cpolyhedron.h File Reference

Definition of the Tcpolyhedron type and the associated functions. More...

#include "plot3d.h"
#include "htransform.h"
#include "color.h"
#include <stdlib.h>

Data Structures
struct	Tcpolyhedron
	A convex polyhedron. More...
Defines
#define	NORMAL_SHAPE 0
	One of the possible type of shapes.
#define	HIDDEN_SHAPE 1
	One of the possible type of shapes.
#define	DECOR_SHAPE 2
	One of the possible type of shapes.
#define	OFF 0
	One of the possible type of convex polyhedrons.
#define	SPHERE 1
	One of the possible type of convex polyhedrons.
#define	CYLINDER 2
	One of the possible type of convex polyhedrons.
Functions
void	InitCPolyhedronFromFile (char fname, Tcolor c, unsigned int gr, Tcpolyhedron *p)
	Constructor.
void	NewSphere (double r, double center, Tcolor c, unsigned int gr, Tcpolyhedron *p)
	Constructor.
void	NewCylinder (double r, double p1, double p2, Tcolor c, unsigned int gr, Tcpolyhedron p)
	Constructor.
void	CopyCPolyhedron (Tcpolyhedron p_dst, Tcpolyhedron p_src)
	Copy constructor.
void	TransformCPolyhedron (THTransform t, Tcpolyhedron p)
	Applies a homogenoeus transform to a convex polyhedron.
unsigned int	GetCPolyhedronType (Tcpolyhedron *p)
	Retrives the type of a convex polyhedron.
void	SetCPolyhedronColor (Tcolor c, Tcpolyhedron p)
	Changes the color of a convex polyhedron.
void	GetCPolyhedronColor (Tcolor c, Tcpolyhedron p)
	Gets the color of a convex polyhedron.
unsigned int	GetCPolyhedronNVertex (Tcpolyhedron *p)
	Gets the number of vertexes of a convex polyhedron.
void	GetCPolyhedronDefiningPoint (unsigned int i, double point, Tcpolyhedron p)
	Gets a point defining a a convex object.
double	GetCpolyhedronRadius (Tcpolyhedron *p)
	Returns the radius used in the definition of the convex object.
void	GetCPolyhedronVertex (unsigned int i, double point, Tcpolyhedron p)
	Gets a vertex of a convex polyhedron.
double	GetCPolyhedronMaxCoordinate (Tcpolyhedron *p)
	Returns the maximum coordinate value used in a convex polyhedron.
void	PlotCPolyhedron (Tplot3d pt, Tcpolyhedron p)
	Adds the convex polyhedron to a 3D geometry.
void	MoveCPolyhedron (Tplot3d pt, THTransform t, Tcpolyhedron *p)
	Moves an object previously added to a 3D scene.
void	SaveCPolyhedron (char fileName, Tcpolyhedron p)
	Stores the geometic information of a convex polyhedron into a file.
void	DeleteCPolyhedron (Tcpolyhedron *p)
	Destructor.

Detailed Description

Definition of the Tcpolyhedron type and the associated functions.

See also:: Tcpolyhedron, cpolyhedron.c.

Definition in file cpolyhedron.h.

Define Documentation

#define NORMAL_SHAPE 0

One of the possible type of shapes. A normal shape is show and considered for collisions.

See also:: Tcpolyhedron

Definition at line 27 of file cpolyhedron.h.

#define HIDDEN_SHAPE 1

One of the possible type of shapes. A hiden shape is not show but it is considered for collisions.

See also:: Tcpolyhedron

Definition at line 36 of file cpolyhedron.h.

#define DECOR_SHAPE 2

One of the possible type of shapes. A decor(ation) shape is show but it is not considered for collisions.

See also:: Tcpolyhedron

Definition at line 45 of file cpolyhedron.h.

#define OFF 0

One of the possible type of convex polyhedrons. An OFF is a general polyhedron defined by its vertices and its faces. This is a standard geomview construction.

See also:: Tcpolyhedron

Definition at line 57 of file cpolyhedron.h.

Referenced by GetCPolyhedronDefiningPoint(), GetCpolyhedronRadius(), PlotCPolyhedron(), ReadOFF(), and SaveCPolyhedron().

#define SPHERE 1

One of the possible type of convex polyhedrons. An SPHERE is defined by a center (x,y,z) and a radius. This is a standard geomview construction.

See also:: Tcpolyhedron

Definition at line 68 of file cpolyhedron.h.

Referenced by GenerateSphereOFF(), GetCPolyhedronDefiningPoint(), NewSphere(), PlotCPolyhedron(), ReadSphere(), and SaveCPolyhedron().

#define CYLINDER 2

One of the possible type of convex polyhedrons. An CYLINDER is defined by two 3d points. This is not standard in geomview.

See also:: Tcpolyhedron

Definition at line 78 of file cpolyhedron.h.

Referenced by GenerateCylinderOFF(), GetCPolyhedronDefiningPoint(), NewCylinder(), PlotCPolyhedron(), ReadCylinder(), and SaveCPolyhedron().

Function Documentation

void InitCPolyhedronFromFile	(	char *	fname,
		Tcolor *	c,
		unsigned int	gr,
		Tcpolyhedron *	p
	)

Define a Tcpolyhedron from a file.

Parameters:

	fname	The name of the file from where to read the information.
	c	The color of the object.
	gr	The granularity to define polyhedrons for spheres and cylinders.
	p	The convex polyhedron to create.

Definition at line 314 of file cpolyhedron.c.

References Tcpolyhedron::color, CopyColor(), Error(), NEW, NO_UINT, Tcpolyhedron::obj3d, ReadCylinder(), ReadOFF(), and ReadSphere().

Referenced by main().

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void NewSphere	(	double	r,
		double *	center,
		Tcolor *	c,
		unsigned int	gr,
		Tcpolyhedron *	p
	)

Defines a sphere (and its polyhedric approximation for collision detection).

Parameters:

	r	The radius of the sphere.
	center	The center of the sphere.
	c	The color of the sphere.
	gr	The granularity to define approximating polyhedrons for the sphere.
	p	The convex polyhedron to create.

Definition at line 353 of file cpolyhedron.c.

References Tcpolyhedron::center, Tcpolyhedron::color, CopyColor(), GenerateSphereOFF(), NO_UINT, Tcpolyhedron::obj3d, Tcpolyhedron::p1, Tcpolyhedron::p2, Tcpolyhedron::rad, SPHERE, and Tcpolyhedron::type.

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void NewCylinder	(	double	r,
		double *	p1,
		double *	p2,
		Tcolor *	c,
		unsigned int	gr,
		Tcpolyhedron *	p
	)

Defines a cylinder (and its polyhedric approximation for collision detection).

Parameters:

	r	The radius of the cylinder.
	p1	The initial point of the cylinder axis.
	p2	The final point of the cylinder axis.
	c	The color of the cylinder.
	gr	The granularity to define approximating polyhedrons for the cylinder.
	p	The convex polyhedron to create.

Definition at line 376 of file cpolyhedron.c.

References Tcpolyhedron::center, Tcpolyhedron::color, CopyColor(), CYLINDER, GenerateCylinderOFF(), NO_UINT, Tcpolyhedron::obj3d, Tcpolyhedron::p1, Tcpolyhedron::p2, Tcpolyhedron::rad, and Tcpolyhedron::type.

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void CopyCPolyhedron	(	Tcpolyhedron *	p_dst,
		Tcpolyhedron *	p_src
	)

Defines a polyhedron from another polyhedron.

Parameters:

	p_dst	The convex polyhedron to define.
	p_src	The convex polyhedron from where to copy.

Definition at line 403 of file cpolyhedron.c.

References Tcpolyhedron::center, Tcpolyhedron::color, CopyColor(), Tcpolyhedron::fv, Tcpolyhedron::maxCoord, Tcpolyhedron::ne, NEW, Tcpolyhedron::nf, Tcpolyhedron::nv, Tcpolyhedron::nvf, Tcpolyhedron::obj3d, Tcpolyhedron::p1, Tcpolyhedron::p2, Tcpolyhedron::rad, Tcpolyhedron::type, and Tcpolyhedron::v.

Referenced by AddBody2Link().

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void TransformCPolyhedron	(	THTransform *	t,
		Tcpolyhedron *	p
	)

Applies a homogenoeus transform to a convex polyhedron.

Parameters:

	t	The transform to apply.
	p	The polyhedron to transform.

Definition at line 451 of file cpolyhedron.c.

References Tcpolyhedron::center, HTransformApply(), Tcpolyhedron::maxCoord, Tcpolyhedron::nv, Tcpolyhedron::p1, Tcpolyhedron::p2, and Tcpolyhedron::v.

Referenced by main().

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unsigned int GetCPolyhedronType ( Tcpolyhedron * p )

Retrives the type of a convex polyhedron.

Parameters:

p

The convex polyhedron to query.

Returns:: The type of the convex polyhedron: OFF, SPHERE, CYLINDER.

Definition at line 475 of file cpolyhedron.c.

References Tcpolyhedron::type.

void SetCPolyhedronColor	(	Tcolor *	c,
		Tcpolyhedron *	p
	)

Changes the color of a convex polyhedron.

Parameters:

	c	The new color for the convex polyhedron.
	p	The convex polyhedron to update.

Definition at line 480 of file cpolyhedron.c.

References Tcpolyhedron::color, and CopyColor().

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void GetCPolyhedronColor	(	Tcolor *	c,
		Tcpolyhedron *	p
	)

Gets the color of a convex polyhedron.

Parameters:

	c	The color of the convex polyhedron.
	p	The convex polyhedron to query.

Definition at line 485 of file cpolyhedron.c.

References Tcpolyhedron::color, and CopyColor().

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unsigned int GetCPolyhedronNVertex ( Tcpolyhedron * p )

Gets the number of vertexes of a convex polyhedron.

Parameters:

p

The convex polyhedron to query.

Returns:: The number of vertexes of a convex polyhedron.

Definition at line 490 of file cpolyhedron.c.

References Tcpolyhedron::nv.

void GetCPolyhedronDefiningPoint	(	unsigned int	i,
		double *	point,
		Tcpolyhedron *	p
	)

Gets the coordinates of a point defining of a convex object.

A CYLINDER is defined by two points: the initial and the end points of the cylinder.

A SPHERE is defined by one point: the center of the sphere.

For OFFs, all vertexes are considered defining points.

If the convex polyhedron has less defining points than the requested number, this function triggers an error.

Parameters:

	i	Number of the defining point to retrive.
	point	Space to store the three coordinates of the requested vertex.
	p	The convex polyhedron to query.

Definition at line 495 of file cpolyhedron.c.

References Tcpolyhedron::center, CYLINDER, Error(), GetCPolyhedronVertex(), OFF, Tcpolyhedron::p1, Tcpolyhedron::p2, SPHERE, and Tcpolyhedron::type.

Referenced by GetMechanismDefiningPoint().

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double GetCpolyhedronRadius ( Tcpolyhedron * p )

Returns the radius used in the definition of the convex object. This function is only defined for SPHEREs and CYLINDERs. It triggers an error if used on a OFF.

Parameters:

p

The convex polyhedron to query.

Returns:: The radius used in the convex object definition, if any.

Definition at line 535 of file cpolyhedron.c.

References Error(), OFF, Tcpolyhedron::rad, and Tcpolyhedron::type.

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void GetCPolyhedronVertex	(	unsigned int	i,
		double *	point,
		Tcpolyhedron *	p
	)

Gets the coordinates of the vertex of a convex polyhedron.

For cylinders and spheres point on the approximating OFF are returned.

If the convex polyhedron has less vertexes than the requested element, this function triggers an error.

Parameters:

	i	Number of the vertex to retrive.
	point	Space to store the three coordinates of the requested vertex.
	p	The convex polyhedron to query.

Definition at line 542 of file cpolyhedron.c.

References Error(), Tcpolyhedron::nv, and Tcpolyhedron::v.

Referenced by GetCPolyhedronDefiningPoint().

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double GetCPolyhedronMaxCoordinate ( Tcpolyhedron * p )

Returns the maximum coordinate value (either in X, Y, or Z) used in a convex polyhedron. This is used in higher levels to define an over-estimate bounding-box of the mechanism. This bounding box is used to define the ranges for some of the coordinate and separating planes variables.

Parameters:

p

The convex polyhedron to query.

Returns:: The maximum coordinate value.

Definition at line 553 of file cpolyhedron.c.

References Tcpolyhedron::maxCoord.

Referenced by AddBody2Link().

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void PlotCPolyhedron	(	Tplot3d *	pt,
		Tcpolyhedron *	p
	)

Adds the convex polyhedron to a 3D geometry. Each object in a 3D scene gets an identifier that is stored in the cpolyhedron object for future reference.

Parameters:

	pt	The 3D geometry where to add the convex polyhedron.
	p	The convex polyhedron to plot.

Definition at line 558 of file cpolyhedron.c.

References Tcpolyhedron::center, Close3dObject(), Tcpolyhedron::color, CYLINDER, Tcpolyhedron::fv, Tcpolyhedron::ne, Tcpolyhedron::nf, Tcpolyhedron::nv, Tcpolyhedron::nvf, Tcpolyhedron::obj3d, OFF, Tcpolyhedron::p1, Tcpolyhedron::p2, Plot3dObject(), PlotCylinder(), PlotSphere(), Tcpolyhedron::rad, SPHERE, StartNew3dObject(), Tcpolyhedron::type, and Tcpolyhedron::v.

Referenced by PlotLink().

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void MoveCPolyhedron	(	Tplot3d *	pt,
		THTransform *	t,
		Tcpolyhedron *	p
	)

Moves an object previously added to a 3D scene.

Parameters:

	pt	The 3D geometry where the convex polyhedron was added.
	t	The homogeneous transform to apply to the convex polyhedron.
	p	The convex polyhedron to move.

Definition at line 594 of file cpolyhedron.c.

References Move3dObject(), NO_UINT, and Tcpolyhedron::obj3d.

Referenced by MoveLink().

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void SaveCPolyhedron	(	char *	fileName,
		Tcpolyhedron *	p
	)

Stores the geometic information of a convex polyhedron into a file. Basically, it creates a file that can be latter read using InitCPolyhedronFromFile

Parameters: