SceneFrame::~SceneFrame( )
{
/* Delete Geometry */
for( struct aa_rx_geom *g : geometry ) {
aa_rx_geom_destroy(g);
}
/* Delete Inertial */
aa_checked_free(inertial);
}
AA_API void
aa_rx_wf_obj_destroy( struct aa_rx_wf_obj * obj)
{
free( obj->vertex.data );
free( obj->normal.data );
free( obj->vertex_indices.data );
free( obj->normal_indices.data );
free( obj->uv_indices.data );
free( obj->texture_indices.data );
svec_type_destroy( &obj->mtl_files );
svec_type_destroy( &obj->objects );
svec_type_destroy( &obj->materials );
mtlvec_type_destroy( &obj->mtl );
aa_checked_free(obj->filename);
aa_checked_free(obj->dirname);
free(obj);
}
AA_API void
aa_rx_mp_set_start( struct aa_rx_mp *mp,
size_t n_all,
double *q_all )
{
/* Assume the start state is valid */
aa_rx_mp_allow_config(mp, n_all, q_all);
// FIXME: Seems that there are problems if this is called repeatedly
amino::sgSpaceInformation::Ptr &si = mp->space_information;
amino::sgStateSpace *ss = si->getTypedStateSpace();
/* Add Start State */
amino::sgSpaceInformation::ScopedStateType state(si);
ss->extract_state( q_all, state.get() );
mp->problem_definition->addStartState(state);
/* Copy full start */
aa_checked_free(mp->config_start);
mp->config_start = AA_MEM_DUP(double, q_all, n_all);
}
AA_API void
aa_rx_mp_destroy( struct aa_rx_mp *mp )
{
aa_checked_free(mp->config_start);
delete mp;
}