cd_pqp.h
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1 #ifndef CD_PQPH
2 #define CD_PQPH
3 
13 #if _HAVE_PQP
14 
15 #ifdef __cplusplus
16 extern "C" {
17 #endif
18  #include "htransform.h"
19  #include "boolean.h"
20 #ifdef __cplusplus
21 }
22 #endif
23 
24 #ifdef __cplusplus
25 extern "C" {
26 #endif
27 
33  typedef void Tpqp;
34 
50  Tpqp *DefinePQPModel(double **v,unsigned int nf,unsigned int *nvf,unsigned int **fv);
51 
64  boolean PQPTest(THTransform *t1,Tpqp *m1,THTransform *t2,Tpqp *m2);
65 
73  void DeletePQPModel(Tpqp *m);
74 
75 #ifdef __cplusplus
76 }
77 #endif
78 
79 #endif
80 
81 #endif
boolean.h
Definition of the boolean type.
DeletePQPModel
void DeletePQPModel(Tpqp *m)
Deletes a given PQP object.
Definition: cd_pqp.cpp:88
THTransform
A homgeneous transform in R^3.
DefinePQPModel
Tpqp * DefinePQPModel(double **v, unsigned int nf, unsigned int *nvf, unsigned int **fv)
Adds a polyhedron to the pqp object.
Definition: cd_pqp.cpp:20
htransform.h
Definition of the THTransform type and the associated functions.
PQPTest
boolean PQPTest(THTransform *t1, Tpqp *m1, THTransform *t2, Tpqp *m2)
Test for collision.
Definition: cd_pqp.cpp:50
Tpqp
void Tpqp
The PQP object.
Definition: cd_pqp.h:33