64 lines
2.7 KiB
C++
64 lines
2.7 KiB
C++
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// Copyright 2018-2019 The MathWorks, Inc.
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/**
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* @file
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* @brief This file defines the exported APIs of the collisioncodegen (kernel collision checking
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* functions)
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*/
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#ifndef COLLISIONCODEGEN_CHECKCOLLISION_API_HPP
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#define COLLISIONCODEGEN_CHECKCOLLISION_API_HPP
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#include "collisioncodegen_CollisionGeometry.hpp"
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#include "collisioncodegen_ccdExtensions.hpp"
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namespace shared_robotics
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{
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/**
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* @brief Create a full-mesh primitive with faces (the caller is responsible for freeing
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* the memory pointed by the returned pointer)
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* @param vertices The vertices of the mesh
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* @param faces The faces of the mesh
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* @param numVertices The number of vertices of the mesh
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* @param isColumnMajor The boolean indicating if vertices are input in column major
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* format
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* @return An void pointer to an instance of CollisionGeometry
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*/
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EXTERN_C COLLISIONCODEGEN_API void *makeMeshFull(ccd_real_t *vertices,
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int *faces,
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int numVertices,
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int numFaces,
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bool isColumnMajor);/**
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* @brief Check collision between @p obj1 and @p obj2 if they are not in collision, also computes
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* the minimal distance and witness points if requested.
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* @param[in] obj1 Pointer to @c CollisionGeometry object 1
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* @param[in] obj2 Pointer to @c CollisionGeometry object 2
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* @param[in] computeDistance An integer indicating whether to compute minimal distance when
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* checking collision. 1 - yes, 0 - no
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* @param[out] p1Vec Pointer to witness point on @p obj1
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* @param[out] p2Vec Pointer to witness point on @p obj2
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* @param[out] distance Minimal distance between @p obj1 and @p obj2, if they are not in collision
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* @return The minimal distance between @p obj1 and @p obj2
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*/
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EXTERN_C COLLISIONCODEGEN_API int intersect(const void *obj1,
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const void *obj2,
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int computeDistance,
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ccd_real_t *p1Vec,
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ccd_real_t *p2Vec,
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ccd_real_t &distance);
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/**
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* @brief Updates the pose of the geometry with the given position and orientation
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* @param geom The collision geometry to be updated
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* @param position The new position of the collision geometry
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* @param orientation The new orientation of the collision geometry
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*/
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EXTERN_C COLLISIONCODEGEN_API void updatePose(void *geom,
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const ccd_real_t *position,
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const ccd_real_t *orientation);
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} // namespace shared_robotics
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#endif /* COLLISIONCODEGEN_CHECKCOLLISION_API_HPP */
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