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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>retriever_instance.cpp</h1><a href="retriever__instance_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="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font>
+00029 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
+00030
+00031 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
+00032 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
+00033
+00034
+00035
+<a name="l00036"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a0">00036</a> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a0">NLPACS::CRetrieverInstance::CRetrieverInstance</a>()
+00037 {
+00038 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">reset</a>();
+00039 }
+00040
+00041
+<a name="l00042"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">00042</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">NLPACS::CRetrieverInstance::resetLinks</a>()
+00043 {
+00044 uint i;
+00045 <font class="comment">// WARNING !!</font>
+00046 <font class="comment">// this is a HARD reset !</font>
+00047 <font class="comment">// only the instance i reset, no care about neighbors !!</font>
+00048 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
+00049 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i] = -1;
+00050 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.clear();
+00051
+00052 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.removeLinks();
+00053 }
+00054
+<a name="l00055"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a2">00055</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">NLPACS::CRetrieverInstance::resetLinks</a>(uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
+00056 {
+00057 vector&lt;sint32&gt;::iterator rit;
+00058 <font class="keywordflow">for</font> (rit=<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.begin(); rit!=<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.end(); )
+00059 <font class="keywordflow">if</font> (*rit == (sint32)<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
+00060 rit = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.erase(rit);
+00061 <font class="keywordflow">else</font>
+00062 ++rit;
+00063
+00064 uint i;
+00065 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.size(); ++i)
+00066 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance == (uint16)<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
+00067 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].reset();
+00068
+00069 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.removeLinks(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
+00070 }
+00071
+<a name="l00072"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">00072</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">NLPACS::CRetrieverInstance::reset</a>()
+00073 {
+00074 <font class="comment">// WARNING !!</font>
+00075 <font class="comment">// this is a HARD reset !</font>
+00076 <font class="comment">// only the instance i reset, no care about neighbors !!</font>
+00077 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.clear();
+00078 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> = -1;
+00079 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> = -1;
+00080 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> = 0;
+00081 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a> = CVector::Null;
+00082 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = CLocalRetriever::Landscape;
+00083 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.clear();
+00084 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.clear();
+00085
+00086 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">resetLinks</a>();
+00087 }
+00088
+<a name="l00089"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">00089</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">NLPACS::CRetrieverInstance::init</a>(<font class="keyword">const</font> CLocalRetriever &amp;retriever)
+00090 {
+00091 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.resize(retriever.getSurfaces().size());
+00092 uint i;
+00093
+00094 <font class="comment">// Resets _NodesInformation for later pathfinding graph annotation.</font>
+00095 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.size(); ++i)
+00096 {
+00097 CVector pos = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">getGlobalPosition</a>(retriever.getSurfaces()[i].getCenter());
+00098 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>[i].Position = CVector2f(pos.x, pos.y);
+00099 }
+00100
+00101 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = retriever.getType();
+00102 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.resize(retriever.getBorderChains().size());
+00103 }
+00104
+<a name="l00105"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a19">00105</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a19">NLPACS::CRetrieverInstance::make</a>(sint32 instanceId, sint32 retrieverId, <font class="keyword">const</font> CLocalRetriever &amp;retriever,
+00106 uint8 orientation, <font class="keyword">const</font> CVector &amp;origin)
+00107 {
+00108 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> != -1 || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> != -1)
+00109 {
+00110 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in call to NLPACS::CRetrieverInstance::make"</font>);
+00111 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"_InstanceId=%d _RetrieverId=%d _Orientation=%d"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
+00112 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"instanceId=%d retrieverId=%d orientation=%d"</font>, instanceId, retrieverId, orientation);
+00113 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Retriever instance %d has already been set"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
+00114 }
+00115
+00116 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> = instanceId;
+00117 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> = retrieverId;
+00118 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> = (orientation%4);
+00119 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a> = origin;
+00120
+00121 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a> = retriever.getBBox();
+00122 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_4">getCenter</a>()+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>);
+00123
+00124 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> == 1 || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> == 3)
+00125 {
+00126 CVector hs = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_5">getHalfSize</a>();
+00127 std::swap(hs.x, hs.y);
+00128 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_1">setHalfSize</a>(hs);
+00129 }
+00130
+00131 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">init</a>(retriever);
+00132 }
+00133
+00134 <font class="comment">//</font>
+<a name="l00135"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a17">00135</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a17">NLPACS::CRetrieverInstance::initEdgeQuad</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a> &amp;gr)
+00136 {
+00137 <font class="keyword">const</font> CLocalRetriever &amp;lr = gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
+00138
+00139 <font class="keywordflow">if</font> (lr.getType() != CLocalRetriever::Interior)
+00140 {
+00141 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Attempt to init the edgequad of instance %d whereas local retriever %d is not interior"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
+00142 }
+00143
+00144 <font class="comment">// build the edge quad</font>
+00145 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.build(lr.getExteriorMesh(), gr, gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">getInternalCST</a>(),<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
+00146 }
+00147
+<a name="l00148"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a18">00148</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a18">NLPACS::CRetrieverInstance::linkEdgeQuad</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a> &amp;gr)
+00149 {
+00150 <font class="keyword">const</font> CLocalRetriever &amp;lr = gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
+00151 <font class="keyword">const</font> CExteriorMesh &amp;em = lr.getExteriorMesh();
+00152
+00153 <font class="keyword">const</font> vector&lt;CExteriorEdgeEntry&gt; &amp;ee = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.getEdgeEntries();
+00154
+00155 <font class="comment">// here we fill (partially) the _BorderChainLinks table</font>
+00156 uint i;
+00157 <font class="keywordflow">for</font> (i=0; i&lt;ee.size(); ++i)
+00158 {
+00159 <font class="keyword">const</font> CExteriorMesh::CEdge &amp;edge = em.getEdge(ee[i].EdgeId);
+00160 <font class="keywordflow">if</font> (edge.Link != -1)
+00161 {
+00162 <font class="keyword">const</font> CExteriorMesh::CLink &amp;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a> = em.getLink(edge.Link);
+00163
+00164 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.SurfaceId != 0xFFFF &amp;&amp; <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.ChainId != 0xFFFF &amp;&amp; <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId != 0xFFFF)
+00165 {
+00166 CRetrieverInstance::CLink &amp;borderLink = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId];
+00167 borderLink.ChainId = 0xFFFF; <font class="comment">// no opposite chain</font>
+00168 borderLink.BorderChainId = 0xFFFF; <font class="comment">// idem</font>
+00169 <font class="keywordflow">if</font> ((borderLink.Instance == 0xFFFF &amp;&amp; borderLink.SurfaceId == 0xFFFF) ||
+00170 (borderLink.Instance == (uint16)(ee[i].Exterior.RetrieverInstanceId) &amp;&amp;
+00171 borderLink.SurfaceId == (uint16)(ee[i].Exterior.SurfaceId) ))
+00172 {
+00173 borderLink.Instance = (uint16)(ee[i].Exterior.RetrieverInstanceId);
+00174 borderLink.SurfaceId = (uint16)(ee[i].Exterior.SurfaceId);
+00175 }
+00176 <font class="keywordflow">else</font>
+00177 {
+00178 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Instance %d, borderLink %d: link already set to inst=%d, surf=%d, try to set to inst=%d, surf=%d"</font>,
+00179 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId, borderLink.Instance, borderLink.SurfaceId,
+00180 (uint16)(ee[i].Exterior.RetrieverInstanceId), (uint16)(ee[i].Exterior.SurfaceId));
+00181 }
+00182 }
+00183 }
+00184 }
+00185 }
+00186
+00187 <font class="comment">/* Links the current retriever instance to another instance</font>
+00188 <font class="comment"> * on the given edge.</font>
+00189 <font class="comment"> */</font>
+00190 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">NLPACS::CRetrieverInstance::link</a>(CRetrieverInstance &amp;neighbor,
+00191 <font class="keyword">const</font> vector&lt;CLocalRetriever&gt; &amp;retrievers)
+00192 {
+00193 uint i, j;
+00194 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
+00195 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i] == neighbor._InstanceId)
+00196 <font class="keywordflow">return</font>;
+00197
+00198 <font class="keyword">const</font> CLocalRetriever &amp;retriever = retrievers[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>];
+00199 <font class="keyword">const</font> CLocalRetriever &amp;nRetriever = retrievers[neighbor._RetrieverId];
+00200
+00201 <font class="keyword">const</font> vector&lt;CChain&gt; &amp;chains = retriever.getChains(),
+00202 &amp;nChains = nRetriever.getChains();
+00203 <font class="keyword">const</font> vector&lt;uint16&gt; &amp;borderChains = retriever.getBorderChains(),
+00204 &amp;nBorderChains = nRetriever.getBorderChains();
+00205
+00206 vector&lt; pair&lt;CVector,CVector&gt; &gt; chainTips,
+00207 nChainTips;
+00208
+00209 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.resize(borderChains.size());
+00210 neighbor._BorderChainLinks.resize(nBorderChains.size());
+00211
+00212 <font class="keywordflow">for</font> (i=0; i&lt;borderChains.size(); ++i)
+00213 chainTips.push_back(make_pair(retriever.getTip(chains[borderChains[i]].getStartTip()).Point,
+00214 retriever.getTip(chains[borderChains[i]].getStopTip()).Point));
+00215
+00217
+00218 CVector translation = neighbor._Origin - <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>;
+00219
+00220 <font class="keywordflow">for</font> (i=0; i&lt;nBorderChains.size(); ++i)
+00221 nChainTips.push_back(make_pair(nRetriever.getTip(nChains[nBorderChains[i]].getStartTip()).Point+translation,
+00222 nRetriever.getTip(nChains[nBorderChains[i]].getStopTip()).Point+translation));
+00223
+00224 <font class="keywordflow">for</font> (i=0; i&lt;borderChains.size(); ++i)
+00225 {
+00226 <font class="comment">// if the chain is already linked, just step</font>
+00227 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance != 0xFFFF || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId != 0xFFFF ||
+00228 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId != 0xFFFF || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].SurfaceId != 0xFFFF)
+00229 <font class="keywordflow">continue</font>;
+00230
+00231 <font class="keywordtype">float</font> bestDist = 1.0f;
+00232 sint best = -1;
+00233
+00234 <font class="keywordflow">for</font> (j=0; j&lt;nBorderChains.size(); ++j)
+00235 {
+00236 <font class="keywordflow">if</font> (neighbor._BorderChainLinks[j].Instance != 0xFFFF || neighbor._BorderChainLinks[j].BorderChainId != 0xFFFF ||
+00237 neighbor._BorderChainLinks[j].ChainId != 0xFFFF || neighbor._BorderChainLinks[j].SurfaceId != 0xFFFF)
+00238 <font class="keywordflow">continue</font>;
+00239
+00240 <font class="keywordtype">float</font> d = (chainTips[i].first-nChainTips[j].second).<a class="code" href="classNLMISC_1_1CVector.html#z331_2">norm</a>()+(chainTips[i].second-nChainTips[j].first).norm();
+00241 <font class="keywordflow">if</font> (d &lt; bestDist)
+00242 {
+00243 bestDist = d;
+00244 best = j;
+00245 }
+00246 }
+00247
+00248 <font class="comment">// if no best match, just don't link</font>
+00249 <font class="keywordflow">if</font> (bestDist &gt; 1.0e-1f || best == -1)
+00250 <font class="keywordflow">continue</font>;
+00251
+00252 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance = (uint16)neighbor._InstanceId;
+00253 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId = (uint16)best;
+00254 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId = nBorderChains[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId];
+00255 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].SurfaceId = (uint16)nChains[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId].getLeft();
+00256
+00257 neighbor._BorderChainLinks[best].Instance = (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>;
+00258 neighbor._BorderChainLinks[best].BorderChainId = (uint16)i;
+00259 neighbor._BorderChainLinks[best].ChainId = borderChains[neighbor._BorderChainLinks[best].BorderChainId];
+00260 neighbor._BorderChainLinks[best].SurfaceId = (uint16)chains[neighbor._BorderChainLinks[best].ChainId].getLeft();
+00261 }
+00262
+00263 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.push_back(neighbor._InstanceId);
+00264 neighbor._Neighbors.push_back(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
+00265 }
+00266
+00267
+<a name="l00268"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a21">00268</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a21">NLPACS::CRetrieverInstance::unlink</a>(vector&lt;CRetrieverInstance&gt; &amp;instances)
+00269 {
+00270 uint i;
+00271
+00272 <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
+00273 instances[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i]].resetLinks(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
+00274
+00275 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">resetLinks</a>();
+00276 }
+00277
+00278
+00279
+00280
+<a name="l00281"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">00281</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">NLPACS::CRetrieverInstance::retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;estimated, <font class="keyword">const</font> CLocalRetriever &amp;retriever, CCollisionSurfaceTemp &amp;cst) <font class="keyword">const</font>
+00282 <font class="comment">//NLPACS::CLocalRetriever::CLocalPosition NLPACS::CRetrieverInstance::retrievePosition(const NLMISC::CVector &amp;estimated, const CLocalRetriever &amp;retriever, CCollisionSurfaceTemp &amp;cst) const</font>
+00283 {
+00284 <font class="comment">/*</font>
+00285 <font class="comment"> CVector localEstimated;</font>
+00286 <font class="comment"> CLocalRetriever::CLocalPosition retrieved;</font>
+00287 <font class="comment"></font>
+00288 <font class="comment"> // get local coordinates</font>
+00289 <font class="comment"> localEstimated = getLocalPosition(estimated);</font>
+00290 <font class="comment"> // Yoyo: must snap vector.</font>
+00291 <font class="comment"> CRetrieverInstance::snapVector(localEstimated);</font>
+00292 <font class="comment"></font>
+00293 <font class="comment"> // fills _RetrieveTable by retrievingPosition.</font>
+00294 <font class="comment"> retriever.retrievePosition(localEstimated, cst);</font>
+00295 <font class="comment"></font>
+00296 <font class="comment"> uint i, surf;</font>
+00297 <font class="comment"> sint bestSurf = -1;</font>
+00298 <font class="comment"> sint lastSurf = -1;</font>
+00299 <font class="comment"> float bestDistance = 1.0e10f;</font>
+00300 <font class="comment"> float bestHeight;</font>
+00301 <font class="comment"> bool lfound;</font>
+00302 <font class="comment"></font>
+00303 <font class="comment"> // for each surface in the retriever</font>
+00304 <font class="comment"> for (i=0; i&lt;cst.PossibleSurfaces.size(); ++i)</font>
+00305 <font class="comment"> {</font>
+00306 <font class="comment"> surf = cst.PossibleSurfaces[i];</font>
+00307 <font class="comment"> cst.SurfaceLUT[surf].first = false;</font>
+00308 <font class="comment"> // if the surface contains the estimated position.</font>
+00309 <font class="comment"> if (cst.SurfaceLUT[surf].second != 0)</font>
+00310 <font class="comment"> {</font>
+00311 <font class="comment"> // at least remembers the last seen surface...</font>
+00312 <font class="comment"> cst.SurfaceLUT[surf].second = 0;</font>
+00313 <font class="comment"> float meanHeight;</font>
+00314 <font class="comment"> const CQuadLeaf *leaf;</font>
+00315 <font class="comment"> ULocalPosition lp;</font>
+00316 <font class="comment"> lfound = false;</font>
+00317 <font class="comment"></font>
+00318 <font class="comment"> switch (_Type)</font>
+00319 <font class="comment"> {</font>
+00320 <font class="comment"> case CLocalRetriever::Landscape:</font>
+00321 <font class="comment"> // for landscape</font>
+00322 <font class="comment"> // search in the surface's quad tree for the actual height</font>
+00323 <font class="comment"> leaf = retriever.getSurfaces()[surf].getQuadTree().getLeaf(localEstimated);</font>
+00324 <font class="comment"> // if there is no acceptable leaf, just give up</font>
+00325 <font class="comment"> if (leaf == NULL)</font>
+00326 <font class="comment"> continue;</font>
+00327 <font class="comment"> meanHeight = leaf-&gt;getMaxHeight();</font>
+00328 <font class="comment"> lfound = true;</font>
+00329 <font class="comment"> break;</font>
+00330 <font class="comment"> case CLocalRetriever::Interior:</font>
+00331 <font class="comment"> // for interior</font>
+00332 <font class="comment"> // get the exact position</font>
+00333 <font class="comment"> lp.Surface = surf;</font>
+00334 <font class="comment"> lp.Estimation = localEstimated;</font>
+00335 <font class="comment"> meanHeight = localEstimated.z;</font>
+00336 <font class="comment"> retriever.snapToInteriorGround(lp, lfound);</font>
+00337 <font class="comment"> if (lfound)</font>
+00338 <font class="comment"> meanHeight = lp.Estimation.z;</font>
+00339 <font class="comment"> break;</font>
+00340 <font class="comment"> default:</font>
+00341 <font class="comment"> // hu?</font>
+00342 <font class="comment"> continue;</font>
+00343 <font class="comment"> }</font>
+00344 <font class="comment"></font>
+00345 <font class="comment"> // if it is closer to the estimation than the previous remembered...</font>
+00346 <font class="comment"> float distance = (float)fabs(localEstimated.z-meanHeight);</font>
+00347 <font class="comment"> if (distance &lt; bestDistance &amp;&amp; lfound)</font>
+00348 <font class="comment"> {</font>
+00349 <font class="comment"> bestDistance = distance;</font>
+00350 <font class="comment"> bestHeight = meanHeight;</font>
+00351 <font class="comment"> bestSurf = surf;</font>
+00352 <font class="comment"> }</font>
+00353 <font class="comment"> }</font>
+00354 <font class="comment"> }</font>
+00355 <font class="comment"></font>
+00356 <font class="comment"> if (bestSurf != -1)</font>
+00357 <font class="comment"> {</font>
+00358 <font class="comment"> // if there is a best surface, returns it</font>
+00359 <font class="comment"> retrieved.Surface = bestSurf;</font>
+00360 <font class="comment"> retrieved.Estimation = CVector(localEstimated.x, localEstimated.y, bestHeight);</font>
+00361 <font class="comment"> }</font>
+00362 <font class="comment"> else</font>
+00363 <font class="comment"> {</font>
+00364 <font class="comment"> // else return the last remembered...</font>
+00365 <font class="comment"> retrieved.Surface = lastSurf;</font>
+00366 <font class="comment"> retrieved.Estimation = localEstimated;</font>
+00367 <font class="comment"> }</font>
+00368 <font class="comment"></font>
+00369 <font class="comment"> return retrieved;</font>
+00370 <font class="comment">*/</font>
+00371 retrievePosition(CVectorD(estimated), retriever, cst);
+00372 }
+00373
+<a name="l00374"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a23">00374</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">NLPACS::CRetrieverInstance::retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;estimated, <font class="keyword">const</font> CLocalRetriever &amp;retriever, CCollisionSurfaceTemp &amp;cst)<font class="keyword"> const</font>
+00375 <font class="keyword"></font>{
+00376 CVector localEstimated;
+00377
+00378 <font class="comment">// nldebug("PACS: retrievePosition in instance %d (retriever %d)", _InstanceId, _RetrieverId);</font>
+00379
+00380 <font class="comment">// get local coordinates</font>
+00381 localEstimated = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">getLocalPosition</a>(estimated);
+00382 <font class="comment">// Yoyo: must snap vector.</font>
+00383 CRetrieverInstance::snapVector(localEstimated);
+00384
+00385 <font class="comment">// fills _RetrieveTable by retrievingPosition.</font>
+00386 retriever.retrievePosition(localEstimated, cst);
+00387
+00388 uint i, surf;
+00389 <font class="comment">/* sint bestSurf = -1;</font>
+00390 <font class="comment"> sint lastSurf = -1;</font>
+00391 <font class="comment"> float bestDistance = 1.0e10f;</font>
+00392 <font class="comment"> float bestHeight;*/</font>
+00393 <font class="keywordtype">bool</font> found = <font class="keyword">false</font>;
+00394
+00395 <font class="keywordflow">switch</font> (_Type)
+00396 {
+00397 <font class="keywordflow">case</font> CLocalRetriever::Landscape:
+00398 <font class="comment">// for landscape</font>
+00399 <font class="keywordflow">for</font> (i=0; i&lt;cst.PossibleSurfaces.size(); ++i)
+00400 {
+00401 surf = cst.PossibleSurfaces[i];
+00402
+00403 <font class="comment">// nldebug("PACS: surface %d: count %d", surf, cst.SurfaceLUT[surf].Counter);</font>
+00404
+00405 <font class="comment">// if the surface contains the estimated position.</font>
+00406 <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter == 2)
+00407 {
+00408 <font class="keywordtype">float</font> meanHeight;
+00409 <font class="keyword">const</font> CQuadLeaf *leaf;
+00410
+00411 <font class="comment">// search in the surface's quad tree for the actual height</font>
+00412 leaf = retriever.getSurfaces()[surf].getQuadTree().getLeaf(localEstimated);
+00413 <font class="comment">// if there is no acceptable leaf, just give up</font>
+00414 <font class="keywordflow">if</font> (leaf != NULL)
+00415 {
+00416 meanHeight = leaf-&gt;getMaxHeight();
+00417 <font class="comment">//meanHeight = retriever.getSurfaces()[surf].getQuadTree().getInterpZ(localEstimated);</font>
+00418
+00419 <font class="comment">// if it is closer to the estimation than the previous remembered...</font>
+00420 found = <font class="keyword">true</font>;
+00421 <font class="keywordtype">float</font> distance = (float)fabs(localEstimated.z-meanHeight);
+00422 cst.SortedSurfaces.push_back(CCollisionSurfaceTemp::CDistanceSurface(distance, (uint16)surf, (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, cst.SurfaceLUT[surf].FoundCloseEdge));
+00423 }
+00424 }
+00425 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter != 0)
+00426 {
+00427 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unexpected surface (%d) count (%d) at instance %d (pos=(%f,%f,%f))"</font>, surf, cst.SurfaceLUT[surf].Counter, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>);
+00428 }
+00429
+00430 cst.SurfaceLUT[surf].reset();
+00431 }
+00432
+00433 <font class="keywordflow">break</font>;
+00434
+00435 <font class="keywordflow">case</font> CLocalRetriever::Interior:
+00436 <font class="comment">// for interior</font>
+00437 <font class="keywordflow">for</font> (i=0; i&lt;cst.PossibleSurfaces.size(); ++i)
+00438 {
+00439 surf = cst.PossibleSurfaces[i];
+00440 <font class="comment">// if the surface contains the estimated position.</font>
+00441 <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter == 2)
+00442 {
+00443 ULocalPosition lp;
+00444 <font class="keywordtype">bool</font> lfound = <font class="keyword">false</font>;
+00445
+00446 <font class="comment">// get the exact position</font>
+00447 lp.Surface = surf;
+00448 lp.Estimation = localEstimated;
+00449 retriever.snapToInteriorGround(lp, lfound);
+00450 <font class="keywordflow">if</font> (lfound)
+00451 {
+00452 <font class="comment">// if it is closer to the estimation than the previous remembered...</font>
+00453 found = <font class="keyword">true</font>;
+00454 <font class="keywordtype">float</font> distance = (float)fabs(localEstimated.z-lp.Estimation.z);
+00455 cst.SortedSurfaces.push_back(CCollisionSurfaceTemp::CDistanceSurface(distance, (uint16)surf, (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, cst.SurfaceLUT[surf].FoundCloseEdge));
+00456 }
+00457 }
+00458 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter != 0)
+00459 {
+00460 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unexpected surface (%d) count (%d) at instance %d (pos=(%f,%f,%f))"</font>, surf, cst.SurfaceLUT[surf].Counter, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>);
+00461 }
+00462
+00463 cst.SurfaceLUT[surf].reset();
+00464 }
+00465 <font class="keywordflow">break</font>;
+00466
+00467 <font class="keywordflow">default</font>:
+00468 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Unknown instance type %d !!"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
+00469 <font class="keywordflow">break</font>;
+00470 }
+00471
+00472 cst.OutCounter = 0;
+00473 }
+00474
+00475
+00476
+<a name="l00477"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a24">00477</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a24">NLPACS::CRetrieverInstance::snapToInteriorGround</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;position,
+00478 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &amp;retriever)<font class="keyword"> const</font>
+00479 <font class="keyword"></font>{
+00480 <font class="keywordtype">bool</font> lfound;
+00481 retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">snapToInteriorGround</a>(position, lfound);
+00482 }
+00483
+<a name="l00484"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a25">00484</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a25">NLPACS::CRetrieverInstance::snap</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;position, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &amp;retriever)<font class="keyword"> const</font>
+00485 <font class="keyword"></font>{
+00486 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> == CLocalRetriever::Landscape)
+00487 {
+00488 <font class="comment">// search in the surface's quad tree for the actual height</font>
+00489 <font class="comment">// position.Estimation.z = retriever.getSurfaces()[position.Surface].getQuadTree().getInterpZ(position.Estimation);</font>
+00490
+00491 <font class="keyword">const</font> CQuadLeaf *leaf = retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_10">getSurfaces</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>);
+00492 <font class="comment">// if there is no acceptable leaf, just give up</font>
+00493 <font class="keywordflow">if</font> (leaf != NULL)
+00494 {
+00495 position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> = leaf-&gt;getMaxHeight();
+00496 }
+00497 <font class="keywordflow">else</font>
+00498 {
+00499 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: couldn't snap position (%f,%f,%f) on surface %d instance %d"</font>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
+00500 }
+00501
+00502 }
+00503 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> == CLocalRetriever::Interior)
+00504 {
+00505 <font class="keywordtype">bool</font> lfound;
+00506 retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">snapToInteriorGround</a>(position, lfound);
+00507 }
+00508 <font class="keywordflow">else</font>
+00509 {
+00510 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unknown instance (%d) type %d"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
+00511 }
+00512 }
+00513
+00514
+00515
+00516
+00517
+<a name="l00518"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">00518</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">NLPACS::CRetrieverInstance::getLocalPosition</a>(<font class="keyword">const</font> CVector &amp;globalPosition)<font class="keyword"> const</font>
+00519 <font class="keyword"></font>{
+00520 <font class="keywordflow">switch</font> (_Orientation)
+00521 {
+00522 <font class="keywordflow">default</font>:
+00523 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
+00524 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
+00525 <font class="keywordflow">case</font> 0:
+00526 <font class="keywordflow">return</font> CVector(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
+00527 <font class="keywordflow">break</font>;
+00528 <font class="keywordflow">case</font> 1:
+00529 <font class="keywordflow">return</font> CVector(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, -globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
+00530 <font class="keywordflow">break</font>;
+00531 <font class="keywordflow">case</font> 2:
+00532 <font class="keywordflow">return</font> CVector(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
+00533 <font class="keywordflow">break</font>;
+00534 <font class="keywordflow">case</font> 3:
+00535 <font class="keywordflow">return</font> CVector(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, +globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
+00536 <font class="keywordflow">break</font>;
+00537 }
+00538 }
+00539
+<a name="l00540"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a28">00540</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">NLPACS::CRetrieverInstance::getLocalPosition</a>(<font class="keyword">const</font> CVectorD &amp;globalPosition)<font class="keyword"> const</font>
+00541 <font class="keyword"></font>{
+00542 <font class="keywordflow">switch</font> (_Orientation)
+00543 {
+00544 <font class="keywordflow">default</font>:
+00545 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
+00546 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
+00547 <font class="keywordflow">case</font> 0:
+00548 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
+00549 <font class="keywordflow">break</font>;
+00550 <font class="keywordflow">case</font> 1:
+00551 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
+00552 <font class="keywordflow">break</font>;
+00553 <font class="keywordflow">case</font> 2:
+00554 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
+00555 <font class="keywordflow">break</font>;
+00556 <font class="keywordflow">case</font> 3:
+00557 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
+00558 <font class="keywordflow">break</font>;
+00559 }
+00560 }
+00561
+<a name="l00562"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">00562</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">NLPACS::CRetrieverInstance::getGlobalPosition</a>(<font class="keyword">const</font> CVector &amp;localPosition)<font class="keyword"> const</font>
+00563 <font class="keyword"></font>{
+00564 <font class="keywordflow">switch</font> (_Orientation)
+00565 {
+00566 <font class="keywordflow">default</font>:
+00567 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
+00568 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
+00569 <font class="keywordflow">case</font> 0:
+00570 <font class="keywordflow">return</font> CVector(+localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00571 <font class="keywordflow">break</font>;
+00572 <font class="keywordflow">case</font> 1:
+00573 <font class="keywordflow">return</font> CVector(-localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00574 <font class="keywordflow">break</font>;
+00575 <font class="keywordflow">case</font> 2:
+00576 <font class="keywordflow">return</font> CVector(-localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00577 <font class="keywordflow">break</font>;
+00578 <font class="keywordflow">case</font> 3:
+00579 <font class="keywordflow">return</font> CVector(+localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00580 <font class="keywordflow">break</font>;
+00581 }
+00582 }
+00583
+<a name="l00584"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a30">00584</a> CVectorD <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a30">NLPACS::CRetrieverInstance::getDoubleGlobalPosition</a>(<font class="keyword">const</font> CVector &amp;localPosition)<font class="keyword"> const</font>
+00585 <font class="keyword"></font>{
+00586 <font class="keywordflow">switch</font> (_Orientation)
+00587 {
+00588 <font class="keywordflow">default</font>:
+00589 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
+00590 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
+00591 <font class="keywordflow">case</font> 0:
+00592 <font class="keywordflow">return</font> CVectorD(+(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00593 <font class="keywordflow">break</font>;
+00594 <font class="keywordflow">case</font> 1:
+00595 <font class="keywordflow">return</font> CVectorD(-(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00596 <font class="keywordflow">break</font>;
+00597 <font class="keywordflow">case</font> 2:
+00598 <font class="keywordflow">return</font> CVectorD(-(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00599 <font class="keywordflow">break</font>;
+00600 <font class="keywordflow">case</font> 3:
+00601 <font class="keywordflow">return</font> CVectorD(+(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
+00602 <font class="keywordflow">break</font>;
+00603 }
+00604 }
+00605
+00606
+00607
+00608 <font class="comment">// ***************************************************************************</font>
+<a name="l00609"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z956_0">00609</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z956_0">NLPACS::CRetrieverInstance::testExteriorCollision</a>(<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &amp;cst, <font class="keyword">const</font> CAABBox &amp;bboxMove, <font class="keyword">const</font> CVector2f &amp;transBase, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &amp;retriever)<font class="keyword"> const</font>
+00610 <font class="keyword"></font>{
+00611 sint i;
+00612
+00613 <font class="comment">// 0. select ordered chains in the chainquad.</font>
+00614 <font class="comment">//=====================================</font>
+00615 sint nEei= <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.selectEdges(bboxMove, cst);
+00616 <font class="comment">// NB: cst.OChainLUT is assured to be full of 0xFFFF after this call (if was right before).</font>
+00617
+00618
+00619 <font class="comment">// 1. regroup them in chains. build cst.CollisionChains</font>
+00620 <font class="comment">//=====================================</font>
+00621 <font class="comment">// NB: use cst.OChainLUT to look if a Chain has been inserted before.</font>
+00622 uint16 *edgeLUT= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m0">OChainLUT</a>;
+00623
+00624 <font class="comment">// bkup where we begin to add chains.</font>
+00625 uint firstChainAdded= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
+00626
+00627 <font class="comment">// For all exterioredge entry.</font>
+00628 <font class="keywordflow">for</font>(i=0;i&lt;nEei;i++)
+00629 {
+00630 <font class="comment">// get the edge entry and the edge</font>
+00631 uint16 eei = cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m2">ExteriorEdgeIndexes</a>[i];
+00632 <font class="keyword">const</font> CExteriorEdgeEntry &amp;eee = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.getEdgeEntry(eei);
+00633
+00634 <font class="comment">// don't bother about doors</font>
+00635 <font class="keywordflow">if</font> (eee.Interior.RetrieverInstanceId != -1)
+00636 <font class="keywordflow">continue</font>;
+00637
+00638 <font class="comment">// add/retrieve the id in cst.CollisionChains.</font>
+00639 <font class="comment">//=================================</font>
+00640 uint ccId;
+00641 <font class="comment">// if never added.</font>
+00642 <font class="keywordflow">if</font>(edgeLUT[eei]==0xFFFF)
+00643 {
+00644 <font class="comment">// add a new CCollisionChain.</font>
+00645 ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
+00646 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.push_back(CCollisionChain());
+00647 <font class="comment">// Fill it with default.</font>
+00648 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].Tested= <font class="keyword">false</font>;
+00649 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ExteriorEdge = <font class="keyword">true</font>;
+00650 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].FirstEdgeCollide= 0xFFFFFFFF;
+00651 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ChainId= eei;
+00652 <font class="comment">// Fill Left right info.</font>
+00653 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].LeftSurface = eee.Interior;
+00654 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].RightSurface = eee.Exterior;
+00655
+00656 <font class="comment">// store this Id in the LUT of chains.</font>
+00657 edgeLUT[eei]= ccId;
+00658 }
+00659 <font class="keywordflow">else</font>
+00660 {
+00661 <font class="comment">// get the id of this collision chain.</font>
+00662 ccId= edgeLUT[eei];
+00663 }
+00664
+00665 <font class="comment">// add edge collide to the list.</font>
+00666 <font class="comment">//=================================</font>
+00667 CCollisionChain &amp;colChain= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId];
+00668
+00669 CVector2f p0 = CVector2f(retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>.getEdge(eee.EdgeId).Start);
+00670 CVector2f p1 = CVector2f(retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>.getEdge(eee.EdgeId+1).Start);
+00671
+00672 <font class="comment">// alloc a new edgeCollide.</font>
+00673 uint32 ecnId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_1">allocEdgeCollideNode</a>();
+00674 CEdgeCollideNode &amp;ecn= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_2">getEdgeCollideNode</a>(ecnId);
+00675
+00676 <font class="comment">// append to the front of the list.</font>
+00677 ecn.Next= colChain.FirstEdgeCollide;
+00678 colChain.FirstEdgeCollide= ecnId;
+00679
+00680 <font class="comment">// build this edge.</font>
+00681 p0+= transBase;
+00682 p1+= transBase;
+00683 ecn.make(p0, p1);
+00684 }
+00685
+00686
+00687
+00688 <font class="comment">// 2. Reset LUT to 0xFFFF.</font>
+00689 <font class="comment">//=====================================</font>
+00690
+00691 <font class="comment">// for all collisions chains inserted (starting from firstChainAdded), reset LUT.</font>
+00692 <font class="keywordflow">for</font>(i=firstChainAdded; i&lt;(sint)cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size(); i++)
+00693 {
+00694 uint ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[i].ChainId;
+00695 edgeLUT[ccId]= 0xFFFF;
+00696 }
+00697
+00698 }
+00699
+00700
+00701
+00702
+<a name="l00703"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a26">00703</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a26">NLPACS::CRetrieverInstance::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &amp;f)
+00704 {
+00705 <font class="comment">/*</font>
+00706 <font class="comment"> Version 0:</font>
+00707 <font class="comment"> - base version.</font>
+00708 <font class="comment"> Version 1:</font>
+00709 <font class="comment"> - added type and _EdgeQuad</font>
+00710 <font class="comment"> */</font>
+00711 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(1);
+00712
+00713 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>);
+00714 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>);
+00715 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>);
+00716 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>);
+00717
+00718 <font class="comment">// serialises the number of nodes</font>
+00719 uint16 totalNodes = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.size();
+00720 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(totalNodes);
+00721 <font class="keywordflow">if</font> (f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
+00722 {
+00723 <font class="comment">// if the stream is reading, reinits the temps table...</font>
+00724 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.resize(totalNodes);
+00725 }
+00726
+00727 <font class="keywordflow">if</font> (ver &gt;= 1)
+00728 {
+00729 f.<a class="code" href="classNLMISC_1_1IStream.html#a6">serialEnum</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
+00730 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>);
+00731
+00732 <font class="comment">// a fix for old versions (with wrong _Type value)</font>
+00733 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> != CLocalRetriever::Interior) <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = CLocalRetriever::Landscape;
+00734 }
+00735 }
+</pre></div>
+
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