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Description of an obstacle

 

The description of an obstacle always start by the function p3d_beg_desc(P3D_OBSTACLE, obst_name). This time, p3d_beg_desc checks if the description of an environment has been started, if we are not describing a robot or another obtsacle at the same time and calls the function void *p3d_beg_obj(char *name, int type)   with the name obst_name and the type P3D_OBSTACLE as inputs. The function p3d_beg_obj allocates an object structure p3d_obj (cf Annex gif) of name obst_name, and of type P3D_OBSTACLE, intializes it, stores it as the current object of the environment and returns it as an output.

Once the obstacle has been initialized, the user can add one or several polyhedrons to describe its geometry (cf Fig. gif). Those polyhedrons can be created using regular geometric primitives or can be described vertex by vertex.





Nicola Simeon
Fri Oct 27 09:07:38 MET DST 2000