The function p3d_obj *p3d_get_body_by_name(char *name) returns the body of the current robot of name name.
The function int p3d_get_body_npoly(void) returns the number of polyhedrons of the current body of the current robot. The function int p3d_get_body_npt(int i) returns the number of vertices of the i-th polyhedron of the current body of the current robot. The function void p3d_get_body_pt(int num, int i, double *x, double *y, double *z) returns the coordinates (x,y,z) of the i-th vertex of the polyhedron of number num of the current body of the current robote.
The function void p3d_get_BB_obj(p3d_obj *o,double *x1,double *x2,double *y1,double *y2,double *z1,double *z2) can also be used to get the bounding box of the body o.
The function void p3d_obstacle_info(void) prints informations about the current obstacle : name, number, id, bounding box, polyhedrons, joint corresponding to this body...