41 #include "visp3/core/vpConfig.h" 43 #ifndef DOXYGEN_SHOULD_SKIP_THIS 44 #include <visp3/robot/vpMy.h> 45 #include <visp3/robot/vpArit.h> 46 #include <visp3/robot/vpBound.h> 59 void free_Bound (Bound *bp)
61 Face *fp = bp->face.ptr;
62 Face *fend = fp + bp->face.nbr;
64 for (; fp < fend; fp++) {
65 if (fp->vertex.ptr != fp->vertex.tbl)
66 free ((
char *) fp->vertex.ptr);
68 if (bp->face.ptr != NULL) {
69 free ((
char *) bp->face.ptr);
72 if (bp->point.ptr != NULL) {
73 free ((
char *) bp->point.ptr);
77 if (bp->normal.ptr != NULL) {
78 free ((
char *) bp->normal.ptr);
79 bp->normal.ptr = NULL;
82 bp->is_display = FALSE;
91 void free_huge_Bound (Bound *bp)
102 void free_Bound_scene (Bound_scene *bsp)
104 Bound *bp = bsp->bound.ptr;
105 Bound *bend = bp + bsp->bound.nbr;
107 for (; bp < bend; bp++) {
110 if (bsp->name != NULL) {
111 free ((
char *) bsp->name);
114 if (bsp->bound.ptr != NULL) {
115 free ((
char *) bsp->bound.ptr);
116 bsp->bound.ptr = NULL;
130 void malloc_Bound (Bound *bp, Type type,
int polygonal, Index fn, Index pn)
132 static char proc_name[] =
"malloc_Bound";
134 if ((bp->face.nbr = fn) == 0)
136 else if ((bp->face.ptr = (Face *) malloc (fn *
sizeof (Face)))
142 if ((bp->point.nbr = pn) == 0)
143 bp->point.ptr = NULL;
144 else if ((bp->point.ptr = (Point3f *) malloc (pn *
sizeof (Point3f)))
152 if ((bp->normal.nbr = (bp->is_polygonal ? 0 : pn)) == 0)
153 bp->normal.ptr = NULL;
154 else if ((bp->normal.ptr = (Vector *) malloc (pn *
sizeof (Vector)))
162 bp->is_display = TRUE;
163 bp->is_polygonal = (unsigned)polygonal;
182 void malloc_huge_Bound (Bound *bp)
184 static char proc_name[] =
"malloc_Huge_Bound";
187 malloc_Bound (bp, (Type) BND_NULL, FALSE, FACE_NBR, POINT_NBR);
189 malloc_Bound (bp, (Type) BND_NULL, TRUE, FACE_NBR, POINT_NBR);
191 if ((bp->face.ptr->vertex.ptr =
192 (Index *) malloc (FACE_NBR * VERTEX_NBR *
sizeof (Index))) == NULL) {
207 void malloc_Bound_scene (Bound_scene *bsp,
const char *name, Index bn)
209 static char proc_name[] =
"malloc_Bound_scene";
211 if ((bsp->name = (
char *) malloc ((strlen (name) + 1) *
sizeof (
char)))
216 if ((bsp->bound.nbr = bn) == 0)
217 bsp->bound.ptr = NULL;
218 else if ((bsp->bound.ptr = (Bound *) malloc (bn *
sizeof (Bound)))
223 strcpy (bsp->name, name);