FC_PointDistanceQuery - General Information

Overview

Type:	Function
Available as of:	V1.0.0.0
Versions:	Current version

This chapter provides information on:

Description
Interface
Diagnostic Messages
Examples

Description

This function requires a Cartesian point and one query interface implementation chosen between a collision object, a collision group or a collision entity as inputs.

As a result, it returns:

The minimum distance between the point and the query interface object
If i_xEvaluateClosestPoint is set to TRUE, the function evaluates the closest point on the query interface object

Interface

Input	Data type	Description
i_stPoint	SE_MATH.ST_Vector3D	A Cartesian point.
i_ifQueryInterface	IF_CollisionQueryInterface	An object implementing IF_CollisionQueryInterface. This can be a collision object, a collision group or a collision entity.
i_xEvaluateClosestPoints	BOOL	If TRUE, the closest point on i_ifQueryInterface is evaluated

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	String	Event-triggered message that gives additional information on the diagnostic state.
q_xIsPointInside	BOOL	TRUE if the point is inside i_ifQueryInterface.
q_lrDistance	LREAL	The minimum distance between the two inputs. This is zero if q_xCollision = TRUE.
q_udiCollisionGroupIndex	UDINT	Index of the closest group for the input i_ifQueryInterface. NOTE: This has a zero value if i_ifQueryInterface is referring to a collision object or a collision group.
q_udiCollisionObjectIndex	UDINT	Index of the closest object in the group with index q_udiCollisionGroupIndex of the input i_ifQueryInterface. NOTE: This has a zero value, if i_ifQueryInterface is referring to a collision object.
q_stClosestPoint	SE_Math.ST_Vector3D	Closest point for the input i_ifQueryInterface. This is only evaluated if i_xEvaluateClosestPoint = TRUE; otherwise, it will return a null vector.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	OkOk	0	Success
TRUE	NoCollisionGroupsEnabled	36	No collision groups enabled.
TRUE	InterfaceInvalid	11	The provided interface is invalid (null).
TRUE	CollisionEntityNotUpdated	34	The collision entity has not been updated.
TRUE	CollisionGroupNotUpdated	21	A collision group is not updated.
TRUE	CollisionObjectTypeInvalid	16	The provided collision object type is invalid.
TRUE	CollisionObjectNotConfigured	12	The object is not configured.
TRUE	CollisionQueryInterfaceTypeInvalid	52	The provided collision query interface is referring to an invalid type.

OK

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

NoCollisionGroupsEnabled

Enumeration name:	NoCollisionGroupsEnabled
Enumeration value:	36
Description:	No collision groups enabled.

Issue	Cause	Solution
Not possible to make a collision query	i_ifQueryInterface refers to a collision entity. All the configured collision groups of that entity are disabled, meaning that all the relative elements of raxEnableCollisionGroups are set to FALSE.	Make sure to enable the groups of the entity that you want to query for collision.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	11
Description:	The provided interface is invalid (null).

Issue	Cause	Solution
Not possible to make a collision query.	i_ifQueryInterface contains an invalid interface.	Make sure that i_ifQueryInterface is not null.

CollisionEntityNotUpdated

Enumeration name:	CollisionEntityNotUpdated
Enumeration value:	34
Description:	The collision entity has not been updated.

Issue	Cause	Solution
Not possible to make a collision query.	i_ifQueryInterface refers to a collision entity that is not updated, meaning that its property xUpdated = FALSE.	Make sure that an entity is updated before providing it as input of this function.

CollisionGroupNotUpdated

Enumeration name:	CollisionGroupNotUpdated
Enumeration value:	21
Description:	A collision group is not updated.

Issue	Cause	Solution
Not possible to make a collision query.	i_ifQueryInterface refers to a collision group that is not updated, meaning that its property xUpdated = FALSE.	Make sure that a group is updated before providing it as input of this function.

CollisionObjectTypeInvalid

Enumeration name:	CollisionObjectTypeInvalid
Enumeration value:	16
Description:	The provided collision object type is invalid.

Issue	Cause	Solution
Not possible to make a collision query.	i_ifQueryInterface refers to a collision object with an invalid collision object type.	Make sure that i_ifQueryInterface refers to a collision object with a valid collision object type. The valid types are: ET_CollisionObjectType.AABB ET_CollisionObjectType.OBB ET_CollisionObjectType.Sphere ET_CollisionObjectType.Capsule

CollisionObjectNotConfigured

Enumeration name:	CollisionObjectNotConfigured
Enumeration value:	12
Description:	The object is not configured.

Issue	Cause	Solution
Not possible to make a collision query.	i_ifQueryInterface refers to a collision object that is not configured, meaning that its property xConfigured = FALSE.	Make sure that an object is configured before providing it as input of this function.

CollisionQueryInterfaceTypeInvalid

Enumeration name:	CollisionQueryInterfaceTypeInvalid
Enumeration value:	52
Description:	The provided collision query interface is referring to an invalid type.

Issue	Cause	Solution
Not possible to make a collision query.	i_ifQueryInterface is referring to an invalid object type.	Make sure that i_ifQueryInterface is referring to a collision object, group or entity.

Examples

Example of distance query between a point and i_ifQueryInterface (group). In this case, q_udiCollisionObjectIndex = 4 that is the index of the closest object within the group.

Example of distance query between a point and i_ifQueryInterface (object); in this case, q_udiCollisionGroupIndex and q_udiCollisionObjectIndex are both null since i_ifQueryInterface refers to a collision object.