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authorneodarz <neodarz@neodarz.net>2018-08-11 20:21:34 +0200
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+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
+<title>NeL: NLPACS::CEdgeCollide class Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+</head><body>
+<!-- Generated by Doxygen 1.3.6 -->
+<div class="qindex"> <form class="search" action="search.php" method="get">
+<a class="qindex" href="main.html">Main&nbsp;Page</a> | <a class="qindex" href="namespaces.html">Namespace List</a> | <a class="qindex" href="hierarchy.html">Class&nbsp;Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical&nbsp;List</a> | <a class="qindex" href="annotated.html">Data&nbsp;Structures</a> | <a class="qindex" href="files.html">File&nbsp;List</a> | <a class="qindex" href="namespacemembers.html">Namespace&nbsp;Members</a> | <a class="qindex" href="functions.html">Data&nbsp;Fields</a> | <a class="qindex" href="globals.html">Globals</a> | <a class="qindex" href="pages.html">Related&nbsp;Pages</a> | <span class="search"><u>S</u>earch&nbsp;for&nbsp;<input class="search" type="text" name="query" value="" size="20" accesskey="s"/></span></form></div>
+<h1>NLPACS::CEdgeCollide Class Reference</h1><code>#include &lt;<a class="el" href="a05665.html">edge_collide.h</a>&gt;</code>
+<p>
+<p>Inheritance diagram for NLPACS::CEdgeCollide:
+<p><center><img src="a02448.png" usemap="#NLPACS::CEdgeCollide_map" border="0" alt=""></center>
+<map name="NLPACS::CEdgeCollide_map">
+<area href="a02449.html" alt="NLPACS::CEdgeCollideNode" shape="rect" coords="0,56,175,80">
+</map>
+<hr><a name="_details"></a><h2>Detailed Description</h2>
+Collisions against edge in 2D. <dl compact><dt><b>Author:</b></dt><dd>Lionel Berenguier <p>
+Nevrax France </dd></dl>
+<dl compact><dt><b>Date:</b></dt><dd>2001 </dd></dl>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00180">180</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.<table border=0 cellpadding=0 cellspacing=0>
+<tr><td></td></tr>
+<tr><td colspan=2><br><h2>Public Types</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>enum &nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">TPointMoveProblem</a> { <br>
+&nbsp;&nbsp;<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a> = 0,
+<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>,
+<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>,
+<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>,
+<br>
+&nbsp;&nbsp;<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>,
+<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew2">PointMoveProblemCount</a>
+<br>
+ }</td></tr>
+
+<tr><td colspan=2><br><h2>Public Member Functions</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea1">make</a> (const <a class="el" href="a03660.html">CVector2f</a> &amp;p0, const <a class="el" href="a03660.html">CVector2f</a> &amp;p1)</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>bool&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea2">testBBoxCollide</a> (const <a class="el" href="a03660.html">CVector2f</a> bbox[4])</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>float&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea3">testBBoxMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &amp;start, const <a class="el" href="a03660.html">CVector2f</a> &amp;delta, const <a class="el" href="a03660.html">CVector2f</a> bbox[4], <a class="el" href="a03660.html">CVector2f</a> &amp;normal)</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>float&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea4">testCircleMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &amp;start, const <a class="el" href="a03660.html">CVector2f</a> &amp;delta, float radius, <a class="el" href="a03660.html">CVector2f</a> &amp;normal)</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03305.html">CRational64</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea5">testPointMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &amp;start, const <a class="el" href="a03660.html">CVector2f</a> &amp;end, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">TPointMoveProblem</a> &amp;moveBug)</td></tr>
+
+<tr><td colspan=2><br><h2>Data Fields</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>float&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>float&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>float&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a></td></tr>
+
+<tr><td colspan=2><br><h2>Private Member Functions</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>bool&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollided0">testEdgeMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &amp;q0, const <a class="el" href="a03660.html">CVector2f</a> &amp;q1, const <a class="el" href="a03660.html">CVector2f</a> &amp;delta, float &amp;tMin, float &amp;tMax, bool &amp;normalOnBox)</td></tr>
+
+</table>
+<hr><h2>Member Enumeration Documentation</h2>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5" doxytag="NLPACS::CEdgeCollide::TPointMoveProblem" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> enum <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">NLPACS::CEdgeCollide::TPointMoveProblem</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+<dl compact><dt><b>Enumeration values: </b></dt><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1" doxytag="ParallelEdges" ></a>ParallelEdges</em>&nbsp;</td><td>
+</td></tr>
+<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3" doxytag="StartOnEdge" ></a>StartOnEdge</em>&nbsp;</td><td>
+</td></tr>
+<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4" doxytag="StopOnEdge" ></a>StopOnEdge</em>&nbsp;</td><td>
+</td></tr>
+<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6" doxytag="TraverseEndPoint" ></a>TraverseEndPoint</em>&nbsp;</td><td>
+</td></tr>
+<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0" doxytag="EdgeNull" ></a>EdgeNull</em>&nbsp;</td><td>
+</td></tr>
+<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew2" doxytag="PointMoveProblemCount" ></a>PointMoveProblemCount</em>&nbsp;</td><td>
+</td></tr>
+</table>
+</dl>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00183">183</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
+<p>
+<div class="fragment"><pre>00183 {<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a>=0, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew2">PointMoveProblemCount</a>};
+</pre></div> </td>
+ </tr>
+</table>
+<hr><h2>Member Function Documentation</h2>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea1" doxytag="NLPACS::CEdgeCollide::make" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CEdgeCollide::make </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>p0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>p1</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05664.html#l00043">43</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
+<p>
+References <a class="el" href="a05665.html#l00190">A0</a>, <a class="el" href="a05665.html#l00190">A1</a>, <a class="el" href="a05665.html#l00191">C</a>, <a class="el" href="a05665.html#l00189">Norm</a>, <a class="el" href="a06677.html#l00093">NLMISC::CVector2f::normalize()</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
+<p>
+Referenced by <a class="el" href="a05929.html#l01807">NLPACS::CLocalRetriever::testCollision()</a>, and <a class="el" href="a06337.html#l00635">NLPACS::CRetrieverInstance::testExteriorCollision()</a>.
+<p>
+<div class="fragment"><pre>00044 {
+00045 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>= p0;
+00046 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>= p1;
+00047 <span class="comment">// translation axis of the edge.</span>
+00048 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
+00049 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>.normalize();
+00050 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a>= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>;
+00051 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a>= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>*Dir;
+00052 <span class="comment">// line equation.</span>
+00053 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>.x= Dir.y;
+00054 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>.y= -Dir.x;
+00055 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a>= - <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>;
+00056 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea2" doxytag="NLPACS::CEdgeCollide::testBBoxCollide" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CEdgeCollide::testBBoxCollide </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a>&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>bbox</em>[4] </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return true if this oriented bbox collide this edge. <dl compact><dt><b>Parameters:</b></dt><dd>
+ <table border="0" cellspacing="2" cellpadding="0">
+ <tr><td valign=top><em>bbox</em>&nbsp;</td><td>4 points of the bbox, in CCW. </td></tr>
+ </table>
+</dl>
+<dl compact><dt><b>Returns:</b></dt><dd>true if collision occurs.</dd></dl>
+
+<p>
+Definition at line <a class="el" href="a05664.html#l00657">657</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
+<p>
+References <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
+<p>
+Referenced by <a class="el" href="a05761.html#l02303">NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains()</a>.
+<p>
+<div class="fragment"><pre>00658 {
+00659 <span class="comment">// clip the edge against the edge of the bbox.</span>
+00660 CVector2f p0= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>, p1= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>;
+00661
+00662 <span class="keywordflow">for</span>(<a class="code" href="a04558.html#a14">sint</a> i=0; i&lt;4; i++)
+00663 {
+00664 CVector2f a= bbox[i];
+00665 CVector2f b= bbox[(i+1)&amp;3];
+00666 CVector2f delta= b-a, norm;
+00667 <span class="comment">// sign is important. bbox is CCW. normal goes OUT the bbox.</span>
+00668 norm.x= delta.y;
+00669 norm.y= -delta.x;
+00670
+00671 <span class="keywordtype">float</span> d0= (p0-a)*norm;
+00672 <span class="keywordtype">float</span> d1= (p1-a)*norm;
+00673
+00674 <span class="comment">// if boths points are out this plane, no collision.</span>
+00675 <span class="keywordflow">if</span>( d0&gt;0 &amp;&amp; d1&gt;0)
+00676 <span class="keywordflow">return</span> <span class="keyword">false</span>;
+00677 <span class="comment">// if difference, must clip.</span>
+00678 <span class="keywordflow">if</span>( d0&gt;0 || d1&gt;0)
+00679 {
+00680 CVector2f intersect= p0 + (p1-p0)* ((0-d0)/(d1-d0));
+00681 <span class="keywordflow">if</span>(d1&gt;0)
+00682 p1= intersect;
+00683 <span class="keywordflow">else</span>
+00684 p0= intersect;
+00685 }
+00686 }
+00687
+00688 <span class="comment">// if a segment is still in the bbox, collision occurs.</span>
+00689 <span class="keywordflow">return</span> <span class="keyword">true</span>;
+00690 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea3" doxytag="NLPACS::CEdgeCollide::testBBoxMove" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float NLPACS::CEdgeCollide::testBBoxMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>delta</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a>&nbsp;</td>
+ <td class="mdname" nowrap> <em>bbox</em>[4], </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>normal</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return 1 either if the bbox moves away from the line, or no collision occurs. Else return a [0,1[ interval. If collision occurs (ie return&lt;1), return in "normal" the normal of the collision. It may be normal of edge (+-), or normal against a point of the edge. <dl compact><dt><b>Parameters:</b></dt><dd>
+ <table border="0" cellspacing="2" cellpadding="0">
+ <tr><td valign=top><em>bbox</em>&nbsp;</td><td>4 points of the bbox at start. start must be the barycentre of those points.</td></tr>
+ </table>
+</dl>
+
+<p>
+Definition at line <a class="el" href="a05664.html#l00559">559</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
+<p>
+References <a class="el" href="a05665.html#l00191">C</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a05665.html#l00189">Norm</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05664.html#l00394">testEdgeMove()</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
+<p>
+Referenced by <a class="el" href="a05761.html#l01392">NLPACS::CGlobalRetriever::testCollisionWithCollisionChains()</a>.
+<p>
+<div class="fragment"><pre>00560 {
+00561 <span class="comment">// distance from center to line.</span>
+00562 <span class="keywordtype">float</span> dist= start*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a> + <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a>;
+00563
+00564 <span class="comment">// test if the movement is against the line or not.</span>
+00565 <span class="keywordtype">bool</span> sensPos= dist&gt;0;
+00566 <span class="comment">// if signs are equals, same side of the line, so we allow the circle to leave the line.</span>
+00567 <span class="comment">/*if(sensPos==sensSpeed)</span>
+00568 <span class="comment"> return 1;*/</span>
+00569
+00570
+00571 <span class="comment">// Else, do 4 test edge/edge, and return Tmin.</span>
+00572 <span class="keywordtype">float</span> tMin, tMax;
+00573 <span class="keywordtype">bool</span> edgeCollided= <span class="keyword">false</span>;
+00574 <span class="keywordtype">bool</span> normalOnBox= <span class="keyword">false</span>;
+00575 CVector2f boxNormal;
+00576 <span class="keywordflow">for</span>(<a class="code" href="a04558.html#a14">sint</a> i=0;i&lt;4;i++)
+00577 {
+00578 <span class="keywordtype">float</span> t0, t1;
+00579 <span class="keywordtype">bool</span> nob;
+00580 CVector2f a= bbox[i];
+00581 CVector2f b= bbox[(i+1)&amp;3];
+00582
+00583 <span class="comment">// test move against this edge.</span>
+00584 <span class="keywordflow">if</span>(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollided0">testEdgeMove</a>(a, b, delta, t0, t1, nob))
+00585 {
+00586 <span class="keywordflow">if</span>(edgeCollided)
+00587 {
+00588 tMin= <a class="code" href="a04061.html#a0">min</a>(t0, tMin);
+00589 tMax= max(t1, tMax);
+00590 }
+00591 <span class="keywordflow">else</span>
+00592 {
+00593 edgeCollided= <span class="keyword">true</span>;
+00594 tMin= t0;
+00595 tMax= t1;
+00596 }
+00597
+00598 <span class="comment">// get normal of box against we collide.</span>
+00599 <span class="keywordflow">if</span>(tMin==t0)
+00600 {
+00601 normalOnBox= nob;
+00602 <span class="keywordflow">if</span>(nob)
+00603 {
+00604 CVector2f dab;
+00605 <span class="comment">// bbox must be CCW.</span>
+00606 dab= b-a;
+00607 <span class="comment">// the normal is computed so that the vector goes In the bbox.</span>
+00608 boxNormal.x= -dab.y;
+00609 boxNormal.y= dab.x;
+00610 }
+00611 }
+00612 }
+00613 }
+00614
+00615 <span class="comment">// if collision occurs,and int the [0,1] interval...</span>
+00616 <span class="keywordflow">if</span>(edgeCollided &amp;&amp; tMin&lt;1 &amp;&amp; tMax&gt;0)
+00617 {
+00618 <span class="comment">// compute normal of collision.</span>
+00619 <span class="keywordflow">if</span>(normalOnBox)
+00620 {
+00621 <span class="comment">// assume collsion is an endpoint of the edge against the bbox.</span>
+00622 normal= boxNormal;
+00623 }
+00624 <span class="keywordflow">else</span>
+00625 {
+00626 <span class="comment">// assume collision occurs on interior of the edge. the normal to return is +- Norm.</span>
+00627 <span class="keywordflow">if</span>(sensPos) <span class="comment">// if algebric distance of start position was &gt;0.</span>
+00628 normal= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>;
+00629 <span class="keywordflow">else</span>
+00630 normal= -Norm;
+00631 }
+00632
+00633 <span class="comment">// compute time of collison.</span>
+00634 <span class="keywordflow">if</span>(tMin&gt;0)
+00635 <span class="comment">// return time of collision.</span>
+00636 <span class="keywordflow">return</span> tMin;
+00637 <span class="keywordflow">else</span>
+00638 {
+00639 <span class="comment">// The bbox is inside the edge, at t==0. test if it goes out or not.</span>
+00640 <span class="comment">// accept only if we are much near the exit than the enter.</span>
+00641 <span class="comment">/* NB: 0.2 is an empirical value "which works well". Normally, 1 is the good value, but because of the</span>
+00642 <span class="comment"> "SURFACEMOVE NOT DETECTED" Problem (see testCircleMove()), we must be more restrictive.</span>
+00643 <span class="comment"> */</span>
+00644 <span class="keywordflow">if</span>( tMax&lt;0.2*(-tMin) )
+00645 <span class="keywordflow">return</span> 1;
+00646 <span class="keywordflow">else</span>
+00647 <span class="keywordflow">return</span> 0;
+00648 }
+00649 }
+00650 <span class="keywordflow">else</span>
+00651 <span class="keywordflow">return</span> 1;
+00652
+00653 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea4" doxytag="NLPACS::CEdgeCollide::testCircleMove" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float NLPACS::CEdgeCollide::testCircleMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>delta</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>radius</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>normal</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return 1 either if the circle moves away from the line, or no collision occurs. Else return a [0,1[ interval. If collision occurs (ie return&lt;1), return in "normal" the normal of the collision. It may be normal of edge (+-), or normal against a point of the edge.
+<p>
+Definition at line <a class="el" href="a05664.html#l00265">265</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
+<p>
+References <a class="el" href="a05665.html#l00190">A0</a>, <a class="el" href="a05665.html#l00190">A1</a>, <a class="el" href="a05665.html#l00191">C</a>, <a class="el" href="a06677.html#l00113">NLMISC::CVector2f::isNull()</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a05665.html#l00189">Norm</a>, <a class="el" href="a06677.html#l00093">NLMISC::CVector2f::normalize()</a>, <a class="el" href="a05646.html#l00985">t</a>, and <a class="el" href="a05664.html#l00194">NLPACS::testCirclePoint()</a>.
+<p>
+Referenced by <a class="el" href="a05761.html#l01392">NLPACS::CGlobalRetriever::testCollisionWithCollisionChains()</a>.
+<p>
+<div class="fragment"><pre>00266 {
+00267 <span class="comment">// If the movement is NULL, return 1 (no collision!)</span>
+00268 <span class="keywordflow">if</span>( delta.isNull() )
+00269 <span class="keywordflow">return</span> 1;
+00270
+00271 <span class="comment">// distance from point to line.</span>
+00272 <span class="keywordtype">double</span> dist= start*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a> + <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a>;
+00273 <span class="comment">// projection of speed on normal.</span>
+00274 <span class="keywordtype">double</span> speed= delta*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>;
+00275
+00276 <span class="comment">// test if the movement is against the line or not.</span>
+00277 <span class="keywordtype">bool</span> sensPos= dist&gt;0;
+00278 <span class="keywordtype">bool</span> sensSpeed= speed&gt;0;
+00279
+00280 <span class="comment">// Does the point intersect the line?</span>
+00281 dist= fabs(dist) - radius;
+00282 speed= fabs(speed);
+00283 <span class="keywordflow">if</span>( dist &gt; speed )
+00284 <span class="keywordflow">return</span> 1;
+00285
+00286 <span class="comment">// if not already in collision with the line, test when it collides.</span>
+00287 <span class="comment">// ===============================</span>
+00288 <span class="keywordflow">if</span>(dist&gt;=0)
+00289 {
+00290 <span class="comment">// if signs are equals, same side of the line, so we allow the circle to leave the line.</span>
+00291 <span class="keywordflow">if</span>(sensPos==sensSpeed )
+00292 <span class="keywordflow">return</span> 1;
+00293
+00294 <span class="comment">// if speed is 0, it means that movement is parralel to the line =&gt; never collide.</span>
+00295 <span class="keywordflow">if</span>(speed==0)
+00296 <span class="keywordflow">return</span> 1;
+00297
+00298 <span class="comment">// collide the line, at what time.</span>
+00299 <span class="keywordtype">double</span> <a class="code" href="a04223.html#a627">t</a>= dist/speed;
+00300
+00301
+00302 <span class="comment">// compute the collision position of the Circle on the edge.</span>
+00303 <span class="comment">// this gives the center of the sphere at the collision point.</span>
+00304 <a class="code" href="a03659.html">CVector2d</a> proj= <a class="code" href="a03659.html">CVector2d</a>(start) + CVector2d(delta)*<a class="code" href="a04223.html#a627">t</a>;
+00305 <span class="comment">// must add radius vector.</span>
+00306 proj+= Norm * (sensSpeed?radius:-radius);
+00307 <span class="comment">// compute projection on edge.</span>
+00308 <span class="keywordtype">double</span> aProj= proj*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>;
+00309
+00310 <span class="comment">// if on the interval of the edge.</span>
+00311 <span class="keywordflow">if</span>( aProj&gt;=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a> &amp;&amp; aProj&lt;=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a>)
+00312 {
+00313 <span class="comment">// collision occurs on interior of the edge. the normal to return is +- Norm.</span>
+00314 <span class="keywordflow">if</span>(sensPos) <span class="comment">// if algebric distance of start position was &gt;0.</span>
+00315 normal= Norm;
+00316 <span class="keywordflow">else</span>
+00317 normal= -Norm;
+00318
+00319 <span class="comment">// return time of collision.</span>
+00320 <span class="keywordflow">return</span> (<span class="keywordtype">float</span>)<a class="code" href="a04223.html#a627">t</a>;
+00321 }
+00322 }
+00323 <span class="comment">// else, must test if circle collide segment at t=0. if yes, return 0.</span>
+00324 <span class="comment">// ===============================</span>
+00325 <span class="keywordflow">else</span>
+00326 {
+00327 <span class="comment">// There is just need to test if projection of circle's center onto the line hit the segment.</span>
+00328 <span class="comment">// This is not a good test to know if a circle intersect a segment, but other cases are</span>
+00329 <span class="comment">// managed with test of endPoints of the segment after.</span>
+00330 <span class="keywordtype">float</span> aProj= start*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>;
+00331
+00332 <span class="comment">// if on the interval of the edge.</span>
+00333 <span class="keywordflow">if</span>( aProj&gt;=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a> &amp;&amp; aProj&lt;=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a>)
+00334 {
+00335 <span class="comment">// if signs are equals, same side of the line, so we allow the circle to leave the edge.</span>
+00336 <span class="comment">/* Special case: do not allow to leave the edge if we are too much in the edge.</span>
+00337 <span class="comment"> It is important for CGlobalRetriever::testCollisionWithCollisionChains() because of the</span>
+00338 <span class="comment"> "SURFACEMOVE NOT DETECTED" Problem.</span>
+00339 <span class="comment"> Suppose we can walk on this chain SA/SB (separate Surface A/SurfaceB). Suppose we are near this edge, </span>
+00340 <span class="comment"> and on Surface SA, and suppose there is an other chain SB/SC the circle collide with. If we </span>
+00341 <span class="comment"> return 1 (no collision), SB/SC won't be detected (because only SA/?? chains will be tested) and </span>
+00342 <span class="comment"> so the cylinder will penetrate SB/SC...</span>
+00343 <span class="comment"> This case arise at best if chains SA/SB and chain SB/SC do an angle of 45deg</span>
+00344 <span class="comment"></span>
+00345 <span class="comment"> \todo yoyo: this is a Hack.</span>
+00346 <span class="comment"> */</span>
+00347 <span class="keywordflow">if</span>(sensPos==sensSpeed &amp;&amp; (-dist)&lt;0.5*radius)
+00348 {
+00349 <span class="keywordflow">return</span> 1;
+00350 }
+00351 <span class="keywordflow">else</span>
+00352 {
+00353 <span class="comment">// hit the interior of the edge, and sensPos!=sensSpeed. So must stop now!!</span>
+00354 <span class="comment">// collision occurs on interior of the edge. the normal to return is +- Norm.</span>
+00355 <span class="keywordflow">if</span>(sensPos) <span class="comment">// if algebric distance of start position was &gt;0.</span>
+00356 normal= Norm;
+00357 <span class="keywordflow">else</span>
+00358 normal= -Norm;
+00359
+00360 <span class="keywordflow">return</span> 0;
+00361 }
+00362 }
+00363 }
+00364
+00365 <span class="comment">// In this case, the Circle do not hit the edge on the interior, but may hit on borders.</span>
+00366 <span class="comment">// ===============================</span>
+00367 <span class="comment">// Then, we must compute collision sphere-points.</span>
+00368 <span class="keywordtype">float</span> tmin, ttmp;
+00369 <span class="comment">// first point.</span>
+00370 tmin= <a class="code" href="a05380.html#a27">testCirclePoint</a>(start, delta, radius, P0);
+00371 <span class="comment">// second point.</span>
+00372 ttmp= <a class="code" href="a05380.html#a27">testCirclePoint</a>(start, delta, radius, P1);
+00373 tmin= <a class="code" href="a04061.html#a0">min</a>(tmin, ttmp);
+00374
+00375 <span class="comment">// if collision occurs, compute normal of collision.</span>
+00376 <span class="keywordflow">if</span>(tmin&lt;1)
+00377 {
+00378 <span class="comment">// to which point we collide?</span>
+00379 CVector2f colPoint= tmin==ttmp? <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a> : <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
+00380 <span class="comment">// compute position of the entity at collision.</span>
+00381 CVector2f colPos= start + delta*tmin;
+00382
+00383 <span class="comment">// and so we have this normal (the perpendicular of the tangent at this point).</span>
+00384 normal= colPos - colPoint;
+00385 normal.normalize();
+00386 }
+00387
+00388 <span class="keywordflow">return</span> tmin;
+00389 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollided0" doxytag="NLPACS::CEdgeCollide::testEdgeMove" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CEdgeCollide::testEdgeMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q1</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>delta</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>tMin</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>tMax</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>bool &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>normalOnBox</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [private]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+test if edge collide against me. if true, return time intervals of collisions (]-oo, +oo[). NB: for simplicity, if lines are //, return false.
+<p>
+Definition at line <a class="el" href="a05664.html#l00394">394</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
+<p>
+References <a class="el" href="a05664.html#l00039">NLPACS::EdgeCollideEpsilon</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a06677.html#l00089">NLMISC::CVector2f::norm()</a>, <a class="el" href="a06675.html#l00089">NLMISC::CVector2d::sqrnorm()</a>, <a class="el" href="a06675.html#l00053">NLMISC::CVector2d::x</a>, and <a class="el" href="a06675.html#l00053">NLMISC::CVector2d::y</a>.
+<p>
+Referenced by <a class="el" href="a05664.html#l00559">testBBoxMove()</a>.
+<p>
+<div class="fragment"><pre>00395 {
+00396 <span class="keywordtype">double</span> a,b,cv,cc, d,e,f;
+00397 <a class="code" href="a03659.html">CVector2d</a> tmp;
+00398
+00399 <span class="comment">// compute D1 line equation of q0q1. bx - ay + c(t)=0, where c is function of time [0,1].</span>
+00400 <span class="comment">// ===========================</span>
+00401 tmp= q1 - q0; <span class="comment">// NB: along time, the direction doesn't change.</span>
+00402 <span class="comment">// Divide by norm()², so that a projection on this edge is true if the proj is in interval [0,1].</span>
+00403 tmp/= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2dz2057_4">sqrnorm</a>();
+00404 a= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>;
+00405 b= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>;
+00406 <span class="comment">// c= - q0(t)*CVector2d(b,-a). but since q0(t) is a function of time t (q0+delta*t), compute cv, and cc.</span>
+00407 <span class="comment">// so c= cv*t + cc.</span>
+00408 cv= - <a class="code" href="a03659.html">CVector2d</a>(b,-a)*delta;
+00409 cc= - <a class="code" href="a03659.html">CVector2d</a>(b,-a)*q0;
+00410
+00411 <span class="comment">// compute D2 line equation of P0P1. ex - dy + f=0.</span>
+00412 <span class="comment">// ===========================</span>
+00413 tmp= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a> - <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
+00414 <span class="comment">// Divide by norm()², so that a projection on this edge is true if the proj is in interval [0,1].</span>
+00415 tmp/= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2dz2057_4">sqrnorm</a>();
+00416 d= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>;
+00417 e= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>;
+00418 f= - <a class="code" href="a03659.html">CVector2d</a>(e,-d)*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
+00419
+00420
+00421 <span class="comment">// Solve system.</span>
+00422 <span class="comment">// ===========================</span>
+00423 <span class="comment">/*</span>
+00424 <span class="comment"> Compute the intersection I of 2 lines across time.</span>
+00425 <span class="comment"> We have the system:</span>
+00426 <span class="comment"> bx - ay + c(t)=0</span>
+00427 <span class="comment"> ex - dy + f=0</span>
+00428 <span class="comment"></span>
+00429 <span class="comment"> which solve for:</span>
+00430 <span class="comment"> det= ae-bd (0 &lt;=&gt; // lines)</span>
+00431 <span class="comment"> x(t)= (d*c(t) - fa) / det</span>
+00432 <span class="comment"> y(t)= (e*c(t) - fb) / det</span>
+00433 <span class="comment"> */</span>
+00434
+00435 <span class="comment">// determinant of matrix2x2.</span>
+00436 <span class="keywordtype">double</span> det= a*e - b*d;
+00437 <span class="comment">// if to near of 0. (take delta for reference of test).</span>
+00438 <span class="keywordflow">if</span>(det==0 || fabs(det)&lt;delta.norm()*<a class="code" href="a05380.html#a6">EdgeCollideEpsilon</a>)
+00439 <span class="keywordflow">return</span> <span class="keyword">false</span>;
+00440
+00441 <span class="comment">// intersection I(t)= pInt + vInt*t.</span>
+00442 <a class="code" href="a03659.html">CVector2d</a> pInt, vInt;
+00443 pInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>= ( d*cc - f*a ) / det;
+00444 pInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>= ( e*cc - f*b ) / det;
+00445 vInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>= ( d*cv ) / det;
+00446 vInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>= ( e*cv ) / det;
+00447
+00448
+00449 <span class="comment">// Project Intersection.</span>
+00450 <span class="comment">// ===========================</span>
+00451 <span class="comment">/*</span>
+00452 <span class="comment"> Now, we project x,y onto each line D1 and D2, which gives u(t) and v(t), each one giving the parameter of </span>
+00453 <span class="comment"> the parametric line function. When it is in [0,1], we are on the edge.</span>
+00454 <span class="comment"></span>
+00455 <span class="comment"> u(t)= (I(t)-q0(t)) * CVector2d(a,b) = uc + uv*t</span>
+00456 <span class="comment"> v(t)= (I(t)-P0) * CVector2d(d,e) = vc + vv*t</span>
+00457 <span class="comment"> */</span>
+00458 <span class="keywordtype">double</span> uc, uv;
+00459 <span class="keywordtype">double</span> vc, vv;
+00460 <span class="comment">// NB: q0(t)= q0+delta*t</span>
+00461 uc= (pInt-q0) * <a class="code" href="a03659.html">CVector2d</a>(a,b);
+00462 uv= (vInt-delta) * <a class="code" href="a03659.html">CVector2d</a>(a,b);
+00463 vc= (pInt-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>) * <a class="code" href="a03659.html">CVector2d</a>(d,e);
+00464 vv= (vInt) * <a class="code" href="a03659.html">CVector2d</a>(d,e);
+00465
+00466
+00467 <span class="comment">// Compute intervals.</span>
+00468 <span class="comment">// ===========================</span>
+00469 <span class="comment">/*</span>
+00470 <span class="comment"> Now, for each edge, compute time interval where parameter is in [0,1]. If intervals overlap, there is a collision.</span>
+00471 <span class="comment"> */</span>
+00472 <span class="keywordtype">double</span> tu0, tu1, tv0, tv1;
+00473 <span class="comment">// infinite interval.</span>
+00474 <span class="keywordtype">bool</span> allU=<span class="keyword">false</span>, allV=<span class="keyword">false</span>;
+00475
+00476 <span class="comment">// compute time interval for u(t).</span>
+00477 <span class="keywordflow">if</span>(uv==0 || fabs(uv)&lt;<a class="code" href="a05380.html#a6">EdgeCollideEpsilon</a>)
+00478 {
+00479 <span class="comment">// The intersection does not move along D1. Always projected on u(t)=uc. so if in [0,1], OK, else never collide.</span>
+00480 <span class="keywordflow">if</span>(uc&lt;0 || uc&gt;1)
+00481 <span class="keywordflow">return</span> <span class="keyword">false</span>;
+00482 <span class="comment">// else suppose "always valid".</span>
+00483 tu0 =tu1= 0;
+00484 allU= <span class="keyword">true</span>;
+00485 }
+00486 <span class="keywordflow">else</span>
+00487 {
+00488 tu0= (0-uc)/uv; <span class="comment">// t for u(t)=0</span>
+00489 tu1= (1-uc)/uv; <span class="comment">// t for u(t)=1</span>
+00490 }
+00491
+00492 <span class="comment">// compute time interval for v(t).</span>
+00493 <span class="keywordflow">if</span>(vv==0 || fabs(vv)&lt;<a class="code" href="a05380.html#a6">EdgeCollideEpsilon</a>)
+00494 {
+00495 <span class="comment">// The intersection does not move along D2. Always projected on v(t)=vc. so if in [0,1], OK, else never collide.</span>
+00496 <span class="keywordflow">if</span>(vc&lt;0 || vc&gt;1)
+00497 <span class="keywordflow">return</span> <span class="keyword">false</span>;
+00498 <span class="comment">// else suppose "always valid".</span>
+00499 tv0 =tv1= 0;
+00500 allV= <span class="keyword">true</span>;
+00501 }
+00502 <span class="keywordflow">else</span>
+00503 {
+00504 tv0= (0-vc)/vv; <span class="comment">// t for v(t)=0</span>
+00505 tv1= (1-vc)/vv; <span class="comment">// t for v(t)=1</span>
+00506 }
+00507
+00508
+00509 <span class="comment">// clip intervals.</span>
+00510 <span class="comment">// ===========================</span>
+00511 <span class="comment">// order time interval.</span>
+00512 <span class="keywordflow">if</span>(tu0&gt;tu1)
+00513 swap(tu0, tu1); <span class="comment">// now, [tu0, tu1] represent the time interval where line D2 hit the edge D1.</span>
+00514 <span class="keywordflow">if</span>(tv0&gt;tv1)
+00515 swap(tv0, tv1); <span class="comment">// now, [tv0, tv1] represent the time interval where line D1 hit the edge D2.</span>
+00516
+00517 normalOnBox= <span class="keyword">false</span>;
+00518 <span class="keywordflow">if</span>(!allU &amp;&amp; !allV)
+00519 {
+00520 <span class="comment">// if intervals do not overlap, no collision.</span>
+00521 <span class="keywordflow">if</span>(tu0&gt;tv1 || tv0&gt;tu1)
+00522 <span class="keywordflow">return</span> <span class="keyword">false</span>;
+00523 <span class="keywordflow">else</span>
+00524 {
+00525 <span class="comment">// compute intersection of intervals.</span>
+00526 tMin= (<span class="keywordtype">float</span>)max(tu0, tv0);
+00527 tMax= (<span class="keywordtype">float</span>)<a class="code" href="a04061.html#a0">min</a>(tu1, tv1);
+00528 <span class="comment">// if collision of edgeCollide against the bbox.</span>
+00529 <span class="keywordflow">if</span>(tv0&gt;tu0)
+00530 normalOnBox= <span class="keyword">true</span>;
+00531 }
+00532 }
+00533 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(allU)
+00534 {
+00535 <span class="comment">// intersection of Infinite and V interval.</span>
+00536 tMin= (<span class="keywordtype">float</span>)tv0;
+00537 tMax= (<span class="keywordtype">float</span>)tv1;
+00538 <span class="comment">// if collision of edgeCollide against the bbox.</span>
+00539 normalOnBox= <span class="keyword">true</span>;
+00540 }
+00541 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(allV)
+00542 {
+00543 <span class="comment">// intersection of Infinite and U interval.</span>
+00544 tMin= (<span class="keywordtype">float</span>)tu0;
+00545 tMax= (<span class="keywordtype">float</span>)tu1;
+00546 }
+00547 <span class="keywordflow">else</span>
+00548 {
+00549 <span class="comment">// if allU &amp;&amp; allV, this means delta is near 0, and so there is always collision.</span>
+00550 tMin= -1000;
+00551 tMax= 1000;
+00552 }
+00553
+00554 <span class="keywordflow">return</span> <span class="keyword">true</span>;
+00555 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea5" doxytag="NLPACS::CEdgeCollide::testPointMove" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03305.html">CRational64</a> NLPACS::CEdgeCollide::testPointMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>end</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">TPointMoveProblem</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>moveBug</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return 1 either if no collision occurs. Else return a [0,1[ interval. return -1 if precision problem (see below). This method is used by <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_0">CGlobalRetriever::doMove()</a>. UnManageables cases arise when:<ul>
+<li>the movement start/stop on a edge (dist==0). In this case, don't know on what surface we arrive (before or after).</li><li>the movement is // to the edge and collide with it. same problem than stop on an edge.</li><li>the movement traverse the edge on an endpoint. In this case, there is 2+ edges sharing the point, and result is undefined. On thoses cases, moveBug is filled, and -1 is returned.</li></ul>
+
+<p>
+Definition at line <a class="el" href="a05664.html#l00060">60</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
+<p>
+References <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>, <a class="el" href="a05587.html#l00094">NLMISC::fsgn()</a>, <a class="el" href="a05981.html#l00107">NL_I64</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00101">sint64</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
+<p>
+Referenced by <a class="el" href="a05761.html#l01649">NLPACS::CGlobalRetriever::testMovementWithCollisionChains()</a>.
+<p>
+<div class="fragment"><pre>00061 {
+00062 <span class="comment">/*</span>
+00063 <span class="comment"> To have a correct test (with no float precision problem):</span>
+00064 <span class="comment"> - test first if there is collision beetween the 2 edges:</span>
+00065 <span class="comment"> - test if first edge collide the other line.</span>
+00066 <span class="comment"> - test if second edge collide the other line.</span>
+00067 <span class="comment"> - if both true, yes, there is a collision.</span>
+00068 <span class="comment"> - compute time of collision.</span>
+00069 <span class="comment"> */</span>
+00070
+00071
+00072 <span class="comment">// *this must be a correct edge.</span>
+00073 <span class="keywordflow">if</span>(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>==<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>)
+00074 {
+00075 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>;
+00076 <span class="keywordflow">return</span> -1;
+00077 }
+00078
+00079 <span class="comment">// if no movement, no collision.</span>
+00080 <span class="keywordflow">if</span>(start==end)
+00081 <span class="keywordflow">return</span> 1;
+00082
+00083 <span class="comment">// NB those edges are snapped (1/256 for edgeCollide, and 1/1024 for start/end), so no float problem here.</span>
+00084 <span class="comment">// precision is 20 bits.</span>
+00085 CVector2f normEdge;
+00086 CVector2f normMove;
+00087 CVector2f deltaEdge;
+00088 CVector2f deltaMove;
+00089
+00090 <span class="comment">// compute normal of the edge (not normalized, because no need, and for precision problem).</span>
+00091 deltaEdge= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
+00092 normEdge.x= -deltaEdge.y;
+00093 normEdge.y= deltaEdge.x;
+00094
+00095 <span class="comment">// compute normal of the movement (not normalized, because no need, and for precision problem).</span>
+00096 deltaMove= end-start;
+00097 normMove.x= -deltaMove.y;
+00098 normMove.y= deltaMove.x;
+00099
+00100 <span class="comment">// distance from points of movment against edge line. Use double, because of multiplication.</span>
+00101 <span class="comment">// precision is now 43 bits.</span>
+00102 <span class="keywordtype">double</span> moveD0= (<span class="keywordtype">double</span>)normEdge.x*(<span class="keywordtype">double</span>)(start.x-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)normEdge.y*(<span class="keywordtype">double</span>)(start.y-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
+00103 <span class="keywordtype">double</span> moveD1= (<span class="keywordtype">double</span>)normEdge.x*(<span class="keywordtype">double</span>)(end.x -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)normEdge.y*(<span class="keywordtype">double</span>)(end.y -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
+00104
+00105 <span class="comment">// distance from points of edge against movement line. Use double, because of multiplication.</span>
+00106 <span class="comment">// precision is now 43 bits.</span>
+00107 <span class="keywordtype">double</span> edgeD0= (<span class="keywordtype">double</span>)normMove.x*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x-start.x) + (<span class="keywordtype">double</span>)normMove.y*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y-start.y);
+00108 <span class="keywordtype">double</span> edgeD1= (<span class="keywordtype">double</span>)normMove.x*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>.x-start.x) + (<span class="keywordtype">double</span>)normMove.y*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>.y-start.y);
+00109
+00110
+00111 <span class="comment">// If both edges intersect lines (including endpoints), there is a collision, else none.</span>
+00112 <a class="code" href="a04558.html#a14">sint</a> sgnMove0, sgnMove1;
+00113 sgnMove0= <a class="code" href="a05378.html#a372">fsgn</a>(moveD0);
+00114 sgnMove1= <a class="code" href="a05378.html#a372">fsgn</a>(moveD1);
+00115
+00116 <span class="comment">// special case if the 2 edges lies on the same line.</span>
+00117 <span class="keywordflow">if</span>(sgnMove0==0 &amp;&amp; sgnMove1==0)
+00118 {
+00119 <span class="comment">// must test if there is a collision. if yes, problem.</span>
+00120 <span class="comment">// project all the points on the line of the edge.</span>
+00121 <span class="comment">// Use double because of multiplication. precision is now 43 bits.</span>
+00122 <span class="keywordtype">double</span> moveA0= (<span class="keywordtype">double</span>)deltaEdge.x*(<span class="keywordtype">double</span>)(start.x-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)deltaEdge.y*(<span class="keywordtype">double</span>)(start.y-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
+00123 <span class="keywordtype">double</span> moveA1= (<span class="keywordtype">double</span>)deltaEdge.x*(<span class="keywordtype">double</span>)(end.x -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)deltaEdge.y*(<span class="keywordtype">double</span>)(end.y -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
+00124 <span class="keywordtype">double</span> edgeA0= 0;
+00125 <span class="keywordtype">double</span> edgeA1= (<span class="keywordtype">double</span>)deltaEdge.x*(<span class="keywordtype">double</span>)deltaEdge.x + (<span class="keywordtype">double</span>)deltaEdge.y*(<span class="keywordtype">double</span>)deltaEdge.y;
+00126
+00127 <span class="comment">// Test is there is intersection (endpoints included). if yes, return -1. else return 1 (no collision at all).</span>
+00128 <span class="keywordflow">if</span>(moveA1&gt;=edgeA0 &amp;&amp; edgeA1&gt;=moveA0)
+00129 {
+00130 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a>;
+00131 <span class="keywordflow">return</span> -1;
+00132 }
+00133 <span class="keywordflow">else</span>
+00134 <span class="keywordflow">return</span> 1;
+00135 }
+00136
+00137 <span class="comment">// if on same side of the line=&gt; there is no collision.</span>
+00138 <span class="keywordflow">if</span>( sgnMove0==sgnMove1)
+00139 <span class="keywordflow">return</span> 1;
+00140
+00141 <span class="comment">// test edge against move line.</span>
+00142 <a class="code" href="a04558.html#a14">sint</a> sgnEdge0, sgnEdge1;
+00143 sgnEdge0= <a class="code" href="a05378.html#a372">fsgn</a>(edgeD0);
+00144 sgnEdge1= <a class="code" href="a05378.html#a372">fsgn</a>(edgeD1);
+00145
+00146 <span class="comment">// should not have this case, because tested before with (sgnMove==0 &amp;&amp; sgnMove1==0).</span>
+00147 <a class="code" href="a04199.html#a6">nlassert</a>(sgnEdge0!=0 || sgnEdge1!=0);
+00148
+00149
+00150 <span class="comment">// if on same side of the line, no collision against this edge.</span>
+00151 <span class="keywordflow">if</span>( sgnEdge0==sgnEdge1 )
+00152 <span class="keywordflow">return</span> 1;
+00153
+00154 <span class="comment">// Here the edges intersect, but ensure that there is no limit problem.</span>
+00155 <span class="keywordflow">if</span>(sgnEdge0==0 || sgnEdge1==0)
+00156 {
+00157 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>;
+00158 <span class="keywordflow">return</span> -1;
+00159 }
+00160 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(sgnMove1==0)
+00161 {
+00162 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>;
+00163 <span class="keywordflow">return</span> -1;
+00164 }
+00165 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(sgnMove0==0)
+00166 {
+00167 <span class="comment">// this should not arrive.</span>
+00168 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>;
+00169 <span class="keywordflow">return</span> -1;
+00170 }
+00171
+00172
+00173 <span class="comment">// Here, there is a normal collision, just compute it.</span>
+00174 <span class="comment">// Because of Division, there is a precision lost in double. So compute a CRational64.</span>
+00175 <span class="comment">// First, compute numerator and denominator in the highest precision. this is 1024*1024 because of prec multiplication.</span>
+00176 <span class="keywordtype">double</span> numerator= (0-moveD0)*1024*1024;
+00177 <span class="keywordtype">double</span> denominator= (moveD1-moveD0)*1024*1024;
+00178 <a class="code" href="a04558.html#a12">sint64</a> numeratorInt= (<a class="code" href="a04558.html#a12">sint64</a>)numerator;
+00179 <a class="code" href="a04558.html#a12">sint64</a> denominatorInt= (<a class="code" href="a04558.html#a12">sint64</a>)denominator;
+00180 <span class="comment">/*</span>
+00181 <span class="comment"> nlassert(numerator == numeratorInt);</span>
+00182 <span class="comment"> nlassert(denominator == denominatorInt);</span>
+00183 <span class="comment">*/</span>
+00184 <span class="keywordflow">if</span> (numerator != numeratorInt)
+00185 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"numerator(%f) != numeratorInt(%"</span>NL_I64<span class="stringliteral">"d)"</span>, numerator, numeratorInt);
+00186 <span class="keywordflow">if</span> (denominator != denominatorInt)
+00187 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"denominator(%f) != denominatorInt(%"</span>NL_I64<span class="stringliteral">"d)"</span>, denominator, denominatorInt);
+00188
+00189 <span class="keywordflow">return</span> CRational64(numeratorInt, denominatorInt);
+00190 }
+</pre></div> </td>
+ </tr>
+</table>
+<hr><h2>Field Documentation</h2>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo0" doxytag="NLPACS::CEdgeCollide::A0" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">NLPACS::CEdgeCollide::A0</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00190">190</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
+<p>
+Referenced by <a class="el" href="a05664.html#l00043">make()</a>, and <a class="el" href="a05664.html#l00265">testCircleMove()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo1" doxytag="NLPACS::CEdgeCollide::A1" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">NLPACS::CEdgeCollide::A1</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00190">190</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
+<p>
+Referenced by <a class="el" href="a05664.html#l00043">make()</a>, and <a class="el" href="a05664.html#l00265">testCircleMove()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo2" doxytag="NLPACS::CEdgeCollide::C" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">NLPACS::CEdgeCollide::C</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00191">191</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
+<p>
+Referenced by <a class="el" href="a05664.html#l00043">make()</a>, <a class="el" href="a05664.html#l00559">testBBoxMove()</a>, and <a class="el" href="a05664.html#l00265">testCircleMove()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo3" doxytag="NLPACS::CEdgeCollide::Dir" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">NLPACS::CEdgeCollide::Dir</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00189">189</a> of file <a class="el" href="a05665.html">edge_collide.h</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo5" doxytag="NLPACS::CEdgeCollide::Norm" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">NLPACS::CEdgeCollide::Norm</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00189">189</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
+<p>
+Referenced by <a class="el" href="a05664.html#l00043">make()</a>, <a class="el" href="a05664.html#l00559">testBBoxMove()</a>, <a class="el" href="a05664.html#l00265">testCircleMove()</a>, and <a class="el" href="a05761.html#l01649">NLPACS::CGlobalRetriever::testMovementWithCollisionChains()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo6" doxytag="NLPACS::CEdgeCollide::P0" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">NLPACS::CEdgeCollide::P0</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00187">187</a> of file <a class="el" href="a05665.html">edge_collide.h</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo7" doxytag="NLPACS::CEdgeCollide::P1" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">NLPACS::CEdgeCollide::P1</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a05665.html#l00188">188</a> of file <a class="el" href="a05665.html">edge_collide.h</a>. </td>
+ </tr>
+</table>
+<hr>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="a05665.html">edge_collide.h</a><li><a class="el" href="a05664.html">edge_collide.cpp</a></ul>
+<hr size="1"><address style="align: right;"><small>Generated on Tue Mar 16 14:12:14 2004 for NeL by
+<a href="http://www.doxygen.org/index.html">
+<img src="doxygen.png" alt="doxygen" align="middle" border=0 >
+</a>1.3.6 </small></address>
+</body>
+</html>