feat(C#): add CollisionActivePairList method

Author: vdm-dev

C#/API/IRoboDk.cs

@@ -554,9 +554,15 @@ IItem AddCurve(Mat curvePoints, IItem referenceObject = null, bool addToRef = fa
         /// <summary>
         /// Returns the list of pairs of items that are in a collision state. This call will run a check for collisions if collision checking is not activated (if SetCollisionActive is set to Off).
         /// </summary>
-        /// <returns></returns>
+        /// <returns>List of items that are in a collision state</returns>
         List<CollisionPair> GetCollisionPairs();
 
+        /// <summary>
+        /// Returns the list of pairs of items that are in a collision state.
+        /// </summary>
+        /// <returns>List of items that are in a collision state</returns>
+        List<CollisionPair> CollisionActivePairList();
+
         /// <summary>
         /// Set the simulation speed. A simulation speed of 5 (default) means that 1 second of simulation 
         /// time equals to 5 seconds in a real application. The slowest speed ratio allowed is 0.001. 

C#/API/RoboDK.cs

@@ -1296,6 +1296,25 @@ public List<CollisionPair> GetCollisionPairs()
             return list_items;
         }
 
+        /// <inheritdoc />
+        public List<CollisionPair> CollisionActivePairList()
+        {
+            check_connection();
+            send_line("Collision_GetPairList");
+            int nitems = rec_int();
+            List<CollisionPair> list_items = new List<CollisionPair>(nitems);
+            for (int i = 0; i < nitems; i++)
+            {
+                IItem item1 = rec_item();
+                int id1 = rec_int();
+                IItem item2 = rec_item();
+                int id2 = rec_int();
+                CollisionPair collisionPair = new CollisionPair(item1, id1, item2, id2);
+                list_items.Add(collisionPair);
+            }
+            check_status();
+            return list_items;
+        }
 
         /// <inheritdoc />
         public void SetSimulationSpeed(double speed)

C#/Example/RoboDKSampleProject/RoboDK.cs

@@ -3934,6 +3934,27 @@ public List<Item> CollisionItems(List<int> link_id_list = null)
         return item_list;
     }
 
+    /// <summary>
+    /// Returns the list of pairs of items that are in a collision state.
+    /// </summary>
+    /// <returns>List of items that are in a collision state</returns>
+    public List<Tuple<Item, Item, int, int>> CollisionActivePairList()
+    {
+        _check_connection();
+        _send_Line("Collision_GetPairList");
+        int nitems = _recv_Int();
+        List<Tuple<Item, Item, int, int>> list_items = new List<Tuple<Item, Item, int, int>>(nitems);
+        for (int i = 0; i < nitems; i++)
+        {
+            Item item1 = _recv_Item();
+            int id1 = _recv_Int();
+            Item item2 = _recv_Item();
+            int id2 = _recv_Int();
+            list_items.Add(new Tuple<Item, Item, int, int>(item1, item2, id1, id2));
+        }
+        _check_status();
+        return list_items;
+    }
 
     /// <summary>
     /// Sets the current simulation speed. Set the speed to 1 for a real-time simulation. The slowest speed allowed is 0.001 times the real speed. Set to a high value (>100) for fast simulation results.