next up previous contents index
Next: Robots Up: Environmentspolyhedrons and obstacles Previous: Polyhedrons

Obstacles

The function p3d_obj *p3d_get_obst_by_name(char *name)   returns the object of the scene of name name.

The function int p3d_get_obstacle_npoly(void)   returns the number of polyhedrons of the current obstacle. The function int p3d_get_obstacle_npt(int i)   returns the number of vertices of the i-th polyhedron of the current obstacle. The function void p3d_get_obstacle_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 obstacle.

The function void p3d_get_BB_obj(p3d_obj *o,double *x1,double *x2,double *y1,double *y2,double *z1,double *z2)   returns the bounding box of the object o.

The function void p3d_obstacle_info(void)   prints informations about the current obstacle : name, number, id, bounding box, polyhedrons,...



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