sim.checkOctreePointOccupancy

Checks whether the provided points collide with the OC tree voxels

Synopsis

int res, int tag, int locLow, int locHigh = sim.checkOctreePointOccupancy(int octreeHandle, int options, list points) int res, int tag, int locLow, int locHigh = sim.checkOctreePointOccupancy(int octreeHandle, int options, float[] points)

Arguments

  • octreeHandle: handle of the OC tree
  • options: bit-coded:
    • bit0 set (1): specified points are relative to the OC tree reference frame, otherwise they are relative to the world reference frame
  • points: points specified as x/y/z coordinates

Return values

  • res: 0 if the points do not collide with the voxels, 1 if the points collide with the voxels
  • tag: tag value of the voxel that collides with a single point. If several points are tested, this return value should be ignored
  • loc: value specifying the location of the voxel that collides with a single point. If several points are tested, then this return value should be ignored


See also: