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Body

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...



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