environment.h File Reference

Detailed Description

Definition of the Tenvironment type and the associated functions.

See Also

Tenvironment, environment.c.

Definition in file environment.h.

Data Structures
struct	Tenvironment
	A collection of obstacles (convex polyhedrons) with their names. More...

Macros
#define	INIT_NUM_OBSTACLES   10
	Initial room for obstacles. More...

Functions
void	InitEnvironment (Tenvironment *e)
	Constructor. More...
void	AddShape2Environment (char *name, Tpolyhedron *o, Tenvironment *e)
	Adds an obstacle (i.e., a convex polyhedron) to the environment. More...
unsigned int	GetEnvironmentNObstacles (Tenvironment *e)
	Gets the number of obstacles in the environment. More...
unsigned int	GetObstacleID (char *name, Tenvironment *e)
	Gets the idetifier of an obstacles given its name. More...
char *	GetObstacleName (unsigned int i, Tenvironment *e)
	Gets the name of an obstacle given its identifier. More...
Tpolyhedron *	GetObstacleShape (unsigned int i, Tenvironment *e)
	Gets the convex polyhedron of an obstacle given its identifier. More...
unsigned int	GetObstacleShapeStatus (unsigned int i, Tenvironment *e)
	Gets the status (NORMAL, HIDDEN, DECOR) of an obstacle given its identifier. More...
void	GetObstacleColor (unsigned int i, Tcolor *c, Tenvironment *e)
	Gets the color of an obstacle given its identifier. More...
double	GetEnvironmentMaxCoordinate (Tenvironment *e)
	Returns the sum of the maximum coordinate value for all the convex polyhedrons in the environment. More...
void	PrintEnvironment (FILE *f, char *path, Tenvironment *e)
	Stores the environment information into a file. More...
void	PlotEnvironment (Tplot3d *pt, Tenvironment *e)
	Displays the obstacles in the environment in a 3D geometry. More...
void	DeleteEnvironment (Tenvironment *e)
	Destructor. More...

Macro Definition Documentation

#define INIT_NUM_OBSTACLES   10

Initial room for obstacles. It will be enlarged if necessary.

See Also

Tenvironment

Definition at line 29 of file environment.h.

Referenced by InitEnvironment().

Function Documentation

void InitEnvironment

(

Tenvironment *

e

)

Creates an empty environment.

Parameters

e	The environment to intialize.

Definition at line 13 of file environment.c.

References CopyVoidPtr(), DeleteVoidPtr(), INIT_NUM_OBSTACLES, InitVector(), Tenvironment::maxCoord, Tenvironment::names, and Tenvironment::obstacles.

Referenced by InitWorld().

void AddShape2Environment	(	char *	name,
		Tpolyhedron *	o,
		Tenvironment *	e
	)

Adds an obstacle (i.e., a convex polyhedron) to the environment.

Parameters

name	The name of the obstacle.
o	The obstacle to add to the environment.
e	The environment where to add the new obstacle.

See Also

Tpolyhedron, InitPolyhedronFromFile.

Definition at line 20 of file environment.c.

References CopyPolyhedron(), EmptyPolyhedron(), GetPolyhedronMaxCoordinate(), Tenvironment::maxCoord, Tenvironment::names, NEW, NewVectorElement(), Tenvironment::obstacles, and SetVectorElement().

Referenced by AddObstacle2World().

unsigned int GetEnvironmentNObstacles

(

Tenvironment *

e

)

Gets the number of obstacles in the environment.

Parameters

e	The environment to query.

Returns

The number of obstacles in the environment.

Definition at line 43 of file environment.c.

References Tenvironment::obstacles, and VectorSize().

Referenced by DeleteEnvironment(), InitPQPCD(), InitSolidCD(), InitVcollideCD(), PlotEnvironment(), PrintEnvironment(), WorldPrintAtoms(), and WorldStoreRigidGroups().

unsigned int GetObstacleID	(	char *	name,
		Tenvironment *	e
	)

Gets the idetifier of an obstacles given its name. The identifier of an obstacle is its position in the vectors name/obstacles of included in the Tenvironment structure.

Parameters

name	The name of the obstacle.
e	The environment to query.

Returns

The idetifier of an obstacles given its name or NO_UINT if there is no obstacle with the given name.

Definition at line 48 of file environment.c.

References FALSE, GetVectorElement(), Tenvironment::names, NO_UINT, TRUE, and VectorSize().

Referenced by GetWorldObstacleID().

char* GetObstacleName	(	unsigned int	i,
		Tenvironment *	e
	)

Gets the name of an obstacle given its identifier.

Parameters

i	The identifier of the object to query.
e	The environment to query.

Returns

A pointer to the name of the requested obstacle or NULL if there is no obstacle with the given identifier.

Definition at line 74 of file environment.c.

References GetVectorElement(), and Tenvironment::names.

Referenced by DeleteEnvironment(), PrintCollisionInfoInt(), PrintCollisions(), and PrintEnvironment().

Tpolyhedron* GetObstacleShape	(	unsigned int	i,
		Tenvironment *	e
	)

Gets the convex polyhedron of an obstacle given its identifier.

Parameters

i	The identifier of the object to query.
e	The environment to query.

Returns

A pointer to the convex polyhedron of the requested obstacle or NULL if there is no obstacle with the given identifier.

Definition at line 85 of file environment.c.

References GetVectorElement(), and Tenvironment::obstacles.

Referenced by DeleteEnvironment(), InitPQPCD(), InitSolidCD(), InitVcollideCD(), PlotEnvironment(), and PrintEnvironment().

unsigned int GetObstacleShapeStatus	(	unsigned int	i,
		Tenvironment *	e
	)

Gets the status (NORMAL, HIDDEN, DECOR) of an obstacle given its identifier.

Parameters

i	The identifier of the object to query.
e	The environment to query.

Returns

A the status (NORMAL, HIDDEN, DECOR) of the requested obstacle or NO_UINT if there is no obstacle with the given identifier.

Definition at line 96 of file environment.c.

References GetPolyhedronStatus(), GetVectorElement(), NO_UINT, and Tenvironment::obstacles.

Referenced by CheckAllCollisions(), InitPQPCD(), InitSolidCD(), and InitVcollideCD().

void GetObstacleColor	(	unsigned int	i,
		Tcolor *	c,
		Tenvironment *	e
	)

Gets the color of an obstacle given its identifier.

Parameters

i	The identifier of the object to query.
c	The color of the requested obstacle.
e	The environment to query.

Definition at line 107 of file environment.c.

References Error(), GetPolyhedronColor(), GetVectorElement(), and Tenvironment::obstacles.

double GetEnvironmentMaxCoordinate

(

Tenvironment *

e

)

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

Parameters

e	The environment to query.

Returns

The sum of the maximum coordinate values for all bodies in the environment.

Definition at line 118 of file environment.c.

References Tenvironment::maxCoord.

Referenced by GenerateWorldEquations().

void PrintEnvironment	(	FILE *	f,
		char *	path,
		Tenvironment *	e
	)

Stores the environment information into a file in the format valid to be read by InitWorldFromFile.

Parameters

f	The file where to store the information.
path	The working folder.
e	The environment to print.

Definition at line 123 of file environment.c.

References GetEnvironmentNObstacles(), GetObstacleName(), GetObstacleShape(), and PrintPolyhedron().

Referenced by PrintWorld().

void PlotEnvironment	(	Tplot3d *	pt,
		Tenvironment *	e
	)

Displays the obstacles in the environment in a 3D geometry.

Parameters

pt	The 3D geometry where the to plot the environment.
e	The environment to plot.

Definition at line 146 of file environment.c.

References Close3dObject(), DCP3D_G, DCP3D_R, DeleteColor(), GetEnvironmentNObstacles(), GetObstacleShape(), NewColor(), PlotPolyhedron(), and StartNew3dObject().

Referenced by PlotWorld().

void DeleteEnvironment

(

Tenvironment *

e

)

Deletes the information stored in a Tenvironment and frees the allocated memory.

Parameters

e	The environment to delete.

Definition at line 169 of file environment.c.

References DeletePolyhedron(), DeleteVector(), GetEnvironmentNObstacles(), GetObstacleName(), GetObstacleShape(), Tenvironment::names, and Tenvironment::obstacles.

Referenced by DeleteWorld().