83 lines
3.4 KiB
C++
83 lines
3.4 KiB
C++
// Copyright 2019-2021 The MathWorks, Inc.
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/**
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* @file
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* @brief This files serves as a wrapper of the
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* collisioncodegen_checkCollision_api.hpp. This file is ANSI-C compliant.
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*/
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#ifndef COLLISIONCODEGEN_API_HPP
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#define COLLISIONCODEGEN_API_HPP
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#include "collisioncodegen_util.hpp"
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typedef void* CollisionGeometryPtr;
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/**
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* @brief Create a collision geometry as a box primitive (the caller is responsible for freeing the
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* memory pointed by the returned pointer)
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* @param x The side length of the box along x-axis
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* @param y The side length of the box along y-axis
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* @param z The side length of the box along z-axis
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* @return A void pointer to an instance of CollisionGeometry
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*/
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EXTERN_C COLLISIONCODEGEN_API CollisionGeometryPtr collisioncodegen_makeBox(double x, double y, double z);
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/**
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* @brief Create a collision geometry as a sphere primitive (the caller is responsible for freeing
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* the memory pointed by the returned pointer)
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* @param r The radius of the sphere
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* @return A void pointer to an instance of CollisionGeometry
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*/
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EXTERN_C COLLISIONCODEGEN_API CollisionGeometryPtr collisioncodegen_makeSphere(double r);
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/**
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* @brief Create a collision geometry as a box primitive (the caller is responsible for freeing the
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* memory pointed by the returned pointer)
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* @param r The radius of the cylinder
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* @param h The length of the cylinder
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* @return A void pointer to an instance of CollisionGeometry
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*/
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EXTERN_C COLLISIONCODEGEN_API CollisionGeometryPtr collisioncodegen_makeCylinder(double r, double h);
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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 numVertices The number of vertices of the mesh
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* @return A void pointer to an instance of CollisionGeometry
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*/
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EXTERN_C COLLISIONCODEGEN_API CollisionGeometryPtr collisioncodegen_makeMesh(double *vertices,
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double numVertices);
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/**
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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 collisioncodegen_intersect(CollisionGeometryPtr obj1,
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double* pos1,
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double* quat1,
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CollisionGeometryPtr obj2,
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double* pos2,
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double* quat2,
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double computeDistance,
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double* p1Vec,
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double* p2Vec,
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double* distance);
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/**
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* @brief Delete the factory generated CollisionGeometryPtr
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* @param[in] objPtr Pointer to a pointer of CollisionGeometry object
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*/
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EXTERN_C COLLISIONCODEGEN_API void collisioncodegen_destructGeometry(const CollisionGeometryPtr* objPtr);
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#endif
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