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coppeliaGeometricRoutines-api.htm
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Strict//EN"><html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<title>Coppelia Geometric Routines, API</title>
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<div align="center"><table class="allEncompassingTable">
<tr><td id="title" class="section"><h1>Coppelia Geometric Routines, API reference</h1></td></tr>
<tr><td id="info" class="section"><p class="warningBox">All units, unless otherwise indicated, are specified in meters and radians.</p></td></tr>
<tr><td id="alphabetical" class="section"><pre class="lightGreyBox">
<a href="?#geom_copyMesh">geom_copyMesh</a>
<a href="?#geom_copyOctree">geom_copyOctree</a>
<a href="?#geom_copyPtcloud">geom_copyPtcloud</a>
<a href="?#geom_createMesh">geom_createMesh</a>
<a href="?#geom_createOctreeFromColorPoints">geom_createOctreeFromColorPoints</a>
<a href="?#geom_createOctreeFromMesh">geom_createOctreeFromMesh</a>
<a href="?#geom_createOctreeFromOctree">geom_createOctreeFromOctree</a>
<a href="?#geom_createOctreeFromPoints">geom_createOctreeFromPoints</a>
<a href="?#geom_createPtcloudFromColorPoints">geom_createPtcloudFromColorPoints</a>
<a href="?#geom_createPtcloudFromPoints">geom_createPtcloudFromPoints</a>
<a href="?#geom_destroyMesh">geom_destroyMesh</a>
<a href="?#geom_destroyOctree">geom_destroyOctree</a>
<a href="?#geom_destroyPtcloud">geom_destroyPtcloud</a>
<a href="?#geom_getApproxBoxBoxDistance">geom_getApproxBoxBoxDistance</a>
<a href="?#geom_getBoxBoxCollision">geom_getBoxBoxCollision</a>
<a href="?#geom_getBoxBoxDistanceIfSmaller">geom_getBoxBoxDistanceIfSmaller</a>
<a href="?#geom_getBoxPointCollision">geom_getBoxPointCollision</a>
<a href="?#geom_getBoxPointDistanceIfSmaller">geom_getBoxPointDistanceIfSmaller</a>
<a href="?#geom_getBoxSegmentCollision">geom_getBoxSegmentCollision</a>
<a href="?#geom_getBoxSegmentDistanceIfSmaller">geom_getBoxSegmentDistanceIfSmaller</a>
<a href="?#geom_getBoxTriangleCollision">geom_getBoxTriangleCollision</a>
<a href="?#geom_getBoxTriangleDistanceIfSmaller">geom_getBoxTriangleDistanceIfSmaller</a>
<a href="?#geom_getMeshFromSerializationData">geom_getMeshFromSerializationData</a>
<a href="?#geom_getMeshMeshCollision">geom_getMeshMeshCollision</a>
<a href="?#geom_getMeshMeshDistanceIfSmaller">geom_getMeshMeshDistanceIfSmaller</a>
<a href="?#geom_getMeshOctreeCollision">geom_getMeshOctreeCollision</a>
<a href="?#geom_getMeshOctreeDistanceIfSmaller">geom_getMeshOctreeDistanceIfSmaller</a>
<a href="?#geom_getMeshPointDistanceIfSmaller">geom_getMeshPointDistanceIfSmaller</a>
<a href="?#geom_getMeshPtcloudDistanceIfSmaller">geom_getMeshPtcloudDistanceIfSmaller</a>
<a href="?#geom_getMeshSegmentCollision">geom_getMeshSegmentCollision</a>
<a href="?#geom_getMeshSegmentDistanceIfSmaller">geom_getMeshSegmentDistanceIfSmaller</a>
<a href="?#geom_getMeshSerializationData">geom_getMeshSerializationData</a>
<a href="?#geom_getMeshTriangleCollision">geom_getMeshTriangleCollision</a>
<a href="?#geom_getMeshTriangleDistanceIfSmaller">geom_getMeshTriangleDistanceIfSmaller</a>
<a href="?#geom_getOctreeFromSerializationData">geom_getOctreeFromSerializationData</a>
<a href="?#geom_getOctreeOctreeCollision">geom_getOctreeOctreeCollision</a>
<a href="?#geom_getOctreeOctreeDistanceIfSmaller">geom_getOctreeOctreeDistanceIfSmaller</a>
<a href="?#geom_getOctreePointCollision">geom_getOctreePointCollision</a>
<a href="?#geom_getOctreePointDistanceIfSmaller">geom_getOctreePointDistanceIfSmaller</a>
<a href="?#geom_getOctreePtcloudCollision">geom_getOctreePtcloudCollision</a>
<a href="?#geom_getOctreePtcloudDistanceIfSmaller">geom_getOctreePtcloudDistanceIfSmaller</a>
<a href="?#geom_getOctreeSegmentCollision">geom_getOctreeSegmentCollision</a>
<a href="?#geom_getOctreeSegmentDistanceIfSmaller">geom_getOctreeSegmentDistanceIfSmaller</a>
<a href="?#geom_getOctreeSerializationData">geom_getOctreeSerializationData</a>
<a href="?#geom_getOctreeTriangleCollision">geom_getOctreeTriangleCollision</a>
<a href="?#geom_getOctreeTriangleDistanceIfSmaller">geom_getOctreeTriangleDistanceIfSmaller</a>
<a href="?#geom_getOctreeVoxelData">geom_getOctreeVoxelData</a>
<a href="?#geom_getPtcloudFromSerializationData">geom_getPtcloudFromSerializationData</a>
<a href="?#geom_getPtcloudPointDistanceIfSmaller">geom_getPtcloudPointDistanceIfSmaller</a>
<a href="?#geom_getPtcloudPoints">geom_getPtcloudPoints</a>
<a href="?#geom_getPtcloudPtcloudDistanceIfSmaller">geom_getPtcloudPtcloudDistanceIfSmaller</a>
<a href="?#geom_getPtcloudSegmentDistanceIfSmaller">geom_getPtcloudSegmentDistanceIfSmaller</a>
<a href="?#geom_getPtcloudSerializationData">geom_getPtcloudSerializationData</a>
<a href="?#geom_getPtcloudTriangleDistanceIfSmaller">geom_getPtcloudTriangleDistanceIfSmaller</a>
<a href="?#geom_getSegmentPointDistanceIfSmaller">geom_getSegmentPointDistanceIfSmaller</a>
<a href="?#geom_getSegmentSegmentDistanceIfSmaller">geom_getSegmentSegmentDistanceIfSmaller</a>
<a href="?#geom_getTrianglePointDistanceIfSmaller">geom_getTrianglePointDistanceIfSmaller</a>
<a href="?#geom_getTriangleSegmentCollision">geom_getTriangleSegmentCollision</a>
<a href="?#geom_getTriangleSegmentDistanceIfSmaller">geom_getTriangleSegmentDistanceIfSmaller</a>
<a href="?#geom_getTriangleTriangleCollision">geom_getTriangleTriangleCollision</a>
<a href="?#geom_getTriangleTriangleDistanceIfSmaller">geom_getTriangleTriangleDistanceIfSmaller</a>
<a href="?#geom_insertColorPointsIntoOctree">geom_insertColorPointsIntoOctree</a>
<a href="?#geom_insertColorPointsIntoPtcloud">geom_insertColorPointsIntoPtcloud</a>
<a href="?#geom_insertMeshIntoOctree">geom_insertMeshIntoOctree</a>
<a href="?#geom_insertOctreeIntoOctree">geom_insertOctreeIntoOctree</a>
<a href="?#geom_insertPointsIntoOctree">geom_insertPointsIntoOctree</a>
<a href="?#geom_insertPointsIntoPtcloud">geom_insertPointsIntoPtcloud</a>
<a href="?#geom_intersectPointsWithPtcloud">geom_intersectPointsWithPtcloud</a>
<a href="?#geom_isPointInVolume">geom_isPointInVolume</a>
<a href="?#geom_raySensorDetectMeshIfSmaller">geom_raySensorDetectMeshIfSmaller</a>
<a href="?#geom_raySensorDetectOctreeIfSmaller">geom_raySensorDetectOctreeIfSmaller</a>
<a href="?#geom_removeMeshFromOctree">geom_removeMeshFromOctree</a>
<a href="?#geom_removeOctreeFromOctree">geom_removeOctreeFromOctree</a>
<a href="?#geom_removePointsFromOctree">geom_removePointsFromOctree</a>
<a href="?#geom_removeOctreeFromPtcloud">geom_removeOctreeFromPtcloud</a>
<a href="?#geom_removePointsFromPtcloud">geom_removePointsFromPtcloud</a>
<a href="?#geom_scaleMesh">geom_scaleMesh</a>
<a href="?#geom_scaleOctree">geom_scaleOctree</a>
<a href="?#geom_scalePtcloud">geom_scalePtcloud</a>
<a href="?#geom_volumeSensorDetectMeshIfSmaller">geom_volumeSensorDetectMeshIfSmaller</a>
<a href="?#geom_volumeSensorDetectOctreeIfSmaller">geom_volumeSensorDetectOctreeIfSmaller</a>
<a href="?#geom_volumeSensorDetectPtcloudIfSmaller">geom_volumeSensorDetectPtcloudIfSmaller</a>
<a href="?#geom_volumeSensorDetectSegmentIfSmaller">geom_volumeSensorDetectSegmentIfSmaller</a>
<a href="?#geom_volumeSensorDetectTriangleIfSmaller">geom_volumeSensorDetectTriangleIfSmaller</a></pre></td></tr>
<tr><td id="category" class="section">
<h2><a name="meshCreation"></a>Mesh creation/destruction/manipulation/info</h2>
<pre class=lightGreyBox>
<a href="?#geom_createMesh">geom_createMesh</a>
<a href="?#geom_destroyMesh">geom_destroyMesh</a>
<a href="?#geom_copyMesh">geom_copyMesh</a>
<a href="?#geom_scaleMesh">geom_scaleMesh</a>
<a href="?#geom_getMeshSerializationData">geom_getMeshSerializationData</a>
<a href="?#geom_getMeshFromSerializationData">geom_getMeshFromSerializationData</a>
<a href="?#geom_createOctreeFromMesh">geom_createOctreeFromMesh</a>
<a href="?#geom_insertMeshIntoOctree">geom_insertMeshIntoOctree</a>
<a href="?#geom_removeMeshFromOctree">geom_removeMeshFromOctree</a>
</pre>
<h2><a name="octreeCreation"></a>OC-tree creation/destruction/manipulation/info</h2>
<pre class=lightGreyBox>
<a href="?#geom_createOctreeFromPoints">geom_createOctreeFromPoints</a>
<a href="?#geom_createOctreeFromColorPoints">geom_createOctreeFromColorPoints</a>
<a href="?#geom_createOctreeFromMesh">geom_createOctreeFromMesh</a>
<a href="?#geom_createOctreeFromOctree">geom_createOctreeFromOctree</a>
<a href="?#geom_destroyOctree">geom_destroyOctree</a>
<a href="?#geom_copyOctree">geom_copyOctree</a>
<a href="?#geom_scaleOctree">geom_scaleOctree</a>
<a href="?#geom_getOctreeSerializationData">geom_getOctreeSerializationData</a>
<a href="?#geom_getOctreeFromSerializationData">geom_getOctreeFromSerializationData</a>
<a href="?#geom_getOctreeVoxelData">geom_getOctreeVoxelData</a>
<a href="?#geom_insertPointsIntoOctree">geom_insertPointsIntoOctree</a>
<a href="?#geom_insertColorPointsIntoOctree">geom_insertColorPointsIntoOctree</a>
<a href="?#geom_insertMeshIntoOctree">geom_insertMeshIntoOctree</a>
<a href="?#geom_insertOctreeIntoOctree">geom_insertOctreeIntoOctree</a>
<a href="?#geom_removePointsFromOctree">geom_removePointsFromOctree</a>
<a href="?#geom_removeMeshFromOctree">geom_removeMeshFromOctree</a>
<a href="?#geom_removeOctreeFromOctree">geom_removeOctreeFromOctree</a>
</pre>
<h2><a name="ptcloudCreation"></a>Point-cloud creation/destruction/manipulation/info</h2>
<pre class=lightGreyBox>
<a href="?#geom_createPtcloudFromPoints">geom_createPtcloudFromPoints</a>
<a href="?#geom_createPtcloudFromColorPoints">geom_createPtcloudFromColorPoints</a>
<a href="?#geom_destroyPtcloud">geom_destroyPtcloud</a>
<a href="?#geom_copyPtcloud">geom_copyPtcloud</a>
<a href="?#geom_scalePtcloud">geom_scalePtcloud</a>
<a href="?#geom_getPtcloudSerializationData">geom_getPtcloudSerializationData</a>
<a href="?#geom_getPtcloudFromSerializationData">geom_getPtcloudFromSerializationData</a>
<a href="?#geom_getPtcloudPoints">geom_getPtcloudPoints</a>
<a href="?#geom_insertPointsIntoPtcloud">geom_insertPointsIntoPtcloud</a>
<a href="?#geom_insertColorPointsIntoPtcloud">geom_insertColorPointsIntoPtcloud</a>
<a href="?#geom_removePointsFromPtcloud">geom_removePointsFromPtcloud</a>
<a href="?#geom_removeOctreeFromPtcloud">geom_removeOctreeFromPtcloud</a>
<a href="?#geom_intersectPointsWithPtcloud">geom_intersectPointsWithPtcloud</a>
</pre>
<h2><a name="meshCollision"></a>Mesh collision detection</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshMeshCollision">geom_getMeshMeshCollision</a>
<a href="?#geom_getMeshOctreeCollision">geom_getMeshOctreeCollision</a>
<a href="?#geom_getMeshTriangleCollision">geom_getMeshTriangleCollision</a>
<a href="?#geom_getMeshSegmentCollision">geom_getMeshSegmentCollision</a>
</pre>
<h2><a name="octreeCollision"></a>OC-tree collision detection</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshOctreeCollision">geom_getMeshOctreeCollision</a>
<a href="?#geom_getOctreeOctreeCollision">geom_getOctreeOctreeCollision</a>
<a href="?#geom_getOctreePtcloudCollision">geom_getOctreePtcloudCollision</a>
<a href="?#geom_getOctreeTriangleCollision">geom_getOctreeTriangleCollision</a>
<a href="?#geom_getOctreeSegmentCollision">geom_getOctreeSegmentCollision</a>
<a href="?#geom_getOctreePointCollision">geom_getOctreePointCollision</a>
</pre>
<h2><a name="ptcloudCollision"></a>Point-cloud collision detection</h2>
<pre class=lightGreyBox>
<a href="?#geom_getOctreePtcloudCollision">geom_getOctreePtcloudCollision</a>
</pre>
<h2><a name="primitiveCollision"></a>Primitives collision detection</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshTriangleCollision">geom_getMeshTriangleCollision</a>
<a href="?#geom_getMeshSegmentCollision">geom_getMeshSegmentCollision</a>
<a href="?#geom_getOctreeTriangleCollision">geom_getOctreeTriangleCollision</a>
<a href="?#geom_getOctreeSegmentCollision">geom_getOctreeSegmentCollision</a>
<a href="?#geom_getOctreePointCollision">geom_getOctreePointCollision</a>
<a href="?#geom_getBoxBoxCollision">geom_getBoxBoxCollision</a>
<a href="?#geom_getBoxTriangleCollision">geom_getBoxTriangleCollision</a>
<a href="?#geom_getBoxSegmentCollision">geom_getBoxSegmentCollision</a>
<a href="?#geom_getBoxPointCollision">geom_getBoxPointCollision</a>
<a href="?#geom_getTriangleTriangleCollision">geom_getTriangleTriangleCollision</a>
<a href="?#geom_getTriangleSegmentCollision">geom_getTriangleSegmentCollision</a>
</pre>
<h2><a name="meshDistance"></a>Mesh minimum distance calculation</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshMeshDistanceIfSmaller">geom_getMeshMeshDistanceIfSmaller</a>
<a href="?#geom_getMeshOctreeDistanceIfSmaller">geom_getMeshOctreeDistanceIfSmaller</a>
<a href="?#geom_getMeshPtcloudDistanceIfSmaller">geom_getMeshPtcloudDistanceIfSmaller</a>
<a href="?#geom_getMeshTriangleDistanceIfSmaller">geom_getMeshTriangleDistanceIfSmaller</a>
<a href="?#geom_getMeshSegmentDistanceIfSmaller">geom_getMeshSegmentDistanceIfSmaller</a>
<a href="?#geom_getMeshPointDistanceIfSmaller">geom_getMeshPointDistanceIfSmaller</a>
</pre>
<h2><a name="octreeDistance"></a>OC-tree minimum distance calculation</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshOctreeDistanceIfSmaller">geom_getMeshOctreeDistanceIfSmaller</a>
<a href="?#geom_getOctreeOctreeDistanceIfSmaller">geom_getOctreeOctreeDistanceIfSmaller</a>
<a href="?#geom_getOctreePtcloudDistanceIfSmaller">geom_getOctreePtcloudDistanceIfSmaller</a>
<a href="?#geom_getOctreeTriangleDistanceIfSmaller">geom_getOctreeTriangleDistanceIfSmaller</a>
<a href="?#geom_getOctreeSegmentDistanceIfSmaller">geom_getOctreeSegmentDistanceIfSmaller</a>
<a href="?#geom_getOctreePointDistanceIfSmaller">geom_getOctreePointDistanceIfSmaller</a>
</pre>
<h2><a name="ptcloudDistance"></a>Point-cloud minimum distance calculation</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshPtcloudDistanceIfSmaller">geom_getMeshPtcloudDistanceIfSmaller</a>
<a href="?#geom_getOctreePtcloudDistanceIfSmaller">geom_getOctreePtcloudDistanceIfSmaller</a>
<a href="?#geom_getPtcloudPtcloudDistanceIfSmaller">geom_getPtcloudPtcloudDistanceIfSmaller</a>
<a href="?#geom_getPtcloudTriangleDistanceIfSmaller">geom_getPtcloudTriangleDistanceIfSmaller</a>
<a href="?#geom_getPtcloudSegmentDistanceIfSmaller">geom_getPtcloudSegmentDistanceIfSmaller</a>
<a href="?#geom_getPtcloudPointDistanceIfSmaller">geom_getPtcloudPointDistanceIfSmaller</a>
</pre>
<h2><a name="primitiveDistance"></a>Primitives minimum distance calculation</h2>
<pre class=lightGreyBox>
<a href="?#geom_getMeshTriangleDistanceIfSmaller">geom_getMeshTriangleDistanceIfSmaller</a>
<a href="?#geom_getMeshSegmentDistanceIfSmaller">geom_getMeshSegmentDistanceIfSmaller</a>
<a href="?#geom_getMeshPointDistanceIfSmaller">geom_getMeshPointDistanceIfSmaller</a>
<a href="?#geom_getOctreeTriangleDistanceIfSmaller">geom_getOctreeTriangleDistanceIfSmaller</a>
<a href="?#geom_getOctreeSegmentDistanceIfSmaller">geom_getOctreeSegmentDistanceIfSmaller</a>
<a href="?#geom_getOctreePointDistanceIfSmaller">geom_getOctreePointDistanceIfSmaller</a>
<a href="?#geom_getPtcloudTriangleDistanceIfSmaller">geom_getPtcloudTriangleDistanceIfSmaller</a>
<a href="?#geom_getPtcloudSegmentDistanceIfSmaller">geom_getPtcloudSegmentDistanceIfSmaller</a>
<a href="?#geom_getPtcloudPointDistanceIfSmaller">geom_getPtcloudPointDistanceIfSmaller</a>
<a href="?#geom_getBoxBoxDistanceIfSmaller">geom_getBoxBoxDistanceIfSmaller</a>
<a href="?#geom_getApproxBoxBoxDistance">geom_getApproxBoxBoxDistance</a>
<a href="?#geom_getBoxTriangleDistanceIfSmaller">geom_getBoxTriangleDistanceIfSmaller</a>
<a href="?#geom_getBoxSegmentDistanceIfSmaller">geom_getBoxSegmentDistanceIfSmaller</a>
<a href="?#geom_getBoxPointDistanceIfSmaller">geom_getBoxPointDistanceIfSmaller</a>
<a href="?#geom_getTriangleTriangleDistanceIfSmaller">geom_getTriangleTriangleDistanceIfSmaller</a>
<a href="?#geom_getTriangleSegmentDistanceIfSmaller">geom_getTriangleSegmentDistanceIfSmaller</a>
<a href="?#geom_getTrianglePointDistanceIfSmaller">geom_getTrianglePointDistanceIfSmaller</a>
<a href="?#geom_getSegmentSegmentDistanceIfSmaller">geom_getSegmentSegmentDistanceIfSmaller</a>
<a href="?#geom_getSegmentPointDistanceIfSmaller">geom_getSegmentPointDistanceIfSmaller</a>
</pre>
<h2><a name="proximitySensor"></a>Proximity sensor simulation</h2>
<pre class=lightGreyBox>
<a href="?#geom_volumeSensorDetectMeshIfSmaller">geom_volumeSensorDetectMeshIfSmaller</a>
<a href="?#geom_volumeSensorDetectOctreeIfSmaller">geom_volumeSensorDetectOctreeIfSmaller</a>
<a href="?#geom_volumeSensorDetectPtcloudIfSmaller">geom_volumeSensorDetectPtcloudIfSmaller</a>
<a href="?#geom_volumeSensorDetectTriangleIfSmaller">geom_volumeSensorDetectTriangleIfSmaller</a>
<a href="?#geom_volumeSensorDetectSegmentIfSmaller">geom_volumeSensorDetectSegmentIfSmaller</a>
<a href="?#geom_isPointInVolume">geom_isPointInVolume</a>
<a href="?#geom_raySensorDetectMeshIfSmaller">geom_raySensorDetectMeshIfSmaller</a>
<a href="?#geom_raySensorDetectOctreeIfSmaller">geom_raySensorDetectOctreeIfSmaller</a>
</pre>
<h2><a name="other"></a>Other API functions</h2>
<pre class=lightGreyBox>
<a href="?#geom_isPointInVolume">geom_isPointInVolume</a>
</pre>
</td></tr>
<tr><td id="commands" class="section">
<p class="subsectionBar">
<a name="geom_copyMesh" id="geom_copyMesh"></a>geom_copyMesh</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Duplicates a mesh object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">CObbStruct* geom_copyMesh(const CObbStruct* meshObbStruct)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>meshObbStruct</strong>: the mesh object to duplicate.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to the duplicated mesh object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createMesh">geom_createMesh</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_copyOctree" id="geom_copyOctree"></a>geom_copyOctree</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Duplicates an OC-tree object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">COcStruct* geom_copyOctree(const COcStruct* ocStruct)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ocStruct</strong>: the OC-tree object to duplicate.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to the duplicated OC-tree object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_copyPtcloud" id="geom_copyPtcloud"></a>geom_copyPtcloud</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Duplicates a point-cloud object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">CPcStruct* geom_copyPtcloud(const CPcStruct* pcStruct)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>pcStruct</strong>: the point-cloud object to duplicate.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to the duplicated point-cloud object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createMesh" id="geom_createMesh"></a>geom_createMesh</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates a mesh object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">CObbStruct* geom_createMesh(const double* vertices,int verticesSize,const int* indices,int indicesSize,const C7Vector* meshOrigin=nullptr,double triangleEdgeMaxLength=0.3,int maxTrianglesInBoundingBox=8)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>vertices</strong>: an array with the vertices of the mesh, expressed relative to the world origin.</div>
<div><strong>verticesSize</strong>: the size of the vertex array, i.e. 3*vertexCount.</div>
<div><strong>indices</strong>: an array with the indices of the mesh.</div>
<div><strong>indicesSize</strong>: the size of the index array, i.e. each triangle takes 3 indices.</div>
<div><strong>meshOrigin</strong>: the transformation frame of the mesh. Can be nullptr, in which case the frame of the mesh is located at the world origin.</div>
<div><strong>triangleEdgeMaxLength</strong>: the maximum triangle size used internally for efficient calculations. A smaller size usually results in faster calculations, but larger calculation structures.</div>
<div><strong>maxTrianglesInBoundingBox</strong>: the maximum number of triangles in leaf bounding boxes, used internally for efficient calculations. A smaller value usually results in faster calculations, but larger calculation structures.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to the mesh object in case of success, nullptr otherwise</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_destroyMesh">geom_destroyMesh</a>, <a href="#geom_copyMesh">geom_copyMesh</a>, <a href="#geom_getMeshFromSerializationData">geom_getMeshFromSerializationData</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createOctreeFromColorPoints" id="geom_createOctreeFromColorPoints"></a>geom_createOctreeFromColorPoints</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates an OC-tree object from several points with individual colors and individual user data.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">COcStruct* geom_createOctreeFromColorPoints(const double* points,int pointCnt,const C7Vector* octreeOrigin=nullptr,double cellS=0.05,const unsigned char* rgbData=nullptr,const unsigned int* usrData=nullptr)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>points</strong>: an array with point data, expressed relative to the world origin.</div>
<div><strong>pointCnt</strong>: the number of provided points.</div>
<div><strong>octreeOrigin</strong>: the transformation frame of the OC-tree. Can be nullptr, in which case the frame of the OC-tree is located at the world origin.</div>
<div><strong>cellS</strong>: The desired OC-tree voxel size.</div>
<div><strong>rgbData</strong>: the RGB colors (0-255)of the various points (i.e. one color per point).</div>
<div><strong>usrData</strong>: the user data of the various points (i.e. one user data per point).</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to an OC-tree object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createOctreeFromPoints">geom_createOctreeFromPoints</a>, <a href="#geom_createOctreeFromMesh">geom_createOctreeFromMesh</a>, <a href="#geom_createOctreeFromOctree">geom_createOctreeFromOctree</a>, <a href="#geom_destroyOctree">geom_destroyOctree</a>, <a href="#geom_copyOctree">geom_copyOctree</a>, <a href="#geom_getOctreeFromSerializationData">geom_getOctreeFromSerializationData</a>, <a href="#geom_insertColorPointsIntoOctree">geom_insertColorPointsIntoOctree</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createOctreeFromMesh" id="geom_createOctreeFromMesh"></a>geom_createOctreeFromMesh</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates an OC-tree object from a mesh object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">COcStruct* geom_createOctreeFromMesh(const CObbStruct* meshObbStruct,const C7Vector& meshTransformation,const C7Vector* octreeOrigin=nullptr,double cellS=0.05,const unsigned char rgbData[3]=nullptr,unsigned int usrData=0)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>meshObbStruct</strong>: the mesh object.</div>
<div><strong>meshTransformation</strong>: the transformation frame of the mesh object.</div>
<div><strong>octreeOrigin</strong>: the transformation frame of the OC-tree. Can be nullptr, in which case the frame of the OC-tree is located at the world origin.</div>
<div><strong>cellS</strong>: The desired OC-tree voxel size.</div>
<div><strong>rgbData</strong>: the RGB color (0-255) of the generated voxels.</div>
<div><strong>usrData</strong>: the user data of the generated voxels.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to an OC-tree object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createOctreeFromPoints">geom_createOctreeFromPoints</a>,<a href="#geom_createOctreeFromColorPoints">geom_createOctreeFromColorPoints</a>, <a href="#geom_createOctreeFromOctree">geom_createOctreeFromOctree</a>, <a href="#geom_destroyOctree">geom_destroyOctree</a>, <a href="#geom_copyOctree">geom_copyOctree</a>, <a href="#geom_getOctreeFromSerializationData">geom_getOctreeFromSerializationData</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createOctreeFromOctree" id="geom_createOctreeFromOctree"></a>geom_createOctreeFromOctree</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates an OC-tree object from another OC-tree object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">COcStruct* geom_createOctreeFromOctree(const COcStruct* otherOctreeStruct,const C7Vector& otherOctreeTransformation,const C7Vector* newOctreeOrigin=nullptr,double newOctreeCellS=0.05,const unsigned char rgbData[3]=nullptr,unsigned int usrData=0)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>otherOctreeStruct</strong>: the other OC-tree object.</div>
<div><strong>otherOctreeTransformation</strong>: the transformation frame of the other OC-tree object.</div>
<div><strong>newOctreeOrigin</strong>: the transformation frame of the new OC-tree. Can be nullptr, in which case the frame of the new OC-tree is located at the world origin.</div>
<div><strong>newOctreeCellS</strong>: The desired OC-tree voxel size.</div>
<div><strong>rgbData</strong>: the RGB color (0-255) of the generated voxels.</div>
<div><strong>usrData</strong>: the user data of the generated voxels.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to an OC-tree object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createOctreeFromPoints">geom_createOctreeFromPoints</a>,<a href="#geom_createOctreeFromColorPoints">geom_createOctreeFromColorPoints</a>, <a href="#geom_createOctreeFromMesh">geom_createOctreeFromMesh</a>, <a href="#geom_destroyOctree">geom_destroyOctree</a>, <a href="#geom_copyOctree">geom_copyOctree</a>, <a href="#geom_getOctreeFromSerializationData">geom_getOctreeFromSerializationData</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createOctreeFromPoints" id="geom_createOctreeFromPoints"></a>geom_createOctreeFromPoints</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates an OC-tree object from several points.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">COcStruct* geom_createOctreeFromPoints(const double* points,int pointCnt,const C7Vector* octreeOrigin=nullptr,double cellS=0.05,const unsigned char rgbData[3]=nullptr,unsigned int usrData=0)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>points</strong>: an array with point data, expressed relative to the world origin.</div>
<div><strong>pointCnt</strong>: the number of provided points.</div>
<div><strong>octreeOrigin</strong>: the transformation frame of the OC-tree. Can be nullptr, in which case the frame of the OC-tree is located at the world origin.</div>
<div><strong>cellS</strong>: The desired OC-tree voxel size.</div>
<div><strong>rgbData</strong>: the RGB color (0-255) of the generated voxels.</div>
<div><strong>usrData</strong>: the user data of the generated voxels.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to an OC-tree object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createOctreeFromColorPoints">geom_createOctreeFromColorPoints</a>, <a href="#geom_createOctreeFromMesh">geom_createOctreeFromMesh</a>, <a href="#geom_createOctreeFromOctree">geom_createOctreeFromOctree</a>, <a href="#geom_destroyOctree">geom_destroyOctree</a>, <a href="#geom_copyOctree">geom_copyOctree</a>, <a href="#geom_getOctreeFromSerializationData">geom_getOctreeFromSerializationData</a>, <a href="#geom_insertPointsIntoOctree">geom_insertPointsIntoOctree</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createPtcloudFromColorPoints" id="geom_createPtcloudFromColorPoints"></a>geom_createPtcloudFromColorPoints</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates a point-cloud object from several points with individual colors.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">CPcStruct* geom_createPtcloudFromColorPoints(const double* points,int pointCnt,const C7Vector* ptcloudOrigin=nullptr,double cellS=0.05,int maxPointCnt=20,const unsigned char* rgbData=nullptr,double proximityTol=0.005)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>points</strong>: an array with point data, expressed relative to the world origin.</div>
<div><strong>pointCnt</strong>: the number of provided points.</div>
<div><strong>ptcloudOrigin</strong>: the transformation frame of the point-cloud. Can be nullptr, in which case the frame of the point-cloud is located at the world origin.</div>
<div><strong>cellS</strong>: The desired voxel size of the underlying OC-tree.</div>
<div><strong>maxPointCnt</strong>: The maximum amount of points inside of a OC-tree voxel.</div>
<div><strong>rgbData</strong>: the RGB color (0-255) of the generated points. Specify one color per point.</div>
<div><strong>proximityTol</strong>: the distance tolerance to other points (i.e. point-point distances below the specified value are not permitted and points will be omitted).</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to a point-cloud object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createPtcloudFromPoints">geom_createPtcloudFromPoints</a>, <a href="#geom_destroyPtcloud">geom_destroyPtcloud</a>, <a href="#geom_copyPtcloud">geom_copyPtcloud</a>, <a href="#geom_getPtcloudFromSerializationData">geom_getPtcloudFromSerializationData</a>, <a href="#geom_insertColorPointsIntoPtcloud">geom_insertColorPointsIntoPtcloud</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_createPtcloudFromPoints" id="geom_createPtcloudFromPoints"></a>geom_createPtcloudFromPoints</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates a point-cloud object from several points.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">CPcStruct* geom_createPtcloudFromPoints(const double* points,int pointCnt,const C7Vector* ptcloudOrigin=nullptr,double cellS=0.05,int maxPointCnt=20,const unsigned char rgbData[3]=nullptr,double proximityTol=0.005)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>points</strong>: an array with point data, expressed relative to the world origin.</div>
<div><strong>pointCnt</strong>: the number of provided points.</div>
<div><strong>ptcloudOrigin</strong>: the transformation frame of the point-cloud. Can be nullptr, in which case the frame of the point-cloud is located at the world origin.</div>
<div><strong>cellS</strong>: The desired voxel size of the underlying OC-tree.</div>
<div><strong>maxPointCnt</strong>: The maximum amount of points inside of a OC-tree voxel.</div>
<div><strong>rgbData</strong>: the RGB color (0-255) of the generated points.</div>
<div><strong>proximityTol</strong>: the distance tolerance to other points (i.e. point-point distances below the specified value are not permitted and points will be omitted).</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to a point-cloud object in case of success, otherwise nullptr.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createPtcloudFromColorPoints">geom_createPtcloudFromColorPoints</a>, <a href="#geom_destroyPtcloud">geom_destroyPtcloud</a>, <a href="#geom_copyPtcloud">geom_copyPtcloud</a>, <a href="#geom_getPtcloudFromSerializationData">geom_getPtcloudFromSerializationData</a>, <a href="#geom_insertPointsIntoPtcloud">geom_insertPointsIntoPtcloud</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_destroyMesh" id="geom_destroyMesh"></a>geom_destroyMesh</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Destroys a mesh object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">void geom_destroyMesh(CObbStruct* meshObbStruct)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>meshObbStruct</strong>: a pointer to the mesh object.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet"></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createMesh">geom_createMesh</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_destroyOctree" id="geom_destroyOctree"></a>geom_destroyOctree</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Destroys an OC-tree object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">void geom_destroyOctree(COcStruct* ocStruct)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ocStruct</strong>: a pointer to the OC-tree object.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet"></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createOctreeFromPoints">geom_createOctreeFromPoints</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_destroyPtcloud" id="geom_destroyPtcloud"></a>geom_destroyPtcloud</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Destroys a point-cloud object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">void geom_destroyPtcloud(CPcStruct* pcStruct)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>pcStruct</strong>: a pointer to the point-cloud object.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet"></td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_createPtcloudFromPoints">geom_createPtcloudFromPoints</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getApproxBoxBoxDistance" id="geom_getApproxBoxBoxDistance"></a>geom_getApproxBoxBoxDistance</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes a fast, approximate minimum distance between two cuboids. The approximate distance is always same or smaller than the exact distance.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">double geom_getApproxBoxBoxDistance(const C7Vector& box1Transformation,const C3Vector& box1HalfSize,const C7Vector& box2Transformation,const C3Vector& box2HalfSize)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>box1Transformation</strong>: the transformation frame of the first cuboid.</div>
<div><strong>box1HalfSize</strong>: the half-size of the first cuboid.</div>
<div><strong>box2Transformation</strong>: the transformation frame of the second cuboid.</div>
<div><strong>box2HalfSize</strong>: the half-size of the second cuboid.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">the approximate minimum distance between the two cuboids. The approximate distance is always same or smaller than the exact distance.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getBoxBoxDistanceIfSmaller">geom_getBoxBoxDistanceIfSmaller</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxBoxCollision" id="geom_getBoxBoxCollision"></a>geom_getBoxBoxCollision</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks for collision between two cuboids.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxBoxCollision(const C7Vector& box1Transformation,const C3Vector& box1HalfSize,const C7Vector& box2Transformation,const C3Vector& box2HalfSize,bool boxesAreSolid)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>box1Transformation</strong>: the transformation frame of the first cuboid.</div>
<div><strong>box1HalfSize</strong>: the half-size of the first cuboid.</div>
<div><strong>box2Transformation</strong>: the transformation frame of the second cuboid.</div>
<div><strong>box2HalfSize</strong>: the half-size of the second cuboid.</div>
<div><strong>boxesAreSolid</strong>: whether the two cuboids are solid. If not, then cuboid A being fully encompassed by cuboid B will not lead to a collision detection.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">the collision status</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getBoxTriangleCollision">geom_getBoxTriangleCollision</a>, <a href="#geom_getBoxSegmentCollision">geom_getBoxSegmentCollision</a>, <a href="#geom_getBoxPointCollision">geom_getBoxPointCollision</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxBoxDistanceIfSmaller" id="geom_getBoxBoxDistanceIfSmaller"></a>geom_getBoxBoxDistanceIfSmaller</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes the minimum distance between two cuboids.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxBoxDistanceIfSmaller(const C7Vector& box1Transformation,const C3Vector& box1HalfSize,const C7Vector& box2Transformation,const C3Vector& box2HalfSize,bool boxesAreSolid,double& dist,C3Vector* distSegPt1=nullptr,C3Vector* distSegPt2=nullptr,bool altRoutine=false)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>box1Transformation</strong>: the transformation frame of the first cuboid.</div>
<div><strong>box1HalfSize</strong>: the half-size of the first cuboid.</div>
<div><strong>box2Transformation</strong>: the transformation frame of the second cuboid.</div>
<div><strong>box2HalfSize</strong>: the half-size of the second cuboid.</div>
<div><strong>boxesAreSolid</strong>: whether the two cuboids are solid. If true, then cuboid A being fully encompassed by cuboid B will always lead to a distance of zero between the two cuboids.</div>
<div><strong>dist</strong>: the distance threshold as input, and the minimum distance as output if it is below the threshold.</div>
<div><strong>distSegPt1</strong>: the minimum distance point on the first cuboid.</div>
<div><strong>distSegPt2</strong>: the minimum distance point on the second cuboid.</div>
<div><strong>altRoutine</strong>: if true, an alternative calculation routine will be used.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">whether the minimum distance is smaller than the specified threshold</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getApproxBoxBoxDistance">geom_getApproxBoxBoxDistance</a>, <a href="#geom_getBoxTriangleDistanceIfSmaller">geom_getBoxTriangleDistanceIfSmaller</a>, <a href="#geom_getBoxSegmentDistanceIfSmaller">geom_getBoxSegmentDistanceIfSmaller</a>, <a href="#geom_getBoxPointDistanceIfSmaller">geom_getBoxPointDistanceIfSmaller</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxPointCollision" id="geom_getBoxPointCollision"></a>geom_getBoxPointCollision</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks for collision between a cuboid and a point.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxPointCollision(const C7Vector& boxTransformation,const C3Vector& boxHalfSize,const C3Vector& point)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>boxTransformation</strong>: the transformation frame of the cuboid.</div>
<div><strong>boxHalfSize</strong>: the half-size of the cuboid.</div>
<div><strong>point</strong>: point position.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">the collision status</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getOctreePointCollision">geom_getOctreePointCollision</a>, <a href="#geom_getBoxBoxCollision">geom_getBoxBoxCollision</a>, <a href="#geom_getBoxTriangleCollision">geom_getBoxTriangleCollision</a>, <a href="#geom_getBoxSegmentCollision">geom_getBoxSegmentCollision</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxPointDistanceIfSmaller" id="geom_getBoxPointDistanceIfSmaller"></a>geom_getBoxPointDistanceIfSmaller</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes the minimum distance between a cuboid and a point.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxPointDistanceIfSmaller(const C7Vector& boxTransformation,const C3Vector& boxHalfSize,bool boxIsSolid,const C3Vector& point,double& dist,C3Vector* boxDistSegPt=nullptr)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>boxTransformation</strong>: the transformation frame of the cuboid.</div>
<div><strong>boxHalfSize</strong>: the half-size of the cuboid.</div>
<div><strong>boxIsSolid</strong>: whether the cuboid is solid. If true, then the point being fully encompassed by the cuboid will always lead to a distance of zero.</div>
<div><strong>point</strong>: position of the point.</div>
<div><strong>dist</strong>: the distance threshold as input, and the minimum distance as output if it is below the threshold.</div>
<div><strong>boxDistSegPt</strong>: the minimum distance point on the cuboid.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">whether the minimum distance is smaller than the specified threshold</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getMeshPointDistanceIfSmaller">geom_getMeshPointDistanceIfSmaller</a>, <a href="#geom_getOctreePointDistanceIfSmaller">geom_getOctreePointDistanceIfSmaller</a>, <a href="#geom_getPtcloudPointDistanceIfSmaller">geom_getPtcloudPointDistanceIfSmaller</a>, <a href="#geom_getBoxBoxDistanceIfSmaller">geom_getBoxBoxDistanceIfSmaller</a>, <a href="#geom_getBoxTriangleDistanceIfSmaller">geom_getBoxTriangleDistanceIfSmaller</a>, <a href="#geom_getBoxSegmentDistanceIfSmaller">geom_getBoxSegmentDistanceIfSmaller</a>, <a href="#geom_getTrianglePointDistanceIfSmaller">geom_getTrianglePointDistanceIfSmaller</a>, <a href="#geom_getSegmentPointDistanceIfSmaller">geom_getSegmentPointDistanceIfSmaller</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxSegmentCollision" id="geom_getBoxSegmentCollision"></a>geom_getBoxSegmentCollision</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks for collision between a cuboid and a segment.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxSegmentCollision(const C7Vector& boxTransformation,const C3Vector& boxHalfSize,bool boxIsSolid,const C3Vector& segmentEndPoint,const C3Vector& segmentVector)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>boxTransformation</strong>: the transformation frame of the cuboid.</div>
<div><strong>boxHalfSize</strong>: the half-size of the cuboid.</div>
<div><strong>boxIsSolid</strong>: whether the cuboid is solid. If not, then the segment being fully encompassed by the cuboid will not lead to a collision detection.</div>
<div><strong>segmentEndPoint</strong>: position of vertex A on the segment.</div>
<div><strong>segmentVector</strong>: vector stretching from vertex A to vertex B on the segment.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">the collision status</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getMeshSegmentCollision">geom_getMeshSegmentCollision</a>, <a href="#geom_getOctreeSegmentCollision">geom_getOctreeSegmentCollision</a>, <a href="#geom_getBoxBoxCollision">geom_getBoxBoxCollision</a>, <a href="#geom_getBoxTriangleCollision">geom_getBoxTriangleCollision</a>, <a href="#geom_getBoxPointCollision">geom_getBoxPointCollision</a>, <a href="#geom_getTriangleSegmentCollision">geom_getTriangleSegmentCollision</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxSegmentDistanceIfSmaller" id="geom_getBoxSegmentDistanceIfSmaller"></a>geom_getBoxSegmentDistanceIfSmaller</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes the minimum distance between a cuboid and a segment.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxSegmentDistanceIfSmaller(const C7Vector& boxTransformation,const C3Vector& boxHalfSize,bool boxIsSolid,const C3Vector& segmentEndPoint,const C3Vector& segmentVector,double& dist,C3Vector* distSegPt1=nullptr,C3Vector* distSegPt2=nullptr,bool altRoutine=false)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>boxTransformation</strong>: the transformation frame of the cuboid.</div>
<div><strong>boxHalfSize</strong>: the half-size of the cuboid.</div>
<div><strong>boxIsSolid</strong>: whether the cuboid is solid. If true, then the segment being fully encompassed by the cuboid will always lead to a distance of zero.</div>
<div><strong>segmentEndPoint</strong>: position of vertex A on the segment.</div>
<div><strong>segmentVector</strong>: vector stretching from vertex A to vertex B on the segment.</div>
<div><strong>dist</strong>: the distance threshold as input, and the minimum distance as output if it is below the threshold.</div>
<div><strong>boxDistSegPt</strong>: the minimum distance point on the cuboid.</div>
<div><strong>segmentSegPt</strong>: the minimum distance point on the segment.</div>
<div><strong>altRoutine</strong>: if true, an alternative calculation routine will be used.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">whether the minimum distance is smaller than the specified threshold</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getMeshSegmentDistanceIfSmaller">geom_getMeshSegmentDistanceIfSmaller</a>, <a href="#geom_getOctreeSegmentDistanceIfSmaller">geom_getOctreeSegmentDistanceIfSmaller</a>, <a href="#geom_getPtcloudSegmentDistanceIfSmaller">geom_getPtcloudSegmentDistanceIfSmaller</a>, <a href="#geom_getBoxBoxDistanceIfSmaller">geom_getBoxBoxDistanceIfSmaller</a>, <a href="#geom_getBoxTriangleDistanceIfSmaller">geom_getBoxTriangleDistanceIfSmaller</a>, <a href="#geom_getBoxPointDistanceIfSmaller">geom_getBoxPointDistanceIfSmaller</a>, <a href="#geom_getTriangleSegmentDistanceIfSmaller">geom_getTriangleSegmentDistanceIfSmaller</a>, <a href="#geom_getSegmentSegmentDistanceIfSmaller">geom_getSegmentSegmentDistanceIfSmaller</a>, <a href="#geom_getSegmentPointDistanceIfSmaller">geom_getSegmentPointDistanceIfSmaller</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxTriangleCollision" id="geom_getBoxTriangleCollision"></a>geom_getBoxTriangleCollision</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks for collision between a cuboid and a triangle.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxTriangleCollision(const C7Vector& boxTransformation,const C3Vector& boxHalfSize,bool boxIsSolid,const C3Vector& p,const C3Vector& v,const C3Vector& w)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>boxTransformation</strong>: the transformation frame of the cuboid.</div>
<div><strong>boxHalfSize</strong>: the half-size of the cuboid.</div>
<div><strong>boxIsSolid</strong>: whether the cuboid is solid. If not, then the triangle being fully encompassed by the cuboid will not lead to a collision detection.</div>
<div><strong>p</strong>: position of vertex A on the triangle.</div>
<div><strong>v</strong>: vector stretching from vertex A to vertex B on the triangle.</div>
<div><strong>w</strong>: vector stretching from vertex A to vertex C on the triangle.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">the collision status</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getMeshTriangleCollision">geom_getMeshTriangleCollision</a>, <a href="#geom_getOctreeTriangleCollision">geom_getOctreeTriangleCollision</a>, <a href="#geom_getBoxBoxCollision">geom_getBoxBoxCollision</a>, <a href="#geom_getBoxSegmentCollision">geom_getBoxSegmentCollision</a>, <a href="#geom_getBoxPointCollision">geom_getBoxPointCollision</a>, <a href="#geom_getTriangleTriangleCollision">geom_getTriangleTriangleCollision</a>, <a href="#geom_getTriangleSegmentCollision">geom_getTriangleSegmentCollision</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getBoxTriangleDistanceIfSmaller" id="geom_getBoxTriangleDistanceIfSmaller"></a>geom_getBoxTriangleDistanceIfSmaller</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes the minimum distance between a cuboid and a triangle.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool geom_getBoxTriangleDistanceIfSmaller(const C7Vector& boxTransformation,const C3Vector& boxHalfSize,bool boxIsSolid,const C3Vector& p,const C3Vector& v,const C3Vector& w,double& dist,C3Vector* boxDistSegPt=nullptr,C3Vector* triangleDistSegPt=nullptr,bool altRoutine=false)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>boxTransformation</strong>: the transformation frame of the cuboid.</div>
<div><strong>boxHalfSize</strong>: the half-size of the cuboid.</div>
<div><strong>boxIsSolid</strong>: whether the cuboid is solid. If true, then the triangle being fully encompassed by the cuboid will always lead to a distance of zero.</div>
<div><strong>p</strong>: position of vertex A on the triangle.</div>
<div><strong>v</strong>: vector stretching from vertex A to vertex B on the triangle.</div>
<div><strong>w</strong>: vector stretching from vertex A to vertex C on the triangle.</div>
<div><strong>dist</strong>: the distance threshold as input, and the minimum distance as output if it is below the threshold.</div>
<div><strong>boxDistSegPt</strong>: the minimum distance point on the cuboid.</div>
<div><strong>triangleDistSegPt</strong>: the minimum distance point on the triangle.</div>
<div><strong>altRoutine</strong>: if true, an alternative calculation routine will be used.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">whether the minimum distance is smaller than the specified threshold</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#geom_getMeshTriangleDistanceIfSmaller">geom_getMeshTriangleDistanceIfSmaller</a>, <a href="#geom_getOctreeTriangleDistanceIfSmaller">geom_getOctreeTriangleDistanceIfSmaller</a>, <a href="#geom_getPtcloudTriangleDistanceIfSmaller">geom_getPtcloudTriangleDistanceIfSmaller</a>, <a href="#geom_getBoxBoxDistanceIfSmaller">geom_getBoxBoxDistanceIfSmaller</a>, <a href="#geom_getBoxSegmentDistanceIfSmaller">geom_getBoxSegmentDistanceIfSmaller</a>, <a href="#geom_getBoxPointDistanceIfSmaller">geom_getBoxPointDistanceIfSmaller</a>, <a href="#geom_getTriangleTriangleDistanceIfSmaller">geom_getTriangleTriangleDistanceIfSmaller</a>, <a href="#geom_getTriangleSegmentDistanceIfSmaller">geom_getTriangleSegmentDistanceIfSmaller</a>, <a href="#geom_getTrianglePointDistanceIfSmaller">geom_getTrianglePointDistanceIfSmaller</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="geom_getMeshFromSerializationData" id="geom_getMeshFromSerializationData"></a>geom_getMeshFromSerializationData</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates a mesh object based on serialization data.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">CObbStruct* geom_getMeshFromSerializationData(const unsigned char* serializationData)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>serializationData</strong>: the serialization data previously generated with <a href="#geom_getMeshSerializationData">geom_getMeshSerializationData</a>.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">A pointer to the created mesh object in case of success, nullptr otherwise.</td>
</tr>
<tr class="apiTableTr">