environment.h

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#ifndef ENVIRONMENTH
#define ENVIRONMENTH

#include "vector.h"
#include "cuiksystem.h"
#include "polyhedron.h"
#include "link.h"
#include "plot3d.h"

/****************************************************************************/


/****************************************************************************/
#define INIT_NUM_OBSTACLES 10
/****************************************************************************/

typedef struct {
  double maxCoord; 
  Tvector names; 
  Tvector obstacles; 
} Tenvironment;

void InitEnvironment(Tenvironment *e);

void AddShape2Environment(char *name,Tpolyhedron *o,Tenvironment *e);

unsigned int GetEnvironmentNObstacles(Tenvironment *e);

unsigned int GetObstacleID(char *name,Tenvironment *e);

char *GetObstacleName(unsigned int i,Tenvironment *e);


Tpolyhedron *GetObstacleShape(unsigned int i,Tenvironment *e);


unsigned int GetObstacleShapeStatus(unsigned int i,Tenvironment *e);


void GetObstacleColor(unsigned int i,Tcolor *c,Tenvironment *e);

double GetEnvironmentMaxCoordinate(Tenvironment *e);

void PrintEnvironment(FILE *f,char *path,Tenvironment *e);

void PlotEnvironment(Tplot3d *pt,Tenvironment *e);


void DeleteEnvironment(Tenvironment *e);

#endif