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authorneodarz <neodarz@neodarz.net>2018-08-11 20:21:34 +0200
committerneodarz <neodarz@neodarz.net>2018-08-11 20:21:34 +0200
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+<hr><h1>local_retriever.cpp</h1><a href="local__retriever_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
+00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
+00008 <font class="comment"> *</font>
+00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
+00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
+00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
+00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
+00013 <font class="comment"> * any later version.</font>
+00014 <font class="comment"></font>
+00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
+00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
+00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
+00018 <font class="comment"> * General Public License for more details.</font>
+00019 <font class="comment"></font>
+00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
+00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
+00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
+00023 <font class="comment"> * MA 02111-1307, USA.</font>
+00024 <font class="comment"> */</font>
+00025
+00026 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font>
+00027
+00028 <font class="preprocessor">#include "<a class="code" href="plane_8h.html">nel/misc/plane.h</a>"</font>
+00029
+00030 <font class="preprocessor">#include "<a class="code" href="local__retriever_8h.html">pacs/local_retriever.h</a>"</font>
+00031 <font class="preprocessor">#include "<a class="code" href="collision__desc_8h.html">pacs/collision_desc.h</a>"</font>
+00032 <font class="preprocessor">#include "<a class="code" href="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font>
+00033
+00034 <font class="preprocessor">#include "<a class="code" href="hierarchical__timer_8h.html">nel/misc/hierarchical_timer.h</a>"</font>
+00035
+00036 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
+00037 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
+00038
+<a name="l00040"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#q0">00040</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#q0">NLPACS::CLocalRetriever::_TipThreshold</a> = 0.1f;
+<a name="l00041"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#q1">00041</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#q1">NLPACS::CLocalRetriever::_EdgeTipThreshold</a> = 0.1f;
+00042
+<a name="l00044"></a><a class="code" href="local__retriever_8cpp.html#a0">00044</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="local__retriever_8cpp.html#a0">InsurePositionThreshold</a> = 2.0e-2f;
+00045
+00046 <font class="comment">//static float hybrid2dNorm(const CVector &amp;v)</font>
+00047 <font class="comment">//{</font>
+00048 <font class="comment">// return (float)(sqrt(sqr(v.x)+sqr(v.y))+fabs(v.z)*0.1);</font>
+00049 <font class="comment">//}</font>
+00050
+00051
+00052
+00053
+00054
+<a name="l00055"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z943_0">00055</a> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z943_0">NLPACS::CLocalRetriever::CLocalRetriever</a>()
+00056 {
+00057 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#s2s0">Landscape</a>;
+00058 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.clear();
+00059 }
+00060
+00061
+00062
+<a name="l00063"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">00063</a> <font class="keyword">const</font> CVector &amp;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">NLPACS::CLocalRetriever::getStartVector</a>(uint32 chain)<font class="keyword"> const</font>
+00064 <font class="keyword"></font>{
+00065 <font class="keyword">const</font> COrderedChain3f &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().front()];
+00066 <font class="keywordflow">return</font> (ochain.isForward()) ? ochain.getVertices().front() : ochain.getVertices().back();
+00067 }
+00068
+<a name="l00069"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">00069</a> <font class="keyword">const</font> CVector &amp;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">NLPACS::CLocalRetriever::getStopVector</a>(uint32 chain)<font class="keyword"> const</font>
+00070 <font class="keyword"></font>{
+00071 <font class="keyword">const</font> COrderedChain3f &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().back()];
+00072 <font class="keywordflow">return</font> (ochain.isForward()) ? ochain.getVertices().back() : ochain.getVertices().front();
+00073 }
+00074
+00075
+00076
+00077
+<a name="l00078"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a8">00078</a> <font class="keyword">const</font> CVector &amp;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">NLPACS::CLocalRetriever::getStartVector</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
+00079 <font class="keyword"></font>{
+00080 <font class="keywordtype">bool</font> onLeft = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface;
+00081 <font class="keyword">const</font> COrderedChain3f &amp;ochain = onLeft ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().front()] :
+00082 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().back()];
+00083
+00084 <font class="keywordflow">if</font> (ochain.isForward() &amp;&amp; onLeft || !ochain.isForward() &amp;&amp; !onLeft)
+00085 <font class="keywordflow">return</font> ochain.getVertices().front();
+00086 <font class="keywordflow">else</font>
+00087 <font class="keywordflow">return</font> ochain.getVertices().back();
+00088 }
+00089
+<a name="l00090"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a9">00090</a> <font class="keyword">const</font> CVector &amp;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">NLPACS::CLocalRetriever::getStopVector</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
+00091 <font class="keyword"></font>{
+00092 <font class="keywordtype">bool</font> onLeft = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface;
+00093 <font class="keyword">const</font> COrderedChain3f &amp;ochain = onLeft ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().back()] :
+00094 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().front()];
+00095
+00096 <font class="keywordflow">if</font> (ochain.isForward() &amp;&amp; onLeft || !ochain.isForward() &amp;&amp; !onLeft)
+00097 <font class="keywordflow">return</font> ochain.getVertices().back();
+00098 <font class="keywordflow">else</font>
+00099 <font class="keywordflow">return</font> ochain.getVertices().front();
+00100 }
+00101
+00102
+00103
+00104
+<a name="l00105"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a10">00105</a> uint16 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a10">NLPACS::CLocalRetriever::getStartTip</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
+00106 <font class="keyword"></font>{
+00107 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStartTip() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStopTip();
+00108 }
+00109
+<a name="l00110"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a11">00110</a> uint16 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a11">NLPACS::CLocalRetriever::getStopTip</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
+00111 <font class="keyword"></font>{
+00112 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStopTip() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStartTip();
+00113 }
+00114
+00115
+00116
+00117
+00118
+<a name="l00119"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a12">00119</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a12">NLPACS::CLocalRetriever::setStartTip</a>(uint32 chain, sint32 surface, uint16 startTip)
+00120 {
+00121 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
+00122 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StartTip = startTip;
+00123 <font class="keywordflow">else</font>
+00124 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StopTip = startTip;
+00125 }
+00126
+<a name="l00127"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a13">00127</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a13">NLPACS::CLocalRetriever::setStopTip</a>(uint32 chain, sint32 surface, uint16 stopTip)
+00128 {
+00129 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
+00130 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StopTip = stopTip;
+00131 <font class="keywordflow">else</font>
+00132 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StartTip = stopTip;
+00133 }
+00134
+00135
+00136
+00137
+<a name="l00138"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a14">00138</a> uint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a14">NLPACS::CLocalRetriever::getPreviousChain</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
+00139 <font class="keyword"></font>{
+00140 uint loop;
+00141 uint loopIndex;
+00142
+00143 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
+00144 {
+00145 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoop;
+00146 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoopIndex;
+00147 }
+00148 <font class="keywordflow">else</font>
+00149 {
+00150 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoop;
+00151 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoopIndex;
+00152 }
+00153
+00154 <font class="keyword">const</font> CRetrievableSurface &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
+00155 <font class="keyword">const</font> CRetrievableSurface::TLoop &amp;sLoop = surf._Loops[loop];
+00156 <font class="keywordflow">return</font> surf._Chains[sLoop[(loopIndex+sLoop.size()-1)%sLoop.size()]].Chain;
+00157 }
+00158
+<a name="l00159"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a15">00159</a> uint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a15">NLPACS::CLocalRetriever::getNextChain</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
+00160 <font class="keyword"></font>{
+00161 uint loop;
+00162 uint loopIndex;
+00163
+00164 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
+00165 {
+00166 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoop;
+00167 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoopIndex;
+00168 }
+00169 <font class="keywordflow">else</font>
+00170 {
+00171 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoop;
+00172 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoopIndex;
+00173 }
+00174
+00175 <font class="keyword">const</font> CRetrievableSurface &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
+00176 <font class="keyword">const</font> CRetrievableSurface::TLoop &amp;sLoop = surf._Loops[loop];
+00177 <font class="keywordflow">return</font> surf._Chains[sLoop[(loopIndex+1)%sLoop.size()]].Chain;
+00178 }
+00179
+00180
+00181
+00182
+<a name="l00183"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a5">00183</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a5">NLPACS::CLocalRetriever::unify</a>()
+00184 {
+00185 uint i, j;
+00186
+00187 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++i)
+00188 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].unify(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
+00189
+00190 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size(); ++i)
+00191 {
+00192 <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html">NLPACS::CLocalRetriever::CTip</a> &amp;tip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[i];
+00193 CVector2s ptip = tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m0">Point</a>;
+00194
+00195 <font class="keywordflow">for</font> (j=0; j&lt;tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>.size(); ++j)
+00196 {
+00197 <font class="keywordflow">if</font> (tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Start)
+00198 {
+00199 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].getStartVector(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>) != ptip)
+00200 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"chain %d is not stuck to tip %d"</font>, tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain, i);
+00201 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].setStartVector(ptip, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
+00202 }
+00203 <font class="keywordflow">else</font>
+00204 {
+00205 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].getStopVector(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>) != ptip)
+00206 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"chain %d is not stuck to tip %d"</font>, tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain, i);
+00207 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].setStopVector(ptip, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
+00208 }
+00209 }
+00210 }
+00211
+00212 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>.resize(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>.size());
+00213 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>.size(); ++i)
+00214 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[i].unpack(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[i]);
+00215 }
+00216
+00217
+00218
+00219
+00220
+00221
+00222
+<a name="l00223"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a16">00223</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a16">NLPACS::CLocalRetriever::dumpSurface</a>(uint surf, <font class="keyword">const</font> CVector &amp;vect)<font class="keyword"> const</font>
+00224 <font class="keyword"></font>{
+00225 <font class="keyword">const</font> CRetrievableSurface &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surf];
+00226
+00227 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"dump surf %d"</font>, surf);
+00228 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"%d chains, %d loops"</font>, surface._Chains.size(), surface._Loops.size());
+00229
+00230 uint i, j, k;
+00231
+00232 <font class="keywordflow">for</font> (i=0; i&lt;surface._Chains.size(); ++i)
+00233 {
+00234 uint chainId = surface._Chains[i].Chain;
+00235 <font class="keyword">const</font> CChain &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chainId];
+00236 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"-- chain %d[%d]: %d sub left=%d right=%d start=%d stop=%d"</font>, i, chainId, chain.getSubChains().size(), chain.getLeft(), chain.getRight(), chain.getStartTip(), chain.getStopTip());
+00237
+00238 <font class="keywordflow">for</font> (j=0; j&lt;chain.getSubChains().size(); ++j)
+00239 {
+00240 <font class="keyword">const</font> COrderedChain3f &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[chain.getSubChain(j)];
+00241 <font class="keyword">const</font> COrderedChain &amp;ochains = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain.getSubChain(j)];
+00242 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" subchain %d[%d]: fwd=%d parent=%d idx=%d"</font>, j, chain.getSubChain(j), ochain.isForward(), ochain.getParentId(), ochain.getIndexInParent());
+00243 <font class="keywordflow">for</font> (k=0; k&lt;ochain.getVertices().size(); ++k)
+00244 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" v[%d]=(%.3f,%.3f,%.3f) (%d,%d)"</font>, k, ochain.getVertices()[k].x+vect.x, ochain.getVertices()[k].y+vect.y, ochain.getVertices()[k].z+vect.z, ochains.getVertices()[k].x, ochains.getVertices()[k].y);
+00245 }
+00246
+00247 }
+00248
+00249 <font class="keywordflow">for</font> (i=0; i&lt;surface._Loops.size(); ++i)
+00250 {
+00251 <font class="keyword">const</font> CRetrievableSurface::TLoop &amp;loop = surface._Loops[i];
+00252 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"-- loop %d: %d chains length=%.2f"</font>, i, loop.size(), loop.Length);
+00253 <font class="keyword">static</font> <font class="keywordtype">char</font> wbuffer[256];
+00254 <font class="keyword">static</font> <font class="keywordtype">char</font> buffer[10240];
+00255 sprintf(buffer, <font class="stringliteral">" chains:"</font>);
+00256 <font class="keywordflow">for</font> (j=0; j&lt;loop.size(); ++j)
+00257 {
+00258 sprintf(wbuffer, <font class="stringliteral">" %d[%d]"</font>, loop[j], surface._Chains[loop[j]].Chain);
+00259 strcat(buffer, wbuffer);
+00260 }
+00261 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"%s"</font>, buffer);
+00262 }
+00263 }
+00264
+00265
+<a name="l00266"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a17">00266</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a17">NLPACS::CLocalRetriever::distanceToBorder</a>(<font class="keyword">const</font> ULocalPosition &amp;pos)<font class="keyword"> const</font>
+00267 <font class="keyword"></font>{
+00268 <font class="keyword">const</font> CRetrievableSurface &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[pos.Surface];
+00269 uint i, j;
+00270 <font class="keywordtype">float</font> minDist = 1.0e10f, dist;
+00271
+00272 <font class="keywordflow">for</font> (i=0; i&lt;surf._Chains.size(); ++i)
+00273 {
+00274 <font class="keyword">const</font> CChain &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surf._Chains[i].Chain];
+00275 <font class="keywordflow">for</font> (j=0; j&lt;chain.getSubChains().size(); ++j)
+00276 {
+00277 dist = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain.getSubChain(j)].distance(pos.Estimation);
+00278 <font class="keywordflow">if</font> (dist &lt; minDist)
+00279 {
+00280 minDist = dist;
+00281 }
+00282 }
+00283 }
+00284
+00285 <font class="keywordflow">return</font> minDist;
+00286 }
+00287
+00288
+00289
+00290
+00291
+<a name="l00292"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_0">00292</a> sint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_0">NLPACS::CLocalRetriever::addSurface</a>(uint8 normalq, uint8 orientationq,
+00293 uint8 mat, uint8 charact, uint8 <a class="code" href="driver__opengl__extension__def_8h.html#a387">level</a>,
+00294 <font class="keywordtype">bool</font> isUnderWater, <font class="keywordtype">float</font> waterHeight,
+00295 <font class="keyword">const</font> CVector &amp;center,
+00296 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CSurfaceQuadTree.html">NLPACS::CSurfaceQuadTree</a> &amp;quad)
+00297 {
+00298 <font class="comment">// creates a new surface...</font>
+00299 sint32 newId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size();
+00300 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.resize(newId+1);
+00301 CRetrievableSurface &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.back();
+00302
+00303 <font class="comment">// ... and fills it</font>
+00304 surf._NormalQuanta = normalq;
+00305 surf._OrientationQuanta = orientationq;
+00306 surf._Material = mat;
+00307 surf._Character = charact;
+00308 surf._Level = <a class="code" href="driver__opengl__extension__def_8h.html#a387">level</a>;
+00309 surf._Quad = quad;
+00310 surf._Center = center;
+00311
+00312 <font class="comment">// WARNING!! MODIFY THESE IF QUANTAS VALUES CHANGE !!</font>
+00313 surf._IsFloor = (surf._NormalQuanta &lt;= 1);
+00314 surf._IsCeiling = (surf._NormalQuanta &gt;= 3);
+00315
+00316 surf._Flags = 0;
+00317 surf._Flags |= (surf._IsFloor) ? (1&lt;&lt;CRetrievableSurface::IsFloorBit) : 0;
+00318 surf._Flags |= (surf._IsCeiling) ? (1&lt;&lt;CRetrievableSurface::IsCeilingBit) : 0;
+00319 surf._Flags |= (!surf._IsFloor &amp;&amp; !surf._IsCeiling) ? (1&lt;&lt;CRetrievableSurface::IsSlantBit) : 0;
+00320
+00321 surf._Flags |= (isUnderWater) ? (1&lt;&lt;CRetrievableSurface::IsUnderWaterBit) : 0;
+00322 surf._WaterHeight = waterHeight;
+00323
+00324 surf._Flags |= ((0xffffffff&lt;&lt;(CRetrievableSurface::NormalQuantasStartBit)) &amp; CRetrievableSurface::NormalQuantasBitMask);
+00325
+00326 <font class="keywordflow">return</font> newId;
+00327 }
+00328
+00329 sint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_1">NLPACS::CLocalRetriever::addChain</a>(<font class="keyword">const</font> vector&lt;CVector&gt; &amp;verts,
+00330 sint32 left, sint32 right)
+00331 {
+00332 vector&lt;CVector&gt; vertices = verts;
+00333 uint i;
+00334
+00335 <font class="keywordflow">if</font> (vertices.size() &lt; 2)
+00336 {
+00337 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::addChain()"</font>);
+00338 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"The chain has less than 2 vertices"</font>);
+00339 <font class="keywordflow">return</font> -1;
+00340 }
+00341
+00342 <font class="comment">// Remove doubled vertices due to CVector2s snapping</font>
+00343 vector&lt;CVector2s&gt; converts;
+00344
+00345 <font class="keywordflow">for</font> (i=0; i&lt;vertices.size(); ++i)
+00346 converts.push_back(CVector2s(vertices[i]));
+00347
+00348 vector&lt;CVector2s&gt;::iterator next2s = converts.begin(), it2s, prev2s;
+00349 prev2s = next2s; ++next2s;
+00350 it2s = next2s; ++next2s;
+00351
+00352 vector&lt;CVector&gt;::iterator it3f = vertices.begin();
+00353 CVector prev3f = *it3f;
+00354 ++it3f;
+00355
+00356
+00357 <font class="keywordflow">for</font> (; it2s != converts.end() &amp;&amp; next2s != converts.end(); )
+00358 {
+00359 <font class="comment">// if the next point is equal to the previous</font>
+00360 <font class="keywordflow">if</font> (*it2s == *prev2s || *it2s == *next2s)
+00361 {
+00362 <font class="comment">// then remove the next point</font>
+00363 it2s = converts.erase(it2s);
+00364 it3f = vertices.erase(it3f);
+00365
+00366 prev2s = it2s;
+00367 --prev2s;
+00368 next2s = it2s;
+00369 ++next2s;
+00370 }
+00371 <font class="keywordflow">else</font>
+00372 {
+00373 <font class="comment">// else remember the next point, and step to the next...</font>
+00374 ++prev2s;
+00375 ++it2s;
+00376 ++next2s;
+00377 ++it3f;
+00378 prev3f = *it3f;
+00379 }
+00380 }
+00381
+00382 <font class="keywordflow">if</font> (vertices.size() &lt; 2)
+00383 {
+00384 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::addChain()"</font>);
+00385 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"The chain was snapped to a single point"</font>);
+00386 <font class="keywordflow">return</font> -1;
+00387 }
+00388
+00389 sint32 newId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size();
+00390 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.resize(newId+1);
+00391 CChain &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.back();
+00392
+00393 <font class="keywordflow">if</font> (left&gt;(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size())
+00394 <a class="code" href="debug_8h.html#a3">nlerror</a> (<font class="stringliteral">"left surface id MUST be id&lt;%d (id=%d)"</font>, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), left);
+00395 <font class="keywordflow">if</font> (right&gt;(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size())
+00396 <a class="code" href="debug_8h.html#a3">nlerror</a> (<font class="stringliteral">"right surface id MUST be id&lt;%d (id=%d)"</font>, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), right);
+00397
+00398 <font class="comment">// checks if we can build the chain.</font>
+00399 <font class="keywordflow">if</font> (newId &gt; 65535)
+00400 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::addChain(): reached the maximum number of chains"</font>);
+00401
+00402 CRetrievableSurface *leftSurface = (left&gt;=0) ? &amp;(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[left]) : NULL;
+00403 CRetrievableSurface *rightSurface = (right&gt;=0) ? &amp;(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[right]) : NULL;
+00404
+00405 <font class="comment">// adds the chain and the link to the surface links vector.</font>
+00406 <font class="keywordflow">if</font> (leftSurface != NULL)
+00407 leftSurface-&gt;_Chains.push_back(CRetrievableSurface::CSurfaceLink(newId, right));
+00408 <font class="keywordflow">if</font> (rightSurface != NULL)
+00409 rightSurface-&gt;_Chains.push_back(CRetrievableSurface::CSurfaceLink(newId, left));
+00410
+00411 chain._StartTip = 0xffff;
+00412 chain._StopTip = 0xffff;
+00413
+00414 <font class="comment">// make the chain and its subchains.</font>
+00415 chain.make(vertices, left, right, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>, (uint16)newId, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>);
+00416
+00417 <font class="keywordflow">return</font> newId;
+00418 }
+00419
+00420
+00421
+00422
+<a name="l00423"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_11">00423</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_11">NLPACS::CLocalRetriever::computeLoopsAndTips</a>()
+00424 {
+00425 <font class="comment">// for each surface,</font>
+00426 <font class="comment">// examine each chain tip to match another tip inside the surface tips</font>
+00427 <font class="comment">// if there is no matching tip, then creates a new one</font>
+00428
+00429 uint i, j;
+00430
+00431 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
+00432 {
+00433 CRetrievableSurface &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i];
+00434
+00435 vector&lt;bool&gt; chainFlags;
+00436 chainFlags.resize(surface._Chains.size());
+00437 <font class="keywordflow">for</font> (j=0; j&lt;chainFlags.size(); ++j)
+00438 chainFlags[j] = <font class="keyword">false</font>;
+00439
+00440 uint totalAdded = 0;
+00441
+00442 <font class="keywordflow">while</font> (true)
+00443 {
+00444 <font class="keywordflow">for</font> (j=0; j&lt;chainFlags.size() &amp;&amp; chainFlags[j]; ++j)
+00445 ;
+00446
+00447 <font class="keywordflow">if</font> (j == chainFlags.size())
+00448 <font class="keywordflow">break</font>;
+00449
+00450 uint32 loopId = surface._Loops.size();
+00451 surface._Loops.push_back(CRetrievableSurface::TLoop());
+00452 CRetrievableSurface::TLoop &amp;loop = surface._Loops.back();
+00453
+00454 CVector loopStart = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(surface._Chains[j].Chain, i);
+00455 CVector currentEnd = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(surface._Chains[j].Chain, i);
+00456 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surface._Chains[j].Chain].setLoopIndexes(i, loopId, loop.size());
+00457 loop.push_back(j);
+00458 chainFlags[j] = <font class="keyword">true</font>;
+00459
+00460 <font class="keywordtype">float</font> loopCloseDistance;
+00461
+00462 <font class="keywordflow">while</font> (true)
+00463 {
+00464 <font class="comment">// loopCloseDistance = hybrid2dNorm(loopStart-currentEnd);</font>
+00465 loopCloseDistance = (loopStart-currentEnd).norm();
+00466
+00467 <font class="comment">// choose the best matching start vector</font>
+00468 sint bestChain = -1;
+00469 <font class="keywordtype">float</font> best = 1.0e10f;
+00470 CVector thisStart;
+00471 <font class="keywordflow">for</font> (j=0; j&lt;chainFlags.size(); ++j)
+00472 {
+00473 <font class="keywordflow">if</font> (chainFlags[j])
+00474 <font class="keywordflow">continue</font>;
+00475 thisStart = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(surface._Chains[j].Chain, i);
+00476 <font class="comment">// float d = hybrid2dNorm(thisStart-currentEnd);</font>
+00477 <font class="keywordtype">float</font> d = (thisStart-currentEnd).norm();
+00478 <font class="keywordflow">if</font> (d &lt; best)
+00479 {
+00480 best = d;
+00481 bestChain = j;
+00482 }
+00483 }
+00484
+00485 <font class="keywordflow">if</font> ((bestChain == -1 || best &gt; 3.0e-2f)&amp;&amp; loopCloseDistance &gt; 3.0e-2f)
+00486 {
+00487 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::computeTips()"</font>);
+00488
+00489 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a16">dumpSurface</a>(i);
+00490
+00491 <font class="keywordflow">for</font> (j=0; j&lt;surface._Chains.size(); ++j)
+00492 {
+00493 CVector start = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(surface._Chains[j].Chain, i);
+00494 CVector end = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(surface._Chains[j].Chain, i);
+00495 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"surf=%d chain=%d"</font>, i, surface._Chains[j].Chain);
+00496 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"start=(%f,%f,%f)"</font>, start.x, start.y, start.z);
+00497 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"end=(%f,%f,%f)"</font>, end.x, end.y, end.z);
+00498 }
+00499
+00500 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"bestChain=%d best=%f"</font>, bestChain, best);
+00501 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"loopCloseDistance=%f"</font>, loopCloseDistance);
+00502 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Couldn't close loop on surface=%d"</font>, i);
+00503 }
+00504 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (best &gt; 1.0e0f &amp;&amp; loopCloseDistance &lt; 3.0e-2f ||
+00505 loopCloseDistance &lt; 1.0e-3f)
+00506 {
+00507 <font class="keywordflow">break</font>;
+00508 }
+00509
+00510 currentEnd = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(surface._Chains[bestChain].Chain, i);
+00511 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surface._Chains[bestChain].Chain].setLoopIndexes(i, loopId, loop.size());
+00512 loop.push_back(bestChain);
+00513 chainFlags[bestChain] = <font class="keyword">true</font>;
+00514 ++totalAdded;
+00515 }
+00516 }
+00517 }
+00518
+00519 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++i)
+00520 {
+00521 <font class="comment">/* if (i == 431)</font>
+00522 <font class="comment"> nlstop;</font>
+00523 <font class="comment">*/</font>
+00524 uint whichTip;
+00525 <font class="comment">// for both tips (start and stop)</font>
+00526 <font class="keywordflow">for</font> (whichTip=0; whichTip&lt;=1; ++whichTip)
+00527 {
+00528 <font class="comment">// get the tip id</font>
+00529 uint thisTip = (whichTip) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStopTip() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStartTip();
+00530
+00531 <font class="keywordflow">if</font> (thisTip != 0xffff &amp;&amp; thisTip &gt;= <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size())
+00532 {
+00533 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::computeLoopsAndTips()"</font>);
+00534 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"checked a tip that doesn't exist on chain %d (tipId=%d)"</font>, i, thisTip);
+00535 }
+00536
+00537 <font class="comment">// if it is unaffected yet creates an new tip and affect it to the common chains</font>
+00538 <font class="keywordflow">if</font> (thisTip == 0xffff)
+00539 {
+00540 uint turn;
+00541 uint tipId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size();
+00542 <font class="comment">/*</font>
+00543 <font class="comment"> if (tipId == 310)</font>
+00544 <font class="comment"> nlstop;</font>
+00545 <font class="comment">*/</font>
+00546 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.resize(tipId+1);
+00547 CTip &amp;tip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[tipId];
+00548 tip.Point = (whichTip) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(i) : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(i);
+00549
+00550 <font class="keywordflow">for</font> (turn=0; turn&lt;=1; ++turn)
+00551 {
+00552 uint chain = i;
+00553
+00554 <font class="comment">//</font>
+00555 <font class="keywordflow">if</font> (whichTip)
+00556 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StopTip = tipId;
+00557 <font class="keywordflow">else</font>
+00558 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StartTip = tipId;
+00559
+00560 sint32 surf = (!turn &amp;&amp; !whichTip || turn &amp;&amp; whichTip) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getRight();
+00561
+00562 <font class="keywordflow">while</font> (surf &gt;= 0)
+00563 {
+00564
+00565 CChain &amp;nextChain = (turn) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a15">getNextChain</a>(chain, surf)] : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a14">getPreviousChain</a>(chain, surf)];
+00566 <font class="keywordtype">bool</font> isForward = (nextChain.getLeft() == surf); <font class="comment">// tells if the left surf is the current surf</font>
+00567 <font class="keywordtype">bool</font> selectTip = isForward &amp;&amp; !turn || !isForward &amp;&amp; turn;
+00568 uint16 &amp;tipRef = selectTip ? nextChain._StopTip : nextChain._StartTip;
+00569 surf = (isForward) ? nextChain.getRight() : nextChain.getLeft();
+00570
+00571 <font class="keywordflow">if</font> (tipRef != 0xffff &amp;&amp; tipRef != tipId)
+00572 {
+00573 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::computeLoopsAndTips()"</font>);
+00574 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Trying to setup a already created tip (tipId=%d, previous=%d)"</font>, tipId, tipRef);
+00575 }
+00576 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (tipRef != 0xffff)
+00577 {
+00578 <font class="keywordflow">break</font>;
+00579 }
+00580
+00581 tipRef = tipId;
+00582 }
+00583 }
+00584 }
+00585 }
+00586 }
+00587
+00588 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++i)
+00589 {
+00590 uint startTip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStartTip(),
+00591 stopTip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStopTip();
+00592
+00593 <font class="comment">/*</font>
+00594 <font class="comment"> if (_Chains[i].getEdge() &gt;= 0 &amp;&amp; startTip == stopTip)</font>
+00595 <font class="comment"> {</font>
+00596 <font class="comment"> nlwarning("NLPACS::CLocalRetriever::computeLoopsAndTips(): chain %d on edge %d has same StartTip and StopTip", i, _Chains[i].getEdge(), startTip, stopTip);</font>
+00597 <font class="comment"> }</font>
+00598 <font class="comment">*/</font>
+00599
+00600 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[startTip].Chains.push_back(CTip::CChainTip(i, <font class="keyword">true</font>));
+00601 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[stopTip].Chains.push_back(CTip::CChainTip(i, <font class="keyword">false</font>));
+00602 }
+00603
+00604 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
+00605 {
+00606 <font class="keywordflow">for</font> (j=0; j&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops.size(); ++j)
+00607 {
+00608 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j].Length = 0.0f;
+00609 uint k;
+00610
+00611 <font class="keywordflow">for</font> (k=0; k&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j].size(); ++k)
+00612 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j].Length += <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Chains[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j][k]].Chain].getLength();
+00613 }
+00614 }
+00615 }
+00616
+00617
+00618 <font class="comment">//</font>
+<a name="l00619"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_19">00619</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_19">NLPACS::CLocalRetriever::buildSurfacePolygons</a>(uint32 surface, list&lt;CPolygon&gt; &amp;polygons)<font class="keyword"> const</font>
+00620 <font class="keyword"></font>{
+00621 <font class="keyword">const</font> CRetrievableSurface &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
+00622
+00623 uint i, j, k, <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>;
+00624
+00625 <font class="keywordflow">for</font> (i=0; i&lt;surf._Loops.size(); ++i)
+00626 {
+00627 polygons.push_back();
+00628 CPolygon &amp;poly = polygons.back();
+00629
+00630 <font class="keywordflow">for</font> (j=0; j&lt;surf._Loops[i].size(); ++j)
+00631 {
+00632 <font class="keyword">const</font> CChain &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surf._Loops[i][j]];
+00633 <font class="keywordtype">bool</font> chainforward = ((uint32)chain._Left == surface);
+00634
+00635 <font class="keywordflow">if</font> (chainforward)
+00636 {
+00637 <font class="keywordflow">for</font> (k=0; k&lt;chain._SubChains.size(); ++k)
+00638 {
+00639 <font class="keyword">const</font> COrderedChain &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain._SubChains[k]];
+00640 <font class="keywordtype">bool</font> ochainforward = ochain.isForward();
+00641
+00642 <font class="keywordflow">if</font> (ochainforward)
+00643 {
+00644 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=0; <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>&lt;ochain.getVertices().size()-1; ++<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
+00645 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
+00646 }
+00647 <font class="keywordflow">else</font>
+00648 {
+00649 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=ochain.getVertices().size()-1; <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>&gt;0; --<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
+00650 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
+00651 }
+00652 }
+00653 }
+00654 <font class="keywordflow">else</font>
+00655 {
+00656 <font class="keywordflow">for</font> (k=chain._SubChains.size(); (sint)k&gt;0; --k)
+00657 {
+00658 <font class="keyword">const</font> COrderedChain &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain._SubChains[k]];
+00659 <font class="keywordtype">bool</font> ochainforward = ochain.isForward();
+00660
+00661 <font class="keywordflow">if</font> (ochainforward)
+00662 {
+00663 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=ochain.getVertices().size()-1; (sint)<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>&gt;0; --<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
+00664 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
+00665 }
+00666 <font class="keywordflow">else</font>
+00667 {
+00668 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=0; <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>&lt;ochain.getVertices().size()-1; ++<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
+00669 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
+00670 }
+00671 }
+00672 }
+00673 }
+00674 }
+00675 }
+00676
+00677
+00678 <font class="comment">// not implemented...</font>
+<a name="l00679"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_14">00679</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_14">NLPACS::CLocalRetriever::sortTips</a>()
+00680 {
+00681 }
+00682
+00683
+00684
+00685
+<a name="l00686"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_12">00686</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_12">NLPACS::CLocalRetriever::findBorderChains</a>()
+00687 {
+00688 uint chain;
+00689
+00690 <font class="comment">// for each chain, if it belongs to an edge of the</font>
+00691 <font class="comment">// local retriever, then adds it to the _BorderChains.</font>
+00692 <font class="keywordflow">for</font> (chain=0; chain&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++chain)
+00693 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].isBorderChain())
+00694 {
+00695 sint32 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a> = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n6">_BorderChains</a>.size();
+00696 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n6">_BorderChains</a>.push_back(chain);
+00697 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].setBorderChainIndex(<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>);
+00698 }
+00699 }
+00700
+<a name="l00701"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_13">00701</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_13">NLPACS::CLocalRetriever::updateChainIds</a>()
+00702 {
+00703 uint surf, link;
+00704
+00705 <font class="keywordflow">for</font> (surf=0; surf&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surf)
+00706 {
+00707 CRetrievableSurface &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surf];
+00708
+00709 <font class="keywordflow">for</font> (link=0; link&lt;surface._Chains.size(); ++link)
+00710 {
+00711 sint32 chain = surface._Chains[link].Chain;
+00712
+00713 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Left == (sint32)surf)
+00714 surface._Chains[link].Surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Right;
+00715 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Right == (sint32)surf)
+00716 surface._Chains[link].Surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Left;
+00717 <font class="keywordflow">else</font>
+00718 {
+00719 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::updateEdgesOnSurfaces()"</font>);
+00720 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Can't find back point to surface %d on chain %d"</font>, surf, chain);
+00721 }
+00722 }
+00723 }
+00724 }
+00725
+<a name="l00726"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_10">00726</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_10">NLPACS::CLocalRetriever::computeTopologies</a>()
+00727 {
+00728 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"compute topologies"</font>);
+00729
+00730 <font class="comment">// Find topologies out...</font>
+00731 uint character;
+00732 <font class="keywordflow">for</font> (character=0; character&lt;<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++character)
+00733 {
+00734 <font class="comment">// for each type of creature, flood fill surfaces...</font>
+00735 sint32 surface;
+00736 uint topology = 0;
+00737
+00738 <font class="keywordflow">for</font> (surface=0; surface&lt;(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surface)
+00739 {
+00740 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface]._Topologies[character] == -1 &amp;&amp;
+00741 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface]._Character == character)
+00742 {
+00743 vector&lt;sint32&gt; surfacesStack;
+00744 surfacesStack.push_back(surface);
+00745
+00746 <font class="keywordflow">while</font> (!surfacesStack.empty())
+00747 {
+00748 CRetrievableSurface &amp;current = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surfacesStack.back()];
+00749 surfacesStack.pop_back();
+00750 current._Topologies[character] = topology;
+00751
+00752 uint i;
+00753 <font class="keywordflow">for</font> (i=0; i&lt;current._Chains.size(); ++i)
+00754 {
+00755 CChain &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[current._Chains[i].Chain];
+00756 sint32 link = (chain.getLeft() == surface) ? chain.getRight() : chain.getLeft();
+00757 <font class="keywordflow">if</font> (link&gt;=0 &amp;&amp; link&lt;(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size() &amp;&amp;
+00758 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Topologies[character] == -1 &amp;&amp;
+00759 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Character &gt;= character)
+00760 {
+00761 surfacesStack.push_back(link);
+00762 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Topologies[character] = topology;
+00763 }
+00764 }
+00765 }
+00766
+00767 ++topology;
+00768 }
+00769 }
+00770
+00771 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n7">_Topologies</a>[character].resize(topology);
+00772 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"generated %d topologies for character %d"</font>, topology, character);
+00773 }
+00774
+00775 uint surface;
+00776 <font class="keywordflow">for</font> (surface=0; surface&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surface)
+00777 {
+00778 CRetrievableSurface &amp;current = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
+00779
+00780 <font class="keywordflow">for</font> (character=0; character&lt;<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++character)
+00781 <font class="keywordflow">if</font> (current._Topologies[character] &gt;= 0)
+00782 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n7">_Topologies</a>[character][current._Topologies[character]].push_back(surface);
+00783 }
+00784 }
+00785
+<a name="l00786"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_15">00786</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_15">NLPACS::CLocalRetriever::translate</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;translation)
+00787 {
+00788 uint i;
+00789 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>.size(); ++i)
+00790 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[i].translate(translation);
+00791 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
+00792 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i].translate(translation);
+00793 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size(); ++i)
+00794 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[i].translate(translation);
+00795 }
+00796
+<a name="l00797"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_17">00797</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_17">NLPACS::CLocalRetriever::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &amp;f)
+00798 {
+00799 <font class="comment">/*</font>
+00800 <font class="comment"> Version 0:</font>
+00801 <font class="comment"> - base version (with collision info).</font>
+00802 <font class="comment"> Version 1:</font>
+00803 <font class="comment"> - interior vertices and faces, for interior ground snapping</font>
+00804 <font class="comment"> Version 2:</font>
+00805 <font class="comment"> - face grid added.</font>
+00806 <font class="comment"> Version 3:</font>
+00807 <font class="comment"> - identifier added.</font>
+00808 <font class="comment"> */</font>
+00809 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(3);
+00810
+00811 uint i;
+00812 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>);
+00813 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
+00814 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>);
+00815 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>);
+00816 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>);
+00817 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n6">_BorderChains</a>);
+00818 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++i)
+00819 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n7">_Topologies</a>[i]);
+00820 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>);
+00821 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n4">_BBox</a>);
+00822 f.<a class="code" href="classNLMISC_1_1IStream.html#a6">serialEnum</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a>);
+00823 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>);
+00824
+00825 <font class="comment">// a fix for old versions (with wrong _Type value)</font>
+00826 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> != CLocalRetriever::Interior) <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> = CLocalRetriever::Landscape;
+00827
+00828 <font class="keywordflow">if</font> (ver &gt;= 1)
+00829 {
+00830 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>);
+00831 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>);
+00832
+00833 }
+00834 <font class="keywordflow">if</font> (ver &gt;= 2)
+00835 {
+00836 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>);
+00837 }
+00838 <font class="keywordflow">if</font> (ver &gt;= 3)
+00839 {
+00840 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_4">_Id</a>);
+00841 }
+00842 }
+00843
+00844
+00845
+00846
+00847
+00848
+00849
+00850
+<a name="l00851"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a0">00851</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a0">NLPACS::CLocalRetriever::insurePosition</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;local)<font class="keyword"> const</font>
+00852 <font class="keyword"></font>{
+00853 <font class="keywordflow">if</font> (local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> &lt; 0 || local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> &gt;= (sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size())
+00854 {
+00855 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: can't insure position to inexistant surface %d"</font>, local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>);
+00856 <font class="keywordflow">return</font> <font class="keyword">false</font>;
+00857 }
+00858
+00859 <font class="comment">// the surface</font>
+00860 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrievableSurface.html">NLPACS::CRetrievableSurface</a> &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>];
+00861
+00862 uint i, j, k;
+00863 CVector2f M = CVector2f(local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>);
+00864 <font class="keywordtype">bool</font> moved = <font class="keyword">false</font>;
+00865
+00866 <font class="comment">// for each chain and each subchain of the surface,</font>
+00867 <font class="comment">// check if point is located on the good side of the border (and far enough to avoid accuracy issues)</font>
+00868 <font class="keywordflow">for</font> (i=0; i&lt;surface.<a class="code" href="classNLPACS_1_1CRetrievableSurface.html#a12">getChains</a>().size(); ++i)
+00869 {
+00870 uint ichain = surface.<a class="code" href="classNLPACS_1_1CRetrievableSurface.html#a13">getChain</a>(i).Chain;
+00871 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CChain.html">NLPACS::CChain</a> &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[ichain];
+00872
+00873 for (j=0; j&lt;chain.getSubChains().size(); ++j)
+00874 {
+00875 uint iochain = chain.getSubChain(j);
+00876 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1COrderedChain.html">NLPACS::COrderedChain</a> &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[iochain];
+00877
+00878 uint isAtLeft = ((chain.getLeft() == local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>) ? 1 : 0);
+00879 uint isForward = (ochain.<a class="code" href="classNLPACS_1_1COrderedChain.html#a1">isForward</a>() ? 1 : 0);
+00880 <font class="keywordtype">bool</font> shouldBeUpper = !((isAtLeft ^ isForward) != 0); <font class="comment">// shouldBeAtLeft for vertical segment</font>
+00881
+00882 <font class="keywordflow">for</font> (k=0; (sint)k&lt;(sint)(ochain.<a class="code" href="classNLPACS_1_1COrderedChain.html#a0">getVertices</a>().size()-1); ++k)
+00883 {
+00884 CVector2f A = ochain[k].unpack();
+00885 CVector2f B = ochain[k+1].unpack();
+00886 CVector2f AB = B-A;
+00887
+00888 <font class="keywordtype">float</font> lambda = ((M-A)*AB)/AB.sqrnorm();
+00889
+00890 <font class="keywordflow">if</font> (lambda&lt;0.0f || lambda&gt;1.0f)
+00891 <font class="keywordflow">continue</font>;
+00892
+00893 CVector2f n = (shouldBeUpper ? CVector2f(-AB.y, AB.x) : CVector2f(AB.y, -AB.x)).normed();
+00894 <font class="keywordtype">float</font> d = (M-A)*n;
+00895
+00896 <font class="comment">// if point is too close of the border or on the wrong side</font>
+00897 <font class="comment">// move it far enough</font>
+00898 <font class="keywordflow">if</font> (d &lt; InsurePositionThreshold &amp;&amp; d &gt; -<a class="code" href="local__retriever_8cpp.html#a0">InsurePositionThreshold</a>)
+00899 {
+00900 M += (<a class="code" href="local__retriever_8cpp.html#a0">InsurePositionThreshold</a>*1.1f-d)*n;
+00901 moved = <font class="keyword">true</font>;
+00902 }
+00903 }
+00904 }
+00905 }
+00906
+00907 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z955_0">NLPACS::CRetrieverInstance::snapVector</a>(M);
+00908
+00909 local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a> = M.x;
+00910 local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a> = M.y;
+00911
+00912 {
+00913 <font class="keywordtype">float</font> fx1024 = local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a> * 1024.0f;
+00914 <font class="keywordtype">float</font> fy1024 = local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a> * 1024.0f;
+00915 sint32 ix1024 = (sint32)floor(fx1024);
+00916 sint32 iy1024 = (sint32)floor(fy1024);
+00917
+00918 <a class="code" href="debug_8h.html#a6">nlassert</a> ((<font class="keywordtype">float</font>)ix1024 == fx1024);
+00919 <a class="code" href="debug_8h.html#a6">nlassert</a> ((<font class="keywordtype">float</font>)iy1024 == fy1024);
+00920 }
+00921
+00922 <font class="keywordflow">return</font> moved;
+00923 }
+00924
+00925
+<a name="l00926"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a1">00926</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a1">NLPACS::CLocalRetriever::retrievePosition</a>(CVector estimated, <font class="comment">/*std::vector&lt;uint8&gt; &amp;retrieveTable,*/</font> CCollisionSurfaceTemp &amp;cst)<font class="keyword"> const</font>
+00927 <font class="keyword"></font>{
+00928 CAABBox box;
+00929 <font class="keyword">const</font> <font class="keywordtype">double</font> BorderThreshold = 2.0e-2f;
+00930 box.setMinMax(CVector(estimated.x-(<font class="keywordtype">float</font>)BorderThreshold, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n4">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_0">getMin</a>().y, 0.0f), CVector(estimated.x+(<font class="keywordtype">float</font>)BorderThreshold, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n4">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_1">getMax</a>().y, 0.0f));
+00931 uint numEdges = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.selectEdges(box, cst);
+00932
+00933 uint ochain, i;
+00934 CVector2s estim = CVector2s(estimated);
+00935
+00936 cst.PossibleSurfaces.clear();
+00937
+00938 <font class="comment">// WARNING!!</font>
+00939 <font class="comment">// cst.SurfaceLUT is assumed to be 0 filled !!</font>
+00940
+00941 <font class="comment">// nldebug("estim=(%d,%d)", estim.x, estim.y);</font>
+00942
+00943 <font class="comment">// for each ordered chain, checks if the estimated position is between the min and max.</font>
+00944 <font class="keywordflow">for</font> (i=0; i&lt;numEdges; ++i)
+00945 {
+00946 ochain = cst.EdgeChainEntries[i].OChainId;
+00947
+00948 <font class="keyword">const</font> COrderedChain &amp;sub = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[ochain];
+00949 <font class="keyword">const</font> CVector2s &amp;<a class="code" href="bit__set_8cpp.html#a0">min</a> = sub.getMin(),
+00950 &amp;max = sub.getMax();
+00951
+00952 <font class="comment">// checks the position against the min and max of the chain</font>
+00953 <font class="keywordflow">if</font> (estim.x &lt; <a class="code" href="bit__set_8cpp.html#a0">min</a>.x || estim.x &gt; max.x)
+00954 <font class="keywordflow">continue</font>;
+00955
+00956 <font class="keywordtype">bool</font> isUpper;
+00957 <font class="keywordtype">bool</font> isOnBorder = <font class="keyword">false</font>;
+00958
+00959 sint32 left = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[sub.getParentId()].getLeft(),
+00960 right = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[sub.getParentId()].getRight();
+00961
+00962 <font class="keywordflow">if</font> (estim.y &lt; <a class="code" href="bit__set_8cpp.html#a0">min</a>.y)
+00963 {
+00964 <font class="keywordflow">if</font> (estim.x == max.x)
+00965 <font class="keywordflow">continue</font>;
+00966 isUpper = <font class="keyword">false</font>;
+00967 <font class="comment">// nlinfo("Box: min(%d,%d) max(%d,%d) forward=%d left=%d right=%d upper=false", min.x, min.y, max.x, max.y, sub.isForward(), left, right);</font>
+00968 }
+00969 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (estim.y &gt; max.y)
+00970 {
+00971 <font class="keywordflow">if</font> (estim.x == max.x)
+00972 <font class="keywordflow">continue</font>;
+00973 isUpper = <font class="keyword">true</font>;
+00974 <font class="comment">// nlinfo("Box: min(%d,%d) max(%d,%d) forward=%d left=%d right=%d upper=true", min.x, min.y, max.x, max.y, sub.isForward(), left, right);</font>
+00975 }
+00976 <font class="keywordflow">else</font>
+00977 {
+00978 <font class="keyword">const</font> vector&lt;CVector2s&gt; &amp;vertices = sub.getVertices();
+00979 uint start = 0, stop = vertices.size()-1;
+00980
+00982
+00983 <font class="comment">// then finds the smallest segment of the chain that includes the estimated position.</font>
+00984 <font class="keywordflow">while</font> (stop-start &gt; 1)
+00985 {
+00986 uint mid = (start+stop)/2;
+00987
+00988 <font class="keywordflow">if</font> (vertices[mid].x &gt; estim.x)
+00989 stop = mid;
+00990 <font class="keywordflow">else</font>
+00991 start = mid;
+00992 }
+00993
+00994 <font class="comment">// if a vertical edge</font>
+00995 <font class="keywordflow">if</font> (vertices[start].x == vertices[stop].x)
+00996 {
+00997 <font class="comment">// look for maximal bounds</font>
+00998 <font class="keywordflow">while</font> (start &gt; 0 &amp;&amp; vertices[start].x == vertices[start-1].x)
+00999 --start;
+01000
+01001 <font class="keywordflow">while</font> (stop &lt; vertices.size()-1 &amp;&amp; vertices[stop].x == vertices[stop+1].x)
+01002 ++stop;
+01003
+01004 <font class="comment">// if upper or lower the bounds, do nothing</font>
+01005 <font class="keywordflow">if</font> (estim.y &gt; vertices[start].y &amp;&amp; estim.y &gt; vertices[stop].y ||
+01006 estim.y &lt; vertices[start].y &amp;&amp; estim.y &lt; vertices[stop].y)
+01007 <font class="keywordflow">continue</font>;
+01008
+01009 isOnBorder = <font class="keyword">true</font>;
+01010 cst.incSurface(left);
+01011 cst.incSurface(right);
+01012 <font class="keywordflow">if</font> (left &gt;= 0) cst.SurfaceLUT[left].FoundCloseEdge = <font class="keyword">true</font>;
+01013 <font class="keywordflow">if</font> (right &gt;= 0) cst.SurfaceLUT[right].FoundCloseEdge = <font class="keyword">true</font>;
+01014 <font class="keywordflow">continue</font>;
+01015 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d border=true", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right);</font>
+01016 }
+01017 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (vertices[stop].x == estim.x)
+01018 {
+01019 <font class="comment">// if </font>
+01020 <font class="keywordflow">continue</font>;
+01021 }
+01022
+01023 <font class="comment">// and then checks if the estimated position is up or down the chain.</font>
+01024
+01025 <font class="comment">// first trivial case (up both tips)</font>
+01026 <font class="keywordflow">if</font> (estim.y &gt; vertices[start].y &amp;&amp; estim.y &gt; vertices[stop].y)
+01027 {
+01028 isUpper = <font class="keyword">true</font>;
+01029 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d upper=true", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right);</font>
+01030 }
+01031 <font class="comment">// second trivial case (down both tips)</font>
+01032 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (estim.y &lt; vertices[start].y &amp;&amp; estim.y &lt; vertices[stop].y)
+01033 {
+01034 isUpper = <font class="keyword">false</font>;
+01035 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d upper=false", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right);</font>
+01036 }
+01037 <font class="comment">// full test...</font>
+01038 <font class="keywordflow">else</font>
+01039 {
+01040 <font class="keyword">const</font> CVector2s &amp;vstart = vertices[start],
+01041 &amp;vstop = vertices[stop];
+01042
+01043 sint16 intersect = vstart.y + (vstop.y-vstart.y)*(estim.x-vstart.x)/(vstop.x-vstart.x);
+01044
+01045 isUpper = estim.y &gt; intersect;
+01046 isOnBorder = (fabs(estim.y - intersect)&lt;BorderThreshold*<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>);
+01047 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d upper=%s border=%s", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right, isUpper ? "true":"false", isOnBorder ? "true":"false");</font>
+01048 }
+01049 }
+01050
+01051 <font class="keywordflow">if</font> (isOnBorder)
+01052 {
+01053 cst.incSurface(left);
+01054 cst.incSurface(right);
+01055 <font class="keywordflow">if</font> (left &gt;= 0) cst.SurfaceLUT[left].FoundCloseEdge = <font class="keyword">true</font>;
+01056 <font class="keywordflow">if</font> (right &gt;= 0) cst.SurfaceLUT[right].FoundCloseEdge = <font class="keyword">true</font>;
+01057 <font class="keywordflow">continue</font>;
+01058 }
+01059
+01060 <font class="comment">// Depending on the chain is forward, up the position, increase/decrease the surface table...</font>
+01061 <font class="keywordflow">if</font> (sub.isForward())
+01062 {
+01063 <font class="keywordflow">if</font> (isUpper)
+01064 {
+01065 cst.incSurface(left);
+01066 cst.decSurface(right);
+01067 }
+01068 <font class="keywordflow">else</font>
+01069 {
+01070 cst.decSurface(left);
+01071 cst.incSurface(right);
+01072 }
+01073 }
+01074 <font class="keywordflow">else</font>
+01075 {
+01076 <font class="keywordflow">if</font> (isUpper)
+01077 {
+01078 cst.decSurface(left);
+01079 cst.incSurface(right);
+01080 }
+01081 <font class="keywordflow">else</font>
+01082 {
+01083 cst.incSurface(left);
+01084 cst.decSurface(right);
+01085 }
+01086 }
+01087 }
+01088 }
+01089
+01090
+<a name="l01091"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_9">01091</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_9">NLPACS::CLocalRetriever::initFaceGrid</a>()
+01092 {
+01093 CFaceGrid::CFaceGridBuild fgb;
+01094 fgb.init(64, 4.0f);
+01095
+01096 uint i;
+01097 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>.size(); ++i)
+01098 {
+01099 CAABBox box;
+01100 CInteriorFace &amp;f = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[i];
+01101 box.setCenter(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[0]]);
+01102 box.extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[1]]);
+01103 box.extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[2]]);
+01104
+01105 fgb.insert(box.getMin(), box.getMax(), i);
+01106 }
+01107
+01108 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.create(fgb);
+01109 }
+01110
+<a name="l01111"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">01111</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">NLPACS::CLocalRetriever::snapToInteriorGround</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;position, <font class="keywordtype">bool</font> &amp;snapped)<font class="keyword"> const</font>
+01112 <font class="keyword"></font>{
+01113 <font class="comment">// first preselect faces around the (x, y) position (CQuadGrid ?)</font>
+01114 vector&lt;uint32&gt; selection;
+01115 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.select(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>, selection);
+01116
+01117 <font class="comment">// from the preselect faces, look for the only face that belongs to the surface</font>
+01118 <font class="comment">// and that contains the position</font>
+01119 CVector pos = position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>;
+01120 CVector posh = pos+CVector(0.0f, 0.0f, 1.0f);
+01121 CVector2f pos2d = position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>;
+01122 <font class="keywordtype">float</font> bestDist = 1.0e10f;
+01123 CVector best;
+01124 vector&lt;uint32&gt;::iterator it;
+01125 snapped = <font class="keyword">false</font>;
+01126 <font class="keywordflow">for</font> (it=selection.begin(); it!=selection.end(); ++it)
+01127 {
+01128 <font class="keyword">const</font> CInteriorFace &amp;f = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[*it];
+01129 <font class="keywordflow">if</font> (f.Surface == (uint32)position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>)
+01130 {
+01131 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[3];
+01132 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[0]];
+01133 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[1]];
+01134 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[2]];
+01135
+01136 CVector2f n;
+01137 <font class="keywordtype">float</font> c; <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
+01138 <font class="comment">// Line p0-p1.</font>
+01139 n = CVector2f(-(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>), (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)).normed();
+01140 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x*n.x + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y*n.y);
+01141 <font class="keywordflow">if</font> (n*pos2d + c &lt; -1.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>) <font class="keywordflow">continue</font>;
+01142 <font class="comment">// Line p1-p2.</font>
+01143 n = CVector2f(-(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>), (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)).normed();
+01144 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x*n.x + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y*n.y);
+01145 <font class="keywordflow">if</font> (n*pos2d + c &lt; -1.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>) <font class="keywordflow">continue</font>;
+01146 <font class="comment">// Line p2-p0.</font>
+01147 n = CVector2f(-(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>), (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)).normed();
+01148 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x*n.x + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y*n.y);
+01149 <font class="keywordflow">if</font> (n*pos2d + c &lt; -1.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>) <font class="keywordflow">continue</font>;
+01150
+01151 CPlane p;
+01152 p.make(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2]);
+01153
+01154 CVector i = p.intersect(pos, posh);
+01155
+01156 <font class="keywordtype">float</font> d = (float)fabs(pos.z-i.z);
+01157
+01158 <font class="keywordflow">if</font> (d &lt; bestDist)
+01159 {
+01160 bestDist = d;
+01161 best = i;
+01162 }
+01163 }
+01164 }
+01165
+01166 <font class="comment">// and computes the real position on this face</font>
+01167 <font class="keywordflow">if</font> (bestDist &lt; 50.0f)
+01168 {
+01169 snapped = <font class="keyword">true</font>;
+01170 position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a> = best;
+01171 }
+01172 }
+01173
+<a name="l01174"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a3">01174</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a3">NLPACS::CLocalRetriever::getHeight</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;position)<font class="keyword"> const</font>
+01175 <font class="keyword"></font>{
+01176 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> == <a class="code" href="classNLPACS_1_1CLocalRetriever.html#s2s1">Interior</a>)
+01177 {
+01178 <font class="comment">// first preselect faces around the (x, y) position (CQuadGrid ?)</font>
+01179 vector&lt;uint32&gt; selection;
+01180 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.select(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>, selection);
+01181
+01182 <font class="comment">// from the preselect faces, look for the only face that belongs to the surface</font>
+01183 <font class="comment">// and that contains the position</font>
+01184 CVector pos = position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>;
+01185 CVector posh = pos+CVector(0.0f, 0.0f, 1.0f);
+01186 <font class="keywordtype">float</font> bestDist = 1.0e10f;
+01187 CVector best;
+01188 vector&lt;uint32&gt;::iterator it;
+01189 <font class="keywordflow">for</font> (it=selection.begin(); it!=selection.end(); ++it)
+01190 {
+01191 <font class="keyword">const</font> CInteriorFace &amp;f = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[*it];
+01192 <font class="keywordflow">if</font> (f.Surface == (uint32)position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>)
+01193 {
+01194 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[3];
+01195 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[0]];
+01196 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[1]];
+01197 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[2]];
+01198
+01199 <font class="keywordtype">float</font> a,b,c; <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
+01200 <font class="comment">// Line p0-p1.</font>
+01201 a = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y);
+01202 b = (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x);
+01203 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x*a + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y*b);
+01204 <font class="keywordflow">if</font> (a*pos.x + b*pos.y + c &lt; 0) <font class="keywordflow">continue</font>;
+01205 <font class="comment">// Line p1-p2.</font>
+01206 a = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y);
+01207 b = (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x);
+01208 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x*a + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y*b);
+01209 <font class="keywordflow">if</font> (a*pos.x + b*pos.y + c &lt; 0) <font class="keywordflow">continue</font>;
+01210 <font class="comment">// Line p2-p0.</font>
+01211 a = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y);
+01212 b = (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x);
+01213 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x*a + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y*b);
+01214 <font class="keywordflow">if</font> (a*pos.x + b*pos.y + c &lt; 0) <font class="keywordflow">continue</font>;
+01215
+01216 CPlane p;
+01217 p.make(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2]);
+01218
+01219 CVector i = p.intersect(pos, posh);
+01220
+01221 <font class="keywordtype">float</font> d = (float)fabs(pos.z-i.z);
+01222
+01223 <font class="keywordflow">if</font> (d &lt; bestDist)
+01224 {
+01225 bestDist = d;
+01226 best = i;
+01227 }
+01228 }
+01229 }
+01230
+01231 <font class="comment">// and computes the real position on this face</font>
+01232 <font class="keywordflow">return</font> (bestDist &lt; 50.0f) ? best.z : position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>;
+01233 }
+01234 <font class="keywordflow">else</font>
+01235 {
+01236
+01237 <font class="comment">// find quad leaf.</font>
+01238 <font class="keyword">const</font> CQuadLeaf *leaf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>].getQuadTree().getLeaf(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>);
+01239
+01240 <font class="comment">// if there is no acceptable leaf, just give up</font>
+01241 <font class="keywordflow">if</font> (leaf == NULL)
+01242 {
+01243 <font class="comment">//nlinfo("COL: quadtree: don't find the quadLeaf!");</font>
+01244 <font class="keywordflow">return</font> position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>;
+01245 }
+01246 <font class="keywordflow">else</font>
+01247 {
+01248 <font class="comment">// else return mean height.</font>
+01249 <font class="keywordtype">float</font> meanHeight = (leaf-&gt;getMinHeight()+leaf-&gt;getMaxHeight())*0.5f;
+01250 <font class="keywordflow">return</font> meanHeight;
+01251 }
+01252
+01253 <font class="comment">// return _Surfaces[position.Surface].getQuadTree().getInterpZ(position.Estimation);</font>
+01254 }
+01255 }
+01256
+01257
+01258
+01259 <font class="preprocessor">#ifdef NL_OS_WINDOWS</font>
+01260 <font class="preprocessor"></font><font class="preprocessor">#pragma optimize( "", off )</font>
+01261 <font class="preprocessor"></font><font class="preprocessor">#endif // NL_OS_WINDOWS</font>
+01262 <font class="preprocessor"></font>
+01263 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a4">NLPACS::CLocalRetriever::findPath</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CLocalPosition.html">NLPACS::CLocalRetriever::CLocalPosition</a> &amp;A,
+01264 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CLocalPosition.html">NLPACS::CLocalRetriever::CLocalPosition</a> &amp;B,
+01265 std::vector&lt;NLPACS::CVector2s&gt; &amp;path,
+01266 <a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &amp;cst)<font class="keyword"> const</font>
+01267 <font class="keyword"></font>{
+01268 <font class="keywordflow">if</font> (A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> != B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>)
+01269 {
+01270 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
+01271 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Try to find a path between 2 points that are not in the same surface (A=%d, B=%d)"</font>, A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>, B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>);
+01272 }
+01273
+01274 CVector a = A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>,
+01275 b = B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>,
+01276 n = CVector(a.y-b.y, b.x-a.x, 0.0f);
+01277
+01278 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.selectEdges(a, b, cst);
+01279
+01281 vector&lt;CIntersectionMarker&gt; intersections;
+01282
+01283 uint i, j;
+01284 sint32 surfaceId = A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>;
+01285 <font class="keyword">const</font> CRetrievableSurface &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surfaceId];
+01286
+01287 <font class="keywordflow">for</font> (i=0; i&lt;cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>.size(); ++i)
+01288 {
+01289 CEdgeChainEntry &amp;entry = cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>[i];
+01290 <font class="keyword">const</font> COrderedChain &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[entry.OChainId];
+01291
+01292 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()].getLeft() != surfaceId &amp;&amp;
+01293 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()].getRight() != surfaceId)
+01294 <font class="keywordflow">continue</font>;
+01295
+01296 <font class="keywordflow">for</font> (j=entry.EdgeStart; j&lt;entry.EdgeEnd; ++j)
+01297 {
+01298 <font class="comment">// here the edge collision test</font>
+01299
+01300 CVector p0 = chain[j].unpack3f(),
+01301 p1 = chain[j+1].unpack3f();
+01302
+01303 <font class="keywordtype">float</font> vp0 = (p0-a)*n,
+01304 vp1 = (p1-a)*n;
+01305
+01306 <font class="keywordflow">if</font> (vp0*vp1 &lt;= 0.0f)
+01307 {
+01308 CVector np = CVector(p0.y-p1.y, p1.x-p0.x, 0.0f);
+01309
+01310 <font class="keywordtype">float</font> va = (a-p0)*np,
+01311 vb = (b-p0)*np;
+01312
+01313 <font class="comment">// here we have an intersection</font>
+01314 <font class="keywordflow">if</font> (va*vb &lt;= 0.0f)
+01315 {
+01316 <font class="keyword">const</font> CChain &amp;parent = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()];
+01317 <font class="keywordtype">bool</font> isIn = (va-vb &lt; 0.0f) ^ (parent.getLeft() == surfaceId) ^ chain.isForward();
+01318
+01319 intersections.push_back(CIntersectionMarker(va/(va-vb), entry.OChainId, j, isIn));
+01320 }
+01321 }
+01322 }
+01323 }
+01324
+01325 sort(intersections.begin(), intersections.end());
+01326
+01327 uint intersStart = 0;
+01328 uint intersEnd = intersections.size();
+01329
+01330 <font class="keywordflow">if</font> (intersEnd &gt; 0)
+01331 {
+01332 <font class="keywordflow">while</font> (intersStart &lt; intersections.size() &amp;&amp;
+01333 intersections[intersStart].In &amp;&amp; intersections[intersStart].Position &lt; 1.0e-4f)
+01334 ++intersStart;
+01335
+01336 <font class="keywordflow">while</font> (intersStart &lt; intersEnd &amp;&amp;
+01337 !intersections[intersEnd-1].In &amp;&amp; intersections[intersEnd-1].Position &gt; 1.0f-1.0e-4f)
+01338 --intersEnd;
+01339
+01340 <font class="comment">// Check intersections have a valid order</font>
+01341 <font class="keywordflow">if</font> ((intersEnd-intersStart) &amp; 1)
+01342 {
+01343 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
+01344 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Found an odd (%d) number of intersections"</font>, intersections.size());
+01345 }
+01346
+01347 <font class="keywordflow">for</font> (i=intersStart; i&lt;intersEnd; )
+01348 {
+01349 uint exitLoop, enterLoop;
+01350
+01351 <font class="keyword">const</font> CChain &amp;exitChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getParentId()];
+01352 exitLoop = (exitChain.getLeft() == surfaceId) ? exitChain.getLeftLoop() : exitChain.getRightLoop();
+01353
+01354 <font class="keywordflow">if</font> (intersections[i++].In)
+01355 {
+01356 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
+01357 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Entered the surface before exited"</font>, intersections.size());
+01358 }
+01359
+01360 <font class="keyword">const</font> CChain &amp;enterChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getParentId()];
+01361 enterLoop = (enterChain.getLeft() == surfaceId) ? enterChain.getLeftLoop() : enterChain.getRightLoop();
+01362
+01363 <font class="keywordflow">if</font> (!intersections[i++].In)
+01364 {
+01365 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
+01366 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Exited twice the surface"</font>, intersections.size());
+01367 }
+01368
+01369 <font class="keywordflow">if</font> (exitLoop != enterLoop)
+01370 {
+01371 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
+01372 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Exited and rentered by a different loop"</font>);
+01373 }
+01374 }
+01375 }
+01376
+01377 <font class="comment">// dumpSurface(surfaceId);</font>
+01378
+01379 path.push_back(CVector2s(A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>));
+01380
+01381 <font class="keywordflow">for</font> (i=intersStart; i&lt;intersEnd; )
+01382 {
+01383 uint exitChainId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getParentId(),
+01384 enterChainId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i+1].OChain].getParentId();
+01385 <font class="keyword">const</font> CChain &amp;exitChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[exitChainId],
+01386 &amp;enterChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[enterChainId];
+01387 uint loopId, exitLoopIndex, enterLoopIndex;
+01388
+01389 <font class="keywordflow">if</font> (exitChain.getLeft() == surfaceId)
+01390 {
+01391 loopId = exitChain.getLeftLoop();
+01392 exitLoopIndex = exitChain.getLeftLoopIndex();
+01393 }
+01394 <font class="keywordflow">else</font>
+01395 {
+01396 loopId = exitChain.getRightLoop();
+01397 exitLoopIndex = exitChain.getRightLoopIndex();
+01398 }
+01399
+01400 <font class="keyword">const</font> CRetrievableSurface::TLoop &amp;loop = surface._Loops[loopId];
+01401
+01402 <font class="keywordflow">if</font> (enterChain.getLeft() == surfaceId)
+01403 enterLoopIndex = enterChain.getLeftLoopIndex();
+01404 <font class="keywordflow">else</font>
+01405 enterLoopIndex = enterChain.getRightLoopIndex();
+01406
+01407 <font class="keywordtype">float</font> forwardLength = (exitChain.getLength()+enterChain.getLength())*0.5f;
+01408
+01409 sint loopIndex = exitLoopIndex;
+01410 uint thisChainId = exitChainId;
+01411 <font class="keywordtype">bool</font> thisChainForward = (enterChain.getLeft() == surfaceId);
+01412 uint thisOChainId = intersections[i].OChain;
+01413 sint thisOChainIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[thisOChainId].getIndexInParent();
+01414 <font class="keywordtype">bool</font> forward;
+01415
+01416 <font class="keywordflow">if</font> (exitChainId != enterChainId)
+01417 {
+01418 <font class="keywordflow">for</font> (j=(exitLoopIndex+1)%loop.size(); j!=enterLoopIndex; j=(j+1)%loop.size())
+01419 forwardLength += <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surface._Chains[loop[j]].Chain].getLength();
+01420 forward = (forwardLength &lt;= loop.Length-forwardLength);
+01421 }
+01422 <font class="keywordflow">else</font>
+01423 {
+01424 forward = !thisChainForward ^ (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getIndexInParent() &lt; <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i+1].OChain].getIndexInParent());
+01425 }
+01426
+01427 path.push_back(CVector2s(A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>+intersections[i].Position*(B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>-A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>)));
+01428
+01429 <font class="keywordflow">while</font> (true)
+01430 {
+01431 sint from = (thisOChainId == intersections[i].OChain) ? intersections[i].Edge : -1,
+01432 to = (thisOChainId == intersections[i+1].OChain) ? intersections[i+1].Edge : -1;
+01433 <font class="keywordtype">bool</font> oforward = thisChainForward ^ forward ^ <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[thisOChainId].isForward();
+01434
+01435 <font class="keywordflow">if</font> (from != -1 &amp;&amp; to != -1)
+01436 oforward = (intersections[i].Edge &lt; intersections[i+1].Edge);
+01437
+01438 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[thisOChainId].traverse(from, to, oforward, path);
+01439
+01440 <font class="keywordflow">if</font> (thisOChainId == intersections[i+1].OChain)
+01441 <font class="keywordflow">break</font>;
+01442
+01443 thisOChainIndex = (thisChainForward ^ forward) ? thisOChainIndex-1 : thisOChainIndex+1;
+01444
+01445 <font class="keywordflow">if</font> (thisOChainIndex &lt; 0 || thisOChainIndex &gt;= (sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId]._SubChains.size())
+01446 {
+01447 <font class="keywordflow">if</font> (forward)
+01448 {
+01449 loopIndex++;
+01450 <font class="keywordflow">if</font> (loopIndex == (sint)loop.size())
+01451 loopIndex = 0;
+01452 }
+01453 <font class="keywordflow">else</font>
+01454 {
+01455 loopIndex--;
+01456 <font class="keywordflow">if</font> (loopIndex &lt; 0)
+01457 loopIndex = loop.size()-1;
+01458 }
+01459
+01460 thisChainId = surface._Chains[loop[loopIndex]].Chain;
+01461 thisChainForward = (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId].getLeft() == surfaceId);
+01462 thisOChainIndex = (thisChainForward &amp;&amp; forward || !thisChainForward &amp;&amp; !forward) ?
+01463 0 : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId]._SubChains.size()-1;
+01464 }
+01465
+01466 thisOChainId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId]._SubChains[thisOChainIndex];
+01467 }
+01468
+01469 path.push_back(CVector2s(A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>+intersections[i+1].Position*(B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>-A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>)));
+01470 i += 2;
+01471 }
+01472
+01473 path.push_back(CVector2s(B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>));
+01474 }
+01475 <font class="preprocessor">#ifdef NL_OS_WINDOWS</font>
+01476 <font class="preprocessor"></font><font class="preprocessor">#pragma optimize( "", on ) </font>
+01477 <font class="preprocessor"></font><font class="preprocessor">#endif // NL_OS_WINDOWS</font>
+01478 <font class="preprocessor"></font>
+01479 <font class="comment">// ***************************************************************************</font>
+01480 <font class="comment">// ***************************************************************************</font>
+01481 <font class="comment">// Collisions part.</font>
+01482 <font class="comment">// ***************************************************************************</font>
+01483 <font class="comment">// ***************************************************************************</font>
+01484
+01485
+01486 <font class="comment">// ***************************************************************************</font>
+<a name="l01487"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_0">01487</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_0">NLPACS::CLocalRetriever::computeCollisionChainQuad</a>()
+01488 {
+01489 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.build(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
+01490 }
+01491
+01492
+01493 <font class="comment">// ***************************************************************************</font>
+<a name="l01494"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_1">01494</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_1">NLPACS::CLocalRetriever::testCollision</a>(CCollisionSurfaceTemp &amp;cst, <font class="keyword">const</font> CAABBox &amp;bboxMove, <font class="keyword">const</font> CVector2f &amp;transBase)<font class="keyword"> const</font>
+01495 <font class="keyword"></font>{
+01496 <font class="comment">// H_AUTO(PACS_LR_testCollision);</font>
+01497
+01498 sint i;
+01499
+01500 <font class="comment">// 0. select ordered chains in the chainquad.</font>
+01501 <font class="comment">//=====================================</font>
+01502 <font class="comment">// H_BEFORE(PACS_LR_testCol_selEdges);</font>
+01503 sint nEce= <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.selectEdges(bboxMove, cst);
+01504 <font class="comment">// H_AFTER(PACS_LR_testCol_selEdges);</font>
+01505 <font class="comment">// NB: cst.OChainLUT is assured to be full of 0xFFFF after this call (if was right before).</font>
+01506
+01507
+01508 <font class="comment">// 1. regroup them in chains. build cst.CollisionChains</font>
+01509 <font class="comment">//=====================================</font>
+01510 <font class="comment">// NB: use cst.OChainLUT to look if a Chain has been inserted before.</font>
+01511 uint16 *chainLUT= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m0">OChainLUT</a>;
+01512
+01513 <font class="comment">// bkup where we begin to add chains.</font>
+01514 uint firstChainAdded= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
+01515
+01516 <font class="comment">// For all edgechain entry.</font>
+01517 <font class="keywordflow">for</font>(i=0;i&lt;nEce;i++)
+01518 {
+01519 CEdgeChainEntry &amp;ece= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>[i];
+01520 <font class="comment">// this is the ordered chain in the retriever.</font>
+01521 <font class="keyword">const</font> COrderedChain &amp;oChain= this-&gt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_2">getOrderedChains</a>()[ece.OChainId];
+01522 <font class="comment">// this is the id of the chain is the local retriever.</font>
+01523 uint16 chainId= oChain.getParentId();
+01524
+01525
+01526 <font class="comment">// add/retrieve the id in cst.CollisionChains.</font>
+01527 <font class="comment">//=================================</font>
+01528 uint ccId;
+01529 <font class="comment">// if never added.</font>
+01530 <font class="keywordflow">if</font>(chainLUT[chainId]==0xFFFF)
+01531 {
+01532 <font class="comment">// H_AUTO(PACS_LR_testCol_addToLUT);</font>
+01533 <font class="comment">// add a new CCollisionChain.</font>
+01534 ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
+01535 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.push_back(CCollisionChain());
+01536 <font class="comment">// Fill it with default.</font>
+01537 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].Tested= <font class="keyword">false</font>;
+01538 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ExteriorEdge = <font class="keyword">false</font>;
+01539 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].FirstEdgeCollide= 0xFFFFFFFF;
+01540 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ChainId= chainId;
+01541 <font class="comment">// Fill Left right info.</font>
+01542 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].LeftSurface.SurfaceId= this-&gt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_6">getChains</a>()[chainId].getLeft();
+01543 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].RightSurface.SurfaceId= this-&gt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_6">getChains</a>()[chainId].getRight();
+01544 <font class="comment">// NB: cst.CollisionChains[ccId].*Surface.RetrieverInstanceId is not filled here because we don't have</font>
+01545 <font class="comment">// this info at this level.</font>
+01546
+01547 <font class="comment">// store this Id in the LUT of chains.</font>
+01548 chainLUT[chainId]= ccId;
+01549 }
+01550 <font class="keywordflow">else</font>
+01551 {
+01552 <font class="comment">// get the id of this collision chain.</font>
+01553 ccId= chainLUT[chainId];
+01554 }
+01555
+01556 <font class="comment">// add edge collide to the list.</font>
+01557 <font class="comment">//=================================</font>
+01558 <font class="comment">// H_BEFORE(PACS_LR_testCol_addToList);</font>
+01559 CCollisionChain &amp;colChain= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId];
+01560 <font class="keyword">const</font> std::vector&lt;CVector2s&gt; &amp;oChainVertices= oChain.getVertices();
+01561 <font class="keywordflow">for</font>(sint edge=ece.EdgeStart; edge&lt;ece.EdgeEnd; edge++)
+01562 {
+01563 CVector2f p0= oChainVertices[edge].unpack();
+01564 CVector2f p1= oChainVertices[edge+1].unpack();
+01565
+01566 <font class="comment">// alloc a new edgeCollide.</font>
+01567 uint32 ecnId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_1">allocEdgeCollideNode</a>();
+01568 CEdgeCollideNode &amp;ecn= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_2">getEdgeCollideNode</a>(ecnId);
+01569
+01570 <font class="comment">// append to the front of the list.</font>
+01571 ecn.Next= colChain.FirstEdgeCollide;
+01572 colChain.FirstEdgeCollide= ecnId;
+01573
+01574 <font class="comment">// build this edge.</font>
+01575 p0+= transBase;
+01576 p1+= transBase;
+01577 ecn.make(p0, p1);
+01578 }
+01579 <font class="comment">// H_AFTER(PACS_LR_testCol_addToList);</font>
+01580 }
+01581
+01582
+01583
+01584 <font class="comment">// 2. Reset LUT to 0xFFFF.</font>
+01585 <font class="comment">//=====================================</font>
+01586
+01587 <font class="comment">// H_BEFORE(PACS_LR_testCol_resetLUT);</font>
+01588 <font class="comment">// for all collisions chains inserted (starting from firstChainAdded), reset LUT.</font>
+01589 <font class="keywordflow">for</font>(i=firstChainAdded; i&lt;(sint)cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size(); i++)
+01590 {
+01591 uint ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[i].ChainId;
+01592 chainLUT[ccId]= 0xFFFF;
+01593 }
+01594 <font class="comment">// H_AFTER(PACS_LR_testCol_resetLUT);</font>
+01595 }
+01596
+01597
+01598 <font class="comment">// ***************************************************************************</font>
+01599 <font class="comment">// ***************************************************************************</font>
+01600 <font class="comment">// ***************************************************************************</font>
+01601 <font class="comment">// ***************************************************************************</font>
+01602
+01603
+01604 <font class="comment">// ***************************************************************************</font>
+<a name="l01605"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_18">01605</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_18">NLPACS::CLocalRetriever::buildInteriorSurfaceBBoxes</a>(std::vector&lt;NLMISC::CAABBox&gt; &amp;surfaceBBoxes)<font class="keyword"> const</font>
+01606 <font class="keyword"></font>{
+01607 <font class="comment">// resize dest, and init.</font>
+01608 vector&lt;bool&gt; firstTriangle;
+01609 surfaceBBoxes.clear();
+01610 surfaceBBoxes.resize(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size());
+01611 firstTriangle.resize(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), <font class="keyword">true</font>);
+01612
+01613 <font class="comment">// For all _InteriorFaces.</font>
+01614 <font class="keywordflow">for</font>(uint iIntFace=0; iIntFace&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>.size(); iIntFace++)
+01615 {
+01616 <font class="keyword">const</font> CInteriorFace &amp;intFace= <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[iIntFace];
+01617
+01618 <font class="comment">// Extend the surface of this face with her 3 points.</font>
+01619
+01620 <font class="comment">// check good id.</font>
+01621 <font class="keywordflow">if</font>(intFace.Surface==(uint)-1)
+01622 <font class="keywordflow">continue</font>;
+01623 <a class="code" href="debug_8h.html#a6">nlassert</a>(intFace.Surface&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size());
+01624
+01625 <font class="comment">// If first time we extend the bbox of this surface</font>
+01626 <font class="keywordflow">if</font>(firstTriangle[intFace.Surface])
+01627 {
+01628 surfaceBBoxes[intFace.Surface].setCenter(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[0]] );
+01629 firstTriangle[intFace.Surface]= <font class="keyword">false</font>;
+01630 }
+01631 <font class="keywordflow">else</font>
+01632 surfaceBBoxes[intFace.Surface].extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[0]] );
+01633
+01634 <font class="comment">// extend with other 2 points</font>
+01635 surfaceBBoxes[intFace.Surface].extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[1]] );
+01636 surfaceBBoxes[intFace.Surface].extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[2]] );
+01637 }
+01638
+01639 }
+</pre></div>
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