ERK_CAPI_SIM_COLLISION Class Reference

Method class for collision, tolerances, etc. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_SIM_COLLISION:

Static Public Member Functions
static DLLAPI int ER_STDCALL	erColl_BeginModel (ER_COLLISION_HND *er_coll_hnd, long n_tris)
	Creates a collision handle for one Model and preallocate memory for n_tris triangles. More...
static DLLAPI int ER_STDCALL	erColl_AddTri (ER_COLLISION_HND er_coll_hnd, double *p1, double *p2, double *p3, long id)
	Adds a triangle to a Model. call erColl_BeginModel() once to create a new unique model handle. More...
static DLLAPI int ER_STDCALL	erColl_EndModel (ER_COLLISION_HND er_coll_hnd)
	Stop building a Model. More...
static DLLAPI int ER_STDCALL	erColl_ChkCollision (ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1, ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0)
	Perform the collision check of two Models. See also erColl_ChkCollision_res() to get the collision results immediately The query type query_type can be one of the following values. 0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks 1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models 2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models 3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values. 1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult. 2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found. Collide Detects collsion. This is the fastest method. Distance Computes minimum distance between two Models. This method takes the most time !!! Tolerances Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE Checks if distance between Models is <= tolerance. Remarks If erColl_ChkCollision() returns with ER_COLL_DETECTED call, depending on the query type, one of the collision result functions erColl_GetResults_Collide(), erColl_GetResults_Distance() or erColl_GetResults_Tolerance() to receive more detailed information about the collision status. More...
static DLLAPI int ER_STDCALL	erColl_ChkCollision_res (ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1, ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0, void *pres=NULL)
	Perform the collision check of two Models. Collision results returned immediately by parameter pres compared to erColl_ChkCollision() The query type query_type can be one of the following values. 0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks 1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models 2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models 3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values. 1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult. 2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found. Collide Detects collsion. This is the fastest method. Distance Computes minimum distance between two Models. This method takes the most time !!! Tolerances Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE Checks if distance between Models is <= tolerance. Remarks If erColl_ChkCollision_res() returns with ER_COLL_DETECTED, get more detailed information about the collision status by parameter pres. More...
static DLLAPI int ER_STDCALL	erColl_ChkCollision_res_free (long query_type, void *pres)
	Frees allocated memory for Collision results for parameter pres The query type query_type can be one of the following values. 0: ER_COLL_QUERY_TYPE_UNDEF skip operation 1: ER_COLL_QUERY_TYPE_COLLIDE frees allocated data in ER_CollideResult 2: ER_COLL_QUERY_TYPE_DISTANCE frees allocated data in ER_DistanceResult 3: ER_COLL_QUERY_TYPE_TOLERANCE frees allocated data in ER_ToleranceResult Remarks Note that the allocated memory in the Collision results structures must be administrated by the Kernel and not in the host application. More...
static DLLAPI int ER_STDCALL	erColl_UnloadModel (ER_COLLISION_HND *er_coll_hnd)
	Unload a Model. Free all allocated memory. More...
static DLLAPI int ER_STDCALL	erColl_GetResults_Collide (ER_CollideResult *er_cres)
	Get Collision result for query ER_COLL_QUERY_TYPE_COLLIDE. Remarks Call erColl_ChkCollision() first, brfore calling this function. More...
static DLLAPI int ER_STDCALL	erColl_GetResults_Distance (ER_DistanceResult *er_dres)
	Get Collision result for query ER_COLL_QUERY_TYPE_DISTANCE. Remarks Call erColl_ChkCollision() first, before calling this function. More...
static DLLAPI int ER_STDCALL	erColl_GetResults_Tolerance (ER_ToleranceResult *er_tres)
	Get Collision result for query ER_COLL_QUERY_TYPE_TOLERANCE. Remarks Call erColl_ChkCollision() first, brfore calling this function. More...

Additional Inherited Members
Static Public Attributes inherited from ERK_CAPI_SIM
static ERK_CAPI_SIM_COLLISION	erk_capi_sim_collision
	Method class for collision, tolerances, etc. 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 for collision, tolerances, etc.

Member Function Documentation

erColl_AddTri()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_AddTri ( ER_COLLISION_HND  er_coll_hnd, double *  p1, double *  p2, double *  p3, long  id  )

static

Adds a triangle to a Model.
call erColl_BeginModel() once to create a new unique model handle.

Parameters

[in]	er_coll_hnd	a valid unique Collision handle ER_COLLISION_HND
[in]	p1	1st point of triangle
[in]	p2	2nd point of triangle
[in]	p3	3rd point of triangle
[in]	id	unique identifier for this triangle

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_BeginModel()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_BeginModel ( ER_COLLISION_HND *  er_coll_hnd, long  n_tris  )

static

Creates a collision handle for one Model and preallocate memory for n_tris triangles.

Parameters

[out]	er_coll_hnd	unique Collision handle ER_COLLISION_HND
[in]	n_tris	number of model triangles

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid
-1	- ER_COLL_ERR_MODEL_OUT_OF_MEMORY - not enough memory

erColl_ChkCollision()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_ChkCollision ( ER_COLLISION_HND  er_coll_hnd_1, DFRAME *  iT_1, ER_COLLISION_HND  er_coll_hnd_2, DFRAME *  iT_2, long  query_type = ER_COLL_QUERY_TYPE_COLLIDE, long  contact_type = ER_COLL_FIRST_CONTACT, double  rel_err = 0, double  abs_err = 0, double  tolerance = 0  )

static

Perform the collision check of two Models.
See also erColl_ChkCollision_res() to get the collision results immediately
The query type query_type can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks
1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models
2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models
3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance
The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.
1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult.
2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found.
Collide
Detects collsion. This is the fastest method.
Distance
Computes minimum distance between two Models. This method takes the most time !!!
Tolerances
Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
Checks if distance between Models is <= tolerance.
Remarks
If erColl_ChkCollision() returns with ER_COLL_DETECTED call, depending on the query type, one of the collision result functions erColl_GetResults_Collide(), erColl_GetResults_Distance() or erColl_GetResults_Tolerance() to receive more detailed information about the collision status.

// Example:
//  Collision Model
//
//  A Collision Model stores geometry to be used in a proximity query.
//  The geometry is loaded with a call to erColl_BeginModel(), at least one call to 
//  erColl_AddTri(), and then a call to erColl_EndModel().
//
//  create a two triangle models
//
ER_COLLISION_HND er_coll_hnd_1 = NULL; // unique Collision handle for the 1st Model
ER_COLLISION_HND er_coll_hnd_2 = NULL; // unique Collision handle for the 2nd Model
ER_COLLISION_HND *er_coll_hnd;                                  // points to er_coll_hnd_1 or er_coll_hnd_2

long id; // tri identifier
long number_of_tris_1 = 6; // number of tris for the 1st Model
long number_of_tris_2 = 4; // number of tris for the 2nd Model

//~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_BeginModel
//~~~~~~~~~~~~~~~~~~~~~~~~~
// 1st Model
er_coll_hnd = &er_coll_hnd_1;
ret=erColl_BeginModel(er_coll_hnd,number_of_tris_1);

// 2nd Model
er_coll_hnd = &er_coll_hnd_2;
ret=erColl_BeginModel(er_coll_hnd,number_of_tris_2);

//~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_AddTri
//~~~~~~~~~~~~~~~~~~~~~~~~~
// define 5 points for a pyramide
double p1[ER_DIM] = { 0.5, 0,   0.0};
double p2[ER_DIM] = { 0.0, 0.5, 0.0};
double p3[ER_DIM] = {-0.5, 0.0, 0.0};
double p4[ER_DIM] = { 0.0,-0.5, 0.0};
double p5[ER_DIM] = { 0.0, 0.0, 0.5};

// 1st Model
er_coll_hnd = &er_coll_hnd_1;
id=0;
ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p1,p4,p3,id++);  // with a bottom
ret=erColl_AddTri(*er_coll_hnd,p3,p2,p1,id++);  // with a bottom
if (ret==ER_COLL_OK)
        erColl_EndModel(*er_coll_hnd);

// 2nd Model
er_coll_hnd = &er_coll_hnd_2;
id=0;
ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
if (ret==ER_COLL_OK)
        erColl_EndModel(*er_coll_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_ChkCollision
//~~~~~~~~~~~~~~~~~~~~~~~~~
long collision = 0;      // ER_COLL_DETECTED- collision, 0- no collision

DFRAME T_1; // location of 1st Model
erMath_Frame_Ident(&T_1);

DFRAME T_2;      // location of 2nd Model
erMath_Frame_Ident(&T_2);
// translate 2nd Model to z=1.5 and rotate about y-axis by 180 deg 
erMath_PxyzRxyzToFrame( 0.1, 0.1, 1.5, 0.0, 180.0*ER_RAD, 0.0, &T_2);

long query_type = ER_COLL_QUERY_TYPE_DISTANCE;  // or one of ER_COLL_QUERY_TYPE_COLLIDE , ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE
long contact_type = ER_COLL_ALL_CONTACTS;               // or one of ER_COLL_FIRST_CONTACT, if query_type is ER_COLL_QUERY_TYPE_COLLIDE

// if query_type is one of ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE
double rel_err = 0;                                                     // the relative error margin from actual distance
double abs_err = 0;                                                             // the absolute error margin from actual distance
double tolerance = 100 * ER_mm2m;                               // 100 [mm]

collision = erColl_ChkCollision(
        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]
        );

//~~~~~~~~~~~~~~~~~~~~~~~~~
// Get collision results
//~~~~~~~~~~~~~~~~~~~~~~~~~
if (collision==ER_COLL_DETECTED || 
        query_type==ER_COLL_QUERY_TYPE_DISTANCE)
{
        switch (query_type) {
        case ER_COLL_QUERY_TYPE_COLLIDE:
                ER_CollideResult er_cres;
                erColl_GetResults_Collide(&er_cres);
                // ....
                break;
        case ER_COLL_QUERY_TYPE_DISTANCE:
                ER_DistanceResult er_dres;
                erColl_GetResults_Distance(&er_dres);
                // ....
                break;
        case ER_COLL_QUERY_TYPE_TOLERANCE:
                ER_ToleranceResult er_tres;
                erColl_GetResults_Tolerance(&er_tres);
                // ....
                break;
        };
}
// ....

Parameters

[in]	er_coll_hnd_1	unique Collision handle for the 1st Model ER_COLLISION_HND
[in]	iT_1	a location of the 1st Model w.r.t. inertia DFRAME
[in]	er_coll_hnd_2	unique Collision handle for the 2nd Model ER_COLLISION_HND
[in]	iT_2	a location of the 2nd Model w.r.t. inertia DFRAME
[in]	query_type	collision query type
[in]	contact_type	collision contact type
[in]	rel_err	relative error margin from actual distance
[in]	abs_err	absolute error margin from actual distance
[in]	tolerance	Tolerance value

Return values

3	- ER_COLL_DETECTED - Collision detected
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_ChkCollision_res()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_ChkCollision_res ( ER_COLLISION_HND  er_coll_hnd_1, DFRAME *  iT_1, ER_COLLISION_HND  er_coll_hnd_2, DFRAME *  iT_2, long  query_type = ER_COLL_QUERY_TYPE_COLLIDE, long  contact_type = ER_COLL_FIRST_CONTACT, double  rel_err = 0, double  abs_err = 0, double  tolerance = 0, void *  pres = NULL  )

static

Perform the collision check of two Models.
Collision results returned immediately by parameter pres compared to erColl_ChkCollision()
The query type query_type can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip collision checks
1: ER_COLL_QUERY_TYPE_COLLIDE detects collision between two Models
2: ER_COLL_QUERY_TYPE_DISTANCE computes the distance between two Models
3: ER_COLL_QUERY_TYPE_TOLERANCE checks if distance between Models is <= tolerance
The contact type contact_type is used for query type ER_COLL_QUERY_TYPE_COLLIDE and can be one of the following values.
1: ER_COLL_ALL_CONTACTS , the erColl_GetResults_Collide() contains an array with all colliding triangle pairs ER_CollideResult.
2: ER_COLL_FIRST_CONTACT , the erColl_GetResults_Collide() array will only get the first colliding triangle pair found.
Collide
Detects collsion. This is the fastest method.
Distance
Computes minimum distance between two Models. This method takes the most time !!!
Tolerances
Specify tolerance for query type ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
Checks if distance between Models is <= tolerance.
Remarks
If erColl_ChkCollision_res() returns with ER_COLL_DETECTED, get more detailed information about the collision status by parameter pres.

//  Example
//
//  Erk_CollisionResult_Init(...) to initialize collision result structures depending on query_type
//  Erk_CollisionResult_Output(...) to store collision results into file stream 'fp'
//  Erk_Do_Collisions() performe collision check of two Models
//

int Erk_CollisionResult_Init(long query_type, void *pres)
// Initialize collision result structures depending on query_type
// Note that the Kernel will administrate the memory for p->pairs, p->p1, p->p2
// Make sure that these pointers are set to NULL here
{
        if (!pres)
                return 1;

        switch (query_type) {
        case ER_COLL_QUERY_TYPE_COLLIDE:
                {
                ER_CollideResult *p = (ER_CollideResult *)pres;
                p->query_time_secs = 0;
                erMath_Frame_Ident(&p->m1Tm2);
                p->num_pairs_alloced = 0;
                p->num_pairs = 0;
                p->pairs = NULL;
                }
                break;
        case ER_COLL_QUERY_TYPE_DISTANCE:
                {
                ER_DistanceResult *p = (ER_DistanceResult *)pres;
                p->query_time_secs = 0;
                erMath_Frame_Ident(&p->m1Tm2);
                p->rel_err = 0;                                                         
                p->abs_err = 0;                                                         
                p->distance = 0;                                                        
                p->p1 = NULL;                                                           
                p->p2 = NULL;                                                           
                }
                break;
        case ER_COLL_QUERY_TYPE_TOLERANCE:
                {
                ER_ToleranceResult *p = (ER_ToleranceResult *)pres;
                p->query_time_secs = 0;
                erMath_Frame_Ident(&p->m1Tm2);
                p->closer_than_tolerance = 0;                           
                p->tolerance = 0;                                                       
                p->distance = 0;                                                        
                p->p1 = NULL;                                                           
                p->p2 = NULL;                                                           
                }
                break;
        };
        return 0;
}

int  Erk_CollisionResult_Output(long collision, long query_type, int step, void *pres)
// Store collision results into file stream 'fp'
// Pointer 'pres' points to one collision result structure: ER_CollideResult, ER_DistanceResult or ER_ToleranceResult
{
        if (!pres)
                return 1;

        if (collision==ER_COLL_DETECTED || 
                query_type==ER_COLL_QUERY_TYPE_DISTANCE)
        {
                switch (query_type) {
                case ER_COLL_QUERY_TYPE_COLLIDE:
                        {
                                ER_CollideResult *p = (ER_CollideResult *)pres;
                                fprintf(fp,"i=%d erColl_GetResults_Collide() num_pairs_alloced %d  num_pairs %ld  time %.6lf\n",step,
                                        p->num_pairs_alloced,p->num_pairs,p->query_time_secs);
                                DFRAME *pT = &p->m1Tm2;
                                out_frame(fp,"m1Tm2",pT);
                                ER_CollisionPair *pa = p->pairs;        // is NULL if no num_pairs
                                for (int j=0;j<p->num_pairs;j++)
                                {
                                        fprintf(fp,"   pairs[%d]  id ( %d , %d )\n",j,pa->id1,pa->id2);
                                        pa++;
                                }
                        }
                        break;
                case ER_COLL_QUERY_TYPE_DISTANCE:
                        {
                                ER_DistanceResult *p = (ER_DistanceResult *)pres;
                                fprintf(fp,"i=%d erColl_GetResults_Distance() rel_err %.3lf  abs_err %.3lf  distance %.3lf  time %.6lf\n",step,
                                        p->rel_err*100,
                                        p->abs_err*ER_m2mm,
                                        p->distance*ER_m2mm,
                                        p->query_time_secs);
                                DFRAME *pT = &p->m1Tm2;
                                out_frame(fp,"m1Tm2",pT);
                                if (p->distance>0)
                                {
                                        double *v;
                                        v = p->p1;
                                        fprintf(fp,"   p1  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                        v = p->p2;
                                        fprintf(fp,"   p2  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                }
                        }
                        break;
                case ER_COLL_QUERY_TYPE_TOLERANCE:
                        {
                                ER_ToleranceResult *p = (ER_ToleranceResult *)pres;
                                fprintf(fp,"i=%d erColl_GetResults_Tolerance() closer_than_tolerance %s  tolerance %.3lf  distance %.3lf  time %.6lf\n",step,
                                        p->closer_than_tolerance?"TRUE":"NO",p->tolerance*ER_m2mm,p->distance*ER_m2mm,p->query_time_secs);
                                DFRAME *pT = &p->m1Tm2;
                                out_frame(fp,"m1Tm2",pT);
                                if (p->distance>0)
                                {
                                        double *v;
                                        v = p->p1;
                                        fprintf(fp,"   p1  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                        v = p->p2;
                                        fprintf(fp,"   p2  %.3lf  %.3lf  %.3lf\n",v[0]*ER_m2mm,v[1]*ER_m2mm,v[2]*ER_m2mm);
                                }
                        }
                        break;
                };
        }
        return 0;
}

int Erk_Do_Collisions()
// do some collisions
{
        //  Collision Model
        //
        //  A Collision Model stores geometry to be used in a proximity query.
        //  The geometry is loaded with a call to erColl_BeginModel(), at least one call to 
        //  erColl_AddTri(), and then a call to erColl_EndModel().
        //
        //  create a two triangle models
        //

        int ret=ER_COLL_OK;

        long collision = ER_COLL_OK;                                    // ER_COLL_DETECTED - collision, ER_COLL_OK - no collision

        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_BeginModel
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        ER_COLLISION_HND er_coll_hnd_1 = NULL;                  // unique Collision handle for the 1st Model
        ER_COLLISION_HND er_coll_hnd_2 = NULL;                  // unique Collision handle for the 2nd Model
        ER_COLLISION_HND *er_coll_hnd;                                  // points to er_coll_hnd_1 or er_coll_hnd_2

        long id;                                                                                // tri identifier
        long number_of_tris_1 = 6;                                              // number of tris for the 1st Model
        long number_of_tris_2 = 4;                                              // number of tris for the 2nd Model

        // 1st Model
        er_coll_hnd = &er_coll_hnd_1;
        ret=erColl_BeginModel(er_coll_hnd,number_of_tris_1);

        // 2nd Model
        er_coll_hnd = &er_coll_hnd_2;
        ret=erColl_BeginModel(er_coll_hnd,number_of_tris_2);

        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_AddTri
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // define 5 points for a pyramide
        double p1[ER_DIM] = { 0.5, 0,   0.0};
        double p2[ER_DIM] = { 0.0, 0.5, 0.0};
        double p3[ER_DIM] = {-0.5, 0.0, 0.0};
        double p4[ER_DIM] = { 0.0,-0.5, 0.0};
        double p5[ER_DIM] = { 0.0, 0.0, 0.5};

        // 1st Model
        er_coll_hnd = &er_coll_hnd_1;
        id=0;
        ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p1,p4,p3,id++);  // bottom
        ret=erColl_AddTri(*er_coll_hnd,p3,p2,p1,id++);  // bottom
        if (ret==ER_COLL_OK)
                erColl_EndModel(*er_coll_hnd);

        // 2nd Model
        er_coll_hnd = &er_coll_hnd_2;
        id=0;
        ret=erColl_AddTri(*er_coll_hnd,p1,p2,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p2,p3,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p3,p4,p5,id++);
        ret=erColl_AddTri(*er_coll_hnd,p4,p1,p5,id++);
        if (ret==ER_COLL_OK)
                erColl_EndModel(*er_coll_hnd);

        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_ChkCollision
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        DFRAME T_1;                                                                             // location of 1st Model
        erMath_Frame_Ident(&T_1);

        DFRAME T_2;                                                                             // location of 2nd Model
        erMath_Frame_Ident(&T_2);

        // translate 2nd Model to z=1.5 and rotate about y-axis by 180° 
        erMath_PxyzRxyzToFrame( 0.1, 0.1, 1.5, 0.0, 180.0*ER_RAD, 0.0, &T_2);

        // Choose query_type
        long query_type = ER_COLL_QUERY_TYPE_DISTANCE;  // or one of ER_COLL_QUERY_TYPE_COLLIDE , ER_COLL_QUERY_TYPE_DISTANCE, ER_COLL_QUERY_TYPE_TOLERANCE

        // Set contact_type
        // Note: Only relevant for query_type = ER_COLL_QUERY_TYPE_COLLIDE
        long contact_type = ER_COLL_ALL_CONTACTS;               // or one of ER_COLL_FIRST_CONTACT, if query_type is ER_COLL_QUERY_TYPE_COLLIDE

        // Set rel_err, abs_err and tolerance
        // Note: Only relevant for query_type = ER_COLL_QUERY_TYPE_DISTANCE or ER_COLL_QUERY_TYPE_TOLERANCE
        double rel_err = 0;                                                     // the relative error margin from actual distance
        double abs_err = 0;                                                             // the absolute error margin from actual distance
        double tolerance = 100 * ER_mm2m;                               // 100 [mm]


        // Initialize collision result structures
        // depending on query_type
        ER_CollideResult er_cres;
        ER_DistanceResult er_dres;
        ER_ToleranceResult er_tres;
        void *pres=NULL;

        pres =  query_type==ER_COLL_QUERY_TYPE_COLLIDE ? (void *)&er_cres :
                        query_type==ER_COLL_QUERY_TYPE_DISTANCE ? (void *)&er_dres :
                        query_type==ER_COLL_QUERY_TYPE_TOLERANCE ? (void *)&er_tres :
                        NULL;

        // Initialize collision result structures depending on query_type
        Erk_CollisionResult_Init(query_type,pres);

        // make some collision tests, 
        // while moving 2nd Model down by 100 mm step

        for (int i=0;ret==ER_COLL_OK && i<20;i++)
        {
                T_2.p[2] -= 100 * ER_mm2m;                                      // move 2nd Model in -z direction

                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
                        );

                fprintf(fp,"i=%d erColl_ChkCollision() T_2.p[2]=%.5lf , collision = %ld\n",i,T_2.p[2],collision);

                if (collision==ER_COLL_ERROR || collision==ER_COLL_HND_INVALID)
                {
                        ret=ER_COLL_ERROR;
                }

                //~~~~~~~~~~~~~~~~~~~~~~~~~
                // Output of collision results
                //~~~~~~~~~~~~~~~~~~~~~~~~~
                if (pres)       // Pointer 'pres' points to one collision result structure: ER_CollideResult, ER_DistanceResult or ER_ToleranceResult
                        Erk_CollisionResult_Output(collision,query_type,i,pres);        // Store collision results into file stream 'fp'
                else
                {
                        //~~~~~~~~~~~~~~~~~~~~~~~~~
                        // Get collision results
                        // Using
                        //      erColl_GetResults_Collide()
                        //      erColl_GetResults_Distance()
                        //      erColl_GetResults_Tolerance()
                        //~~~~~~~~~~~~~~~~~~~~~~~~~
                        switch (query_type) {
                        case ER_COLL_QUERY_TYPE_COLLIDE:
                                erColl_GetResults_Collide(&er_cres);
                                pres = (void*) &er_cres;
                                break;
                        case ER_COLL_QUERY_TYPE_DISTANCE:
                                erColl_GetResults_Distance(&er_dres);
                                pres = (void*) &er_dres;
                                break;
                        case ER_COLL_QUERY_TYPE_TOLERANCE:
                                erColl_GetResults_Tolerance(&er_tres);
                                pres = (void*) &er_tres;
                                break;
                        };
                        if (pres)
                                Erk_CollisionResult_Output(collision,query_type,i,pres);        // Store collision results into file stream 'fp'
                }
        }
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // Free  collision result structures depending on query_type
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        if (pres)
                erk_sim_collision.erColl_ChkCollision_res_free(query_type,pres);
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // erColl_UnloadModel
        //~~~~~~~~~~~~~~~~~~~~~~~~~
        // 1st Model
        er_coll_hnd = &er_coll_hnd_1;
        erColl_UnloadModel(er_coll_hnd);

        // 2nd Model
        er_coll_hnd = &er_coll_hnd_2;
        erColl_UnloadModel(er_coll_hnd);

        return 0;
}
// ....

Parameters

[in]	er_coll_hnd_1	unique Collision handle for the 1st Model ER_COLLISION_HND
[in]	iT_1	a location of the 1st Model w.r.t. inertia DFRAME
[in]	er_coll_hnd_2	unique Collision handle for the 2nd Model ER_COLLISION_HND
[in]	iT_2	a location of the 2nd Model w.r.t. inertia DFRAME
[in]	query_type	collision query type
[in]	contact_type	collision contact type
[in]	rel_err	relative error margin from actual distance
[in]	abs_err	absolute error margin from actual distance
[in]	tolerance	Tolerance value query_type
[out]	pres	pointer to collision result structure ER_CollideResult, ER_DistanceResult or ER_ToleranceResult, depending on query type

Return values

3	- ER_COLL_DETECTED - Collision detected
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_ChkCollision_res_free()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_ChkCollision_res_free ( long  query_type, void *  pres  )

static

Frees allocated memory for Collision results for parameter pres
The query type query_type can be one of the following values.
0: ER_COLL_QUERY_TYPE_UNDEF skip operation
1: ER_COLL_QUERY_TYPE_COLLIDE frees allocated data in ER_CollideResult
2: ER_COLL_QUERY_TYPE_DISTANCE frees allocated data in ER_DistanceResult
3: ER_COLL_QUERY_TYPE_TOLERANCE frees allocated data in ER_ToleranceResult
Remarks
Note that the allocated memory in the Collision results structures must be administrated by the Kernel and not in the host application.

//  Example
//
//  Erk_CollisionResult_Exit(...) to frees collision result structures depending on query_type
//

int Erk_CollisionResult_Exit(long query_type, void *pres)
// frees collision result structures depending on query_type
{
        if (!pres)
                return ER_COLL_ERROR;

        long ret = erColl_ChkCollision_res_free(query_type,pres);
        return ret;
}

// ....

Parameters

[in]	query_type	collision query type
[out]	pres	pointer to collision result structure ER_CollideResult, ER_DistanceResult or ER_ToleranceResult, depending on query type

Return values

0	- ER_COLL_OK - Ok, free memory done
1	- ER_COLL_ERROR - Error, kernel not initialized

erColl_EndModel()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_EndModel ( ER_COLLISION_HND  er_coll_hnd )

static

Stop building a Model.

Parameters

[in]

er_coll_hnd

a valid unique Collision handle ER_COLLISION_HND

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

erColl_GetResults_Collide()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_GetResults_Collide ( ER_CollideResult *  er_cres )

static

Get Collision result for query ER_COLL_QUERY_TYPE_COLLIDE. Remarks
Call erColl_ChkCollision() first, brfore calling this function.

Parameters

[out]

er_cres

collide results ER_CollideResult

Return values

0	- OK
1	- Error, kernel not initialized

erColl_GetResults_Distance()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_GetResults_Distance ( ER_DistanceResult *  er_dres )

static

Get Collision result for query ER_COLL_QUERY_TYPE_DISTANCE. Remarks
Call erColl_ChkCollision() first, before calling this function.

Parameters

[out]

er_dres

distance results ER_DistanceResult

Return values

0	- OK
1	- Error, kernel not initialized

erColl_GetResults_Tolerance()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_GetResults_Tolerance ( ER_ToleranceResult *  er_tres )

static

Get Collision result for query ER_COLL_QUERY_TYPE_TOLERANCE. Remarks
Call erColl_ChkCollision() first, brfore calling this function.

Parameters

[out]

er_tres

tolerance results ER_ToleranceResult

Return values

0	- OK
1	- Error, kernel not initialized

erColl_UnloadModel()

static DLLAPI int ER_STDCALL ERK_CAPI_SIM_COLLISION::erColl_UnloadModel ( ER_COLLISION_HND *  er_coll_hnd )

static

Unload a Model. Free all allocated memory.

Parameters

[in]

er_coll_hnd

a valid unique Collision handle ER_COLLISION_HND

Return values

0	- ER_COLL_OK - OK
1	- ER_COLL_ERROR - Error, kernel not initialized
2	- ER_COLL_HND_INVALID - Collision handle invalid

---

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

• erk_capi.h