38 #ifndef AMINO_RX_SCENE_COLLISION_H 39 #define AMINO_RX_SCENE_COLLISION_H 62 AA_API struct aa_rx_cl_set*
87 const struct aa_rx_cl_set *src );
149 const struct aa_rx_cl_set *
set );
171 const double *TF,
size_t ldTF,
172 struct aa_rx_cl_set *cl_set );
AA_API struct aa_rx_cl_set * aa_rx_cl_set_create(const struct aa_rx_sg *sg)
Create a collision set.
AA_API void aa_rx_cl_set_destroy(struct aa_rx_cl_set *cl_set)
Destroy a collision set.
signed long aa_rx_frame_id
Type for frame indices.
AA_API void aa_rx_sg_get_collision(const struct aa_rx_sg *scene_graph, size_t n_q, const double *q, struct aa_rx_cl_set *cl_set)
Check the collisions at q.
AA_API void aa_rx_sg_cl_set_copy(const struct aa_rx_sg *sg, struct aa_rx_cl_set *cl_set)
Retrieve the set of allowed collisions.
AA_API void aa_rx_cl_set_set(struct aa_rx_cl_set *cl_set, aa_rx_frame_id i, aa_rx_frame_id j, int is_colliding)
Set the value of collision between frames i and j.
AA_API void aa_rx_sg_cl_init(struct aa_rx_sg *scene_graph)
Initialize the collision structures within scene_graph.
AA_API void aa_rx_cl_destroy(struct aa_rx_cl *cl)
Destroy a collision detection context.
AA_API void aa_rx_cl_allow(struct aa_rx_cl *cl, aa_rx_frame_id i, aa_rx_frame_id j, int allowed)
Allow (ignore) collisions between frames i and j if allowed is true.
AA_API struct aa_rx_cl * aa_rx_cl_create(const struct aa_rx_sg *scene_graph)
Create a new collision detection context for scene_graph.
AA_API void aa_rx_cl_allow_name(struct aa_rx_cl *cl, const char *frame0, const char *frame1, int allowed)
Allow (ignore) collisions between frames0 and frame1 if allowed is true.
AA_API void aa_rx_cl_init()
Initialize collision handling.
AA_API void aa_rx_cl_set_clear(struct aa_rx_cl_set *cl_set)
Clear all collisions stored in the set.
Opaque type for a scene_graph.
AA_API int aa_rx_cl_set_get(const struct aa_rx_cl_set *cl_set, aa_rx_frame_id i, aa_rx_frame_id j)
Return the value of collision between frames i and j.
AA_API void aa_rx_sg_allow_config(struct aa_rx_sg *scene_graph, size_t n_q, const double *q)
Allow all collisions at configuration q.
#define AA_API
calling and name mangling convention for functions
AA_API void aa_rx_cl_allow_set(struct aa_rx_cl *cl, const struct aa_rx_cl_set *set)
Allow collisions between all frame pairs in set.
AA_API void aa_rx_cl_set_merge(struct aa_rx_cl_set *into, const struct aa_rx_cl_set *from)
Fill set `into' with all elements in set `from'.
AA_API int aa_rx_cl_check(struct aa_rx_cl *cl, size_t n_tf, const double *TF, size_t ldTF, struct aa_rx_cl_set *cl_set)
Detect collisions.
AA_API void aa_rx_cl_set_fill(struct aa_rx_cl_set *dst, const struct aa_rx_cl_set *src)
Fill dst with all true entries in src.