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authorneodarz <neodarz@neodarz.net>2018-08-11 20:21:34 +0200
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+<hr><h1>mini_col.cpp</h1><a href="mini__col_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
+00007 <font class="comment">/* Copyright, 2000 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="std3d_8h.html">std3d.h</a>"</font>
+00027
+00028 <font class="preprocessor">#include "<a class="code" href="mini__col_8h.html">3d/mini_col.h</a>"</font>
+00029 <font class="preprocessor">#include "<a class="code" href="aabbox_8h.html">nel/misc/aabbox.h</a>"</font>
+00030 <font class="preprocessor">#include "<a class="code" href="3d_2quad__grid_8h.html">3d/quad_grid.h</a>"</font>
+00031 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
+00032 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
+00033
+00034
+00035 <font class="keyword">namespace </font>NL3D
+00036 {
+00037
+00038 <font class="keyword">static</font> <font class="keyword">const</font> sint <a class="code" href="namespaceNL3D.html#a157">QuadDepth</a>= 10;
+00039
+00040
+00041 <font class="comment">// Element for grid lookup.</font>
+00042 <font class="keyword">static</font> <font class="keyword">const</font> sint <a class="code" href="namespaceNL3D.html#a158">GridSize</a>=512;
+00043 <font class="keyword">static</font> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="namespaceNL3D.html#a159">GridEltSize</a>=2;
+00044
+00045
+00046 <font class="comment">// ***************************************************************************</font>
+<a name="l00047"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a0">00047</a> CMiniCol::CMiniCol()
+00048 {
+00049 <a class="code" href="classNL3D_1_1CMiniCol.html#o1">_RadMin</a>= 100;
+00050 <a class="code" href="classNL3D_1_1CMiniCol.html#o2">_RadMax</a>= 125;
+00051 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.create(<a class="code" href="namespaceNL3D.html#a158">GridSize</a>, <a class="code" href="namespaceNL3D.html#a159">GridEltSize</a>);
+00052 }
+00053
+00054
+00055 <font class="comment">// ***************************************************************************</font>
+<a name="l00056"></a><a class="code" href="classNL3D_1_1CMiniCol.html#c0">00056</a> <font class="keywordtype">void</font> CMiniCol::addFaces(<font class="keyword">const</font> std::vector&lt;CTriangle&gt; &amp;faces, uint16 zoneId, uint16 patchId)
+00057 {
+00058 <font class="keywordflow">for</font>(sint i=0;i&lt;(sint)faces.size();i++)
+00059 {
+00060 <font class="keyword">const</font> CTriangle &amp;f= faces[i];
+00061 CAABBox box;
+00062 box.setCenter(f.V0);
+00063 box.extend(f.V1);
+00064 box.extend(f.V2);
+00065 CFace node;
+00066 node.Face= f;
+00067 node.Plane.make(f.V0, f.V1, f.V2);
+00068 node.ZoneId= zoneId;
+00069 node.PatchId=patchId;
+00070 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.insert(box.getMin(), box.getMax(), node);
+00071 }
+00072 }
+00073
+00074
+00075 <font class="comment">// ***************************************************************************</font>
+<a name="l00076"></a><a class="code" href="classNL3D_1_1CMiniCol.html#c1">00076</a> <font class="keywordtype">void</font> CMiniCol::addLandscapePart(uint16 zoneId, uint16 patchId)
+00077 {
+00078 vector&lt;CTriangle&gt; faces;
+00079 <a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>-&gt;buildCollideFaces(zoneId, patchId, faces);
+00080 <a class="code" href="classNL3D_1_1CMiniCol.html#c0">addFaces</a>(faces, zoneId, patchId);
+00081 }
+00082
+00083
+00084 <font class="comment">// ***************************************************************************</font>
+<a name="l00085"></a><a class="code" href="classNL3D_1_1CMiniCol.html#c2">00085</a> <font class="keywordtype">void</font> CMiniCol::removeLandScapePart(uint16 zoneId, uint16 patchId, <font class="keyword">const</font> CBSphere &amp;sphere)
+00086 {
+00087 <font class="comment">// Build the AAbox which englobe the bsphere of the patch.</font>
+00088 CAABBox bb;
+00089 bb.setCenter(sphere.Center);
+00090 <font class="keywordtype">float</font> <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>= sphere.Radius;
+00091 bb.setHalfSize(CVector(<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>,<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>,<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>));
+00092
+00093 <font class="comment">// For optimisation, select only faces which are IN the bbox of the patch.</font>
+00094 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(bb.getMin(), bb.getMax());
+00095 CQuadGrid&lt;CFace&gt;::CIterator iFace;
+00096 <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();)
+00097 {
+00098 <font class="keywordflow">if</font>((*iFace).isFromPatch(zoneId, patchId))
+00099 iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.erase(iFace);
+00100 <font class="keywordflow">else</font>
+00101 iFace++;
+00102 }
+00103 }
+00104
+00105
+00106 <font class="comment">// ***************************************************************************</font>
+<a name="l00107"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a1">00107</a> <font class="keywordtype">void</font> CMiniCol::init(CLandscape *land, <font class="keywordtype">float</font> radMin, <font class="keywordtype">float</font> radDelta)
+00108 {
+00109 <a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>= land;
+00110 <a class="code" href="classNL3D_1_1CMiniCol.html#o1">_RadMin</a>= radMin;
+00111 <a class="code" href="classNL3D_1_1CMiniCol.html#o2">_RadMax</a>= radMin+radDelta;
+00112 }
+00113
+00114
+00115 <font class="comment">// ***************************************************************************</font>
+<a name="l00116"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a2">00116</a> <font class="keywordtype">void</font> CMiniCol::addZone(uint16 zoneId)
+00117 {
+00118 CZoneIdent newZone;
+00119
+00120 <font class="comment">// landscape must have been inited.</font>
+00121 <a class="code" href="debug_8h.html#a6">nlassert</a>(<a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>);
+00122 <font class="keyword">const</font> CZone *zone= <a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>-&gt;getZone(zoneId);
+00123 <font class="comment">// zone must be loaded into landscape.</font>
+00124 <a class="code" href="debug_8h.html#a6">nlassert</a>(zone);
+00125
+00126 <font class="comment">// Fill the newzone.</font>
+00127 newZone.ZoneId= zoneId;
+00128 newZone.Sphere.Center= zone-&gt;getZoneBB().getCenter();
+00129 newZone.Sphere.Radius= zone-&gt;getZoneBB().getRadius();
+00130 newZone.Patchs.resize(zone-&gt;getNumPatchs());
+00131 <font class="keywordflow">for</font>(sint i=0;i&lt;zone-&gt;getNumPatchs();i++)
+00132 {
+00133 <font class="keyword">const</font> CPatch &amp;pa= *zone-&gt;getPatch(i);
+00134 newZone.Patchs[i].Sphere= pa.getBSphere();
+00135 }
+00136
+00137 <font class="comment">// Add it to the set (if not already done...).</font>
+00138 <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.insert(newZone);
+00139 }
+00140
+00141
+00142 <font class="comment">// ***************************************************************************</font>
+<a name="l00143"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a3">00143</a> <font class="keywordtype">void</font> CMiniCol::removeZone(uint16 zoneId)
+00144 {
+00145 CZoneIdent delZone;
+00146
+00147
+00148 <font class="comment">// First, delete all patch from the grid.</font>
+00149 <font class="comment">//=======================================</font>
+00150 <font class="comment">// Fill the key part only.</font>
+00151 delZone.ZoneId= zoneId;
+00152 <font class="comment">// Find the zone (or quit).</font>
+00153 TZoneSet::iterator itZone;
+00154 itZone= <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.find(delZone);
+00155 <font class="keywordflow">if</font>(itZone==<a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.end())
+00156 <font class="keywordflow">return</font>;
+00157
+00158 CZoneIdent &amp;zone= const_cast&lt;CZoneIdent&amp;&gt;(*itZone);
+00159 <font class="keywordflow">for</font>(sint i=0;i&lt;(sint)zone.Patchs.size();i++)
+00160 {
+00161 CPatchIdent &amp;pa= zone.Patchs[i];
+00162 <font class="keywordflow">if</font>(pa.Inserted)
+00163 {
+00164 <font class="comment">// Reject the patch.</font>
+00165 <a class="code" href="classNL3D_1_1CMiniCol.html#c2">removeLandScapePart</a>(zone.ZoneId, i, pa.Sphere);
+00166 pa.Inserted= <font class="keyword">false</font>;
+00167 zone.NPatchInserted--;
+00168 }
+00169 }
+00170
+00171 <font class="comment">// Then, delete it.</font>
+00172 <font class="comment">//=================</font>
+00173 <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.erase(delZone);
+00174
+00175 }
+00176
+00177
+00178 <font class="comment">// ***************************************************************************</font>
+<a name="l00179"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a4">00179</a> <font class="keywordtype">void</font> CMiniCol::setCenter(<font class="keyword">const</font> CVector&amp; center)
+00180 {
+00181 CBSphere BMin(center, <a class="code" href="classNL3D_1_1CMiniCol.html#o1">_RadMin</a>), BMax(center, <a class="code" href="classNL3D_1_1CMiniCol.html#o2">_RadMax</a>);
+00182
+00183 <font class="comment">// For all zones, test if must insert patchs..</font>
+00184 TZoneSet::iterator itZone;
+00185 <font class="keywordflow">for</font>(itZone= <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.begin();itZone!=<a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.end();itZone++)
+00186 {
+00187 CZoneIdent &amp;zone= const_cast&lt;CZoneIdent&amp;&gt;(*itZone);
+00188
+00189 <font class="comment">// Tests must be done in 2D...</font>
+00190 BMin.Center.z= zone.Sphere.Center.z;
+00191 BMax.Center.z= zone.Sphere.Center.z;
+00192
+00193 <font class="comment">// Must test first if the zone is IN the area.</font>
+00194 <font class="comment">//=============================================</font>
+00195 <font class="keywordtype">bool</font> zoneIn= <font class="keyword">false</font>;
+00196 <font class="keywordflow">if</font>(zone.NPatchInserted==0)
+00197 {
+00198 <font class="keywordflow">if</font>(BMin.intersect(zone.Sphere))
+00199 zoneIn= <font class="keyword">true</font>;
+00200 }
+00201 <font class="keywordflow">else</font>
+00202 zoneIn= <font class="keyword">true</font>;
+00203
+00204 <font class="comment">// Then for all patchs, must test if the patch must be inserted, or rejected.</font>
+00205 <font class="comment">//=============================================</font>
+00206 <font class="keywordflow">if</font>(zoneIn)
+00207 {
+00208 <font class="keywordflow">for</font>(sint i=0;i&lt;(sint)zone.Patchs.size();i++)
+00209 {
+00210 CPatchIdent &amp;pa= zone.Patchs[i];
+00211
+00212 <font class="comment">// Tests must be done in 2D...</font>
+00213 BMin.Center.z= pa.Sphere.Center.z;
+00214 BMax.Center.z= pa.Sphere.Center.z;
+00215
+00216 <font class="keywordflow">if</font>(pa.Inserted)
+00217 {
+00218 <font class="comment">// Reject the patch, if entirely OUT the max radius.</font>
+00219 <font class="keywordflow">if</font>(!BMax.intersect(pa.Sphere))
+00220 {
+00221 <a class="code" href="classNL3D_1_1CMiniCol.html#c2">removeLandScapePart</a>(zone.ZoneId, i, pa.Sphere);
+00222 pa.Inserted= <font class="keyword">false</font>;
+00223 zone.NPatchInserted--;
+00224 }
+00225 }
+00226 <font class="keywordflow">else</font>
+00227 {
+00228 <font class="comment">// Insert the pacth, if only partially IN the min radius.</font>
+00229 <font class="keywordflow">if</font>(BMin.intersect(pa.Sphere))
+00230 {
+00231 <a class="code" href="classNL3D_1_1CMiniCol.html#c1">addLandscapePart</a>(zone.ZoneId, i);
+00232 pa.Inserted= <font class="keyword">true</font>;
+00233 zone.NPatchInserted++;
+00234 }
+00235 }
+00236 }
+00237 }
+00238 }
+00239 }
+00240
+00241
+00242 <font class="comment">// ***************************************************************************</font>
+<a name="l00243"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a6">00243</a> <font class="keywordtype">bool</font> CMiniCol::snapToGround(CVector &amp;pos, <font class="keywordtype">float</font> hup, <font class="keywordtype">float</font> hbot)
+00244 {
+00245 CVector b1,b2;
+00246 <font class="keywordtype">bool</font> found=<font class="keyword">false</font>;
+00247 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>;
+00248
+00249
+00250 <font class="comment">// Select quad nodes which contains pos.</font>
+00251 b1=b2=pos;
+00252 b1.z-= hbot;
+00253 b2.z+= hup;
+00254 <font class="comment">// Select.</font>
+00255 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(b1,b2);
+00256
+00257 <font class="comment">// For each face, test if it is under pos, then test if height is correct.</font>
+00258 CQuadGrid&lt;CFace&gt;::CIterator iFace;
+00259 <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();iFace++)
+00260 {
+00261 CTriangle &amp;pFace= (*iFace).Face;
+00262 CPlane &amp;pPlane= (*iFace).Plane;
+00263 <font class="comment">// Order is important.</font>
+00264 CVector &amp;p0= pFace.V0;
+00265 CVector &amp;p1= pFace.V1;
+00266 CVector &amp;p2= pFace.V2;
+00267
+00268 <font class="comment">// TOIMP: This is VERY SLOW!!! (hope that the quadtree will help, but it still very slow...).</font>
+00269
+00270 <font class="comment">// Yoyo Debug, test, if the point may be IN the bbox.</font>
+00271 <font class="comment">/*CAABBox bbFace;</font>
+00272 <font class="comment"> bbFace.setCenter(p0);</font>
+00273 <font class="comment"> bbFace.extend(p1);</font>
+00274 <font class="comment"> bbFace.extend(p2);</font>
+00275 <font class="comment"> CVector bext=p0;</font>
+00276 <font class="comment"> bext.z= maxof(p0.z, p1.z, p2.z)+hbot;</font>
+00277 <font class="comment"> bbFace.extend(bext);</font>
+00278 <font class="comment"> bext.z= minof(p0.z, p1.z, p2.z)-hup;</font>
+00279 <font class="comment"> bbFace.extend(bext);</font>
+00280 <font class="comment"> if(!bbFace.include(pos))</font>
+00281 <font class="comment"> continue;*/</font>
+00282
+00283 <font class="comment">// Test if the face enclose the pos in X/Y plane.</font>
+00284 <font class="comment">// NB: compute and using a BBox to do a rapid test is not a very good idea, since it will </font>
+00285 <font class="comment">// add an overhead which is NOT negligeable compared to the following test.</font>
+00286 <font class="keywordtype">float</font> a,b,c; <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
+00287 <font class="comment">// Line p0-p1.</font>
+00288 a= -(p1.y-p0.y);
+00289 b= (p1.x-p0.x);
+00290 c= -(p0.x*a + p0.y*b);
+00291 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0) <font class="keywordflow">continue</font>;
+00292 <font class="comment">// Line p1-p2.</font>
+00293 a= -(p2.y-p1.y);
+00294 b= (p2.x-p1.x);
+00295 c= -(p1.x*a + p1.y*b);
+00296 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0) <font class="keywordflow">continue</font>;
+00297 <font class="comment">// Line p2-p0.</font>
+00298 a= -(p0.y-p2.y);
+00299 b= (p0.x-p2.x);
+00300 c= -(p2.x*a + p2.y*b);
+00301 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0) <font class="keywordflow">continue</font>;
+00302
+00303
+00304 <font class="comment">// Compute the possible height.</font>
+00305 CVector tmp;
+00306 <font class="comment">// intersect the vertical line with the plane.</font>
+00307 tmp= pPlane.intersect(pos, pos-CVector(0,0,100));
+00308
+00309 <font class="comment">/*</font>
+00310 <font class="comment"> // CTriangle intersect() method.</font>
+00311 <font class="comment"> CVector tmp;</font>
+00312 <font class="comment"> if(pFace.intersect(b1, b2, tmp, pPlane))</font>
+00313 <font class="comment"> */</font>
+00314 {
+00315 <font class="keywordtype">float</font> h= tmp.z;
+00316 <font class="comment">// Test if it would fit in the wanted field.</font>
+00317 <font class="keywordflow">if</font>(h&gt;pos.z+hup) <font class="keywordflow">continue</font>;
+00318 <font class="keywordflow">if</font>(h&lt;pos.z-hbot) <font class="keywordflow">continue</font>;
+00319
+00320 <font class="comment">// OK!!</font>
+00321 <font class="keywordflow">if</font>(!found)
+00322 {
+00323 found=<font class="keyword">true</font>;
+00324 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=h;
+00325 }
+00326 <font class="keywordflow">else</font>
+00327 {
+00328 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>= max(<a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>,h);
+00329 }
+00330 }
+00331 }
+00332
+00333 <font class="keywordflow">if</font>(found)
+00334 pos.z= <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>;
+00335
+00336 <font class="keywordflow">return</font> found;
+00337 }
+00338
+00339
+00340
+00341 <font class="comment">// ***************************************************************************</font>
+<a name="l00342"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a7">00342</a> <font class="keywordtype">bool</font> CMiniCol::getGroundNormal(<font class="keyword">const</font> CVector &amp;pos, CVector &amp;normal, <font class="keywordtype">float</font> hup, <font class="keywordtype">float</font> hbot)
+00343 {
+00344 CVector b1,b2;
+00345 <font class="keywordtype">bool</font> found=<font class="keyword">false</font>;
+00346 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=0.0;
+00347
+00348
+00349 <font class="comment">// Select quad nodes which contains pos.</font>
+00350 b1=b2=pos;
+00351 b1.z-= hbot;
+00352 b2.z+= hup;
+00353 <font class="comment">// Select.</font>
+00354 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(b1,b2);
+00355
+00356 <font class="comment">// For each face, test if it is under pos, then test if height is correct.</font>
+00357 CQuadGrid&lt;CFace&gt;::CIterator iFace;
+00358 <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();iFace++)
+00359 {
+00360 CTriangle &amp;pFace= (*iFace).Face;
+00361 CPlane &amp;pPlane= (*iFace).Plane;
+00362 <font class="comment">// Order is important.</font>
+00363 CVector &amp;p0= pFace.V0;
+00364 CVector &amp;p1= pFace.V1;
+00365 CVector &amp;p2= pFace.V2;
+00366
+00367 <font class="comment">// TOIMP: This is VERY SLOW!!! (hope that the quadtree will help, but it still very slow...).</font>
+00368
+00369 <font class="comment">// Yoyo Debug, test, if the point may be IN the bbox.</font>
+00370 CAABBox bbFace;
+00371 bbFace.setCenter(p0);
+00372 bbFace.extend(p1);
+00373 bbFace.extend(p2);
+00374 CVector bext=p0;
+00375 bext.z= maxof(p0.z, p1.z, p2.z)+hbot;
+00376 bbFace.extend(bext);
+00377 bext.z= minof(p0.z, p1.z, p2.z)-hup;
+00378 bbFace.extend(bext);
+00379 <font class="keywordflow">if</font>(!bbFace.include(pos))
+00380 <font class="keywordflow">continue</font>;
+00381
+00382 <font class="comment">// Test if the face enclose the pos in X/Y plane.</font>
+00383 <font class="comment">// NB: compute and using a BBox to do a rapid test is not a very good idea, since it will </font>
+00384 <font class="comment">// add an overhead which is NOT negligeable compared to the following test.</font>
+00385 <font class="keywordtype">float</font> a,b,c; <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
+00386 <font class="comment">// Line p0-p1.</font>
+00387 a= -(p1.y-p0.y);
+00388 b= (p1.x-p0.x);
+00389 c= -(p0.x*a + p0.y*b);
+00390 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0) <font class="keywordflow">continue</font>;
+00391 <font class="comment">// Line p1-p2.</font>
+00392 a= -(p2.y-p1.y);
+00393 b= (p2.x-p1.x);
+00394 c= -(p1.x*a + p1.y*b);
+00395 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0) <font class="keywordflow">continue</font>;
+00396 <font class="comment">// Line p2-p0.</font>
+00397 a= -(p0.y-p2.y);
+00398 b= (p0.x-p2.x);
+00399 c= -(p2.x*a + p2.y*b);
+00400 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0) <font class="keywordflow">continue</font>;
+00401
+00402
+00403 <font class="comment">// Compute the possible height.</font>
+00404 CVector tmp;
+00405 <font class="comment">// intersect the vertical line with the plane.</font>
+00406 tmp= pPlane.intersect(pos, pos-CVector(0,0,100));
+00407 <font class="keywordtype">float</font> h= tmp.z;
+00408 <font class="comment">// Test if it would fit in the wanted field.</font>
+00409 <font class="keywordflow">if</font>(h&gt;pos.z+hup) <font class="keywordflow">continue</font>;
+00410 <font class="keywordflow">if</font>(h&lt;pos.z-hbot) <font class="keywordflow">continue</font>;
+00411
+00412 <font class="comment">// OK!!</font>
+00413 <font class="keywordflow">if</font>(!found)
+00414 {
+00415 found=<font class="keyword">true</font>;
+00416 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=h;
+00417 normal= pPlane.getNormal();
+00418 }
+00419 <font class="keywordflow">else</font>
+00420 {
+00421 <font class="keywordflow">if</font>(h&gt;<a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>)
+00422 {
+00423 normal= pPlane.getNormal();
+00424 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>= h;
+00425 }
+00426 }
+00427 }
+00428
+00429 <font class="keywordflow">return</font> found;
+00430 }
+00431
+00432
+00433 <font class="comment">// ***************************************************************************</font>
+<a name="l00434"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a5">00434</a> <font class="keywordtype">bool</font> CMiniCol::testMove(<font class="keyword">const</font> CVector &amp;prec, CVector &amp;cur)
+00435 {
+00436 CVector dir= cur-prec;
+00437 dir.normalize();
+00438
+00439 <font class="comment">// Angle max.</font>
+00440 <font class="keywordtype">float</font> anglemax= 65; <font class="comment">// 65 degrees.</font>
+00441 anglemax= (float)tan( anglemax*<a class="code" href="namespaceNLMISC.html#a7">Pi</a>/180);
+00442
+00443 <font class="comment">// Must not go to near of a wall.</font>
+00444 CVector test= cur+dir*0.5;
+00445 <font class="keywordtype">float</font> norm= (test-prec).norm();
+00446 norm*=anglemax;
+00447 <font class="keywordflow">if</font>(!<a class="code" href="classNL3D_1_1CMiniCol.html#a6">snapToGround</a>(test, norm, norm))
+00448 {
+00449 cur= prec;
+00450 <font class="keywordflow">return</font> <font class="keyword">false</font>;
+00451 }
+00452 <font class="keywordflow">else</font>
+00453 {
+00454 <font class="comment">// Must test and snap the current position.</font>
+00455 norm= (cur-prec).norm();
+00456 norm*=anglemax;
+00457 <font class="keywordflow">if</font>(!<a class="code" href="classNL3D_1_1CMiniCol.html#a6">snapToGround</a>(cur, norm, norm))
+00458 {
+00459 cur= prec;
+00460 <font class="keywordflow">return</font> <font class="keyword">false</font>;
+00461 }
+00462 }
+00463 <font class="keywordflow">return</font> <font class="keyword">true</font>;
+00464 }
+00465
+00466
+00467 <font class="comment">// ***************************************************************************</font>
+<a name="l00468"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a8">00468</a> <font class="keywordtype">void</font> CMiniCol::getFaces(std::vector&lt;CTriangle&gt; &amp;triresult, <font class="keyword">const</font> CAABBox &amp;bbox)
+00469 {
+00470 triresult.clear();
+00471
+00472 <font class="comment">// Select.</font>
+00473 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(bbox.getMin(),bbox.getMax());
+00474
+00475 <font class="comment">// For each face, test if it is under pos, then test if height is correct.</font>
+00476 CQuadGrid&lt;CFace&gt;::CIterator iFace;
+00477 <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();iFace++)
+00478 {
+00479 CTriangle &amp;face= (*iFace).Face;
+00480
+00481 <font class="keywordflow">if</font>(bbox.intersect(face.V0, face.V1, face.V2))
+00482 {
+00483 triresult.push_back(face);
+00484 }
+00485 }
+00486
+00487 }
+00488
+00489
+00490 } <font class="comment">// NL3D</font>
+</pre></div>
+
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