; This is the input file to the algorithm GCR-gen for the example of
; cube-in-L-shape-corner.
; Lines starting with ';' are comments, and the program automatically
; discards these comment lines. Words in "< >" are key words.

<object-type>         ; 3D objects. 
    3D

; Following are descriptions of the movable object (robot), called A.
; It needs #vertices, #faces, face-vertex-list and object color.
; Other information will be automatically determined, such as #edges,
; edge-vertex-list and vertex-vertex-list.
; Object A is a rectangular solid.

<A-info>         

    <number-of-vertices>    ; #vertices of A. 
        8   

    <number-of-faces>   ; #faces of A.
        6

    ; Vertex list for each face (vertex no. starts from 0).
    ; Requirements:
    ; (1) if the face is a simple polygon, it has one "contour"; if there 
    ;     are "holes" (i.e., empty polygons) in the face, then the 
    ;     face has an outside contour followed by inside contours.
    ; (2) the vertex list in the outside contour is in counter-clockwise 
    ;     order and the vertex list in the inside contour is in clockwise
    ;     order if seen from outside.
    ; (3) the 1st and the last vertex of a contour are duplicates and must 
    ;     be a convex vertex of the face. 
    ; (4) the list for each face ends with -1.

    <fv-construction-list>
        0 1 5 4 0 -1 
        1 2 6 5 1 -1 
        2 3 7 6 2 -1 
        0 4 7 3 0 -1 
        0 3 2 1 0 -1 
        4 5 6 7 4 -1 
    
    <object-color>
        RED

; Following are descriptions of the static object, called B
; The above requirements for object A also apply to object B.
; B is a L-shape corner constructed by two rectangular solids.

<B-info>    

    <number-of-vertices>     
        12 
   
    <number-of-faces>
        8 

    <fv-construction-list>
     0 3 2 1 0 -1 
     0 1 5 4 0 -1 
     1 2 9 10 6 5 1 -1 
     2 3 8 9 2 -1 
     3 0 4 7 11 8 3 -1 
     9 8 11 10 9 -1 
     10 11 7 6 10 -1 
     4 5 6 7 4 -1 
 
    <object-color>
       GREEN

; Description of the goal (or seed) state of the GCR.

<goal-info>    

    ; Homogeneous transformation matrix from A's frame to B's frame.
    <A-to-B-matrix>
    1 0 0 0
    0 1 0 0
    0 0 1 0
    0 0 0 1 
   
    ; The coordinates (X, Y, Z) of each vertex of A relative to A's frame.
    ; The value can be an integer or a float number.

    <A-vertices-coordinates> 
        0 40 70
        0 40 30
        40 40 30
        40 40 70
        0 0 70
        0 0 30
        40 0 30
        40 0 70

    ; The coordinates (X, Y, Z) of each vertex of B relative to B's frame.
    ; The value can be an integer or a float number.

    <B-vertices-coordinates> 
        -30 100 100
        -30 100 0
        0 100 0
        0 100 100
        -30 -30 100
        -30 -30 0
        100 -30 0
        100 -30 100 
        0 0 100
        0 0 0
        100 0 0
        100 0 100
 
<end>