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amino
Lightweight Robot Utility Library
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Geometric objects (shapes and meshes) More...
Go to the source code of this file.
Classes | |
| struct | aa_rx_shape_box |
| Shape for a box. More... | |
| struct | aa_rx_shape_sphere |
| Shape for a sphere. More... | |
| struct | aa_rx_shape_cylinder |
| Shape for a cylinder. More... | |
| struct | aa_rx_shape_cone |
| Shape for a cone. More... | |
| struct | aa_rx_shape_grid |
| Shape for a grid. More... | |
Enumerations | |
| enum | aa_rx_geom_shape { AA_RX_NOSHAPE, AA_RX_MESH, AA_RX_BOX, AA_RX_SPHERE, AA_RX_CYLINDER, AA_RX_CONE, AA_RX_GRID } |
| Enumeration of geometry shape types. More... | |
Functions | |
| AA_API struct aa_rx_geom_opt * | aa_rx_geom_opt_create () |
| Create a geometry option struct. | |
| AA_API void | aa_rx_geom_opt_destroy (struct aa_rx_geom_opt *) |
| Destroy a geometry option struct. | |
| AA_API void | aa_rx_geom_opt_set_no_shadow (struct aa_rx_geom_opt *opt, int no_shadow) |
| Set no-shadow option. | |
| AA_API int | aa_rx_geom_opt_get_no_shadow (const struct aa_rx_geom_opt *opt) |
| Get no-shadow option. | |
| AA_API int | aa_rx_geom_opt_get_visual (const struct aa_rx_geom_opt *opt) |
| Get visual option. | |
| AA_API int | aa_rx_geom_opt_get_collision (const struct aa_rx_geom_opt *opt) |
| Get collision option. | |
| AA_API double | aa_rx_geom_opt_get_color_red (const struct aa_rx_geom_opt *opt) |
| Get red color value. | |
| AA_API double | aa_rx_geom_opt_get_color_blue (const struct aa_rx_geom_opt *opt) |
| Get blue color value. | |
| AA_API double | aa_rx_geom_opt_get_color_green (const struct aa_rx_geom_opt *opt) |
| Get green color value. | |
| AA_API double | aa_rx_geom_opt_get_alpha (const struct aa_rx_geom_opt *opt) |
| Get alpha value. | |
| AA_API double | aa_rx_geom_opt_get_specular_red (const struct aa_rx_geom_opt *opt) |
| Get red specular value. | |
| AA_API double | aa_rx_geom_opt_get_specular_blue (const struct aa_rx_geom_opt *opt) |
| Get blue specular value. | |
| AA_API double | aa_rx_geom_opt_get_specular_green (const struct aa_rx_geom_opt *opt) |
| Get green specular value. | |
| AA_API void | aa_rx_geom_opt_set_color3 (struct aa_rx_geom_opt *opt, double red, double blue, double green) |
| Set color option. | |
| AA_API void | aa_rx_geom_opt_set_alpha (struct aa_rx_geom_opt *opt, double alpha) |
| Set alpha (transparency) option. | |
| AA_API void | aa_rx_geom_opt_set_visual (struct aa_rx_geom_opt *opt, int visual) |
| Set visual flag. More... | |
| AA_API void | aa_rx_geom_opt_set_collision (struct aa_rx_geom_opt *opt, int collision) |
| Set collision flag. More... | |
| AA_API void | aa_rx_geom_opt_set_specular3 (struct aa_rx_geom_opt *opt, double red, double green, double blue) |
| Set specular reflection. | |
| AA_API void | aa_rx_geom_opt_set_scale (struct aa_rx_geom_opt *opt, double scale) |
| Set mesh scaling. | |
| AA_API double | aa_rx_geom_opt_get_scale (const struct aa_rx_geom_opt *opt) |
| Get mesh scaling. | |
| AA_API struct aa_rx_geom * | aa_rx_geom_copy (struct aa_rx_geom *src) |
| Copy a geometry struct. | |
| AA_API void | aa_rx_geom_destroy (struct aa_rx_geom *geom) |
| Destroy a geometry struct. | |
| AA_API const char * | aa_rx_geom_shape_str (enum aa_rx_geom_shape shape) |
| Return a string for the shape type. | |
| AA_API void * | aa_rx_geom_shape (const struct aa_rx_geom *g, enum aa_rx_geom_shape *shape_type) |
| Extract the shape type from a geometry object. More... | |
| AA_API struct aa_rx_geom * | aa_rx_geom_box (struct aa_rx_geom_opt *opt, const double dimension[3]) |
| Create a box. | |
| AA_API struct aa_rx_geom * | aa_rx_geom_sphere (struct aa_rx_geom_opt *opt, double radius) |
| Create a sphere. | |
| AA_API struct aa_rx_geom * | aa_rx_geom_cylinder (struct aa_rx_geom_opt *opt, double height, double radius) |
| Create a cylinder. | |
| AA_API struct aa_rx_geom * | aa_rx_geom_cone (struct aa_rx_geom_opt *opt, double height, double start_radius, double end_radius) |
| Create a cone. | |
| AA_API struct aa_rx_geom * | aa_rx_geom_grid (struct aa_rx_geom_opt *opt, const double dimension[2], const double delta[2], double width) |
| Create a grid. | |
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AA_API const struct aa_rx_geom_opt * | aa_rx_geom_get_opt (const struct aa_rx_geom *geom) |
| Return the options for the geometry object. | |
| AA_API struct aa_rx_cl_geom * | aa_rx_geom_get_collision (const struct aa_rx_geom *geom) |
| Return the collision object for the geometry object. | |
| AA_API void | aa_rx_geom_set_collision (struct aa_rx_geom *geom, struct aa_rx_cl_geom *) |
| Set the collision object for the geometry object. | |
| AA_API struct aa_rx_mesh * | aa_rx_mesh_create () |
| Create a mesh. | |
| AA_API void | aa_rx_mesh_destroy (struct aa_rx_mesh *mesh) |
| Destroy the mesh. | |
| AA_API void | aa_rx_mesh_set_vertices (struct aa_rx_mesh *mesh, size_t n, const float *vectors, int copy) |
| Set the mesh vertices. | |
| AA_API const float * | aa_rx_mesh_get_vertices (const struct aa_rx_mesh *mesh, size_t *size) |
| Get the mesh vertices. | |
| AA_API const unsigned * | aa_rx_mesh_get_indices (const struct aa_rx_mesh *mesh, size_t *size) |
| Get the mesh indices. | |
| AA_API void | aa_rx_mesh_set_normals (struct aa_rx_mesh *mesh, size_t n, const float *normals, int copy) |
| Set the mesh normals. | |
| AA_API void | aa_rx_mesh_set_indices (struct aa_rx_mesh *mesh, size_t n, const unsigned *indices, int copy) |
| Set the mesh indices. | |
| AA_API void | aa_rx_mesh_set_rgba (struct aa_rx_mesh *mesh, size_t width, size_t height, const uint8_t *rgba, int copy) |
| Set the mesh colors and alpha. | |
| AA_API void | aa_rx_mesh_set_uv (struct aa_rx_mesh *mesh, size_t n, const float *uv, int copy) |
| Set the mesh colors and uv values. | |
| AA_API void | aa_rx_mesh_set_texture (struct aa_rx_mesh *mesh, const struct aa_rx_geom_opt *opt) |
| Set the mesh texture parameters. | |
| AA_API struct aa_rx_geom * | aa_rx_geom_mesh (struct aa_rx_geom_opt *opt, struct aa_rx_mesh *mesh) |
| Attach a mesh to frame. | |
| AA_API void | aa_rx_geom_attach (struct aa_rx_sg *sg, const char *frame, struct aa_rx_geom *geom) |
| Attach geometry to the scene graph. | |
| AA_API unsigned | aa_rx_geom_refcount (const struct aa_rx_geom *g) |
| Return the reference count value of `g'. | |
| AA_API unsigned | aa_rx_mesh_refcount (const struct aa_rx_mesh *sg) |
| Return the reference count value of `m'. | |
Geometric objects (shapes and meshes)
Definition in file scene_geom.h.
| enum aa_rx_geom_shape |
Enumeration of geometry shape types.
Definition at line 219 of file scene_geom.h.
| AA_API void aa_rx_geom_opt_set_collision | ( | struct aa_rx_geom_opt * | opt, |
| int | collision | ||
| ) |
Set collision flag.
Does this geometry represent a collision object?
| AA_API void aa_rx_geom_opt_set_visual | ( | struct aa_rx_geom_opt * | opt, |
| int | visual | ||
| ) |
Set visual flag.
Does this geometry represent a visual object?
| AA_API void* aa_rx_geom_shape | ( | const struct aa_rx_geom * | g, |
| enum aa_rx_geom_shape * | shape_type | ||
| ) |
Extract the shape type from a geometry object.
| [in] | g | the geometry object |
| [out] | shape_type | the shape of the geometry |