Visual Servoing Platform version 3.5.0
vpWireFrameSimulatorTypes.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Wire frame simulator
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#ifndef vpWireFrameSimulatorTypes_h
40#define vpWireFrameSimulatorTypes_h
41
42#include <visp3/core/vpConfig.h>
43
44#ifndef DOXYGEN_SHOULD_SKIP_THIS
45
46typedef unsigned short Index;
47typedef char Type;
48typedef float Matrix[4][4];
49
50/*
51 * MATRIX
52 * ______
53 *
54 * Matrice homogene ou non.
55 * | Rotation | 0 |
56 * Matrice non homogene = | 3x3 | 0 |
57 * |-------------| 0 |
58 * | Translation | 1 |
59 */
60typedef float Matrix[4][4];
61
62#define DEFAULT_VSIZE 4
63
64/*
65 * Vertex_list :
66 * Pour optimiser l'allocation et la liberation memoire d'une liste de
67 * sommets: si (nbr > DEFAULT_VSIZE) | alors ptr est alloue et libere
68 * dynamiquement | sinon ptr = tbl fsi;
69 */
70typedef struct {
71 Index nbr; /* nombre de sommets */
72 Index *ptr; /* liste dynamique */
73 Index tbl[DEFAULT_VSIZE];
74} Vertex_list;
75
76typedef struct {
77 unsigned is_polygonal : 1; /* face polygonale */
78 unsigned is_visible : 1; /* face affichable */
79#ifdef face_edge
80 Edge_list edge; /* liste d'aretes */
81#endif // face_edge
82 Vertex_list vertex; /* liste de sommets */
83#ifdef face_normal
84 Vector normal; /* vecteur normal */
85#endif // face_normal
86} Face;
87
88typedef struct {
89 Index nbr; /* nombre de faces */
90 Face *ptr; /* liste dynamique */
91} Face_list;
92
93typedef struct {
94 float x, y, z;
95} Point3f;
96
97typedef struct {
98 Index nbr; /* nombre de points */
99 Point3f *ptr; /* liste dynamique */
100} Point3f_list;
101
102typedef struct {
103 unsigned is_display : 1; /* surface affichable */
104 unsigned is_polygonal : 1; /* surface polyedrique */
105 Type type; /* type de la primitive */
106#ifdef face_edge
107 Edge_list edge; /* liste d'aretes */
108#endif // face_edge
109 Face_list face; /* liste de faces */
110 Point3f_list point; /* points aux sommets */
111#ifdef face_normal
112 Vector_list normal; /* normales aux sommets */
113#endif // face_normal
114} Bound;
115
116typedef struct {
117 Index nbr; /* nombre de surfaces */
118 Bound *ptr; /* liste dynamique */
119} Bound_list;
120
121typedef struct {
122 char *name; /* nom de la scene */
123 Bound_list bound; /* liste de surfaces */
124} Bound_scene;
125
126#endif
127#endif