|
libmove3d
3.13.0
|
|
libmove3d
3.13.0
|
#include <p3d_pqp.h>
Public Attributes | |
| unsigned int | nb_robots |
| unsigned int | nb_obstacles |
| unsigned int | nb_objs |
| unsigned int ** | obj_obj |
| p3d_obj ** | obj_from_pqpID |
| p3d_obj * | colliding_body1 |
| p3d_obj * | colliding_body2 |
This structure is used to know which object pairs must pass the collision test. Each p3d_obj variable has a pqpID field (see p3d.h). This field is an index in the obj_obj array. For instance, obj_obj[body1->pqpID][body2->pqpID]= 1 means that the collision between body1 and body2 will be tested while obj_obj[body1->pqpID][body2->pqpID]= 0 means that it will not be tested. There is one static pqp_collision_grid declared in p3d_pqp.c. It is initialized with the pqp_create_collision_pairs() function. If objects are deleted (robot bodies or environment obstacles), it must be cleaned and reinitialized. NB: obj_obj is symetric and should be kept symetric. colliding_body1 and colliding_body2 are the two bodies that were reported as colliding in the last collision test. NB: the PQP module uses the p3d_BB of Move3D as a quick pre-test (with the p3d_BB_overlap_ functions). They must be computed before starting PQP (it is done in p3d_col_start) and updated.
pointer to the last two bodies that were found to be colliding
| unsigned int pqp_collision_grid::nb_objs |
total number of bodies (environment obstacles plus robot bodies)
| unsigned int pqp_collision_grid::nb_obstacles |
number of obstacles in the XYZ_ENV struct
| unsigned int pqp_collision_grid::nb_robots |
number of robots in the XYZ_ENV struct
see pqp_collision_grid struct description
| unsigned int** pqp_collision_grid::obj_obj |
see pqp_collision_grid struct description
1.7.5.1
