update_BB_obj2 (p3d_obj *obj, p3d_matrix4 mat)
void	p3d_BB_update_BB_rob (p3d_rob *rob)
int	p3d_BB_overlap_obj_obj (p3d_obj *obj1, p3d_obj *obj2)
int	p3d_BB_overlap_rob_obj (p3d_rob *rob, p3d_obj *obj)
int	p3d_BB_overlap_rob_rob (p3d_rob *rob1, p3d_rob *rob2)
double	p3d_BB_obj_obj_extern_dist (p3d_obj *obj1, p3d_obj *obj2, double *dist_ut)
p3d_BB_handle *	p3d_BB_handle_create (void)
	Create a new handle for the current environment.
void	p3d_BB_handle_destroy (p3d_BB_handle *handlePt)
	Destroy a handle for bounding box collisions.
void	p3d_BB_clear (void)
	Clean all variables use for the management of bounding box collision handle.
void	p3d_BB_set_cur_handle (p3d_BB_handle *handlePt)
	Select a new bounding box collision handle.
p3d_BB_handle *	p3d_BB_get_cur_handle (void)
	Get the current bounding box collision handle.
void	p3d_BB_activate_pair (p3d_BB_handle *handlePt, p3d_obj *obj1, p3d_obj *obj2)
	This function activates the computation of distances between the two object's bounding boxes.
void	p3d_BB_activate (p3d_obj *obst)
void	p3d_BB_deactivate_pair (p3d_BB_handle *handlePt, p3d_obj *obj1, p3d_obj *obj2)
	This function deactivates the computation of distances between the two object's bounding boxes.
void	p3d_BB_activate_env (p3d_BB_handle *handlePt, p3d_obj *obj)
	This function activates the computation of distances between one body and all the objects in the environment.
void	p3d_BB_deactivate_env (p3d_BB_handle *handlePt, p3d_obj *obj)
	This function deactivates the computation of distances between one body and all the objects in the environment.
void	p3d_BB_deactivate_all (p3d_BB_handle *handlePt)
	This function deactivates all the computation of distances for all robots.
void	p3d_BB_handle_copy_into (p3d_BB_handle *src_handlePt, p3d_BB_handle *dest_handlePt)
	This function copy src_handlePt a bounding box collision handle into dest_handlePt.
p3d_BB_handle *	p3d_BB_handle_copy (p3d_BB_handle *src_handlePt)
	This function copy src_handlePt a bounding box collision handle.
void	p3d_BB_handle_add_into (p3d_BB_handle *src_handlePt, p3d_BB_handle *dest_handlePt)
	Merge two bounding box collision handle (sum of collision tests)
void	p3d_BB_handle_sub_into (p3d_BB_handle *src_handlePt, p3d_BB_handle *dest_handlePt)
	Merge two bounding box collision handle (substraction of collision tests)
void	p3d_BB_start (void)
	Initialize collision pair to start a new environment.
void	p3d_BB_stop (void)
	Release the memory for collision pair in all environment.
void	p3d_BB_dist_robot (p3d_rob *robotPt, double *distances)
	This function compute the distances between the bounding boxes for the robot specified.
Variables
p3d_BB_update_BB_fct_type	p3d_BB_update_BB_obj
p3d_BB_get_BB_poly_fct_type	p3d_BB_get_BB_poly

---

Detailed Description

Bounding box management.

These functions defined the computation method of bounding box, and the selection of the objets to take into account for this computation.

---

Function Documentation

void p3d_BB_activate_env	(	p3d_BB_handle *	handlePt,
		p3d_obj *	obj
	)

This function activates the computation of distances between one body and all the objects in the environment.

Parameters:

handlePt,:	The bounding box handle collision table.
obj,:	The body.

Note:

If handlePt == ::NULL then use the current handle.

void p3d_BB_activate_pair	(	p3d_BB_handle *	handlePt,
		p3d_obj *	obj1,
		p3d_obj *	obj2
	)

This function activates the computation of distances between the two object's bounding boxes.

Parameters:

handlePt,:	The bounding box handle collision table.
obj1,:	The first object.
obj2,:	The second object.

Note:

Check if this pair already exist.

If handlePt == ::NULL then use the current handle.

void p3d_BB_deactivate_all

(

p3d_BB_handle *

handlePt

)

This function deactivates all the computation of distances for all robots.

Parameters:

handlePt,:

The bounding box handle collision table.

Note:

If handlePt == ::NULL then use the current handle.

After this function the distances computed are HUGE_VAL.

void p3d_BB_deactivate_env	(	p3d_BB_handle *	handlePt,
		p3d_obj *	obj
	)

This function deactivates the computation of distances between one body and all the objects in the environment.

Parameters:

handlePt,:	The bounding box handle collision table.
obj,:	The body.

Note:

If handlePt == ::NULL then use the current handle.

void p3d_BB_deactivate_pair	(	p3d_BB_handle *	handlePt,
		p3d_obj *	obj1,
		p3d_obj *	obj2
	)

This function deactivates the computation of distances between the two object's bounding boxes.

Parameters:

handlePt,:	The bounding box handle collision table.
obj1,:	The first object.
obj2,:	The second object.

Note:

If handlePt == ::NULL then use the current handle.

void p3d_BB_dist_robot	(	p3d_rob *	robotPt,
		double *	distances
	)

This function compute the distances between the bounding boxes for the robot specified.

Parameters:

robotPt,:

The robot

Return values:

distances,:

The array of distances.

p3d_BB_handle* p3d_BB_get_cur_handle

(

void

)

Get the current bounding box collision handle.

Returns:

The current bounding box collision handle table.

void p3d_BB_handle_add_into	(	p3d_BB_handle *	src_handlePt,
		p3d_BB_handle *	dest_handlePt
	)

Merge two bounding box collision handle (sum of collision tests)

Parameters:

src_handlePt,:	The source bounding box collision handle.
dest_handlePt,:	The bounding box collision handle that must store the sum.

It is like an "or" opperation between all pair.

Note:

If src_handlePt == ::NULL then use the current handle.

If dest_handlePt == ::NULL then use the current handle.

p3d_BB_handle* p3d_BB_handle_copy

(

p3d_BB_handle *

src_handlePt

)

This function copy src_handlePt a bounding box collision handle.

Parameters:

src_handlePt,:

The bounding box collision handle that must be copied.

Returns:

The copy of the bounding box collision handle.

Note:

If src_handlePt == ::NULL then use the current handle.

void p3d_BB_handle_copy_into	(	p3d_BB_handle *	src_handlePt,
		p3d_BB_handle *	dest_handlePt
	)

This function copy src_handlePt a bounding box collision handle into dest_handlePt.

Parameters:

src_handlePt,:	The bounding box collision handle that must be copied.
dest_handlePt,:	The bounding box collision handle that must store the copy.

Note:

If src_handlePt == ::NULL then use the current handle.

If dest_handlePt == ::NULL then use the current handle.

p3d_BB_handle* p3d_BB_handle_create

(

void

)

Create a new handle for the current environment.

Returns:

The new handle of collision (::NULL if there is an error).

Note:

No collision is activate.

void p3d_BB_handle_destroy

(

p3d_BB_handle *

handlePt

)

Destroy a handle for bounding box collisions.

Parameters:

The	handle (::NULL to destroy the current handle).

Note:

This function cannot destroy the default environment. To do that use p3d_BB_clear().

void p3d_BB_handle_sub_into	(	p3d_BB_handle *	src_handlePt,
		p3d_BB_handle *	dest_handlePt
	)

Merge two bounding box collision handle (substraction of collision tests)

Parameters:

src_handlePt,:	The source bounding box collision handle.
dest_handlePt,:	The bounding box collision handle that must store the substraction.

It is like an "dest and not src" opperation between all pair.

Note:

If src_handlePt == ::NULL then use the current handle.

If dest_handlePt == ::NULL then use the current handle.

void p3d_BB_set_cur_handle

(

p3d_BB_handle *

handlePt

)

Select a new bounding box collision handle.

Parameters:

handlePt,:

The bounding box collision handle table.

void p3d_BB_start

(

void

)

Initialize collision pair to start a new environment.

This function must be used each time there is a new environment, or each time that the environment switches.

void p3d_BB_stop

(

void

)

Release the memory for collision pair in all environment.

This function must be used at the end of the application to release the memory.