Method class to access geometry manager 'GeoMngr' methods. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_GEO_MNGR:

Static Public Member Functions
static DLLAPI int ER_STDCALL	erGeoMngr_GetVersion ()
	GeoMngr Version. More...

static DLLAPI TErGeoHandle ER_STDCALL	erGeoMngr_LoadGeometry (ER_HND er_hnd, LOAD_GEOMETRY_DATA *p_load_geometry_data)
	Loads a geometry by host application if callback function is defined, see erSetCallBack_LoadGeometryProc(), TerLoadGeometryProc. More...

static DLLAPI int ER_STDCALL	erGeoMngr_FreeGeometry (ER_HND er_hnd, TErGeoHandle GeoHandle)
	Free or delete a geometry by host application if callback function is defined, see erSetCallBack_FreeGeometryProc(), TerFreeGeometryProc. More...

static DLLAPI int ER_STDCALL	erGeoMngr_GetNumGeometries (ER_HND er_hnd)
	Get number of loaded geometries for specified device. More...

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometry (ER_HND er_hnd, int geometryIndex, LOAD_GEOMETRY_DATA p_load_geometry_data, DFRAME kinMat)
	Fills structure LOAD_GEOMETRY_DATA with geometry loading data. More...

static DLLAPI int ER_STDCALL	erGeoMngr_GetNumAxisGeometries (ER_HND er_hnd, int axis_nr)
	Get number of geometries belonging to an axis/joint of a kinematics/device. More...

static DLLAPI int ER_STDCALL	erGeoMngr_GetAxisGeometry (ER_HND er_hnd, int axis_nr, int geometryIndex, LOAD_GEOMETRY_DATA p_load_geometry_data, DFRAME kinMat)
	Fills structure LOAD_GEOMETRY_DATA for geometry with geometryIndex belonging to joint with axis_nr, see erGeoMngr_GetNumAxisGeometries() More...

static DLLAPI const double *ER_STDCALL	erGeoMngr_GetGeometryBBox (TErGeoHandle geometryHandle)
	Return BBox array of complete geometry. More...

static DLLAPI const double *ER_STDCALL	erGeoMngr_GetAxisBBox (ER_HND er_hnd, int axis_id)

static DLLAPI const double *ER_STDCALL	erGeoMngr_GetDeviceBBox (ER_HND er_hnd)

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryNumObjs (TErGeoHandle geometryHandle)

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumPoints (TErGeoHandle geometryHandle, int objidx)

static DLLAPI double *ER_STDCALL	erGeoMngr_GetGeometryObjPoint (TErGeoHandle geometryHandle, int objidx, int index)

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumPointNormals (TErGeoHandle geometryHandle, int objidx)

static DLLAPI double *ER_STDCALL	erGeoMngr_GetGeometryObjPointNormal (TErGeoHandle geometryHandle, int objidx, int index)

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumLines (TErGeoHandle geometryHandle, int objidx)

static DLLAPI size_t *ER_STDCALL	erGeoMngr_GetGeometryObjLine (TErGeoHandle geometryHandle, int objidx, int index)

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryObjNumPolygons (TErGeoHandle geometryHandle, int objidx)

static DLLAPI size_t *ER_STDCALL	erGeoMngr_GetGeometryObjPolygon (TErGeoHandle geometryHandle, int objidx, int index)

static DLLAPI double *ER_STDCALL	erGeoMngr_GetGeometryObjColor (TErGeoHandle geometryHandle, int objidx)

static DLLAPI long ER_STDCALL	erGeoMngr_GetGeometryObjColorCode (TErGeoHandle geometryHandle, int objidx)

static DLLAPI int ER_STDCALL	erGeoMngr_GetGeometryCloneCount (TErGeoHandle geometryHandle)

static DLLAPI TErGeoHandle ER_STDCALL	erGeoMngr_GetGeometryCloneHandle (TErGeoHandle geometryHandle)

static DLLAPI int ER_STDCALL	erGeoMngr_SetGeometryCollisionHandle (TErGeoHandle geometryHandle, ER_COLLISION_HND collisionHandle)

static DLLAPI ER_COLLISION_HND *ER_STDCALL	erGeoMngr_GetGeometryCollisionHandle (TErGeoHandle geometryHandle)

static DLLAPI int ER_STDCALL	erGeoMngr_SetGeometryIsCollided (TErGeoHandle geometryHandle, int isCollided)

static DLLAPI int *ER_STDCALL	erGeoMngr_GetGeometryIsCollided (TErGeoHandle geometryHandle)

static DLLAPI int ER_STDCALL	erGeoMngr_CheckBoundingBoxCollision (DFRAME T1, const double bbox1, DFRAME T2, const double bbox2, double tolerance)

Static Public Member Functions inherited from ERK_CAPI_GEO
static DLLAPI int ER_STDCALL	erUpdateGeo (ER_HND er_hnd)
	Updates all geometry location for each robot joint. This function causes the call of callback function TerUpdateGeometryProc(). The resulted geometry location w.r.t. robot base is the product of KinMat and GeoMat. More...

Additional Inherited Members
Static Public Attributes inherited from ERK_CAPI_GEO
static ERK_CAPI_GEO_MNGR	erk_capi_geo_mngr
	Method class to access geometry manager methods. More...

Static Public Attributes inherited from ERK_CAPI
static ERK_CAPI_ADMIN	erk_capi_admin
	Method class to administrate this Robotics Simulation Kernel. More...

static ERK_CAPI_DEVICES	erk_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for motion planning and -execution. More...

static ERK_CAPI_SIM	erk_capi_sim
	Method class for simulation settings. More...

static ERK_CAPI_AUTOPATH	erk_capi_autopath
	Method class for collision free path planning. More...

static ERK_CAPI_TARGETS	erk_capi_targets
	Method class for paths and tags. More...

static ERK_CAPI_GEO	erk_capi_geo
	Method class to handle 3D Geometry Data. More...

static ERK_CAPI_SYS	erk_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method class to access geometry manager 'GeoMngr' methods.

Member Function Documentation

◆ erGeoMngr_CheckBoundingBoxCollision()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_CheckBoundingBoxCollision	(	DFRAME *	T1,
		const double *	bbox1,
		DFRAME *	T2,
		const double *	bbox2,
		double	tolerance
	)

static

◆ erGeoMngr_FreeGeometry()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_FreeGeometry	(	ER_HND	er_hnd,
		TErGeoHandle	GeoHandle
	)

static

Free or delete a geometry by host application if callback function is defined, see erSetCallBack_FreeGeometryProc(), TerFreeGeometryProc.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	GeoHandle	unique geometry handle TErGeoHandle

Return values

0	- OK
1	- Error

◆ erGeoMngr_GetAxisBBox()

static DLLAPI const double* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetAxisBBox	(	ER_HND	er_hnd,
		int	axis_id
	)

static

◆ erGeoMngr_GetAxisGeometry()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetAxisGeometry	(	ER_HND	er_hnd,
		int	axis_nr,
		int	geometryIndex,
		LOAD_GEOMETRY_DATA *	p_load_geometry_data,
		DFRAME *	kinMat
	)

static

Fills structure LOAD_GEOMETRY_DATA for geometry with geometryIndex belonging to joint with axis_nr, see erGeoMngr_GetNumAxisGeometries()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	axis_nr	axis/joint index [-num_dofs_passive ... num_dofs_active] of device, where num_dofs_passive and -active are the number passive and acitve joint of devicejoints
[in]	geometryIndex	geometry index [0..num_geos_axis-1] of the requested geometry data, where num_geos_axis is the number of geometries belonging to axis_nr
[out]	p_load_geometry_data	geometry data, LOAD_GEOMETRY_DATA
[out]	kinMat	joint coorsys location w.r.t. robot base, DFRAME

Return values

0	- OK
1	- Error or no geometry data available

◆ erGeoMngr_GetDeviceBBox()

static DLLAPI const double* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetDeviceBBox ( ER_HND er_hnd )

static

◆ erGeoMngr_GetGeometry()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometry	(	ER_HND	er_hnd,
		int	geometryIndex,
		LOAD_GEOMETRY_DATA *	p_load_geometry_data,
		DFRAME *	kinMat
	)

static

Fills structure LOAD_GEOMETRY_DATA with geometry loading data.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	geometryIndex	- geometry index [0..numGeos-1] of the requested geometry data, where numGoes is the number of geometries
[out]	p_load_geometry_data	- geometry data, LOAD_GEOMETRY_DATA
[out]	kinMat	joint coorsys location w.r.t. robot base, DFRAME

Return values

0	- OK
1	- Error or no geometry data available

◆ erGeoMngr_GetGeometryBBox()

static DLLAPI const double* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryBBox ( TErGeoHandle geometryHandle )

static

Return BBox array of complete geometry.

// Example:
// see ERK-example-Suite, int CErOpenGLDraw::DrawKernel_3D_Scenerio()
...
int numGeos = erk_geo_mngr.erGeoMngr_GetNumGeometries(erHnd);   // number of geometries for specified device
LOAD_GEOMETRY_DATA lgd;
DFRAME kinMat;
// iGeo = [0, numGeos[
if (erk_geo_mngr.erGeoMngr_GetGeometry(erHnd, iGeo, &lgd, &kinMat))     // fills structure pointed to by 'lgd' with geometry loading data
        continue;
...
TErGeoHandle geoHnd = lgd.GeoHandle;
...
        // Draw BoundingBox if any
        const double* bbox = erk_geo_mngr.erGeoMngr_GetGeometryBBox(geoHnd);
        if (m_pn_Dlg->m_show_bbox && bbox)
        {
                double scaled_bbox[6];
                for (int i = 0; i < 6; ++i)
                        scaled_bbox[i] = bbox[i] * Scaling[i % 3];
                double bbox_color[] = { 0.0, 1.0, 1.0, 1.0 };
                DrawBoundingBox(scaled_bbox, 1.0, bbox_color);
        }
...

Parameters

[in] geometryHandle geometry handle TErGeoHandle

Return values

pointer	- pointer to BBox array size 6
NULL	- Error, BBox not available

◆ erGeoMngr_GetGeometryCloneCount()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryCloneCount ( TErGeoHandle geometryHandle )

static

◆ erGeoMngr_GetGeometryCloneHandle()

static DLLAPI TErGeoHandle ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryCloneHandle ( TErGeoHandle geometryHandle )

static

◆ erGeoMngr_GetGeometryCollisionHandle()

static DLLAPI ER_COLLISION_HND* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryCollisionHandle ( TErGeoHandle geometryHandle )

static

◆ erGeoMngr_GetGeometryIsCollided()

static DLLAPI int* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryIsCollided ( TErGeoHandle geometryHandle )

static

◆ erGeoMngr_GetGeometryNumObjs()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryNumObjs ( TErGeoHandle geometryHandle )

static

◆ erGeoMngr_GetGeometryObjColor()

static DLLAPI double* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjColor	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

static

◆ erGeoMngr_GetGeometryObjColorCode()

static DLLAPI long ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjColorCode	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

static

◆ erGeoMngr_GetGeometryObjLine()

static DLLAPI size_t* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjLine	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

static

◆ erGeoMngr_GetGeometryObjNumLines()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjNumLines	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

static

◆ erGeoMngr_GetGeometryObjNumPointNormals()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjNumPointNormals	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

static

◆ erGeoMngr_GetGeometryObjNumPoints()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjNumPoints	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

static

◆ erGeoMngr_GetGeometryObjNumPolygons()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjNumPolygons	(	TErGeoHandle	geometryHandle,
		int	objidx
	)

static

◆ erGeoMngr_GetGeometryObjPoint()

static DLLAPI double* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjPoint	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

static

◆ erGeoMngr_GetGeometryObjPointNormal()

static DLLAPI double* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjPointNormal	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

static

◆ erGeoMngr_GetGeometryObjPolygon()

static DLLAPI size_t* ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetGeometryObjPolygon	(	TErGeoHandle	geometryHandle,
		int	objidx,
		int	index
	)

static

◆ erGeoMngr_GetNumAxisGeometries()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetNumAxisGeometries	(	ER_HND	er_hnd,
		int	axis_nr
	)

static

Get number of geometries belonging to an axis/joint of a kinematics/device.

// Example:
// see ERK-example-Suite, int CErERK_COLLISION::ChkDeviceAxisGeometriesCollisions()
//
// axis_dev1 is in [-num_dofs_passiv_1, num_dofs_active_1] ... number of passive and active joints of device with unique kinematics handle erHnd_1
// axis_dev2 is in [-num_dofs_passiv_2, num_dofs_active_2] ... number of passive and active joints of device with unique kinematics handle erHnd_2
//
ER_HND erHnd_1 = per_dev_1->er_hnd;
int num_geos_axis_dev1 = erk_geo_mngr.erGeoMngr_GetNumAxisGeometries(erHnd_1, axis_dev1); // number of geometries belonging to axis of 1st device
ER_HND erHnd_2 = per_dev_2->er_hnd;
int num_geos_axis_dev2 = erk_geo_mngr.erGeoMngr_GetNumAxisGeometries(erHnd_2, axis_dev2); // number of geometries belonging to axis of 2nd device
for (int ii = 0; ii < num_geos_axis_dev1; ++ii)
{
        LOAD_GEOMETRY_DATA lgd_1;
        DFRAME kinMat;
        if (erk_geo_mngr.erGeoMngr_GetAxisGeometry(erHnd_1, axis_dev1, ii, &lgd_1, &kinMat))    // fills structure pointed to by 'lgd' with geometry loading data
                continue;
        // 1st Model
        ER_COLLISION_HND er_coll_hnd_1 = *erk_geo_mngr.erGeoMngr_GetGeometryCollisionHandle(lgd_1.GeoHandle);                   // unique Collision handle for the 1st Model
        if (!er_coll_hnd_1)
                continue;
        int *pGeoIsCollided_1 = erk_geo_mngr.erGeoMngr_GetGeometryIsCollided(lgd_1.GeoHandle);
        DFRAME T_1, iTb, T_kinMat_GeoMat;
        erk_sys_mathematics.erMath_mul_T_T(&T_kinMat_GeoMat, &kinMat, lgd_1.GeoMat);
        erk_rob_kin.erGetRobotBase(erHnd_1, &iTb);      // Get robot base location w.r.t. world (=inertia, =reference coorsys)
        DFRAME *iTref_1 = &per_dev_1->iTref;
        erk_sys_mathematics.erMath_mul_T_T_T(&T_1, iTref_1, &iTb, &T_kinMat_GeoMat);
        for (int jj = 0; jj < num_geos_axis_dev2; ++jj)
        {
                // 2nd Model
                LOAD_GEOMETRY_DATA lgd_2;
                if (erk_geo_mngr.erGeoMngr_GetAxisGeometry(erHnd_2, axis_dev2, jj, &lgd_2, &kinMat))    // fills structure pointed to by 'lgd' with geometry loading data
                        continue;
                ER_COLLISION_HND er_coll_hnd_2 = *erk_geo_mngr.erGeoMngr_GetGeometryCollisionHandle(lgd_2.GeoHandle);                   // unique Collision handle for the 2nd Model
                if (!er_coll_hnd_2)
                        continue;
                int *pGeoIsCollided_2 = erk_geo_mngr.erGeoMngr_GetGeometryIsCollided(lgd_2.GeoHandle);
                DFRAME T_2, iTb, T_kinMat_GeoMat;
                erk_sys_mathematics.erMath_mul_T_T(&T_kinMat_GeoMat, &kinMat, lgd_2.GeoMat);
                erk_rob_kin.erGetRobotBase(erHnd_2, &iTb);      // Get robot base location w.r.t. world (=inertia, =reference coorsys)
                DFRAME *iTref_2 = &per_dev_2->iTref;
                erk_sys_mathematics.erMath_mul_T_T_T(&T_2, iTref_2, &iTb, &T_kinMat_GeoMat);
                // Initialize collision result structures depending on query_type
                Erk_CollisionResult_Init(query_type, pres);
                long collision = ER_COLL_OK;                            // ER_COLL_DETECTED - collision, ER_COLL_OK - no collision
                collision = erk_sim_collision.erColl_ChkCollision_res(
                        er_coll_hnd_1,                                                  // unique Collision handle for the 1st Model
                        &T_1,                                                                   // location of 1st object
                        er_coll_hnd_2,                                                  // unique Collision handle for the 2nd Model
                        &T_2,                                                                   // location of 2nd object
                        query_type,                                                             // ER_COLL_QUERY_TYPE_COLLIDE, ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE
                        contact_type,                                                   // ER_COLL_FIRST_CONTACT, ER_COLL_ALL_CONTACTS
                        rel_err,                                                                // the relative error margin from actual distance
                        abs_err,                                                                // the absolute error margin from actual distance
                        tolerance,                                                              // Tolerance [m]
                        pres                                                                    // pres collision result depending on query type is ::ER_CollideResult, ::ER_DistanceResult or ::ER_ToleranceResult
                );
                if (collision_ret == ER_COLL_OK)
                        collision_ret = collision;
                if (collision == ER_COLL_DETECTED)
                         *pGeoIsCollided_1 = *pGeoIsCollided_2 = ER_COLL_DETECTED;      // indicate geo is collided, used for visualization
                if (output)
                        if (collision == ER_COLL_DETECTED)
                        {
                                char bb[ER_MAXSTR];
                                sprintf_s(bb, ER_MAXSTR, "Check Collision between Tool %s and WorkPiece %s -> %s",
                                        lgd_1.GeoName, lgd_2.GeoName,
                                        collision == ER_COLL_DETECTED ? "ER_COLL_DETECTED" :
                                        collision == ER_COLL_ERROR ? "ER_COLL_ERROR" :
                                        collision == ER_COLL_HND_INVALID ? "ER_COLL_HND_INVALID" :
                                        "ER_COLL_OK"
                                );
                                ShowMessages(ER_LOG_TYPE_MSG, bb);
                        }
        }
}
...

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	axis_nr	axis/joint index [-num_dofs_passive ... num_dofs_active] of device, where num_dofs_passive and -active are the number passive and acitve joint of device/joints

Return values

0	- no geometries available for this joint
>0	- number of geometries belonging to joint represented by axis_nr

◆ erGeoMngr_GetNumGeometries()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetNumGeometries ( ER_HND er_hnd )

static

Get number of loaded geometries for specified device.

Parameters

[in] er_hnd unique kinematics handle ER_HND

Return values

0	- no geometries loaded or invalid handle
>0	- number of loaded geometries

◆ erGeoMngr_GetVersion()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_GetVersion ( )

static

GeoMngr Version.

Return values

version GeoMngr version number

◆ erGeoMngr_LoadGeometry()

static DLLAPI TErGeoHandle ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_LoadGeometry	(	ER_HND	er_hnd,
		LOAD_GEOMETRY_DATA *	p_load_geometry_data
	)

static

Loads a geometry by host application if callback function is defined, see erSetCallBack_LoadGeometryProc(), TerLoadGeometryProc.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	p_load_geometry_data	geometry data, LOAD_GEOMETRY_DATA

Return values

TErGeoHandle unique geometry handle created by GeoMngr

◆ erGeoMngr_SetGeometryCollisionHandle()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_SetGeometryCollisionHandle	(	TErGeoHandle	geometryHandle,
		ER_COLLISION_HND	collisionHandle
	)

static

◆ erGeoMngr_SetGeometryIsCollided()

static DLLAPI int ER_STDCALL ERK_CAPI_GEO_MNGR::erGeoMngr_SetGeometryIsCollided	(	TErGeoHandle	geometryHandle,
		int	isCollided
	)

static

The documentation for this class was generated from the following file:

erk_capi.h

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ erGeoMngr_CheckBoundingBoxCollision()

◆ erGeoMngr_FreeGeometry()

◆ erGeoMngr_GetAxisBBox()

◆ erGeoMngr_GetAxisGeometry()

◆ erGeoMngr_GetDeviceBBox()

◆ erGeoMngr_GetGeometry()

◆ erGeoMngr_GetGeometryBBox()

◆ erGeoMngr_GetGeometryCloneCount()

◆ erGeoMngr_GetGeometryCloneHandle()

◆ erGeoMngr_GetGeometryCollisionHandle()

◆ erGeoMngr_GetGeometryIsCollided()

◆ erGeoMngr_GetGeometryNumObjs()

◆ erGeoMngr_GetGeometryObjColor()

◆ erGeoMngr_GetGeometryObjColorCode()

◆ erGeoMngr_GetGeometryObjLine()

◆ erGeoMngr_GetGeometryObjNumLines()

◆ erGeoMngr_GetGeometryObjNumPointNormals()

◆ erGeoMngr_GetGeometryObjNumPoints()

◆ erGeoMngr_GetGeometryObjNumPolygons()

◆ erGeoMngr_GetGeometryObjPoint()

◆ erGeoMngr_GetGeometryObjPointNormal()

◆ erGeoMngr_GetGeometryObjPolygon()

◆ erGeoMngr_GetNumAxisGeometries()

◆ erGeoMngr_GetNumGeometries()

◆ erGeoMngr_GetVersion()

◆ erGeoMngr_LoadGeometry()

◆ erGeoMngr_SetGeometryCollisionHandle()

◆ erGeoMngr_SetGeometryIsCollided()