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diff --git a/docs/doxygen/nel/a02588.html b/docs/doxygen/nel/a02588.html new file mode 100644 index 00000000..d208ef44 --- /dev/null +++ b/docs/doxygen/nel/a02588.html @@ -0,0 +1,5832 @@ +<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> +<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> +<title>NeL: NLPACS::CGlobalRetriever class Reference</title> +<link href="doxygen.css" rel="stylesheet" type="text/css"> +</head><body> +<!-- Generated by Doxygen 1.3.6 --> +<div class="qindex"> <form class="search" action="search.php" method="get"> +<a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="namespaces.html">Namespace List</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Data Structures</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="namespacemembers.html">Namespace Members</a> | <a class="qindex" href="functions.html">Data Fields</a> | <a class="qindex" href="globals.html">Globals</a> | <a class="qindex" href="pages.html">Related Pages</a> | <span class="search"><u>S</u>earch for <input class="search" type="text" name="query" value="" size="20" accesskey="s"/></span></form></div> +<h1>NLPACS::CGlobalRetriever Class Reference</h1><code>#include <<a class="el" href="a05762.html">global_retriever.h</a>></code> +<p> +<p>Inheritance diagram for NLPACS::CGlobalRetriever: +<p><center><img src="a02588.png" usemap="#NLPACS::CGlobalRetriever_map" border="0" alt=""></center> +<map name="NLPACS::CGlobalRetriever_map"> +<area href="a02589.html" alt="NLPACS::UGlobalRetriever" shape="rect" coords="0,0,165,24"> +</map> +<hr><a name="_details"></a><h2>Detailed Description</h2> +A class that allows to retrieve surface in a large amount of zones (referred as instances.) <dl compact><dt><b>Author:</b></dt><dd>Benjamin Legros <p> +Nevrax France </dd></dl> +<dl compact><dt><b>Date:</b></dt><dd>2001 </dd></dl> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00064">64</a> of file <a class="el" href="a05762.html">global_retriever.h</a>.<table border=0 cellpadding=0 cellspacing=0> +<tr><td></td></tr> +<tr><td colspan=2><br><h2>Collisions part.</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>enum </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0">TCollisionType</a> { <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0NLPACS_1_1CGlobalRetrievery1">Circle</a>, +<a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0NLPACS_1_1CGlobalRetrievery0">BBox</a> + }</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_1">findCollisionChains</a> (<a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst, const <a class="el" href="a02156.html">NLMISC::CAABBox</a> &bboxMove, const <a class="el" href="a03128.html">NLMISC::CVector</a> &origin) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_2">testCollisionWithCollisionChains</a> (<a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst, const <a class="el" href="a03660.html">CVector2f</a> &startCol, const <a class="el" href="a03660.html">CVector2f</a> &deltaCol, <a class="el" href="a03462.html">CSurfaceIdent</a> startSurface, float radius, const <a class="el" href="a03660.html">CVector2f</a> bbox[4], <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0">TCollisionType</a> colType) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03462.html">CSurfaceIdent</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_3">testMovementWithCollisionChains</a> (<a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst, const <a class="el" href="a03660.html">CVector2f</a> &startCol, const <a class="el" href="a03660.html">CVector2f</a> &deltaCol, <a class="el" href="a03462.html">CSurfaceIdent</a> startSurface, <a class="el" href="a02591.html">UGlobalPosition</a> &restart) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_4">testRotCollisionWithCollisionChains</a> (<a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst, const <a class="el" href="a03660.html">CVector2f</a> &startCol, <a class="el" href="a03462.html">CSurfaceIdent</a> startSurface, const <a class="el" href="a03660.html">CVector2f</a> bbox[4]) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_5">verticalChain</a> (const <a class="el" href="a02375.html">CCollisionChain</a> &colChain) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">test if a collisionChain separate 2 walls. <a href="#NLPACS_1_1CGlobalRetrieverz1251_5"></a><br><br></td></tr> +<tr><td colspan=2><br><h2>Public Types</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>enum </td><td class="memItemRight" valign=bottom>{ <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw3">MissingLr</a> = -2, +<a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2">Failed</a> = -1, +<a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw4">Success</a> = 0 + }</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>typedef std::vector< <a class="el" href="a02592.html">CLocalPath</a> > </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw1">CGlobalPath</a></td></tr> + +<tr><td colspan=2><br><h2>Public Member Functions</h2></td></tr> +<tr><td colspan="2"><div class="groupHeader">Position retrieving methods.</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_0">buildInstance</a> (const std::string &<a class="el" href="a04223.html#a564">id</a>, const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &position, <a class="el" href="a04558.html#a10">sint32</a> &instanceId)</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03664.html">NLMISC::CVectorD</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_1">getDoubleGlobalPosition</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &global) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts a global position object into a 'human-readable' CVector (double instead.). <a href="#NLPACS_1_1CGlobalRetrieverz1239_1"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03128.html">NLMISC::CVector</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_2">getGlobalPosition</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &global) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts a global position object into a 'human-readable' CVector. <a href="#NLPACS_1_1CGlobalRetrieverz1239_2"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const std::string & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_3">getIdentifier</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &position) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the identifier of the global position. <a href="#NLPACS_1_1CGlobalRetrieverz1239_3"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a04558.html#a10">sint32</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_4">getIdentifier</a> (const std::string &<a class="el" href="a04223.html#a564">id</a>) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the retriever id from the string id. <a href="#NLPACS_1_1CGlobalRetrieverz1239_4"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a04558.html#a10">sint32</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_5">getLocalRetrieverId</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &position) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the LocalRetrieverId of the global position. <a href="#NLPACS_1_1CGlobalRetrieverz1239_5"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_6">insurePosition</a> (<a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Insure position inside surface. <a href="#NLPACS_1_1CGlobalRetrieverz1239_6"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_7">removeInstance</a> (<a class="el" href="a04558.html#a10">sint32</a> instanceId)</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_8">retrievePosition</a> (const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &estimated, <a class="el" href="a04558.html#a15">uint</a> h, <a class="el" href="a04558.html#a14">sint</a> &result) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the position of an estimated point in the global retriever (double instead.). <a href="#NLPACS_1_1CGlobalRetrieverz1239_8"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_9">retrievePosition</a> (const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &estimated, double threshold, <a class="el" href="a02591.html#NLPACS_1_1UGlobalPositionw2">UGlobalPosition::TType</a> retrieveSpec) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the position of an estimated point in the global retriever (double instead.). <a href="#NLPACS_1_1CGlobalRetrieverz1239_9"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_10">retrievePosition</a> (const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &estimated, double threshold) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the position of an estimated point in the global retriever (double instead.). <a href="#NLPACS_1_1CGlobalRetrieverz1239_10"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_11">retrievePosition</a> (const <a class="el" href="a03128.html">NLMISC::CVector</a> &estimated, float threshold) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the position of an estimated point in the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1239_11"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_12">retrievePosition</a> (const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &estimated) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the position of an estimated point in the global retriever (double instead.). <a href="#NLPACS_1_1CGlobalRetrieverz1239_12"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a> (const <a class="el" href="a03128.html">NLMISC::CVector</a> &estimated) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the position of an estimated point in the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1239_13"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_14">testPosition</a> (<a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_15">testRaytrace</a> (const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &v0, const <a class="el" href="a03664.html">NLMISC::CVectorD</a> &v1)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Make a raytrace test. For the time, always return false. <a href="#NLPACS_1_1CGlobalRetrieverz1239_15"></a><br><br></td></tr> +<tr><td colspan="2"><div class="groupHeader">Initialisation</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_0">CGlobalRetriever</a> (const <a class="el" href="a03331.html">CRetrieverBank</a> *bank=NULL)</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_1">init</a> ()</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Setup an empty global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1235_1"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_2">initQuadGrid</a> ()</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Fill the quadgrid with the instances. <a href="#NLPACS_1_1CGlobalRetrieverz1235_2"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_3">initRetrieveTable</a> ()</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Init the retrieve table. <a href="#NLPACS_1_1CGlobalRetrieverz1235_3"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>virtual </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_4">~CGlobalRetriever</a> ()</td></tr> + +<tr><td colspan="2"><div class="groupHeader">Mutators</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_0">check</a> () const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks the retriever for errors. <a href="#NLPACS_1_1CGlobalRetrieverz1241_0"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_1">distanceToBorder</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks the retriever for errors. <a href="#NLPACS_1_1CGlobalRetrieverz1241_1"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_2">getBorders</a> (const <a class="el" href="a02156.html">NLMISC::CAABBox</a> &sbox, std::vector< std::pair< <a class="el" href="a02759.html">NLMISC::CLine</a>, <a class="el" href="a04558.html#a7">uint8</a> > > &edges)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks the retriever for errors. <a href="#NLPACS_1_1CGlobalRetrieverz1241_2"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_3">getBorders</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &pos, std::vector< std::pair< <a class="el" href="a02759.html">NLMISC::CLine</a>, <a class="el" href="a04558.html#a7">uint8</a> > > &edges)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks the retriever for errors. <a href="#NLPACS_1_1CGlobalRetrieverz1241_3"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03333.html">CRetrieverInstance</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_4">getInstanceFullAccess</a> (<a class="el" href="a04558.html#a15">uint</a> <a class="el" href="a04223.html#a564">id</a>)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the instance by its id, with full read/write access. <a href="#NLPACS_1_1CGlobalRetrieverz1241_4"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_5">initAll</a> (bool initInstances=true)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Inits all the instances inside the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1241_5"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_6">makeAllLinks</a> ()</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Links all the instances inside the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1241_6"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a03333.html">CRetrieverInstance</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_7">makeInstance</a> (<a class="el" href="a04558.html#a11">uint32</a> retriever, <a class="el" href="a04558.html#a7">uint8</a> orientation, const <a class="el" href="a03128.html">NLMISC::CVector</a> &origin)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates an instance of local retriever at the origine position with the given orientation. <a href="#NLPACS_1_1CGlobalRetrieverz1241_7"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_8">makeLinks</a> (<a class="el" href="a04558.html#a15">uint</a> n)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Links the instance referred by its id to its neighbors. <a href="#NLPACS_1_1CGlobalRetrieverz1241_8"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_9">resetAllLinks</a> ()</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Resets all links within the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1241_9"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_10">serial</a> (<a class="el" href="a02270.html">NLMISC::IStream</a> &f)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Serialises the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1241_10"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_11">setRetrieverBank</a> (const <a class="el" href="a03331.html">CRetrieverBank</a> *bank)</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the retriever bank. <a href="#NLPACS_1_1CGlobalRetrieverz1241_11"></a><br><br></td></tr> +<tr><td colspan="2"><div class="groupHeader">Collisions part.</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02591.html">UGlobalPosition</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_0">doMove</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &start, const <a class="el" href="a03128.html">NLMISC::CVector</a> &delta, float <a class="el" href="a04223.html#a627">t</a>, <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst, bool rebuildChains=false) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_1">getMeanHeight</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a03328.html">CRetrievableSurface</a> * </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_2">getSurfaceById</a> (const <a class="el" href="a03462.html">CSurfaceIdent</a> &surfId) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a05380.html#a0">TCollisionSurfaceDescVector</a> * </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_3">testBBoxMove</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &start, const <a class="el" href="a03128.html">NLMISC::CVector</a> &delta, const <a class="el" href="a03128.html">NLMISC::CVector</a> &locI, const <a class="el" href="a03128.html">NLMISC::CVector</a> &locJ, <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a05380.html#a0">TCollisionSurfaceDescVector</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_4">testBBoxRot</a> (const <a class="el" href="a02590.html">CGlobalPosition</a> &start, const <a class="el" href="a03128.html">NLMISC::CVector</a> &locI, const <a class="el" href="a03128.html">NLMISC::CVector</a> &locJ, <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a05380.html#a0">TCollisionSurfaceDescVector</a> * </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_5">testCylinderMove</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &start, const <a class="el" href="a03128.html">NLMISC::CVector</a> &delta, float radius, <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_6">updateHeight</a> (<a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Upadates the height of the given global position. <a href="#NLPACS_1_1CGlobalRetrieverz1245_6"></a><br><br></td></tr> +<tr><td colspan="2"><div class="groupHeader">Pathfinding part.</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1247_0">findAStarPath</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &begin, const <a class="el" href="a02591.html">UGlobalPosition</a> &end, std::vector< <a class="el" href="a03334.html">CRetrieverInstance::CAStarNodeAccess</a> > &path, <a class="el" href="a04558.html#a11">uint32</a> forbidFlags) const </td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1247_1">findPath</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &begin, const <a class="el" href="a02591.html">UGlobalPosition</a> &end, <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw1">CGlobalPath</a> &path, <a class="el" href="a04558.html#a11">uint32</a> forbidFlags=0) const </td></tr> + +<tr><td colspan="2"><div class="groupHeader">Selectors</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a02156.html">NLMISC::CAABBox</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_0">getBBox</a> () const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the BBox of the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1237_0"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a03333.html">CRetrieverInstance</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a> (<a class="el" href="a04558.html#a15">uint</a> <a class="el" href="a04223.html#a564">id</a>) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the retriever instance referred by its id. <a href="#NLPACS_1_1CGlobalRetrieverz1237_1"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const std::vector< <a class="el" href="a03333.html">CRetrieverInstance</a> > & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_2">getInstances</a> () const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the vector of retriever instances that compose the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1237_2"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a04558.html#a11">uint32</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_3">getMaterial</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the material at this position. <a href="#NLPACS_1_1CGlobalRetrieverz1237_3"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a02787.html">CLocalRetriever</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a> (<a class="el" href="a04558.html#a11">uint32</a> <a class="el" href="a04223.html#a564">id</a>) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the local retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1237_4"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a03331.html">CRetrieverBank</a> * </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_5">getRetrieverBank</a> () const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the retriever bank associated to this global retriever. <a href="#NLPACS_1_1CGlobalRetrieverz1237_5"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_6">isInterior</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &pos) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Test if the position is an interior. <a href="#NLPACS_1_1CGlobalRetrieverz1237_6"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_7">isWaterPosition</a> (const <a class="el" href="a02591.html">UGlobalPosition</a> &pos, float &waterHeight) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Test if the position is in water. <a href="#NLPACS_1_1CGlobalRetrieverz1237_7"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a> (const <a class="el" href="a02156.html">NLMISC::CAABBox</a> &bbox, <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> &cst, <a class="el" href="a02591.html#NLPACS_1_1UGlobalPositionw2">UGlobalPosition::TType</a> <a class="el" href="a04223.html#a581">type</a>=UGlobalPosition::Unspecified) const </td></tr> + +<tr><td colspan="2"><div class="groupHeader">Dynamic loading part.</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1243_0">refreshLrAround</a> (const <a class="el" href="a03128.html">NLMISC::CVector</a> &position, float radius)</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1243_1">refreshLrAroundNow</a> (const <a class="el" href="a03128.html">NLMISC::CVector</a> &position, float radius)</td></tr> + +<tr><td colspan=2><br><h2>Static Public Member Functions</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02589.html">UGlobalRetriever</a> * </td><td class="memItemRight" valign=bottom><a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievere0">createGlobalRetriever</a> (const char *globalRetriever, const <a class="el" href="a03332.html">URetrieverBank</a> *retrieverBank)</td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievere1">deleteGlobalRetriever</a> (<a class="el" href="a02589.html">UGlobalRetriever</a> *retriever)</td></tr> + +<tr><td colspan=2><br><h2>Protected Member Functions</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverb0">getInternalCST</a> () const </td></tr> + +<tr><td colspan=2><br><h2>Protected Attributes</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02156.html">NLMISC::CAABBox</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">The axis aligned bounding box of the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverp0"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>std::vector< <a class="el" href="a04558.html#a10">sint32</a> > </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Forbidden instance for retrieve position. <a href="#NLPACS_1_1CGlobalRetrieverp1"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03272.html">CQuadGrid</a>< <a class="el" href="a04558.html#a11">uint32</a> > </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">The grid of instances. <a href="#NLPACS_1_1CGlobalRetrieverp2"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>std::vector< <a class="el" href="a03333.html">CRetrieverInstance</a> > </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">The instances of the global retriever. <a href="#NLPACS_1_1CGlobalRetrieverp3"></a><br><br></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>std::list< <a class="el" href="a02593.html">CLrLoader</a> > </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a></td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>const <a class="el" href="a03331.html">CRetrieverBank</a> * </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">The <a class="el" href="a03331.html">CRetrieverBank</a> where the commmon retrievers are stored. <a href="#NLPACS_1_1CGlobalRetrieverp5"></a><br><br></td></tr> +<tr><td colspan=2><br><h2>Private Types</h2></td></tr> +<tr><td colspan=2><br><h2>Private Member Functions</h2></td></tr> +<tr><td colspan="2"><div class="groupHeader">Pathfinding part.</div></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03335.html">CRetrieverInstance::CAStarNodeInfo</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1249_0">getNode</a> (<a class="el" href="a03334.html">CRetrieverInstance::CAStarNodeAccess</a> &access) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the CAStarNodeInfo referred by its access. <a href="#NLPACS_1_1CGlobalRetrieverz1249_0"></a><br><br></td></tr> +<tr><td colspan=2><br><h2>Private Attributes</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a></td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>std::vector< <a class="el" href="a04558.html#a7">uint8</a> > </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverr1">_RetrieveTable</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to retrieve the surface. Internal use only, to avoid large amount of new/delete. <a href="#NLPACS_1_1CGlobalRetrieverr1"></a><br><br></td></tr> +<tr><td colspan=2><br><h2>Friends</h2></td></tr> +<tr><td class="memItemLeft" nowrap align=right valign=top>class </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrievern0">CLrLoader</a></td></tr> + +<tr><td class="memItemLeft" nowrap align=right valign=top>class </td><td class="memItemRight" valign=bottom><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a></td></tr> + +</table> +<hr><h2>Member Typedef Documentation</h2> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverw1" doxytag="NLPACS::CGlobalRetriever::CGlobalPath" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> typedef std::vector<<a class="el" href="a02592.html">CLocalPath</a>> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw1">NLPACS::CGlobalRetriever::CGlobalPath</a> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00109">109</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l01062">findPath()</a>. </td> + </tr> +</table> +<hr><h2>Member Enumeration Documentation</h2> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverw0" doxytag="NLPACS::CGlobalRetriever::@52" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> anonymous enum + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +<dl compact><dt><b>Enumeration values: </b></dt><dd> +<table border=0 cellspacing=2 cellpadding=0> +<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw3" doxytag="MissingLr" ></a>MissingLr</em> </td><td> +</td></tr> +<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2" doxytag="Failed" ></a>Failed</em> </td><td> +</td></tr> +<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw4" doxytag="Success" ></a>Success</em> </td><td> +</td></tr> +</table> +</dl> + +<p> +Definition at line <a class="el" href="a05762.html#l00068">68</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +<div class="fragment"><pre>00069 { +00070 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw3">MissingLr</a> = -2, +00071 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2">Failed</a> = -1, +00072 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw4">Success</a> = 0 +00073 }; +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_0" doxytag="NLPACS::CGlobalRetriever::TCollisionType" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> enum <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0">NLPACS::CGlobalRetriever::TCollisionType</a><code> [private]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +<dl compact><dt><b>Enumeration values: </b></dt><dd> +<table border=0 cellspacing=2 cellpadding=0> +<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_0NLPACS_1_1CGlobalRetrievery1" doxytag="Circle" ></a>Circle</em> </td><td> +</td></tr> +<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_0NLPACS_1_1CGlobalRetrievery0" doxytag="BBox" ></a>BBox</em> </td><td> +</td></tr> +</table> +</dl> + +<p> +Definition at line <a class="el" href="a05762.html#l00494">494</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +<div class="fragment"><pre>00494 { <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0NLPACS_1_1CGlobalRetrievery1">Circle</a>, <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0NLPACS_1_1CGlobalRetrievery0">BBox</a> }; +</pre></div> </td> + </tr> +</table> +<hr><h2>Constructor & Destructor Documentation</h2> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1235_0" doxytag="NLPACS::CGlobalRetriever::CGlobalRetriever" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> NLPACS::CGlobalRetriever::CGlobalRetriever </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03331.html">CRetrieverBank</a> * </td> + <td class="mdname1" valign="top" nowrap> <em>bank</em> = NULL </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap><code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Constructor. Creates a global retriever with given width, height and retriever bank. +<p> +Definition at line <a class="el" href="a05762.html#l00178">178</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>. +<p> +<div class="fragment"><pre>00179 : <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>(bank) +00180 { } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1235_4" doxytag="NLPACS::CGlobalRetriever::~CGlobalRetriever" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> virtual NLPACS::CGlobalRetriever::~<a class="el" href="a02588.html">CGlobalRetriever</a> </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap><code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Constructor. Creates a global retriever with given width, height and retriever bank. +<p> +Definition at line <a class="el" href="a05762.html#l00181">181</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +<div class="fragment"><pre>00181 {} +</pre></div> </td> + </tr> +</table> +<hr><h2>Member Function Documentation</h2> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_0" doxytag="NLPACS::CGlobalRetriever::buildInstance" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::buildInstance </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const std::string & </td> + <td class="mdname" nowrap> <em>id</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname" nowrap> <em>position</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a04558.html#a10">sint32</a> & </td> + <td class="mdname" nowrap> <em>instanceId</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Builds a instance of retriever, and link it on the ground (or wherever) <dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>id</em> </td><td>a valid retriever id to be instanciated </td></tr> + <tr><td valign=top><em>a</em> </td><td>valid position where the retriever should be instanciated </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>false if failed</dd></dl> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera0">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00766">766</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00736">getIdentifier()</a>, <a class="el" href="a06338.html#l00170">NLPACS::CRetrieverInstance::getInstanceId()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05761.html#l00430">makeInstance()</a>, <a class="el" href="a05761.html#l00367">makeLinks()</a>, and <a class="el" href="a05981.html#l00099">sint32</a>. +<p> +<div class="fragment"><pre>00767 { +00768 NL_ALLOC_CONTEXT( Pacs ) +00769 +00770 <a class="code" href="a04558.html#a10">sint32</a> retrieverId = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_4">getIdentifier</a>(<span class="keywordtype">id</span>); +00771 +00772 instanceId = -1; +00773 +00774 <span class="comment">// check retriever exists</span> +00775 <span class="keywordflow">if</span> (retrieverId < 0) +00776 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00777 +00778 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_7">makeInstance</a>(retrieverId, 0, CVector(position)); +00779 +00780 <span class="comment">// check make instance success</span> +00781 <span class="keywordflow">if</span> (&instance == NULL || instance.getInstanceId() == -1 || instance.getRetrieverId() != retrieverId) +00782 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00783 +00784 <span class="comment">// links new instance to its neighbors</span> +00785 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_8">makeLinks</a>(instance.getInstanceId()); +00786 +00787 instanceId = instance.getInstanceId(); +00788 +00789 <span class="keywordflow">return</span> <span class="keyword">true</span>; +00790 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_0" doxytag="NLPACS::CGlobalRetriever::check" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::check </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Checks the retriever for errors. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00153">153</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06338.html#l00066">NLPACS::CRetrieverInstance::CLink::BorderChainId</a>, <a class="el" href="a06338.html#l00067">NLPACS::CRetrieverInstance::CLink::ChainId</a>, <a class="el" href="a05540.html#l00282">NLPACS::CChain::getBorderChainIndex()</a>, <a class="el" href="a06338.html#l00188">NLPACS::CRetrieverInstance::getBorderChainLink()</a>, <a class="el" href="a06338.html#l00186">NLPACS::CRetrieverInstance::getBorderChainLinks()</a>, <a class="el" href="a05930.html#l00394">NLPACS::CLocalRetriever::getBorderChains()</a>, <a class="el" href="a05930.html#l00391">NLPACS::CLocalRetriever::getChain()</a>, <a class="el" href="a05930.html#l00389">NLPACS::CLocalRetriever::getChains()</a>, <a class="el" href="a05540.html#l00142">NLPACS::COrderedChain::getIndexInParent()</a>, <a class="el" href="a06338.html#l00170">NLPACS::CRetrieverInstance::getInstanceId()</a>, <a class="el" href="a05540.html#l00269">NLPACS::CChain::getLeft()</a>, <a class="el" href="a05930.html#l00381">NLPACS::CLocalRetriever::getOrderedChain()</a>, <a class="el" href="a05930.html#l00379">NLPACS::CLocalRetriever::getOrderedChains()</a>, <a class="el" href="a05540.html#l00139">NLPACS::COrderedChain::getParentId()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a06336.html#l00076">NLPACS::CRetrieverBank::getRetrievers()</a>, <a class="el" href="a05540.html#l00274">NLPACS::CChain::getRight()</a>, <a class="el" href="a05540.html#l00266">NLPACS::CChain::getSubChain()</a>, <a class="el" href="a05540.html#l00263">NLPACS::CChain::getSubChains()</a>, <a class="el" href="a05930.html#l00399">NLPACS::CLocalRetriever::getSurfaces()</a>, <a class="el" href="a06338.html#l00178">NLPACS::CRetrieverInstance::getType()</a>, <a class="el" href="a06338.html#l00065">NLPACS::CRetrieverInstance::CLink::Instance</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a06338.html#l00068">NLPACS::CRetrieverInstance::CLink::SurfaceId</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +<div class="fragment"><pre>00154 { +00155 <a class="code" href="a04558.html#a15">uint</a> i, j, k; +00156 +00157 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size(); ++i) +00158 { +00159 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[i].getInstanceId() == -1) +00160 { +00161 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"Uninitialized instance %d"</span>, i); +00162 <span class="keywordflow">continue</span>; +00163 } +00164 +00165 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[i].getInstanceId() != (<a class="code" href="a04558.html#a14">sint</a>)i) +00166 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"InstanceId for instance %d is not correctly initialized"</span>, i); +00167 +00168 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[i].getRetrieverId() == -1) +00169 { +00170 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"No retriever at instance %d"</span>, i); +00171 <span class="keywordflow">continue</span>; +00172 } +00173 +00174 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[i]; +00175 +00176 <span class="keywordflow">if</span> (instance.getRetrieverId()<0 || instance.getRetrieverId()>=(<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetrievers().size()) +00177 { +00178 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"Instance %d has wrong retriever reference"</span>, i); +00179 <span class="keywordflow">continue</span>; +00180 } +00181 +00182 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +00183 +00184 <span class="keywordflow">for</span> (j=0; j<retriever.getChains().size(); ++j) +00185 { +00186 <span class="keyword">const</span> CChain &chain = retriever.getChain(j); +00187 <span class="keywordflow">for</span> (k=0; k<chain.getSubChains().size(); ++k) +00188 { +00189 <span class="keywordflow">if</span> (chain.getSubChain(k) >= retriever.getOrderedChains().size()) +00190 { +00191 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, chain %d: subchain %d reference is not valid"</span>, instance.getRetrieverId(), j, k); +00192 <span class="keywordflow">continue</span>; +00193 } +00194 +00195 <span class="keywordflow">if</span> (retriever.getOrderedChain(chain.getSubChain(k)).getParentId() != j) +00196 { +00197 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, ochain %d: reference on parent is not valid"</span>, instance.getRetrieverId(), chain.getSubChain(k)); +00198 <span class="keywordflow">continue</span>; +00199 } +00200 +00201 <span class="keywordflow">if</span> (retriever.getOrderedChain(chain.getSubChain(k)).getIndexInParent() != k) +00202 { +00203 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, ochain %d: index on parent is not valid"</span>, instance.getRetrieverId(), chain.getSubChain(k)); +00204 <span class="keywordflow">continue</span>; +00205 } +00206 } +00207 +00208 <span class="keywordflow">if</span> (chain.getLeft()<0 || chain.getLeft()>=(<a class="code" href="a04558.html#a14">sint</a>)retriever.getSurfaces().size()) +00209 { +00210 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, chain %d: reference on left surface is not valid"</span>, instance.getRetrieverId(), j); +00211 } +00212 +00213 <span class="keywordflow">if</span> (chain.getRight()>=(<a class="code" href="a04558.html#a14">sint</a>)retriever.getSurfaces().size() || +00214 chain.getRight()<=CChain::getDummyBorderChainId() && !CChain::isBorderChainId(chain.getRight())) +00215 { +00216 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, chain %d: reference on right surface is not valid"</span>, instance.getRetrieverId(), j); +00217 } +00218 +00219 <span class="keywordflow">if</span> (CChain::isBorderChainId(chain.getRight())) +00220 { +00221 <a class="code" href="a04558.html#a14">sint</a> link = chain.getBorderChainIndex(); +00222 +00223 <span class="keywordflow">if</span> (link<0 || link>=(<a class="code" href="a04558.html#a14">sint</a>)instance.getBorderChainLinks().size()) +00224 { +00225 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, instance %d, chain %d: reference on right link is not valid"</span>, instance.getRetrieverId(), instance.getInstanceId(), j); +00226 } +00227 <span class="keywordflow">else</span> +00228 { +00229 CRetrieverInstance::CLink lnk = instance.getBorderChainLink(link); +00230 +00231 <span class="keywordflow">if</span> (lnk.Instance != 0xFFFF || lnk.SurfaceId != 0xFFFF || +00232 lnk.ChainId != 0xFFFF || lnk.BorderChainId != 0xFFFF) +00233 { +00234 <span class="keywordflow">if</span> (lnk.Instance >= _Instances.size() || +00235 _Instances[lnk.Instance].getRetrieverId()<0 || +00236 _Instances[lnk.Instance].getRetrieverId()>(<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetrievers().size() || +00237 lnk.SurfaceId >= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[lnk.Instance].getRetrieverId()).getSurfaces().size() || +00238 ((lnk.ChainId >= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[lnk.Instance].getRetrieverId()).getChains().size() || +00239 lnk.BorderChainId >= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[lnk.Instance].getRetrieverId()).getBorderChains().size()) && instance.getType() != CLocalRetriever::Interior )) +00240 { +00241 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"retriever %d, instance %d, link %d: reference on instance may be not valid [Inst=%d, Surf=%d, Chain=%d, BorderChain=%d]"</span>, instance.getRetrieverId(), instance.getInstanceId(), link, lnk.Instance, lnk.SurfaceId, lnk.ChainId, lnk.BorderChainId); +00242 } +00243 } +00244 } +00245 } +00246 } +00247 } +00248 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1UGlobalRetrievere0" doxytag="NLPACS::CGlobalRetriever::createGlobalRetriever" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02589.html">NLPACS::UGlobalRetriever</a> * NLPACS::UGlobalRetriever::createGlobalRetriever </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const char * </td> + <td class="mdname" nowrap> <em>globalRetriever</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03332.html">URetrieverBank</a> * </td> + <td class="mdname" nowrap> <em>retrieverBank</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [static, inherited]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Create a global retriever.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>globalRetriver</em> </td><td>is the global retriver path file name. This method use the CPath to find the file. </td></tr> + <tr><td valign=top><em>retriverBank</em> </td><td>is the global retriver bank associated to the global retriever. </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>the pointer on the global retriver or NULL if the file is not found.</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l02382">2382</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05538.html#l02654">file</a>, <a class="el" href="a05761.html#l00414">initAll()</a>, and <a class="el" href="a05762.html#l00366">setRetrieverBank()</a>. +<p> +<div class="fragment"><pre>02383 { +02384 NL_ALLOC_CONTEXT( Pacs ) +02385 +02386 <span class="comment">// Cast</span> +02387 <span class="comment">// nlassert (dynamic_cast<const NLPACS::CRetrieverBank*>(retrieverBank));</span> +02388 <span class="keyword">const</span> <a class="code" href="a03331.html">NLPACS::CRetrieverBank</a>* bank=static_cast<const NLPACS::CRetrieverBank*>(retrieverBank); +02389 +02390 <a class="code" href="a02653.html">CIFile</a> <a class="code" href="a04115.html#a95">file</a>; +02391 <span class="keywordflow">if</span> (<a class="code" href="a04115.html#a95">file</a>.open(CPath::lookup(globalRetriever))) +02392 { +02393 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_0">CGlobalRetriever</a> *retriever = <span class="keyword">new</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_0">CGlobalRetriever</a>(); +02394 +02395 <span class="comment">// always set the retriever bank before serializing !!</span> +02396 retriever->setRetrieverBank(bank); +02397 +02398 <a class="code" href="a04115.html#a95">file</a>.serial(*retriever); +02399 retriever->initAll(<span class="keyword">false</span>); <span class="comment">// don't init instances as we serialized them</span> +02400 +02401 <span class="keywordflow">return</span> static_cast<UGlobalRetriever *>(retriever); +02402 } +02403 <span class="keywordflow">else</span> +02404 <span class="keywordflow">return</span> NULL; +02405 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1UGlobalRetrievere1" doxytag="NLPACS::CGlobalRetriever::deleteGlobalRetriever" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::UGlobalRetriever::deleteGlobalRetriever </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02589.html">UGlobalRetriever</a> * </td> + <td class="mdname1" valign="top" nowrap> <em>retriever</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap><code> [static, inherited]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Delete a global retriever. +<p> +Definition at line <a class="el" href="a05761.html#l02409">2409</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05622.html#l00290">nlassert</a>, and <a class="el" href="a05646.html#l00993">r</a>. +<p> +<div class="fragment"><pre>02410 { +02411 <span class="comment">// Cast</span> +02412 <a class="code" href="a04199.html#a6">nlassert</a> (dynamic_cast<NLPACS::CGlobalRetriever*>(retriever)); +02413 <a class="code" href="a02588.html">NLPACS::CGlobalRetriever</a>* <a class="code" href="a04223.html#a628">r</a>=static_cast<NLPACS::CGlobalRetriever*>(retriever); +02414 +02415 <span class="comment">// Delete</span> +02416 <span class="keyword">delete</span> <a class="code" href="a04223.html#a628">r</a>; +02417 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_1" doxytag="NLPACS::CGlobalRetriever::distanceToBorder" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> float NLPACS::CGlobalRetriever::distanceToBorder </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Checks the retriever for errors. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera1">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00252">252</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05929.html#l00291">NLPACS::CLocalRetriever::distanceToBorder()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, and <a class="el" href="a05981.html#l00104">sint</a>. +<p> +<div class="fragment"><pre>00253 { +00254 <span class="keywordflow">if</span> (pos.InstanceId < 0 || pos.InstanceId > (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00255 <span class="keywordflow">return</span> 0.0f; +00256 +00257 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[pos.InstanceId].getRetrieverId()).distanceToBorder(pos.LocalPosition); +00258 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_0" doxytag="NLPACS::CGlobalRetriever::doMove" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::doMove </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>start</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>delta</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float </td> + <td class="mdname" nowrap> <em>t</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>bool </td> + <td class="mdname" nowrap> <em>rebuildChains</em> = false</td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +apply a movement of a point against surface world. This should be called after test???Move(). NB: It's up to you to give good t, relative to result of test???Move(). Else, undefined results... NB: if you don't give same start/delta as in preceding call to testMove(), and rebuildChains==false, start is returned (nlstop in debug).<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>start</em> </td><td>is the start position of the movement. (must be same as passed in test???Move()). </td></tr> + <tr><td valign=top><em>delta</em> </td><td>is the requested movement (must be same as passed in test???Move()). </td></tr> + <tr><td valign=top><em>t</em> </td><td>must be in [0,1]. t*delta is the actual requested movement. </td></tr> + <tr><td valign=top><em>cst</em> </td><td>is the <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> object used as temp computing (one per thread). (must be same as passed in test???Move()). </td></tr> + <tr><td valign=top><em>rebuildChains</em> </td><td>true if <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_0">doMove()</a> is not called just after the testMove(). Then <a class="el" href="a02588.html">CGlobalRetriever</a> must recompute some part of the data needed to performing his task. </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>new position of the entity.</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l02028">2028</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05587.html#l00115">NLMISC::clamp()</a>, <a class="el" href="a05583.html#l00311">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05384.html#l00215">NLMISC::CAABBox::extend()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05761.html#l00840">getDoubleGlobalPosition()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05583.html#l00321">NLPACS::CCollisionSurfaceTemp::PrecDeltaPos</a>, <a class="el" href="a05583.html#l00320">NLPACS::CCollisionSurfaceTemp::PrecStartPos</a>, <a class="el" href="a05583.html#l00319">NLPACS::CCollisionSurfaceTemp::PrecStartSurface</a>, <a class="el" href="a05583.html#l00322">NLPACS::CCollisionSurfaceTemp::PrecValid</a>, <a class="el" href="a05646.html#l01119">res</a>, <a class="el" href="a05578.html#l00069">NLPACS::CSurfaceIdent::RetrieverInstanceId</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a06338.html#l00046">NLPACS::SnapPrecision</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05578.html#l00071">NLPACS::CSurfaceIdent::SurfaceId</a>, <a class="el" href="a05646.html#l00985">t</a>, <a class="el" href="a05761.html#l01649">testMovementWithCollisionChains()</a>, <a class="el" href="a06679.html#l00038">NLPACS::Vector2sAccuracy</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="a05646.html#l00236">y</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +Referenced by <a class="el" href="a06207.html#l00201">NLPACS::CPrimitiveWorldImage::doMove()</a>, and <a class="el" href="a06207.html#l01167">NLPACS::CPrimitiveWorldImage::reaction()</a>. +<p> +<div class="fragment"><pre>02029 { +02030 <span class="comment">// H_AUTO(PACS_GR_doMove);</span> +02031 +02032 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface); +02033 +02034 <span class="comment">// clamp factor.</span> +02035 <a class="code" href="a05378.html#a374">clamp</a>(t, 0.0f, 1.0f); +02036 +02037 <span class="comment">// 0. reset.</span> +02038 <span class="comment">//===========</span> +02039 <span class="comment">// reset CollisionDescs.</span> +02040 cst.<a class="code" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo1">CollisionDescs</a>.clear(); +02041 +02042 <span class="comment">// In a surface ?</span> +02043 <span class="keywordflow">if</span> (startPos.InstanceId==-1) +02044 { +02045 <span class="comment">// Warining: this primitive is not on a surface</span> +02046 <span class="comment">//nlassertonce (0);</span> +02047 +02048 <span class="comment">// Return startpos</span> +02049 <span class="keywordflow">return</span> startPos; +02050 } +02051 +02052 <span class="keywordflow">if</span>(!rebuildChains) +02053 { +02054 <span class="comment">// same move request than prec testMove() ??.</span> +02055 <span class="keywordflow">if</span>( cst.<a class="code" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo11">PrecStartSurface</a> != startSurface || +02056 cst.<a class="code" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo10">PrecStartPos</a>!=startPos.LocalPosition.Estimation || +02057 cst.<a class="code" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo9">PrecDeltaPos</a>!=delta || +02058 !cst.<a class="code" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo12">PrecValid</a>) +02059 { +02060 <span class="comment">// if not, just return start.</span> +02061 <span class="comment">//nlstop;</span> +02062 <a class="code" href="a04199.html#a2">nlwarning</a> (<span class="stringliteral">"BEN: you must fix this, it s happen!!!"</span>); +02063 <span class="keywordflow">return</span> startPos; +02064 } +02065 <span class="comment">// Since we are sure we have same movement than prec testMove(), no need to rebuild cst.CollisionChains.</span> +02066 } +02067 <span class="keywordflow">else</span> +02068 { +02069 <span class="comment">// we don't have same movement than prec testMove(), we must rebuild cst.CollisionChains.</span> +02070 <span class="comment">// Prec settings no more valids.</span> +02071 cst.<a class="code" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo12">PrecValid</a>= <span class="keyword">false</span>; +02072 } +02073 +02074 +02075 +02076 +02077 <span class="comment">// 1. Choose a local basis (same than in testMove()).</span> +02078 <span class="comment">//===========</span> +02079 <span class="comment">// Take the retrieverInstance of startPos as a local basis.</span> +02080 CVector origin; +02081 origin= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(startPos.InstanceId).getOrigin(); +02082 +02083 +02084 <span class="comment">// 2. test collisions with CollisionChains.</span> +02085 <span class="comment">//===========</span> +02086 CVector start= startPos.LocalPosition.Estimation; +02087 <span class="comment">// compute end with real delta position.</span> +02088 CVector end= start + delta*<a class="code" href="a04223.html#a627">t</a>; +02089 +02090 <span class="comment">// If asked, we must rebuild array of collision chains.</span> +02091 <span class="keywordflow">if</span>(rebuildChains) +02092 { +02093 <span class="comment">// H_AUTO(PACS_GR_doMove_rebuildChains);</span> +02094 +02095 <span class="comment">// compute bboxmove.</span> +02096 <a class="code" href="a02156.html">CAABBox</a> bboxMove; +02097 <span class="comment">// must add some extent, to be sure to include snapped CLocalRetriever vertex (2.0f/256 should be sufficient).</span> +02098 <span class="comment">// Nb: this include the precision problem just below (move a little).</span> +02099 <span class="keywordtype">float</span> radius= 4.0f/<a class="code" href="a05380.html#a15">Vector2sAccuracy</a>; +02100 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(start-CVector(radius, radius, 0)); +02101 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(start+CVector(radius, radius, 0)); +02102 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(end-CVector(radius, radius, 0)); +02103 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(end+CVector(radius, radius, 0)); +02104 +02105 <span class="comment">// find possible collisions in bboxMove+origin. fill cst.CollisionChains.</span> +02106 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_1">findCollisionChains</a>(cst, bboxMove, origin); +02107 } +02108 +02109 +02110 <span class="comment">// look where we arrive.</span> +02111 CSurfaceIdent endSurface; +02112 CVector endRequest= end; +02113 <span class="keyword">const</span> <a class="code" href="a04558.html#a14">sint</a> maxPbPrec= 32; <span class="comment">// move away from 4 mm at max, in each 8 direction.</span> +02114 <a class="code" href="a04558.html#a14">sint</a> pbPrecNum= 0; +02115 +02116 <span class="comment">// must snap the end position.</span> +02117 CRetrieverInstance::snapVector(endRequest); +02118 end= endRequest; +02119 +02120 <span class="comment">// verify start is already snapped</span> +02121 { +02122 CVector startTest= start; +02123 CRetrieverInstance::snapVector(startTest); +02124 <a class="code" href="a04199.html#a6">nlassert</a>( start == startTest ); +02125 } +02126 +02127 +02128 <span class="comment">// Normally, just one iteration is made in this loop (but if precision problem (stopOnEdge, startOnEdge....).</span> +02129 <span class="keywordflow">while</span>(<span class="keyword">true</span>) +02130 { +02131 <span class="comment">// must snap the end position.</span> +02132 CRetrieverInstance::snapVector(end); +02133 +02134 CVector2f startCol(start.x, start.y); +02135 CVector2f endCol(end.x, end.y); +02136 +02137 <span class="comment">// If same 2D position, just return startPos (suppose no movement)</span> +02138 <span class="keywordflow">if</span>(endCol==startCol) +02139 { +02140 UGlobalPosition <a class="code" href="a04223.html#a643">res</a>; +02141 <a class="code" href="a04223.html#a643">res</a>= startPos; +02142 <span class="comment">// keep good z movement.</span> +02143 <a class="code" href="a04223.html#a643">res</a>.LocalPosition.Estimation.z= end.z; +02144 <span class="keywordflow">return</span> <a class="code" href="a04223.html#a643">res</a>; +02145 } +02146 +02147 <span class="comment">// search destination problem.</span> +02148 UGlobalPosition restart; +02149 endSurface= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_3">testMovementWithCollisionChains</a>(cst, startCol, endCol, startSurface, restart); +02150 +02151 <span class="comment">// if no precision problem, Ok, we have found our destination surface (or anormal collide against a wall).</span> +02152 <span class="keywordflow">if</span> (endSurface.SurfaceId >= -1) +02153 { +02154 <span class="keywordflow">break</span>; +02155 } +02156 <span class="comment">// left an interior, retrieved position and ask to restart collision from retrieved position</span> +02157 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (endSurface.SurfaceId == -3) +02158 { +02159 start = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_1">getDoubleGlobalPosition</a>(restart) - origin; +02160 startSurface.RetrieverInstanceId = restart.InstanceId; +02161 startSurface.SurfaceId = restart.LocalPosition.Surface; +02162 <span class="comment">// should be snapped here</span> +02163 CVector startTest= start; +02164 CRetrieverInstance::snapVector(startTest); +02165 <a class="code" href="a04199.html#a6">nlassert</a>( start == startTest ); +02166 } +02167 <span class="comment">/* else we are in deep chit, for one on those reason:</span> +02168 <span class="comment"> - traverse on point.</span> +02169 <span class="comment"> - stop on a edge (dist==0).</span> +02170 <span class="comment"> - start on a edge (dist==0).</span> +02171 <span class="comment"> - run // on a edge (NB: dist==0 too).</span> +02172 <span class="comment"> */</span> +02173 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (endSurface.SurfaceId == -2) +02174 { +02175 <span class="comment">// For simplicty, just try to move a little the end position</span> +02176 <span class="keywordflow">if</span>(pbPrecNum<maxPbPrec) +02177 { +02178 <span class="keyword">static</span> <span class="keyword">struct </span>{<a class="code" href="a04558.html#a14">sint</a> <a class="code" href="a04223.html#a572">x</a>,<a class="code" href="a04223.html#a573">y</a>;} dirs[8]= { {1,0}, {1,1}, {0,1}, {-1,1}, {-1,0}, {-1,-1}, {0,-1}, {1,-1}}; +02179 <a class="code" href="a04558.html#a14">sint</a> dir= pbPrecNum%8; +02180 <a class="code" href="a04558.html#a14">sint</a> dist= pbPrecNum/8+1; +02181 CVector dta; +02182 +02183 <span class="comment">// compute small move.</span> +02184 dta.x= dirs[dir].x * dist * 1.0f/<a class="code" href="a05380.html#a14">SnapPrecision</a>; +02185 dta.y= dirs[dir].y * dist * 1.0f/<a class="code" href="a05380.html#a14">SnapPrecision</a>; +02186 dta.z= 0; +02187 +02188 <span class="comment">// add it to the original end pos requested.</span> +02189 end= endRequest + dta; +02190 +02191 pbPrecNum++; +02192 } +02193 <span class="keywordflow">else</span> +02194 { +02195 <span class="comment">// do not move at all.</span> +02196 endSurface= CSurfaceIdent(-1,-1); +02197 <span class="keywordflow">break</span>; +02198 } +02199 } +02200 } +02201 +02202 <span class="comment">// 3. return result.</span> +02203 <span class="comment">//===========</span> +02204 <span class="comment">// Problem?? do not move.</span> +02205 <span class="keywordflow">if</span>(endSurface.SurfaceId==-1) +02206 <span class="keywordflow">return</span> startPos; +02207 <span class="keywordflow">else</span> +02208 { +02209 <span class="comment">// else must return good GlobalPosition.</span> +02210 CGlobalPosition <a class="code" href="a04223.html#a643">res</a>; +02211 +02212 <a class="code" href="a04223.html#a643">res</a>.InstanceId= endSurface.RetrieverInstanceId; +02213 <a class="code" href="a04223.html#a643">res</a>.LocalPosition.Surface= endSurface.SurfaceId; +02214 +02215 <span class="comment">// compute newPos, localy to the endSurface.</span> +02216 <span class="comment">// get delta between startPos.instance and curInstance.</span> +02217 <span class="comment">// NB: for float precision, it is important to compute deltaOrigin, and after compute newPos in local.</span> +02218 CVector deltaOrigin; +02219 deltaOrigin= origin - <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(<a class="code" href="a04223.html#a643">res</a>.InstanceId).getOrigin(); +02220 +02221 <span class="comment">// Because Origin precision is 1 meter, and end precision is 1/1024 meter, we have no precision problem.</span> +02222 <span class="comment">// this is true because we cannot move more than, say 4*160 meters in one doMove().</span> +02223 <span class="comment">// So global position should not be bigger than 1024 * 1024/1024 meters. => Hence 20 bits of precision is </span> +02224 <span class="comment">// required. We have 23 with floats.</span> +02225 <a class="code" href="a04223.html#a643">res</a>.LocalPosition.Estimation= end + deltaOrigin; +02226 +02227 +02228 <span class="comment">// result.</span> +02229 <span class="keywordflow">return</span> <a class="code" href="a04223.html#a643">res</a>; +02230 } +02231 +02232 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1247_0" doxytag="NLPACS::CGlobalRetriever::findAStarPath" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::findAStarPath </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>begin</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>end</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>std::vector< <a class="el" href="a03334.html">CRetrieverInstance::CAStarNodeAccess</a> > & </td> + <td class="mdname" nowrap> <em>path</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a04558.html#a11">uint32</a> </td> + <td class="mdname" nowrap> <em>forbidFlags</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Finds an A* path from a given global position to another. <dl compact><dt><b><a class="el" href="todo.html#_todo000042">Todo:</a></b></dt><dd>secure search to avoid crashes...</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l00855">855</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a06338.html#l00116">NLPACS::CRetrieverInstance::_NodesInformation</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06338.html#l00108">NLPACS::CRetrieverInstance::CAStarNodeInfo::Cost</a>, <a class="el" href="a06338.html#l00109">NLPACS::CRetrieverInstance::CAStarNodeInfo::F</a>, <a class="el" href="a06338.html#l00188">NLPACS::CRetrieverInstance::getBorderChainLink()</a>, <a class="el" href="a05930.html#l00391">NLPACS::CLocalRetriever::getChain()</a>, <a class="el" href="a06334.html#l00178">NLPACS::CRetrievableSurface::getChains()</a>, <a class="el" href="a06334.html#l00172">NLPACS::CRetrievableSurface::getFlags()</a>, <a class="el" href="a05761.html#l00827">getGlobalPosition()</a>, <a class="el" href="a05540.html#l00269">NLPACS::CChain::getLeft()</a>, <a class="el" href="a05762.html#l00484">getNode()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05540.html#l00274">NLPACS::CChain::getRight()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a06338.html#l00065">NLPACS::CRetrieverInstance::CLink::Instance</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06338.html#l00086">NLPACS::CRetrieverInstance::CAStarNodeAccess::InstanceId</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05622.html#l00111">nlinfo</a>, <a class="el" href="a06338.html#l00087">NLPACS::CRetrieverInstance::CAStarNodeAccess::NodeId</a>, <a class="el" href="a06338.html#l00112">NLPACS::CRetrieverInstance::CAStarNodeInfo::Parent</a>, <a class="el" href="a06338.html#l00105">NLPACS::CRetrieverInstance::CAStarNodeInfo::Position</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00099">sint32</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a06338.html#l00068">NLPACS::CRetrieverInstance::CLink::SurfaceId</a>, <a class="el" href="a05761.html#l00049">ThisAStarTicks</a>, <a class="el" href="a06553.html#l00048">NLMISC::TTicks</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a05981.html#l00098">uint16</a>, and <a class="el" href="a05981.html#l00100">uint32</a>. +<p> +Referenced by <a class="el" href="a05761.html#l01062">findPath()</a>. +<p> +<div class="fragment"><pre>00859 { +00860 <a class="code" href="a05378.html#a243">TTicks</a> astarStart; +00861 <a class="code" href="a04338.html#a6">ThisAStarTicks</a> = 0; +00862 astarStart = CTime::getPerformanceTime(); +00863 +00864 <span class="comment">// open and close lists</span> +00865 <span class="comment">// TODO: Use a smart allocator to avoid huge alloc/free and memory fragmentation</span> +00866 <span class="comment">// open is a priority queue (implemented as a stl multimap)</span> +00867 multimap<float, CRetrieverInstance::CAStarNodeAccess> open; +00868 <span class="comment">// close is a simple stl vector</span> +00869 vector<CRetrieverInstance::CAStarNodeAccess> close; +00870 +00871 <span class="comment">// inits start node and info</span> +00872 CRetrieverInstance::CAStarNodeAccess beginNode; +00873 beginNode.InstanceId = begin.InstanceId; +00874 beginNode.NodeId = (<a class="code" href="a04558.html#a9">uint16</a>)begin.LocalPosition.Surface; +00875 CRetrieverInstance::CAStarNodeInfo &beginInfo = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1249_0">getNode</a>(beginNode); +00876 +00877 <span class="comment">// inits end node and info.</span> +00878 CRetrieverInstance::CAStarNodeAccess endNode; +00879 endNode.InstanceId = end.InstanceId; +00880 endNode.NodeId = (<a class="code" href="a04558.html#a9">uint16</a>)end.LocalPosition.Surface; +00881 CRetrieverInstance::CAStarNodeInfo &endInfo = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1249_0">getNode</a>(endNode); +00882 +00883 <span class="comment">// set up first node...</span> +00884 CRetrieverInstance::CAStarNodeAccess node = beginNode; +00885 beginInfo.Parent.InstanceId = -1; +00886 beginInfo.Parent.NodeId = 0; +00887 beginInfo.Parent.ThroughChain = 0; +00888 beginInfo.Cost = 0; +00889 beginInfo.F = (endInfo.Position-beginInfo.Position).norm(); +00890 +00891 <span class="comment">// ... and inserts it in the open list.</span> +00892 open.insert(make_pair(beginInfo.F, node)); +00893 +00894 <span class="comment">// TO DO: use a CVector2f instead</span> +00895 CVector2f endPosition = CVector2f(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_2">getGlobalPosition</a>(end)); +00896 +00897 <a class="code" href="a04558.html#a15">uint</a> i; +00898 +00899 path.clear(); +00900 +00901 <span class="keywordflow">while</span> (<span class="keyword">true</span>) +00902 { +00903 <span class="keywordflow">if</span> (open.empty()) +00904 { +00905 <span class="comment">// couldn't find a path</span> +00906 <span class="keywordflow">return</span>; +00907 } +00908 +00909 multimap<float, CRetrieverInstance::CAStarNodeAccess>::iterator it; +00910 +00911 it = open.begin(); +00912 node = it->second; +00913 open.erase(it); +00914 +00915 <span class="keywordflow">if</span> (node == endNode) +00916 { +00917 <span class="comment">// found a path</span> +00918 CRetrieverInstance::CAStarNodeAccess pathNode = node; +00919 <a class="code" href="a04558.html#a15">uint</a> numNodes = 0; +00920 <span class="keywordflow">while</span> (pathNode.InstanceId != -1) +00921 { +00922 ++numNodes; +00923 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[pathNode.InstanceId]; +00924 CRetrieverInstance::CAStarNodeInfo &pathInfo = instance._NodesInformation[pathNode.NodeId]; +00925 pathNode = pathInfo.Parent; +00926 } +00927 +00928 path.resize(numNodes); +00929 pathNode = node; +00930 <span class="keywordflow">while</span> (pathNode.InstanceId != -1) +00931 { +00932 path[--numNodes] = pathNode; +00933 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[pathNode.InstanceId]; +00934 CRetrieverInstance::CAStarNodeInfo &pathInfo = instance._NodesInformation[pathNode.NodeId]; +00935 pathNode = pathInfo.Parent; +00936 } +00937 +00938 <a class="code" href="a04338.html#a6">ThisAStarTicks</a> += (CTime::getPerformanceTime()-astarStart); +00939 +00940 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"found a path"</span>); +00941 <span class="keywordflow">for</span> (i=0; i<path.size(); ++i) +00942 { +00943 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[path[i].InstanceId]; +00944 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +00945 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"pathNode %d = (Inst=%d, Node=%d, Through=%d)"</span>, i, path[i].InstanceId, path[i].NodeId, path[i].ThroughChain); +00946 <span class="keywordflow">if</span> (path[i].ThroughChain != 0xffff) +00947 { +00948 <span class="keyword">const</span> CChain &chain = retriever.getChain(path[i].ThroughChain); +00949 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">" chain: left=%d right=%d"</span>, chain.getLeft(), chain.getRight()); +00950 <span class="keywordflow">if</span> (CChain::isBorderChainId(chain.getRight())) +00951 { +00952 CRetrieverInstance::CLink lnk = instance.getBorderChainLink(CChain::convertBorderChainId(chain.getRight())); +00953 <a class="code" href="a04558.html#a14">sint</a> instanceid = lnk.Instance; +00954 <a class="code" href="a04558.html#a14">sint</a> <span class="keywordtype">id</span> = lnk.SurfaceId; +00955 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">" right: instance=%d surf=%d"</span>, instanceid, <span class="keywordtype">id</span>); +00956 } +00957 } +00958 } +00959 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"open.size()=%d"</span>, open.size()); +00960 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"close.size()=%d"</span>, close.size()); +00961 +00962 <span class="keywordflow">return</span>; +00963 } +00964 +00965 <span class="comment">// push successors of the current node</span> +00966 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &inst = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[node.InstanceId]; +00967 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(inst.getRetrieverId()); +00968 <span class="keyword">const</span> CRetrievableSurface &surf = retriever.getSurface(node.NodeId); +00969 <span class="keyword">const</span> vector<CRetrievableSurface::CSurfaceLink> &chains = surf.getChains(); +00970 +00971 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> *nextInstance; +00972 <span class="keyword">const</span> CLocalRetriever *nextRetriever; +00973 <span class="keyword">const</span> CRetrievableSurface *nextSurface; +00974 +00975 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"examine node (instance=%d,surf=%d,cost=%g)"</span>, node.InstanceId, node.NodeId, inst._NodesInformation[node.NodeId].Cost); +00976 +00977 <span class="keywordflow">for</span> (i=0; i<chains.size(); ++i) +00978 { +00979 <a class="code" href="a04558.html#a10">sint32</a> nextNodeId = chains[i].Surface; +00980 CRetrieverInstance::CAStarNodeAccess nextNode; +00981 +00982 <span class="keywordflow">if</span> (CChain::isBorderChainId(nextNodeId)) +00983 { +00984 <span class="comment">// if the chain points to another retriever</span> +00985 +00986 <span class="comment">// first get the edge on the retriever</span> +00987 CRetrieverInstance::CLink lnk = inst.getBorderChainLink(CChain::convertBorderChainId(nextNodeId)); +00988 nextNode.InstanceId = lnk.Instance; +00989 +00990 <span class="keywordflow">if</span> (nextNode.InstanceId < 0) +00991 <span class="keywordflow">continue</span>; +00992 +00993 nextInstance = &_Instances[nextNode.InstanceId]; +00994 nextRetriever = &(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(nextInstance->getRetrieverId())); +00995 +00996 <a class="code" href="a04558.html#a14">sint</a> nodeId = lnk.SurfaceId; +00997 <a class="code" href="a04199.html#a6">nlassert</a>(nodeId >= 0); +00998 nextNode.NodeId = (<a class="code" href="a04558.html#a9">uint16</a>)nodeId; +00999 } +01000 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (nextNodeId >= 0) +01001 { +01002 <span class="comment">// if the chain points to the same instance</span> +01003 nextNode.InstanceId = node.InstanceId; +01004 nextNode.NodeId = (<a class="code" href="a04558.html#a9">uint16</a>) nextNodeId; +01005 nextInstance = &inst; +01006 nextRetriever = &retriever; +01007 } +01008 <span class="keywordflow">else</span> +01009 { +01010 <span class="comment">// if the chain cannot be crossed</span> +01011 <span class="keywordflow">continue</span>; +01012 } +01013 +01014 nextSurface = &(nextRetriever->getSurface(nextNode.NodeId)); +01015 +01016 <span class="keywordflow">if</span> (nextSurface->getFlags() & forbidFlags) +01017 <span class="keywordflow">continue</span>; +01018 +01019 <span class="comment">// compute new node value (heuristic and cost)</span> +01020 +01021 CRetrieverInstance::CAStarNodeInfo &nextInfo = nextInstance->_NodesInformation[nextNode.NodeId]; +01022 <span class="keywordtype">float</span> stepCost = (nextInfo.Position-inst._NodesInformation[node.NodeId].Position).norm(); +01023 <span class="keywordtype">float</span> nextCost = inst._NodesInformation[node.NodeId].Cost+stepCost; +01024 <span class="keywordtype">float</span> nextHeuristic = (nextInfo.Position-endPosition).norm(); +01025 <span class="keywordtype">float</span> nextF = nextCost+nextHeuristic; +01026 +01027 vector<CRetrieverInstance::CAStarNodeAccess>::iterator closeIt; +01028 <span class="keywordflow">for</span> (closeIt=close.begin(); closeIt!=close.end() && *closeIt!=nextNode; ++closeIt) +01029 ; +01030 +01031 <span class="keywordflow">if</span> (closeIt != close.end() && nextInfo.F < nextF) +01032 <span class="keywordflow">continue</span>; +01033 +01034 multimap<float, CRetrieverInstance::CAStarNodeAccess>::iterator openIt; +01035 <span class="keywordflow">for</span> (openIt=open.begin(); openIt!=open.end() && openIt->second!=nextNode; ++openIt) +01036 ; +01037 +01038 <span class="keywordflow">if</span> (openIt != open.end() && nextInfo.F < nextF) +01039 <span class="keywordflow">continue</span>; +01040 +01041 <span class="keywordflow">if</span> (openIt != open.end()) +01042 open.erase(openIt); +01043 +01044 <span class="keywordflow">if</span> (closeIt != close.end()) +01045 close.erase(closeIt); +01046 +01047 nextInfo.Parent = node; +01048 nextInfo.Parent.ThroughChain = (<a class="code" href="a04558.html#a9">uint16</a>)(chains[i].Chain); +01049 nextInfo.Cost = nextCost; +01050 nextInfo.F = nextF; +01051 +01052 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">" adding node (instance=%d,surf=%d) f=%g, through=%d"</span>, nextNode.InstanceId, nextNode.NodeId, nextInfo.F, i); +01053 +01054 open.insert(make_pair(nextInfo.F, nextNode)); +01055 } +01056 close.push_back(node); +01057 } +01058 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_1" doxytag="NLPACS::CGlobalRetriever::findCollisionChains" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::findCollisionChains </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a02156.html">NLMISC::CAABBox</a> & </td> + <td class="mdname" nowrap> <em>bboxMove</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>origin</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [private]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +reset and fill cst.CollisionChains with possible collisions in bboxMove+origin. result: collisionChains, computed localy to origin. +<p> +<dl compact><dt><b><a class="el" href="todo.html#_todo000009">Todo:</a></b></dt><dd>yoyo/ben: TODO_INTERIOR: activate this and modify code below</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l01177">1177</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05583.html#l00074">NLPACS::CCollisionChain::ChainId</a>, <a class="el" href="a05583.html#l00299">NLPACS::CCollisionSurfaceTemp::CollisionChains</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a05583.html#l00078">NLPACS::CCollisionChain::ExteriorEdge</a>, <a class="el" href="a05540.html#l00282">NLPACS::CChain::getBorderChainIndex()</a>, <a class="el" href="a06338.html#l00188">NLPACS::CRetrieverInstance::getBorderChainLink()</a>, <a class="el" href="a05385.html#l00090">NLMISC::CAABBox::getCenter()</a>, <a class="el" href="a05930.html#l00391">NLPACS::CLocalRetriever::getChain()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06336.html#l00278">NLPACS::CRetrieverBank::getNamePrefix()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a06338.html#l00178">NLPACS::CRetrieverInstance::getType()</a>, <a class="el" href="a06338.html#l00065">NLPACS::CRetrieverInstance::CLink::Instance</a>, <a class="el" href="a05540.html#l00294">NLPACS::CChain::isBorderChain()</a>, <a class="el" href="a05540.html#l00288">NLPACS::CChain::isBorderChainId()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::LeftSurface</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05582.html#l00063">NLPACS::CCollisionSurfaceTemp::resetEdgeCollideNodes()</a>, <a class="el" href="a05578.html#l00069">NLPACS::CSurfaceIdent::RetrieverInstanceId</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::RightSurface</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00097">sint16</a>, <a class="el" href="a05981.html#l00099">sint32</a>, <a class="el" href="a06338.html#l00068">NLPACS::CRetrieverInstance::CLink::SurfaceId</a>, <a class="el" href="a05578.html#l00071">NLPACS::CSurfaceIdent::SurfaceId</a>, <a class="el" href="a05929.html#l01807">NLPACS::CLocalRetriever::testCollision()</a>, <a class="el" href="a06337.html#l00635">NLPACS::CRetrieverInstance::testExteriorCollision()</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02028">doMove()</a>, <a class="el" href="a05761.html#l01937">testBBoxMove()</a>, <a class="el" href="a05761.html#l02236">testBBoxRot()</a>, and <a class="el" href="a05761.html#l01864">testCylinderMove()</a>. +<p> +<div class="fragment"><pre>01178 { +01179 <span class="comment">// H_AUTO(PACS_GR_findCollisionChains);</span> +01180 +01181 <a class="code" href="a04558.html#a14">sint</a> i,j; +01182 +01183 <span class="comment">// 0. reset.</span> +01184 <span class="comment">//===========</span> +01185 <span class="comment">// reset possible chains.</span> +01186 <span class="comment">// H_BEFORE(PACS_GR_findCC_reset);</span> +01187 cst.CollisionChains.clear(); +01188 cst.resetEdgeCollideNodes(); +01189 <span class="comment">// H_AFTER(PACS_GR_findCC_reset);</span> +01190 +01191 <span class="comment">// 1. Find Instances which may hit this movement.</span> +01192 <span class="comment">//===========</span> +01193 <span class="comment">// H_BEFORE(PACS_GR_findCC_selectInstances);</span> +01194 <a class="code" href="a02156.html">CAABBox</a> bboxMoveGlobal= bboxMove; +01195 bboxMoveGlobal.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(bboxMoveGlobal.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_0">getCenter</a>()+origin); +01196 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(bboxMoveGlobal, cst); +01197 <span class="comment">// H_AFTER(PACS_GR_findCC_selectInstances);</span> +01198 <span class="comment">// \todo yoyo: TODO_INTERIOR: add interiors meshes (static/dynamic houses etc...) to this list.</span> +01199 <span class="comment">// -> done automatically with the select</span> +01200 +01201 +01202 <span class="comment">// 2. Fill CollisionChains.</span> +01203 <span class="comment">//===========</span> +01204 <span class="comment">// For each possible surface mesh, test collision.</span> +01205 <span class="keywordflow">for</span>(i=0 ; i<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionInstances.size(); i++) +01206 { +01207 <span class="comment">// H_BEFORE(PACS_GR_findCC_getAndComputeMove);</span> +01208 <span class="comment">// get retrieverInstance.</span> +01209 <a class="code" href="a04558.html#a10">sint32</a> curInstance= cst.CollisionInstances[i]; +01210 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &retrieverInstance= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(curInstance); +01211 +01212 <span class="comment">// Retrieve the localRetriever of this instance.</span> +01213 <a class="code" href="a04558.html#a10">sint32</a> localRetrieverId= retrieverInstance.getRetrieverId(); +01214 <span class="comment">// If invalid one (hole), continue.</span> +01215 <span class="keywordflow">if</span>(localRetrieverId<0) +01216 <span class="keywordflow">continue</span>; +01217 <span class="keyword">const</span> CLocalRetriever &localRetriever= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(localRetrieverId); +01218 +01219 <span class="keywordflow">if</span> (!localRetriever.isLoaded()) +01220 { +01221 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"local retriever %d in %s not loaded, findCollisionChains in this retriever aborted"</span>, localRetrieverId, <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getNamePrefix().c_str()); +01222 <span class="keywordflow">continue</span>; +01223 } +01224 +01225 <span class="comment">// get delta between startPos.instance and curInstance.</span> +01226 CVector deltaOrigin; +01227 deltaOrigin= origin - retrieverInstance.getOrigin(); +01228 +01229 <span class="comment">// compute movement relative to this localRetriever.</span> +01230 <a class="code" href="a02156.html">CAABBox</a> bboxMoveLocal= bboxMove; +01231 bboxMoveLocal.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(bboxMoveLocal.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_0">getCenter</a>()+deltaOrigin); +01232 +01233 <span class="comment">// add possible collision chains with movement.</span> +01234 <span class="comment">//================</span> +01235 <a class="code" href="a04558.html#a14">sint</a> firstCollisionChain= cst.CollisionChains.size(); +01236 CVector2f transBase(-deltaOrigin.x, -deltaOrigin.y); +01237 <span class="comment">// H_AFTER(PACS_GR_findCC_getAndComputeMove);</span> +01238 +01239 <span class="comment">// H_BEFORE(PACS_GR_findCC_testCollision);</span> +01240 <span class="comment">// Go! fill collision chains that this movement intersect.</span> +01241 localRetriever.testCollision(cst, bboxMoveLocal, transBase); +01242 <span class="comment">// if an interior, also test for external collisions</span> +01244 <span class="comment"></span> <span class="keywordflow">if</span> (retrieverInstance.getType() == CLocalRetriever::Interior) +01245 retrieverInstance.testExteriorCollision(cst, bboxMoveLocal, transBase, localRetriever); +01246 +01247 <span class="comment">// how many collision chains added? : nCollisionChain-firstCollisionChain.</span> +01248 <a class="code" href="a04558.html#a14">sint</a> nCollisionChain= cst.CollisionChains.size(); +01249 <span class="comment">// H_AFTER(PACS_GR_findCC_testCollision);</span> +01250 +01251 +01252 <span class="comment">// For all collision chains added, fill good SurfaceIdent info.</span> +01253 <span class="comment">//================</span> +01254 <span class="comment">// H_BEFORE(PACS_GR_findCC_fillSurfIdent);</span> +01255 <span class="keywordflow">for</span>(j=firstCollisionChain; j<nCollisionChain; j++) +01256 { +01257 CCollisionChain &cc= cst.CollisionChains[j]; +01258 +01259 <span class="comment">// info are already filled for exterior chains.</span> +01260 <span class="keywordflow">if</span> (cc.ExteriorEdge) +01261 <span class="keywordflow">continue</span>; +01262 +01263 <span class="comment">// LeftSurface retrieverInstance is always curInstance.</span> +01264 cc.LeftSurface.RetrieverInstanceId= curInstance; +01265 +01266 <span class="comment">// If RightSurface is not an "edgeId" ie a pointer on a neighbor surface on an other retrieverInstance.</span> +01267 <span class="keyword">const</span> CChain &originalChain= localRetriever.getChain(cc.ChainId); +01268 <span class="keywordflow">if</span>( !originalChain.isBorderChainId(cc.RightSurface.SurfaceId) ) +01269 { +01270 cc.RightSurface.RetrieverInstanceId= curInstance; +01271 } +01272 <span class="keywordflow">else</span> +01273 { +01274 <span class="comment">// we must find the surfaceIdent of the neighbor.</span> +01275 <span class="comment">// \todo yoyo: TODO_INTERIOR: this work only for zone. Must work too for houses.</span> +01276 +01277 CRetrieverInstance::CLink link; +01278 <span class="comment">// get the link to the next surface from the instance</span> +01279 link = retrieverInstance.getBorderChainLink(CChain::convertBorderChainId(cc.RightSurface.SurfaceId)); +01280 +01281 <span class="comment">// get the neighbor instanceId.</span> +01282 <a class="code" href="a04558.html#a14">sint</a> neighborInstanceId= (<a class="code" href="a04558.html#a8">sint16</a>)link.Instance; +01283 <span class="comment">// store in the current collisionChain Right.</span> +01284 cc.RightSurface.RetrieverInstanceId= neighborInstanceId; +01285 +01286 <span class="comment">// If no instance near us, this is a WALL.</span> +01287 <span class="keywordflow">if</span>(neighborInstanceId<0) +01288 { +01289 <span class="comment">// mark as a Wall.</span> +01290 cc.RightSurface.SurfaceId= -1; +01291 } +01292 <span class="keywordflow">else</span> +01293 { +01294 <span class="comment">// Get the good neighbor surfaceId.</span> +01295 cc.RightSurface.SurfaceId= (<a class="code" href="a04558.html#a8">sint16</a>)link.SurfaceId; +01296 } +01297 } +01298 +01299 <a class="code" href="a04199.html#a6">nlassert</a>(cc.LeftSurface.RetrieverInstanceId < (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()); +01300 <a class="code" href="a04199.html#a6">nlassert</a>(cc.RightSurface.RetrieverInstanceId < (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()); +01301 } +01302 <span class="comment">// H_AFTER(PACS_GR_findCC_fillSurfIdent);</span> +01303 +01304 +01305 <span class="comment">// For all collision chains added, look if they are a copy of preceding collsion chain (same Left/Right). Then delete them.</span> +01306 <span class="comment">//================</span> +01307 <span class="comment">// \todo yoyo: TODO_OPTIMIZE: this is a N² complexity.</span> +01308 <span class="comment">// H_BEFORE(PACS_GR_findCC_removeDouble);</span> +01309 <span class="keywordflow">for</span>(j=firstCollisionChain; j<nCollisionChain; j++) +01310 { +01311 <span class="keyword">const</span> CCollisionChain &cj = cst.CollisionChains[j]; +01312 +01313 <span class="keywordflow">if</span> (cj.ExteriorEdge && cj.LeftSurface.RetrieverInstanceId!=-1) +01314 <span class="keywordflow">continue</span>; +01315 +01316 <span class="comment">// test for all collisionChain inserted before.</span> +01317 <span class="keywordflow">for</span>(<a class="code" href="a04558.html#a14">sint</a> k=0; k<firstCollisionChain; k++) +01318 { +01319 <span class="keyword">const</span> CCollisionChain &ck = cst.CollisionChains[k]; +01320 +01321 <span class="keywordflow">if</span> (cj.LeftSurface.RetrieverInstanceId != cj.RightSurface.RetrieverInstanceId && +01322 cj.LeftSurface == ck.RightSurface && cj.RightSurface == ck.LeftSurface) +01323 { +01324 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instj = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(cj.LeftSurface.RetrieverInstanceId), +01325 &instk = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(ck.LeftSurface.RetrieverInstanceId); +01326 <span class="keyword">const</span> CLocalRetriever &retrj = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instj.getRetrieverId()), +01327 &retrk = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instk.getRetrieverId()); +01328 +01329 <span class="keywordflow">if</span> (!retrj.isLoaded() || !retrk.isLoaded()) +01330 { +01331 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"using not loaded retriever %d or %d in bank '%s', aborted"</span>, instj.getRetrieverId(), instk.getRetrieverId(), <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getNamePrefix().c_str()); +01332 <span class="keywordflow">continue</span>; +01333 } +01334 +01335 <a class="code" href="a04199.html#a6">nlassert</a>(retrj.getChain(cj.ChainId).isBorderChain() && retrk.getChain(ck.ChainId).isBorderChain()); +01336 +01337 <span class="keywordflow">if</span> (instj.getBorderChainLink(retrj.getChain(cj.ChainId).getBorderChainIndex()).ChainId != ck.ChainId || +01338 instk.getBorderChainLink(retrk.getChain(ck.ChainId).getBorderChainIndex()).ChainId != cj.ChainId) +01339 { +01340 <span class="keywordflow">continue</span>; +01341 } +01342 +01343 <span class="comment">// remove this jth entry.</span> +01344 <span class="comment">// by swapping with last entry. Only if not already last.</span> +01345 <span class="keywordflow">if</span>(j<nCollisionChain-1) +01346 { +01347 swap(cst.CollisionChains[j], cst.CollisionChains[nCollisionChain-1]); +01348 <span class="comment">// NB: some holes remain in cst._EdgeCollideNodes, but do not matters since reseted at </span> +01349 <span class="comment">// each collision test.</span> +01350 } +01351 +01352 <span class="comment">// pop last entry.</span> +01353 nCollisionChain--; +01354 cst.CollisionChains.resize(nCollisionChain); +01355 +01356 <span class="comment">// next entry??</span> +01357 j--; +01358 <span class="keywordflow">break</span>; +01359 } +01360 <span class="comment">/*</span> +01361 <span class="comment"> // if same surface Ident Left/Right==Left/Right or swapped Left/Right==Right/Left</span> +01362 <span class="comment"> if( cst.CollisionChains[j].sameSurfacesThan(cst.CollisionChains[k]) )</span> +01363 <span class="comment"> {</span> +01364 <span class="comment"> // remove this jth entry.</span> +01365 <span class="comment"> // by swapping with last entry. Only if not already last.</span> +01366 <span class="comment"> if(j<nCollisionChain-1)</span> +01367 <span class="comment"> {</span> +01368 <span class="comment"> swap(cst.CollisionChains[j], cst.CollisionChains[nCollisionChain-1]);</span> +01369 <span class="comment"> // NB: some holes remain in cst._EdgeCollideNodes, but do not matters since reseted at </span> +01370 <span class="comment"> // each collision test.</span> +01371 <span class="comment"> }</span> +01372 <span class="comment"></span> +01373 <span class="comment"> // pop last entry.</span> +01374 <span class="comment"> nCollisionChain--;</span> +01375 <span class="comment"> cst.CollisionChains.resize(nCollisionChain);</span> +01376 <span class="comment"></span> +01377 <span class="comment"> // next entry??</span> +01378 <span class="comment"> j--;</span> +01379 <span class="comment"> break;</span> +01380 <span class="comment"> }</span> +01381 <span class="comment">*/</span> +01382 } +01383 +01384 } +01385 <span class="comment">// H_AFTER(PACS_GR_findCC_removeDouble);</span> +01386 } +01387 +01388 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1247_1" doxytag="NLPACS::CGlobalRetriever::findPath" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::findPath </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>begin</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>end</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw1">CGlobalPath</a> & </td> + <td class="mdname" nowrap> <em>path</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a04558.html#a11">uint32</a> </td> + <td class="mdname" nowrap> <em>forbidFlags</em> = 0</td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Finds a path from a given global position to another <dl compact><dt><b><a class="el" href="todo.html#_todo000043">Todo:</a></b></dt><dd>include path width</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l01062">1062</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05761.html#l00045">AStarTicks</a>, <a class="el" href="a05762.html#l00109">CGlobalPath</a>, <a class="el" href="a05761.html#l00047">ChainTicks</a>, <a class="el" href="a05762.html#l00105">NLPACS::CGlobalRetriever::CLocalPath::End</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05761.html#l00855">findAStarPath()</a>, <a class="el" href="a05929.html#l01576">NLPACS::CLocalRetriever::findPath()</a>, <a class="el" href="a05930.html#l00391">NLPACS::CLocalRetriever::getChain()</a>, <a class="el" href="a05540.html#l00145">NLPACS::COrderedChain::getLength()</a>, <a class="el" href="a05540.html#l00279">NLPACS::CChain::getLength()</a>, <a class="el" href="a05930.html#l00381">NLPACS::CLocalRetriever::getOrderedChain()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a05540.html#l00266">NLPACS::CChain::getSubChain()</a>, <a class="el" href="a05540.html#l00263">NLPACS::CChain::getSubChains()</a>, <a class="el" href="a05540.html#l00133">NLPACS::COrderedChain::getVertices()</a>, <a class="el" href="a05762.html#l00103">NLPACS::CGlobalRetriever::CLocalPath::InstanceId</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05762.html#l00106">NLPACS::CGlobalRetriever::CLocalPath::Path</a>, <a class="el" href="a05761.html#l00046">PathTicks</a>, <a class="el" href="a05762.html#l00104">NLPACS::CGlobalRetriever::CLocalPath::Start</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05761.html#l00048">SurfTicks</a>, <a class="el" href="a05761.html#l00049">ThisAStarTicks</a>, <a class="el" href="a05761.html#l00051">ThisChainTicks</a>, <a class="el" href="a05761.html#l00050">ThisPathTicks</a>, <a class="el" href="a05761.html#l00052">ThisSurfTicks</a>, <a class="el" href="a06553.html#l00048">NLMISC::TTicks</a>, <a class="el" href="a05981.html#l00105">uint</a>, and <a class="el" href="a05981.html#l00100">uint32</a>. +<p> +<div class="fragment"><pre>01066 { +01067 +01068 vector<CRetrieverInstance::CAStarNodeAccess> astarPath; +01069 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1247_0">findAStarPath</a>(begin, end, astarPath, forbidFlags); +01070 +01071 <a class="code" href="a05378.html#a243">TTicks</a> surfStart; +01072 <a class="code" href="a05378.html#a243">TTicks</a> chainStart; +01073 +01074 <a class="code" href="a04338.html#a8">ThisChainTicks</a> = 0; +01075 <a class="code" href="a04338.html#a9">ThisSurfTicks</a> = 0; +01076 <a class="code" href="a04338.html#a7">ThisPathTicks</a> = 0; +01077 +01078 path.clear(); +01079 path.resize(astarPath.size()); +01080 +01081 <a class="code" href="a04558.html#a15">uint</a> i, j; +01082 <span class="keywordflow">for</span> (i=0; i<astarPath.size(); ++i) +01083 { +01084 chainStart = CTime::getPerformanceTime(); +01085 CLocalPath &surf = path[i]; +01086 surf.InstanceId = astarPath[i].InstanceId; +01087 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(_Instances[surf.InstanceId].getRetrieverId()); +01088 +01089 <span class="comment">// computes start point</span> +01090 <span class="keywordflow">if</span> (i == 0) +01091 { +01092 <span class="comment">// if it is the first point, just copy the begin</span> +01093 surf.Start.ULocalPosition::operator= (begin.LocalPosition); +01094 } +01095 <span class="keywordflow">else</span> +01096 { +01097 <span class="comment">// else, take the previous value and convert it in the current instance axis</span> +01098 <span class="comment">// TODO: avoid this if the instances are the same</span> +01099 CVector prev = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[path[i-1].InstanceId].getGlobalPosition(path[i-1].End.Estimation); +01100 CVector current = _Instances[surf.InstanceId].getLocalPosition(prev); +01101 surf.Start.Surface = astarPath[i].NodeId; +01102 surf.Start.Estimation = current; +01103 } +01104 +01105 <span class="comment">// computes end point</span> +01106 <span class="keywordflow">if</span> (i == astarPath.size()-1) +01107 { +01108 surf.End.ULocalPosition::operator= (end.LocalPosition); +01109 } +01110 <span class="keywordflow">else</span> +01111 { +01112 <span class="comment">// get to the middle of the chain</span> +01113 <span class="comment">// first get the chain between the 2 surfaces</span> +01114 <span class="keyword">const</span> CChain &chain = retriever.getChain(astarPath[i].ThroughChain); +01115 <span class="keywordtype">float</span> cumulLength = 0.0f, midLength=chain.getLength()*0.5f; +01116 <span class="keywordflow">for</span> (j=0; j<chain.getSubChains().size() && cumulLength<=midLength; ++j) +01117 cumulLength += retriever.getOrderedChain(chain.getSubChain(j)).getLength(); +01118 --j; +01119 <span class="keyword">const</span> COrderedChain &ochain = retriever.getOrderedChain(chain.getSubChain(j)); +01120 surf.End.Surface = astarPath[i].NodeId; +01121 { +01122 <span class="keywordflow">if</span> (ochain.getVertices().size() & 1) +01123 { +01124 surf.End.Estimation = ochain[ochain.getVertices().size()/2].unpack3f(); +01125 } +01126 <span class="keywordflow">else</span> +01127 { +01128 surf.End.Estimation = (ochain[ochain.getVertices().size()/2].unpack3f()+ +01129 ochain[ochain.getVertices().size()/2-1].unpack3f())*0.5f; +01130 } +01131 } +01132 } +01133 <a class="code" href="a04338.html#a8">ThisChainTicks</a> += (CTime::getPerformanceTime()-chainStart); +01134 +01135 surfStart = CTime::getPerformanceTime(); +01136 retriever.findPath(surf.Start, surf.End, surf.Path, _InternalCST); +01137 <a class="code" href="a04338.html#a9">ThisSurfTicks</a> += (CTime::getPerformanceTime()-surfStart); +01138 } +01139 +01140 <a class="code" href="a04338.html#a7">ThisPathTicks</a> = <a class="code" href="a04338.html#a6">ThisAStarTicks</a>+<a class="code" href="a04338.html#a8">ThisChainTicks</a>+<a class="code" href="a04338.html#a9">ThisSurfTicks</a>; +01141 <a class="code" href="a04338.html#a3">PathTicks</a> += <a class="code" href="a04338.html#a7">ThisPathTicks</a>; +01142 <a class="code" href="a04338.html#a5">SurfTicks</a> += <a class="code" href="a04338.html#a9">ThisSurfTicks</a>; +01143 <a class="code" href="a04338.html#a2">AStarTicks</a> += <a class="code" href="a04338.html#a6">ThisAStarTicks</a>; +01144 <a class="code" href="a04338.html#a4">ChainTicks</a> += <a class="code" href="a04338.html#a8">ThisChainTicks</a>; +01145 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_0" doxytag="NLPACS::CGlobalRetriever::getBBox" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a02156.html">NLMISC::CAABBox</a>& NLPACS::CGlobalRetriever::getBBox </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Gets the BBox of the global retriever. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera2">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05762.html#l00201">201</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00078">initQuadGrid()</a>. +<p> +<div class="fragment"><pre>00201 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a>; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_2" doxytag="NLPACS::CGlobalRetriever::getBorders" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::getBorders </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02156.html">NLMISC::CAABBox</a> & </td> + <td class="mdname" nowrap> <em>sbox</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>std::vector< std::pair< <a class="el" href="a02759.html">NLMISC::CLine</a>, <a class="el" href="a04558.html#a7">uint8</a> > > & </td> + <td class="mdname" nowrap> <em>edges</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Checks the retriever for errors. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera3">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00275">275</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a05583.html#l00287">NLPACS::CCollisionSurfaceTemp::EdgeChainEntries</a>, <a class="el" href="a05583.html#l00128">NLPACS::CEdgeChainEntry::EdgeEnd</a>, <a class="el" href="a05583.html#l00126">NLPACS::CEdgeChainEntry::EdgeStart</a>, <a class="el" href="a05385.html#l00090">NLMISC::CAABBox::getCenter()</a>, <a class="el" href="a05930.html#l00391">NLPACS::CLocalRetriever::getChain()</a>, <a class="el" href="a05930.html#l00500">NLPACS::CLocalRetriever::getChainQuad()</a>, <a class="el" href="a06334.html#l00172">NLPACS::CRetrievableSurface::getFlags()</a>, <a class="el" href="a05930.html#l00386">NLPACS::CLocalRetriever::getFullOrderedChain()</a>, <a class="el" href="a05930.html#l00384">NLPACS::CLocalRetriever::getFullOrderedChains()</a>, <a class="el" href="a05385.html#l00091">NLMISC::CAABBox::getHalfSize()</a>, <a class="el" href="a05540.html#l00269">NLPACS::CChain::getLeft()</a>, <a class="el" href="a05930.html#l00381">NLPACS::CLocalRetriever::getOrderedChain()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a05540.html#l00139">NLPACS::COrderedChain::getParentId()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05540.html#l00274">NLPACS::CChain::getRight()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a05540.html#l00294">NLPACS::CChain::isBorderChain()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a05583.html#l00124">NLPACS::CEdgeChainEntry::OChainId</a>, <a class="el" href="a05541.html#l00289">NLPACS::CChainQuad::selectEdges()</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05385.html#l00067">NLMISC::CAABBox::setHalfSize()</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a05981.html#l00096">uint8</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +<div class="fragment"><pre>00276 { +00277 edges.clear(); +00278 +00279 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(sbox, _InternalCST); +00280 +00281 <a class="code" href="a04558.html#a15">uint</a> inst; +00282 <span class="keywordflow">for</span> (inst=0; inst<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances.size(); ++inst) +00283 { +00284 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[inst]]; +00285 CLocalRetriever &retriever = const_cast<CLocalRetriever &>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instance.getRetrieverId())); +00286 <span class="keywordflow">if</span> (!retriever.isLoaded()) +00287 <span class="keywordflow">continue</span>; +00288 +00289 CChainQuad &chainquad = retriever.getChainQuad(); +00290 +00291 <a class="code" href="a02156.html">CAABBox</a> box; +00292 CVector origin = instance.getOrigin(); +00293 box.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(sbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_0">getCenter</a>()-origin); +00294 box.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_2">setHalfSize</a>(sbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_1">getHalfSize</a>()); +00295 chainquad.selectEdges(box, _InternalCST); +00296 +00297 <a class="code" href="a04558.html#a15">uint</a> ece; +00298 +00299 CVector dz(0.0f, 0.0f, 0.5f); +00300 <span class="keywordtype">float</span> zp = (<span class="keywordtype">float</span>)sbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_0">getCenter</a>().z; +00301 <span class="keywordflow">for</span> (ece=0; ece<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.EdgeChainEntries.size(); ++ece) +00302 { +00303 CEdgeChainEntry &entry = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.EdgeChainEntries[ece]; +00304 +00305 <span class="comment">//</span> +00306 <span class="keyword">const</span> CChain &fchain = retriever.getChain(retriever.getOrderedChain(entry.OChainId).getParentId()); +00307 <a class="code" href="a04558.html#a7">uint8</a> chainType = (fchain.getRight() >= 0 ? 1 : (fchain.isBorderChain() ? 2 : 0)); +00308 +00309 <span class="comment">//</span> +00310 <span class="keywordflow">if</span> (chainType == 1) +00311 { +00312 <a class="code" href="a04558.html#a15">uint</a> left = fchain.getLeft(); +00313 <a class="code" href="a04558.html#a15">uint</a> right = fchain.getRight(); +00314 +00315 <span class="keyword">const</span> CRetrievableSurface &lsurface = retriever.getSurface(left); +00316 <span class="keyword">const</span> CRetrievableSurface &rsurface = retriever.getSurface(right); +00317 +00318 <span class="keywordtype">bool</span> luw = (lsurface.getFlags() & (1 << CRetrievableSurface::IsUnderWaterBit)) != 0; +00319 <span class="keywordtype">bool</span> ruw = (rsurface.getFlags() & (1 << CRetrievableSurface::IsUnderWaterBit)) != 0; +00320 +00321 <span class="keywordflow">if</span> (luw && !ruw || !luw && ruw) +00322 chainType = 3; +00323 } +00324 +00325 <span class="keywordflow">if</span> (retriever.getFullOrderedChains().size() > 0) +00326 { +00327 <span class="keyword">const</span> COrderedChain3f &ochain = retriever.getFullOrderedChain(entry.OChainId); +00328 +00329 <a class="code" href="a04558.html#a15">uint</a> edge; +00330 <span class="keywordflow">for</span> (edge=entry.EdgeStart; edge<entry.EdgeEnd; ++edge) +00331 { +00332 edges.push_back(make_pair(<a class="code" href="a02759.html">CLine</a>(), chainType)); +00333 edges.back().first.V0 = ochain[edge] + origin; +00334 edges.back().first.V1 = ochain[edge+1] + origin; +00335 <span class="comment">/*</span> +00336 <span class="comment"> edges.push_back(make_pair(CLine(), chainType));</span> +00337 <span class="comment"> edges.back().first.V0 = ochain[edge] + origin;</span> +00338 <span class="comment"> edges.back().first.V1 = ochain[edge] + origin +dz;</span> +00339 <span class="comment"></span> +00340 <span class="comment"> edges.push_back(make_pair(CLine(), chainType));</span> +00341 <span class="comment"> edges.back().first.V0 = ochain[edge+1] + origin;</span> +00342 <span class="comment"> edges.back().first.V1 = ochain[edge+1] + origin +dz;</span> +00343 <span class="comment">*/</span> +00344 } +00345 } +00346 <span class="keywordflow">else</span> +00347 { +00348 <span class="keyword">const</span> COrderedChain &ochain = retriever.getOrderedChain(entry.OChainId); +00349 +00350 <a class="code" href="a04558.html#a15">uint</a> edge; +00351 <span class="keywordflow">for</span> (edge=entry.EdgeStart; edge<entry.EdgeEnd; ++edge) +00352 { +00353 edges.push_back(make_pair(<a class="code" href="a02759.html">CLine</a>(), chainType)); +00354 edges.back().first.V0 = ochain[edge].unpack3f() + origin; +00355 edges.back().first.V0.z = zp; +00356 edges.back().first.V1 = ochain[edge+1].unpack3f() + origin; +00357 edges.back().first.V1.z = zp; +00358 } +00359 } +00360 } +00361 } +00362 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_3" doxytag="NLPACS::CGlobalRetriever::getBorders" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::getBorders </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>pos</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>std::vector< std::pair< <a class="el" href="a02759.html">NLMISC::CLine</a>, <a class="el" href="a04558.html#a7">uint8</a> > > & </td> + <td class="mdname" nowrap> <em>edges</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Checks the retriever for errors. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera4">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00260">260</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00840">getDoubleGlobalPosition()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, and <a class="el" href="a05385.html#l00067">NLMISC::CAABBox::setHalfSize()</a>. +<p> +<div class="fragment"><pre>00261 { +00262 edges.clear(); +00263 +00264 <span class="keywordflow">if</span> (pos.InstanceId < 0) +00265 <span class="keywordflow">return</span>; +00266 +00267 <a class="code" href="a03664.html">CVectorD</a> gpos = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_1">getDoubleGlobalPosition</a>(pos); +00268 <a class="code" href="a02156.html">CAABBox</a> sbox; +00269 sbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(gpos); +00270 sbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_2">setHalfSize</a>(CVector(50.0f, 50.0f, 100.0f)); +00271 +00272 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_3">getBorders</a>(sbox, edges); +00273 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_1" doxytag="NLPACS::CGlobalRetriever::getDoubleGlobalPosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a03664.html">CVectorD</a> NLPACS::CGlobalRetriever::getDoubleGlobalPosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>global</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Converts a global position object into a 'human-readable' CVector (double instead.). +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera5">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00840">840</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, and <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02028">doMove()</a>, <a class="el" href="a05761.html#l00260">getBorders()</a>, <a class="el" href="a06208.html#l00435">NLPACS::CPrimitiveWorldImage::CPosition::setGlobalPos()</a>, and <a class="el" href="a06208.html#l00445">NLPACS::CPrimitiveWorldImage::CPosition::setGlobalPosKeepZ()</a>. +<p> +<div class="fragment"><pre>00841 { +00842 <span class="keywordflow">if</span> (global.InstanceId >= 0) +00843 { +00844 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[global.InstanceId].getDoubleGlobalPosition(global.LocalPosition.Estimation); +00845 } +00846 <span class="keywordflow">else</span> +00847 { +00848 <span class="comment">// it should be an error here</span> +00849 <span class="keywordflow">return</span> <a class="code" href="a03664.html">CVectorD</a>(global.LocalPosition.Estimation); +00850 } +00851 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_2" doxytag="NLPACS::CGlobalRetriever::getGlobalPosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a03128.html">CVector</a> NLPACS::CGlobalRetriever::getGlobalPosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>global</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Converts a global position object into a 'human-readable' CVector. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera6">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00827">827</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, and <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00855">findAStarPath()</a>. +<p> +<div class="fragment"><pre>00828 { +00829 <span class="keywordflow">if</span> (global.InstanceId >= 0) +00830 { +00831 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[global.InstanceId].getGlobalPosition(global.LocalPosition.Estimation); +00832 } +00833 <span class="keywordflow">else</span> +00834 { +00835 <span class="comment">// it should be an error here</span> +00836 <span class="keywordflow">return</span> global.LocalPosition.Estimation; +00837 } +00838 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_3" doxytag="NLPACS::CGlobalRetriever::getIdentifier" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const string & NLPACS::CGlobalRetriever::getIdentifier </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>position</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Get the identifier of the global position. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera7">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00746">746</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05930.html#l00419">NLPACS::CLocalRetriever::getIdentifier()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, and <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>. +<p> +<div class="fragment"><pre>00747 { +00748 <span class="keyword">static</span> <span class="keyword">const</span> string nullString = string(<span class="stringliteral">""</span>); +00749 +00750 <span class="keywordflow">if</span> (position.InstanceId == -1) +00751 <span class="keywordflow">return</span> nullString; +00752 +00753 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[position.InstanceId].getRetrieverId()).getIdentifier(); +00754 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_4" doxytag="NLPACS::CGlobalRetriever::getIdentifier" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a04558.html#a10">sint32</a> NLPACS::CGlobalRetriever::getIdentifier </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const std::string & </td> + <td class="mdname1" valign="top" nowrap> <em>id</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Return the retriever id from the string id. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera8">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00736">736</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05930.html#l00419">NLPACS::CLocalRetriever::getIdentifier()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06336.html#l00076">NLPACS::CRetrieverBank::getRetrievers()</a>, and <a class="el" href="a05981.html#l00099">sint32</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00766">buildInstance()</a>. +<p> +<div class="fragment"><pre>00737 { +00738 <a class="code" href="a04558.html#a10">sint32</a> i; +00739 <span class="keywordflow">for</span> (i=0; i<(<a class="code" href="a04558.html#a10">sint32</a>)(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetrievers().size()); ++i) +00740 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(i).getIdentifier() == <span class="keywordtype">id</span>) +00741 <span class="keywordflow">return</span> i; +00742 +00743 <span class="keywordflow">return</span> -1; +00744 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_1" doxytag="NLPACS::CGlobalRetriever::getInstance" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a03333.html">CRetrieverInstance</a>& NLPACS::CGlobalRetriever::getInstance </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a04558.html#a15">uint</a> </td> + <td class="mdname1" valign="top" nowrap> <em>id</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Gets the retriever instance referred by its id. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00208">208</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05981.html#l00105">uint</a>. +<p> +Referenced by <a class="el" href="a05666.html#l00130">NLPACS::CEdgeQuad::build()</a>, <a class="el" href="a05761.html#l02028">doMove()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05761.html#l02421">getMeanHeight()</a>, <a class="el" href="a05761.html#l01159">getSurfaceById()</a>, <a class="el" href="a05761.html#l01937">testBBoxMove()</a>, <a class="el" href="a05761.html#l02236">testBBoxRot()</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, <a class="el" href="a05761.html#l01864">testCylinderMove()</a>, and <a class="el" href="a05761.html#l01649">testMovementWithCollisionChains()</a>. +<p> +<div class="fragment"><pre>00208 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_4" doxytag="NLPACS::CGlobalRetriever::getInstanceFullAccess" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a03333.html">CRetrieverInstance</a>& NLPACS::CGlobalRetriever::getInstanceFullAccess </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a04558.html#a15">uint</a> </td> + <td class="mdname1" valign="top" nowrap> <em>id</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap><code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Gets the instance by its id, with full read/write access. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00363">363</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05981.html#l00105">uint</a>. +<p> +<div class="fragment"><pre>00363 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_2" doxytag="NLPACS::CGlobalRetriever::getInstances" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const std::vector<<a class="el" href="a03333.html">CRetrieverInstance</a>>& NLPACS::CGlobalRetriever::getInstances </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Gets the vector of retriever instances that compose the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00205">205</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +<div class="fragment"><pre>00205 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverb0" doxytag="NLPACS::CGlobalRetriever::getInternalCST" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02387.html">CCollisionSurfaceTemp</a>& NLPACS::CGlobalRetriever::getInternalCST </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, protected]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00523">523</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>. +<p> +Referenced by <a class="el" href="a06337.html#l00139">NLPACS::CRetrieverInstance::initEdgeQuad()</a>. +<p> +<div class="fragment"><pre>00523 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_5" doxytag="NLPACS::CGlobalRetriever::getLocalRetrieverId" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a04558.html#a10">sint32</a> NLPACS::CGlobalRetriever::getLocalRetrieverId </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>position</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Get the LocalRetrieverId of the global position. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera9">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00756">756</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, and <a class="el" href="a05981.html#l00099">sint32</a>. +<p> +<div class="fragment"><pre>00757 { +00758 <span class="keywordflow">if</span> (position.InstanceId == -1) +00759 <span class="keywordflow">return</span> -1; +00760 +00761 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[position.InstanceId].getRetrieverId(); +00762 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_3" doxytag="NLPACS::CGlobalRetriever::getMaterial" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a04558.html#a11">uint32</a> NLPACS::CGlobalRetriever::getMaterial </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Get the material at this position. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera10">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05762.html#l00224">224</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a06334.html#l00164">NLPACS::CRetrievableSurface::getMaterial()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a05930.html#l00399">NLPACS::CLocalRetriever::getSurfaces()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, and <a class="el" href="a05981.html#l00100">uint32</a>. +<p> +<div class="fragment"><pre>00225 { +00226 <span class="keywordflow">if</span> (pos.InstanceId < 0 || pos.InstanceId >= (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00227 <span class="keywordflow">return</span> 0xFFFFFFFF; +00228 +00229 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[pos.InstanceId]; +00230 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instance.getRetrieverId()); +00231 +00232 <span class="keywordflow">if</span> (!retriever.isLoaded() || pos.LocalPosition.Surface < 0 || pos.LocalPosition.Surface >= (<a class="code" href="a04558.html#a14">sint</a>)retriever.getSurfaces().size()) +00233 <span class="keywordflow">return</span> 0xFFFFFFFF; +00234 +00235 <span class="keywordflow">return</span> retriever.getSurface(pos.LocalPosition.Surface).getMaterial(); +00236 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_1" doxytag="NLPACS::CGlobalRetriever::getMeanHeight" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> float NLPACS::CGlobalRetriever::getMeanHeight </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +return the mean height of the surface under pos.. +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera11">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l02421">2421</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05929.html#l01479">NLPACS::CLocalRetriever::getHeight()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +Referenced by <a class="el" href="a06208.html#l00435">NLPACS::CPrimitiveWorldImage::CPosition::setGlobalPos()</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, <a class="el" href="a05761.html#l01649">testMovementWithCollisionChains()</a>, and <a class="el" href="a05762.html#l00461">updateHeight()</a>. +<p> +<div class="fragment"><pre>02422 { +02423 <span class="comment">// for wrong positions, leave it unchanged</span> +02424 <span class="keywordflow">if</span> ((pos.InstanceId==-1)||(pos.LocalPosition.Surface==-1)) +02425 <span class="keywordflow">return</span> pos.LocalPosition.Estimation.z; +02426 +02427 <span class="comment">// get instance/localretriever.</span> +02428 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(pos.InstanceId); +02429 <span class="keyword">const</span> CLocalRetriever &retriever= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +02430 +02431 <span class="keywordflow">if</span> (!retriever.isLoaded()) +02432 <span class="keywordflow">return</span> pos.LocalPosition.Estimation.z; +02433 +02434 <span class="comment">// return height from local retriever</span> +02435 <span class="keywordflow">return</span> retriever.getHeight(pos.LocalPosition); +02436 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1249_0" doxytag="NLPACS::CGlobalRetriever::getNode" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a03335.html">CRetrieverInstance::CAStarNodeInfo</a>& NLPACS::CGlobalRetriever::getNode </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a03334.html">CRetrieverInstance::CAStarNodeAccess</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>access</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, private]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Gets the CAStarNodeInfo referred by its access. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00484">484</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a06338.html#l00086">NLPACS::CRetrieverInstance::CAStarNodeAccess::InstanceId</a>, and <a class="el" href="a06338.html#l00087">NLPACS::CRetrieverInstance::CAStarNodeAccess::NodeId</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00855">findAStarPath()</a>. +<p> +<div class="fragment"><pre>00485 { +00486 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[access.InstanceId]._NodesInformation[access.NodeId]; +00487 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_4" doxytag="NLPACS::CGlobalRetriever::getRetriever" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a02787.html">CLocalRetriever</a>& NLPACS::CGlobalRetriever::getRetriever </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a04558.html#a11">uint32</a> </td> + <td class="mdname1" valign="top" nowrap> <em>id</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Get the local retriever. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00220">220</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, and <a class="el" href="a05981.html#l00100">uint32</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00153">check()</a>, <a class="el" href="a05761.html#l00252">distanceToBorder()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05761.html#l00275">getBorders()</a>, <a class="el" href="a05761.html#l00736">getIdentifier()</a>, <a class="el" href="a05762.html#l00224">getMaterial()</a>, <a class="el" href="a06337.html#l00139">NLPACS::CRetrieverInstance::initEdgeQuad()</a>, <a class="el" href="a05761.html#l00088">initRetrieveTable()</a>, <a class="el" href="a05762.html#l00295">insurePosition()</a>, <a class="el" href="a05762.html#l00248">isWaterPosition()</a>, <a class="el" href="a06337.html#l00152">NLPACS::CRetrieverInstance::linkEdgeQuad()</a>, <a class="el" href="a05761.html#l00430">makeInstance()</a>, <a class="el" href="a05761.html#l00367">makeLinks()</a>, and <a class="el" href="a05762.html#l00305">testPosition()</a>. +<p> +<div class="fragment"><pre>00220 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(<span class="keywordtype">id</span>); } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_5" doxytag="NLPACS::CGlobalRetriever::getRetrieverBank" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a03331.html">CRetrieverBank</a>* NLPACS::CGlobalRetriever::getRetrieverBank </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Get the retriever bank associated to this global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00217">217</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>. +<p> +<div class="fragment"><pre>00217 { <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_2" doxytag="NLPACS::CGlobalRetriever::getSurfaceById" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a03328.html">NLPACS::CRetrievableSurface</a> * NLPACS::CGlobalRetriever::getSurfaceById </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03462.html">CSurfaceIdent</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>surfId</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +retrieve a surface by its Id. NULL if not found or if -1. +<p> +Definition at line <a class="el" href="a05761.html#l01159">1159</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a05930.html#l00399">NLPACS::CLocalRetriever::getSurfaces()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a05578.html#l00069">NLPACS::CSurfaceIdent::RetrieverInstanceId</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00099">sint32</a>, and <a class="el" href="a05578.html#l00071">NLPACS::CSurfaceIdent::SurfaceId</a>. +<p> +Referenced by <a class="el" href="a05761.html#l01623">verticalChain()</a>. +<p> +<div class="fragment"><pre>01160 { +01161 <span class="keywordflow">if</span>(surfId.RetrieverInstanceId>=0 && surfId.SurfaceId>=0) +01162 { +01163 <a class="code" href="a04558.html#a10">sint32</a> locRetId= this-><a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(surfId.RetrieverInstanceId).getRetrieverId(); +01164 <span class="keyword">const</span> CLocalRetriever &retr = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(locRetId); +01165 <span class="keywordflow">if</span> (!retr.isLoaded() || surfId.SurfaceId >= (<a class="code" href="a04558.html#a14">sint</a>)retr.getSurfaces().size()) +01166 <span class="keywordflow">return</span> NULL; +01167 <span class="keyword">const</span> CRetrievableSurface &surf= retr.getSurface(surfId.SurfaceId); +01168 <span class="keywordflow">return</span> &surf; +01169 } +01170 <span class="keywordflow">else</span> +01171 <span class="keywordflow">return</span> NULL; +01172 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1235_1" doxytag="NLPACS::CGlobalRetriever::init" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::init </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Setup an empty global retriever. +<p> + </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_5" doxytag="NLPACS::CGlobalRetriever::initAll" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::initAll </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">bool </td> + <td class="mdname1" valign="top" nowrap> <em>initInstances</em> = true </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Inits all the instances inside the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00414">414</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a05761.html#l00078">initQuadGrid()</a>, <a class="el" href="a05761.html#l00088">initRetrieveTable()</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02382">NLPACS::UGlobalRetriever::createGlobalRetriever()</a>, and <a class="el" href="a05761.html#l00136">serial()</a>. +<p> +<div class="fragment"><pre>00415 { +00416 <span class="keywordflow">if</span> (initInstances) +00417 { +00418 <a class="code" href="a04558.html#a15">uint</a> n; +00419 <span class="keywordflow">for</span> (n=0; n<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size(); ++n) +00420 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[n].getInstanceId() != -1 && <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[n].getRetrieverId() != -1) +00421 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[n].init(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(_Instances[n].getRetrieverId())); +00422 } +00423 +00424 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_2">initQuadGrid</a>(); +00425 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1235_3">initRetrieveTable</a>(); +00426 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1235_2" doxytag="NLPACS::CGlobalRetriever::initQuadGrid" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::initQuadGrid </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Fill the quadgrid with the instances. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00078">78</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00162">_InstanceGrid</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1268_0">NLPACS::CQuadGrid< uint32 >::clear()</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1266_1">NLPACS::CQuadGrid< uint32 >::create()</a>, <a class="el" href="a05762.html#l00201">getBBox()</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1268_2">NLPACS::CQuadGrid< uint32 >::insert()</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00414">initAll()</a>. +<p> +<div class="fragment"><pre>00079 { +00080 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.clear(); +00081 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.create(128, 160.0f); +00082 +00083 <a class="code" href="a04558.html#a15">uint</a> i; +00084 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size(); ++i) +00085 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.insert(_Instances[i].<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_0">getBBox</a>().getMin(), _Instances[i].<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_0">getBBox</a>().getMax(), i); +00086 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1235_3" doxytag="NLPACS::CGlobalRetriever::initRetrieveTable" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::initRetrieveTable </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Init the retrieve table. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00088">88</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00151">_RetrieveTable</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a05930.html#l00399">NLPACS::CLocalRetriever::getSurfaces()</a>, <a class="el" href="a05646.html#l00645">size</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00414">initAll()</a>. +<p> +<div class="fragment"><pre>00089 { +00090 <a class="code" href="a04558.html#a15">uint</a> i; +00091 <a class="code" href="a04558.html#a15">uint</a> <a class="code" href="a04223.html#a587">size</a> = 0; +00092 +00093 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size(); ++i) +00094 { +00095 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[i].getInstanceId() != -1 && <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[i].getRetrieverId() != -1) +00096 { +00097 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[i].getRetrieverId()); +00098 <a class="code" href="a04223.html#a587">size</a> = std::max((<a class="code" href="a04558.html#a15">uint</a>)retriever.getSurfaces().size(), <a class="code" href="a04223.html#a587">size</a>); +00099 } +00100 } +00101 +00102 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr1">_RetrieveTable</a>.resize(size); +00103 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a04223.html#a587">size</a>; ++i) +00104 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr1">_RetrieveTable</a>[i] = 0; +00105 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_6" doxytag="NLPACS::CGlobalRetriever::insurePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::insurePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Insure position inside surface. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera12">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05762.html#l00295">295</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a05929.html#l00960">NLPACS::CLocalRetriever::insurePosition()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, and <a class="el" href="a05981.html#l00104">sint</a>. +<p> +<div class="fragment"><pre>00296 { +00297 <span class="keywordflow">if</span> (pos.InstanceId < 0 || pos.InstanceId >= (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00298 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00299 +00300 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(_Instances[pos.InstanceId].getRetrieverId()); +00301 <span class="keywordflow">return</span> retriever.insurePosition(pos.LocalPosition); +00302 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_6" doxytag="NLPACS::CGlobalRetriever::isInterior" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::isInterior </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Test if the position is an interior. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera13">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05762.html#l00239">239</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, and <a class="el" href="a05981.html#l00104">sint</a>. +<p> +<div class="fragment"><pre>00240 { +00241 <span class="keywordflow">if</span> (pos.InstanceId < 0 || pos.InstanceId >= (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00242 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00243 +00244 <span class="keywordflow">return</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[pos.InstanceId].getType() == CLocalRetriever::Interior); +00245 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_7" doxytag="NLPACS::CGlobalRetriever::isWaterPosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::isWaterPosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>pos</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float & </td> + <td class="mdname" nowrap> <em>waterHeight</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Test if the position is in water. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera14">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05762.html#l00248">248</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a06334.html#l00172">NLPACS::CRetrievableSurface::getFlags()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a06334.html#l00173">NLPACS::CRetrievableSurface::getWaterHeight()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05981.html#l00104">sint</a>, and <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>. +<p> +<div class="fragment"><pre>00249 { +00250 <span class="keywordflow">if</span> (pos.InstanceId < 0 || pos.InstanceId >= (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00251 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00252 +00253 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[pos.InstanceId]; +00254 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instance.getRetrieverId()); +00255 +00256 <span class="keywordflow">if</span> (!retriever.isLoaded()) +00257 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00258 +00259 <span class="keyword">const</span> CRetrievableSurface &surface = retriever.getSurface(pos.LocalPosition.Surface); +00260 +00261 waterHeight = surface.getWaterHeight(); +00262 +00263 <span class="keywordflow">return</span> (surface.getFlags() & (1 << CRetrievableSurface::IsUnderWaterBit)) != 0; +00264 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_6" doxytag="NLPACS::CGlobalRetriever::makeAllLinks" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::makeAllLinks </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Links all the instances inside the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00405">405</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00367">makeLinks()</a>, <a class="el" href="a05761.html#l00397">resetAllLinks()</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +<div class="fragment"><pre>00406 { +00407 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_9">resetAllLinks</a>(); +00408 +00409 <a class="code" href="a04558.html#a15">uint</a> n; +00410 <span class="keywordflow">for</span> (n=0; n<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size(); ++n) +00411 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_8">makeLinks</a>(n); +00412 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_7" doxytag="NLPACS::CGlobalRetriever::makeInstance" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a03333.html">NLPACS::CRetrieverInstance</a> & NLPACS::CGlobalRetriever::makeInstance </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a04558.html#a11">uint32</a> </td> + <td class="mdname" nowrap> <em>retriever</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a04558.html#a7">uint8</a> </td> + <td class="mdname" nowrap> <em>orientation</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>origin</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Creates an instance of local retriever at the origine position with the given orientation. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00430">430</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00162">_InstanceGrid</a>, <a class="el" href="a05762.html#l00151">_RetrieveTable</a>, <a class="el" href="a05384.html#l00215">NLMISC::CAABBox::extend()</a>, <a class="el" href="a06338.html#l00220">NLPACS::CRetrieverInstance::getBBox()</a>, <a class="el" href="a05385.html#l00091">NLMISC::CAABBox::getHalfSize()</a>, <a class="el" href="a06338.html#l00170">NLPACS::CRetrieverInstance::getInstanceId()</a>, <a class="el" href="a05385.html#l00087">NLMISC::CAABBox::getMax()</a>, <a class="el" href="a05385.html#l00086">NLMISC::CAABBox::getMin()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00399">NLPACS::CLocalRetriever::getSurfaces()</a>, <a class="el" href="a05930.html#l00404">NLPACS::CLocalRetriever::getType()</a>, <a class="el" href="a06337.html#l00139">NLPACS::CRetrieverInstance::initEdgeQuad()</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1268_2">NLPACS::CQuadGrid< uint32 >::insert()</a>, <a class="el" href="a06337.html#l00109">NLPACS::CRetrieverInstance::make()</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a05981.html#l00100">uint32</a>, <a class="el" href="a05981.html#l00096">uint8</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00766">buildInstance()</a>. +<p> +<div class="fragment"><pre>00431 { +00432 <a class="code" href="a04558.html#a15">uint</a> <span class="keywordtype">id</span>; +00433 <span class="keywordflow">for</span> (<span class="keywordtype">id</span>=0; <span class="keywordtype">id</span><<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size() && <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>].getInstanceId()!=-1; ++<span class="keywordtype">id</span>) +00434 ; +00435 +00436 <span class="keywordflow">if</span> (<span class="keywordtype">id</span> == <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00437 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.resize(<span class="keywordtype">id</span>+1); +00438 +00439 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; +00440 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(retrieverId); +00441 +00442 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr1">_RetrieveTable</a>.size() < retriever.getSurfaces().size()) +00443 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr1">_RetrieveTable</a>.resize(retriever.getSurfaces().size(), 0); +00444 +00445 instance.make(<span class="keywordtype">id</span>, retrieverId, retriever, orientation, origin); +00446 +00447 CVector hsize = instance.getBBox().getHalfSize(); +00448 hsize.z = 0.0f; +00449 <span class="keywordflow">if</span> (hsize != CVector::Null) +00450 { +00451 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a>.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_1">getHalfSize</a>() == CVector::Null) +00452 { +00453 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a> = instance.getBBox(); +00454 } +00455 <span class="keywordflow">else</span> +00456 { +00457 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a>.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(instance.getBBox().getMin()); +00458 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a>.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(instance.getBBox().getMax()); +00459 } +00460 +00461 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instance.getRetrieverId()).getType() == CLocalRetriever::Interior) +00462 instance.initEdgeQuad(*<span class="keyword">this</span>); +00463 +00464 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.insert(instance.getBBox().getMin(), instance.getBBox().getMax(), instance.getInstanceId()); +00465 } +00466 +00467 <span class="keywordflow">return</span> instance; +00468 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_8" doxytag="NLPACS::CGlobalRetriever::makeLinks" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::makeLinks </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a04558.html#a15">uint</a> </td> + <td class="mdname1" valign="top" nowrap> <em>n</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Links the instance referred by its id to its neighbors. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00367">367</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a06338.html#l00220">NLPACS::CRetrieverInstance::getBBox()</a>, <a class="el" href="a06338.html#l00170">NLPACS::CRetrieverInstance::getInstanceId()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a06336.html#l00076">NLPACS::CRetrieverBank::getRetrievers()</a>, <a class="el" href="a05930.html#l00404">NLPACS::CLocalRetriever::getType()</a>, <a class="el" href="a06337.html#l00194">NLPACS::CRetrieverInstance::link()</a>, <a class="el" href="a06337.html#l00152">NLPACS::CRetrieverInstance::linkEdgeQuad()</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00766">buildInstance()</a>, and <a class="el" href="a05761.html#l00405">makeAllLinks()</a>. +<p> +<div class="fragment"><pre>00368 { +00369 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[n]; +00370 +00371 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(instance.getBBox(), <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>); +00372 +00373 <a class="code" href="a04558.html#a15">uint</a> i; +00374 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances.size(); ++i) +00375 { +00376 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &neighbor = _Instances[<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[i]]; +00377 +00378 <span class="keywordflow">if</span> (neighbor.getInstanceId() == instance.getInstanceId()) +00379 <span class="keywordflow">continue</span>; +00380 +00381 <span class="keywordflow">try</span> +00382 { +00383 instance.link(neighbor, <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetrievers()); +00384 neighbor.link(instance, <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetrievers()); +00385 } +00386 <span class="keywordflow">catch</span> (<a class="code" href="a02482.html">Exception</a> &e) +00387 { +00388 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"in NLPACS::CGlobalRetriever::makeLinks()"</span>); +00389 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"caught an exception during linkage of %d and %d: %s"</span>, instance.getInstanceId(), neighbor.getInstanceId(), e.what()); +00390 } +00391 } +00392 +00393 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instance.getRetrieverId()).getType() == CLocalRetriever::Interior) +00394 instance.linkEdgeQuad(*<span class="keyword">this</span>); +00395 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1243_0" doxytag="NLPACS::CGlobalRetriever::refreshLrAround" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::refreshLrAround </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>position</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float </td> + <td class="mdname" nowrap> <em>radius</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Refresh loaded retrievers around a position (one retriever is loaded at a time) +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera15">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l02448">2448</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05762.html#l00144">_LrLoaderList</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06336.html#l00284">NLPACS::CRetrieverBank::allLoaded()</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a05762.html#l00119">NLPACS::CGlobalRetriever::CLrLoader::Finished</a>, <a class="el" href="a06336.html#l00278">NLPACS::CRetrieverBank::getNamePrefix()</a>, <a class="el" href="a05646.html#l01122">in</a>, <a class="el" href="a05762.html#l00125">NLPACS::CGlobalRetriever::CLrLoader::LoadFile</a>, <a class="el" href="a05762.html#l00123">NLPACS::CGlobalRetriever::CLrLoader::LrId</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05622.html#l00111">nlinfo</a>, <a class="el" href="a04338.html#a0">NLPACS_HAUTO_REFRESH_LR_AROUND</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05385.html#l00067">NLMISC::CAABBox::setHalfSize()</a>, <a class="el" href="a06229.html#l02652">NLMISC::toString()</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +<div class="fragment"><pre>02449 { +02450 <a class="code" href="a04338.html#a0">NLPACS_HAUTO_REFRESH_LR_AROUND</a> +02451 +02452 <span class="comment">// check if retriever bank is all loaded, and if yes don't refresh it</span> +02453 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->allLoaded()) +02454 <span class="keywordflow">return</span>; +02455 +02456 std::list<CLrLoader>::iterator ite = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.begin(); +02457 <span class="keywordflow">while</span> (ite != <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.end()) +02458 { +02459 <span class="comment">// Finished loaded a lr, stream it into rbank</span> +02460 <span class="keywordflow">if</span> (ite->Finished && ite->Successful) +02461 { +02462 <span class="keywordflow">if</span> (!ite->_Buffer.isReading()) +02463 ite->_Buffer.invert(); +02464 +02465 ite->_Buffer.resetBufPos(); +02466 +02467 <span class="comment">// NLMEMORY::CheckHeap (true);</span> +02468 +02469 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->loadRetriever(ite->LrId, ite->_Buffer); +02470 +02471 <span class="comment">// NLMEMORY::CheckHeap (true);</span> +02472 +02473 ite->_Buffer.clear(); +02474 +02475 <span class="comment">// NLMEMORY::CheckHeap (true);</span> +02476 +02477 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"Lr '%s' loading task complete"</span>, ite->LoadFile.c_str()); +02478 +02479 <span class="comment">// Remove this entry</span> +02480 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.erase (ite); +02481 +02482 <span class="keywordflow">break</span>; +02483 } +02484 +02485 <span class="comment">// Next lr</span> +02486 ite++; +02487 } +02488 +02489 <a class="code" href="a02156.html">CAABBox</a> box; +02490 box.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(position); +02491 box.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_2">setHalfSize</a>(CVector(radius, radius, 1000.0f)); +02492 +02493 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(box, _InternalCST); +02494 +02495 set<uint> newlr, <a class="code" href="a04223.html#a647">in</a>, out; +02496 map<uint, CVector> lrPosition; +02497 +02498 <a class="code" href="a04558.html#a15">uint</a> i; +02499 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances.size(); ++i) +02500 { +02501 <a class="code" href="a04558.html#a15">uint</a> lrId = (<a class="code" href="a04558.html#a15">uint</a>)(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[i]].getRetrieverId()); +02502 newlr.insert(lrId); +02503 lrPosition.insert (map<uint, CVector>::value_type(lrId, _Instances[<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[i]].getBBox().getCenter())); +02504 } +02505 +02506 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->diff(newlr, in, out); +02507 +02508 set<uint>::iterator it; +02509 +02510 <span class="comment">// unload all possible retrievers</span> +02511 <span class="keywordflow">for</span> (it=out.begin(); it!=out.end(); ++it) +02512 { +02513 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->unloadRetriever(*it); +02514 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"Freed Lr '%s'"</span>, (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getNamePrefix() + <span class="stringliteral">"_"</span> + <a class="code" href="a05378.html#a244">toString</a>(*it) + <span class="stringliteral">".lr"</span>).c_str()); +02515 } +02516 +02517 <span class="comment">// if load task idle and more lr to load, setup load task</span> +02518 set<uint>::iterator iteIn = <a class="code" href="a04223.html#a647">in</a>.begin(); +02519 <span class="keywordflow">while</span> (iteIn != <a class="code" href="a04223.html#a647">in</a>.end()) +02520 { +02521 <span class="comment">// Already exist ?</span> +02522 ite = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.begin(); +02523 <span class="keywordflow">while</span> (ite != <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.end()) +02524 { +02525 <span class="keywordflow">if</span> (ite->LrId == *iteIn) +02526 <span class="keywordflow">break</span>; +02527 +02528 ite++; +02529 } +02530 +02531 <span class="comment">// Not found ?</span> +02532 <span class="keywordflow">if</span> (ite == <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.end()) +02533 { +02534 <span class="comment">// Get the position fot this LR</span> +02535 map<uint, CVector>::iterator iteLR = lrPosition.find(*iteIn); +02536 <a class="code" href="a04199.html#a6">nlassert</a> (iteLR != lrPosition.end()); +02537 +02538 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.push_back (CLrLoader (iteLR->second)); +02539 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern0">CLrLoader</a> &loader = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.back(); +02540 loader.Finished = <span class="keyword">false</span>; +02541 loader.LrId = *iteIn; +02542 loader.LoadFile = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getNamePrefix() + <span class="stringliteral">"_"</span> + <a class="code" href="a05378.html#a244">toString</a>(loader.LrId) + <span class="stringliteral">".lr"</span>; +02543 +02544 CAsyncFileManager::getInstance().addLoadTask(&loader); +02545 +02546 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"Lr '%s' added to load"</span>, loader.LoadFile.c_str()); +02547 } +02548 +02549 <span class="comment">// Next lr to load</span> +02550 iteIn++; +02551 } +02552 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1243_1" doxytag="NLPACS::CGlobalRetriever::refreshLrAroundNow" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::refreshLrAroundNow </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>position</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float </td> + <td class="mdname" nowrap> <em>radius</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Refresh loaded retrievers around a position (all retrievers are updated at this time -- used at startup) +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera16">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l02554">2554</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05762.html#l00144">_LrLoaderList</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a06336.html#l00284">NLPACS::CRetrieverBank::allLoaded()</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a06336.html#l00278">NLPACS::CRetrieverBank::getNamePrefix()</a>, <a class="el" href="a05646.html#l01122">in</a>, <a class="el" href="a05586.html#l00073">NLMISC::nlSleep()</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05385.html#l00067">NLMISC::CAABBox::setHalfSize()</a>, <a class="el" href="a06229.html#l02652">NLMISC::toString()</a>, and <a class="el" href="a05981.html#l00105">uint</a>. +<p> +<div class="fragment"><pre>02555 { +02556 <span class="comment">// check if retriever bank is all loaded, and if yes don't refresh it</span> +02557 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->allLoaded()) +02558 <span class="keywordflow">return</span>; +02559 +02560 <span class="keywordflow">while</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.size ()) +02561 { +02562 std::list<CLrLoader>::iterator ite = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.begin(); +02563 <span class="keywordflow">while</span> (ite != <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.end()) +02564 { +02565 <span class="comment">// Finished loaded a lr, stream it into rbank</span> +02566 <span class="keywordflow">if</span> (ite->Finished) +02567 { +02568 <span class="keywordflow">if</span> (!ite->_Buffer.isReading()) +02569 ite->_Buffer.invert(); +02570 +02571 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->loadRetriever(ite->LrId, ite->_Buffer); +02572 +02573 ite->_Buffer.clear(); +02574 +02575 <span class="comment">// Remove this from the list</span> +02576 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.erase(ite); +02577 +02578 <span class="keywordflow">break</span>; +02579 } +02580 +02581 <span class="comment">// </span> +02582 ite++; +02583 } +02584 +02585 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">_LrLoaderList</a>.size ()) +02586 <a class="code" href="a05378.html#a256">nlSleep</a>(0); +02587 } +02588 +02589 <a class="code" href="a02156.html">CAABBox</a> box; +02590 box.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(position); +02591 box.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_2">setHalfSize</a>(CVector(radius, radius, 1000.0f)); +02592 +02593 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(box, _InternalCST); +02594 +02595 set<uint> newlr, <a class="code" href="a04223.html#a647">in</a>, out; +02596 <a class="code" href="a04558.html#a15">uint</a> i; +02597 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances.size(); ++i) +02598 newlr.insert((<a class="code" href="a04558.html#a15">uint</a>)(_Instances[<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[i]].getRetrieverId())); +02599 +02600 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->diff(newlr, in, out); +02601 +02602 set<uint>::iterator it; +02603 +02604 <span class="comment">// unload all possible retrievers</span> +02605 <span class="keywordflow">for</span> (it=out.begin(); it!=out.end(); ++it) +02606 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->unloadRetriever(*it); +02607 +02608 <span class="comment">// unload all possible retrievers</span> +02609 <span class="keywordflow">for</span> (it=<a class="code" href="a04223.html#a647">in</a>.begin(); it!=<a class="code" href="a04223.html#a647">in</a>.end(); ++it) +02610 { +02611 string fname = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getNamePrefix() + <span class="stringliteral">"_"</span> + <a class="code" href="a05378.html#a244">toString</a>(*it) + <span class="stringliteral">".lr"</span>; +02612 <a class="code" href="a02653.html">CIFile</a> f; +02613 <span class="keywordflow">if</span> (!f.<a class="code" href="a02653.html#NLMISC_1_1CIFilea12">open</a>(CPath::lookup(fname, <span class="keyword">false</span>))) +02614 { +02615 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"Couldn't find file '%s' to load, retriever loading aborted"</span>, fname.c_str()); +02616 <span class="keywordflow">continue</span>; +02617 } +02618 +02619 const_cast<CRetrieverBank*>(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>)->loadRetriever(*it, f); +02620 } +02621 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_7" doxytag="NLPACS::CGlobalRetriever::removeInstance" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::removeInstance </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a04558.html#a10">sint32</a> </td> + <td class="mdname1" valign="top" nowrap> <em>instanceId</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Removes an instance of retriever (perform all unlinks necessary) +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera17">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00794">794</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05981.html#l00099">sint32</a>, and <a class="el" href="a06337.html#l00281">NLPACS::CRetrieverInstance::unlink()</a>. +<p> +<div class="fragment"><pre>00795 { +00796 <span class="keywordflow">if</span> (instanceId < 0 || instanceId >= (<a class="code" href="a04558.html#a10">sint32</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size() || <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[instanceId].getInstanceId() < 0) +00797 { +00798 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"CGlobalRetriever::removeInstance(): Can't unlink instance %d, doesn't exist"</span>, instanceId); +00799 <span class="keywordflow">return</span>; +00800 } +00801 +00802 <span class="comment">// get instance</span> +00803 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[instanceId]; +00804 +00805 <span class="comment">// unlink it from others</span> +00806 instance.unlink(_Instances); +00807 +00808 +00809 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_9" doxytag="NLPACS::CGlobalRetriever::resetAllLinks" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::resetAllLinks </td> + <td class="md" valign="top">( </td> + <td class="mdname1" valign="top" nowrap> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Resets all links within the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00397">397</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05981.html#l00105">uint</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00405">makeAllLinks()</a>. +<p> +<div class="fragment"><pre>00398 { +00399 <a class="code" href="a04558.html#a15">uint</a> n; +00400 <span class="keywordflow">for</span> (n=0; n<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size(); ++n) +00401 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[n].unlink(_Instances); +00402 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_8" doxytag="NLPACS::CGlobalRetriever::retrievePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname" nowrap> <em>estimated</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a04558.html#a15">uint</a> </td> + <td class="mdname" nowrap> <em>h</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a04558.html#a14">sint</a> & </td> + <td class="mdname" nowrap> <em>result</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Retrieves the position of an estimated point in the global retriever (double instead.). +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00621">621</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00168">_ForbiddenInstances</a>, <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2">Failed</a>, <a class="el" href="a06337.html#l00544">NLPACS::CRetrieverInstance::getLocalPosition()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05384.html#l00081">NLMISC::CAABBox::include()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a05929.html#l00960">NLPACS::CLocalRetriever::insurePosition()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw3">MissingLr</a>, <a class="el" href="a05622.html#l00101">nldebug</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05646.html#l01119">res</a>, <a class="el" href="a06337.html#l00294">NLPACS::CRetrieverInstance::retrievePosition()</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05385.html#l00067">NLMISC::CAABBox::setHalfSize()</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00099">sint32</a>, <a class="el" href="a06337.html#l00507">NLPACS::CRetrieverInstance::snap()</a>, <a class="el" href="a05583.html#l00295">NLPACS::CCollisionSurfaceTemp::SortedSurfaces</a>, <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw4">Success</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a05981.html#l00100">uint32</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="a06684.html#l00047">NLMISC::CVectorD::x</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>, <a class="el" href="a06684.html#l00047">NLMISC::CVectorD::y</a>, and <a class="el" href="a06684.html#l00047">NLMISC::CVectorD::z</a>. +<p> +<div class="fragment"><pre>00622 { +00623 <span class="comment">// the retrieved position</span> +00624 CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated)); +00625 +00626 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a>.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1906_2">include</a>(CVector((<span class="keywordtype">float</span>)estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo0">x</a>, (<span class="keywordtype">float</span>)estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo1">y</a>, (<span class="keywordtype">float</span>)estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo2">z</a>))) +00627 { +00628 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.clear(); +00629 <a class="code" href="a04223.html#a643">res</a> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2">Failed</a>; +00630 <span class="keywordflow">return</span> result; +00631 } +00632 +00633 +00634 <span class="comment">// get the best matching instances</span> +00635 <a class="code" href="a02156.html">CAABBox</a> bbpos; +00636 bbpos.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(estimated); +00637 bbpos.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_2">setHalfSize</a>(CVector(0.5f, 0.5f, 0.5f)); +00638 <span class="keywordtype">bool</span> canGet = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(bbpos, _InternalCST); +00639 +00640 <span class="keywordflow">if</span> (!canGet) +00641 { +00642 <a class="code" href="a04223.html#a643">res</a> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw3">MissingLr</a>; +00643 <span class="keywordflow">return</span> result; +00644 } +00645 +00646 <a class="code" href="a04558.html#a15">uint</a> i; +00647 +00648 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.clear(); +00649 +00650 <span class="comment">// for each instance, try to retrieve the position</span> +00651 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances.size(); ++i) +00652 { +00653 <a class="code" href="a04558.html#a11">uint32</a> <span class="keywordtype">id</span> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[i]; +00654 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; +00655 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +00656 +00657 <a class="code" href="a04558.html#a15">uint</a> j; +00658 <span class="keywordflow">for</span> (j=0; j<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.size(); ++j) +00659 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>[j] == (<a class="code" href="a04558.html#a10">sint32</a>)<span class="keywordtype">id</span>) +00660 <span class="keywordflow">break</span>; +00661 +00662 <span class="keywordflow">if</span> (j<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.size() || !retriever.isLoaded()) +00663 <span class="keywordflow">continue</span>; +00664 +00665 instance.retrievePosition(estimated, retriever, _InternalCST, <span class="keyword">false</span>); +00666 } +00667 +00668 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.clear(); +00669 +00670 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.empty()) +00671 { +00672 <span class="comment">// if there are some selected surfaces, sort them</span> +00673 std::sort(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.begin(), <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.end(), CCollisionSurfaceTemp::CDistanceSurface()); +00674 +00675 <span class="keywordflow">if</span> (h >= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.size()) +00676 { +00677 <span class="comment">// found less surfaces than expected, abort</span> +00678 <a class="code" href="a04223.html#a643">res</a> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2">Failed</a>; +00679 <span class="keywordflow">return</span> result; +00680 } +00681 +00682 <a class="code" href="a04558.html#a11">uint32</a> <span class="keywordtype">id</span> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[h].Instance; +00683 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; +00684 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +00685 +00686 <span class="comment">// get the UGlobalPosition of the estimation for this surface</span> +00687 result.InstanceId = <span class="keywordtype">id</span>; +00688 result.LocalPosition.Surface = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[h].Surface; +00689 result.LocalPosition.Estimation = instance.getLocalPosition(estimated); +00690 +00691 CRetrieverInstance::snapVector(result.LocalPosition.Estimation); +00692 +00693 <span class="comment">// if there are more than 1 one possible (and best matching) surface, insure the position within the surface (by moving the point)</span> +00694 <span class="comment">// if (_InternalCST.SortedSurfaces.size() >= 2 && </span> +00695 <span class="comment">// _InternalCST.SortedSurfaces[1].Distance-_InternalCST.SortedSurfaces[0].Distance < InsureSurfaceThreshold)</span> +00696 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[h].FoundCloseEdge) +00697 { +00698 <span class="keywordtype">bool</span> moved; +00699 <a class="code" href="a04558.html#a15">uint</a> numMove = 0; +00700 <span class="keywordflow">do</span> +00701 { +00702 moved = retriever.insurePosition(result.LocalPosition); +00703 ++numMove; +00704 } +00705 <span class="keywordflow">while</span> (moved && numMove < 100); +00706 <span class="comment">// the algo won't loop infinitely</span> +00707 +00708 <span class="keywordflow">if</span> (numMove > 1) +00709 { +00710 <a class="code" href="a04199.html#a0">nldebug</a>(<span class="stringliteral">"PACS: insured position inside surface (%d,%d)-(%f,%f,%f), %d moves needed"</span>, result.InstanceId, result.LocalPosition.Surface, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo0">x</a>, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo1">y</a>, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo2">z</a>, numMove-1); +00711 } +00712 +00713 <span class="keywordflow">if</span> (moved) +00714 { +00715 <a class="code" href="a04199.html#a2">nlwarning</a> (<span class="stringliteral">"PACS: couldn't insure position (%.f,%.f) within the surface (surf=%d,inst=%d) after 100 retries"</span>, result.LocalPosition.Estimation.x, result.LocalPosition.Estimation.y, result.LocalPosition.Surface, result.InstanceId); +00716 } +00717 } +00718 +00719 <span class="comment">// and after selecting the best surface (and some replacement) snap the point to the surface</span> +00720 instance.snap(result.LocalPosition, retriever); +00721 } +00722 <span class="keywordflow">else</span> +00723 { +00724 <a class="code" href="a04223.html#a643">res</a> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw2">Failed</a>; +00725 <span class="comment">// nlwarning("PACS: unable to retrieve correct position (%f,%f,%f)", estimated.x, estimated.y, estimated.z);</span> +00726 <span class="comment">// nlSleep(1);</span> +00727 } +00728 +00729 <a class="code" href="a04223.html#a643">res</a> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverw0NLPACS_1_1CGlobalRetrieverw4">Success</a>; +00730 <span class="keywordflow">return</span> result; +00731 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_9" doxytag="NLPACS::CGlobalRetriever::retrievePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname" nowrap> <em>estimated</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>double </td> + <td class="mdname" nowrap> <em>threshold</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02591.html#NLPACS_1_1UGlobalPositionw2">UGlobalPosition::TType</a> </td> + <td class="mdname" nowrap> <em>retrieveSpec</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Retrieves the position of an estimated point in the global retriever (double instead.). +<p> + +<p> +Reimplemented from <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera22">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00493">493</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00168">_ForbiddenInstances</a>, <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a05930.html#l00419">NLPACS::CLocalRetriever::getIdentifier()</a>, <a class="el" href="a06337.html#l00544">NLPACS::CRetrieverInstance::getLocalPosition()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00404">NLPACS::CLocalRetriever::getType()</a>, <a class="el" href="a06338.html#l00178">NLPACS::CRetrieverInstance::getType()</a>, <a class="el" href="a05384.html#l00081">NLMISC::CAABBox::include()</a>, <a class="el" href="a05929.html#l00960">NLPACS::CLocalRetriever::insurePosition()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a05622.html#l00101">nldebug</a>, <a class="el" href="a05622.html#l00111">nlinfo</a>, <a class="el" href="a04338.html#a1">NLPACS_HAUTO_RETRIEVE_POSITION</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a05761.html#l00054">PacsRetrieveVerbose</a>, <a class="el" href="a06337.html#l00294">NLPACS::CRetrieverInstance::retrievePosition()</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a05385.html#l00067">NLMISC::CAABBox::setHalfSize()</a>, <a class="el" href="a05981.html#l00099">sint32</a>, <a class="el" href="a06337.html#l00507">NLPACS::CRetrieverInstance::snap()</a>, <a class="el" href="a05583.html#l00295">NLPACS::CCollisionSurfaceTemp::SortedSurfaces</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a05981.html#l00100">uint32</a>, <a class="el" href="a06684.html#l00047">NLMISC::CVectorD::x</a>, <a class="el" href="a06684.html#l00047">NLMISC::CVectorD::y</a>, and <a class="el" href="a06684.html#l00047">NLMISC::CVectorD::z</a>. +<p> +<div class="fragment"><pre>00494 { +00495 <a class="code" href="a04338.html#a1">NLPACS_HAUTO_RETRIEVE_POSITION</a> +00496 +00497 <span class="comment">// the retrieved position</span> +00498 CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated)); +00499 +00500 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">_BBox</a>.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1906_2">include</a>(CVector((<span class="keywordtype">float</span>)estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo0">x</a>, (<span class="keywordtype">float</span>)estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo1">y</a>, (<span class="keywordtype">float</span>)estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo2">z</a>))) +00501 { +00502 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.clear(); +00503 <span class="keywordflow">return</span> result; +00504 } +00505 +00506 +00507 <span class="comment">// get the best matching instances</span> +00508 <a class="code" href="a02156.html">CAABBox</a> bbpos; +00509 bbpos.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(estimated); +00510 bbpos.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_2">setHalfSize</a>(CVector(0.5f, 0.5f, 0.5f)); +00511 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_8">selectInstances</a>(bbpos, _InternalCST, retrieveSpec)) +00512 <span class="keywordflow">return</span> result; +00513 +00514 <a class="code" href="a04558.html#a15">uint</a> i; +00515 +00516 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.clear(); +00517 +00518 <span class="comment">// for each instance, try to retrieve the position</span> +00519 <span class="keywordflow">for</span> (i=0; i<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances.size(); ++i) +00520 { +00521 <a class="code" href="a04558.html#a11">uint32</a> <span class="keywordtype">id</span> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.CollisionInstances[i]; +00522 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; +00523 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +00524 +00525 <a class="code" href="a04558.html#a15">uint</a> j; +00526 <span class="keywordflow">for</span> (j=0; j<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.size(); ++j) +00527 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>[j] == (<a class="code" href="a04558.html#a10">sint32</a>)<span class="keywordtype">id</span>) +00528 <span class="keywordflow">break</span>; +00529 +00530 <span class="keywordflow">if</span> (j<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.size() || !retriever.isLoaded()) +00531 <span class="keywordflow">continue</span>; +00532 +00533 instance.retrievePosition(estimated, retriever, _InternalCST); +00534 } +00535 +00536 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.clear(); +00537 +00538 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.empty()) +00539 { +00540 <span class="comment">// if there are some selected surfaces, sort them</span> +00541 std::sort(<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.begin(), <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.end(), CCollisionSurfaceTemp::CDistanceSurface()); +00542 +00543 <a class="code" href="a04558.html#a15">uint</a> selInstance; +00544 <span class="keywordtype">float</span> bestDist = 1.0e10f; +00545 <span class="keywordflow">for</span> (selInstance=0; selInstance<<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.size(); ++selInstance) +00546 { +00547 <a class="code" href="a04558.html#a11">uint32</a> <span class="keywordtype">id</span> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[selInstance].Instance; +00548 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; +00549 +00550 <span class="keywordflow">if</span> (instance.getType() == CLocalRetriever::Interior && <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[selInstance].Distance < bestDist+6.0f) +00551 <span class="keywordflow">break</span>; +00552 +00553 <span class="keywordflow">if</span> (selInstance == 0) +00554 bestDist = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[0].Distance; +00555 } +00556 +00557 <span class="keywordflow">if</span> (selInstance >= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces.size()) +00558 selInstance = 0; +00559 +00560 <a class="code" href="a04558.html#a11">uint32</a> <span class="keywordtype">id</span> = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[selInstance].Instance; +00561 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[<span class="keywordtype">id</span>]; +00562 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(instance.getRetrieverId()); +00563 +00564 <span class="comment">// get the UGlobalPosition of the estimation for this surface</span> +00565 result.InstanceId = <span class="keywordtype">id</span>; +00566 result.LocalPosition.Surface = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[selInstance].Surface; +00567 result.LocalPosition.Estimation = instance.getLocalPosition(estimated); +00568 +00569 CRetrieverInstance::snapVector(result.LocalPosition.Estimation); +00570 +00571 <span class="comment">// if there are more than 1 one possible (and best matching) surface, insure the position within the surface (by moving the point)</span> +00572 <span class="comment">// if (_InternalCST.SortedSurfaces.size() >= 2 && </span> +00573 <span class="comment">// _InternalCST.SortedSurfaces[1].Distance-_InternalCST.SortedSurfaces[0].Distance < InsureSurfaceThreshold)</span> +00574 <span class="keywordflow">if</span> (<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">_InternalCST</a>.SortedSurfaces[selInstance].FoundCloseEdge) +00575 { +00576 <span class="keywordtype">bool</span> moved; +00577 <a class="code" href="a04558.html#a15">uint</a> numMove = 0; +00578 <span class="keywordflow">do</span> +00579 { +00580 moved = retriever.insurePosition(result.LocalPosition); +00581 ++numMove; +00582 } +00583 <span class="keywordflow">while</span> (moved && numMove < 100); +00584 <span class="comment">// the algo won't loop infinitely</span> +00585 +00586 <span class="keywordflow">if</span> (numMove > 1) +00587 { +00588 <a class="code" href="a04199.html#a0">nldebug</a>(<span class="stringliteral">"PACS: insured position inside surface (%d,%d)-(%f,%f,%f), %d moves needed"</span>, result.InstanceId, result.LocalPosition.Surface, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo0">x</a>, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo1">y</a>, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo2">z</a>, numMove-1); +00589 } +00590 +00591 <span class="keywordflow">if</span> (moved) +00592 { +00593 <a class="code" href="a04199.html#a2">nlwarning</a> (<span class="stringliteral">"PACS: couldn't insure position (%.f,%.f) within the surface (surf=%d,inst=%d) after 100 retries"</span>, result.LocalPosition.Estimation.x, result.LocalPosition.Estimation.y, result.LocalPosition.Surface, result.InstanceId); +00594 } +00595 } +00596 +00597 <span class="comment">// and after selecting the best surface (and some replacement) snap the point to the surface</span> +00598 instance.snap(result.LocalPosition, retriever); +00599 +00600 +00601 <span class="keywordflow">if</span> (<a class="code" href="a04338.html#a10">PacsRetrieveVerbose</a>) +00602 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"DebugBen: retrievePosition(%f,%f,%f) -> %d/%d/(%f,%f,%f) - %s/%s"</span>, +00603 estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo0">x</a>, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo1">y</a>, estimated.<a class="code" href="a03664.html#NLMISC_1_1CVectorDo2">z</a>, +00604 result.InstanceId, result.LocalPosition.Surface, +00605 result.LocalPosition.Estimation.x, result.LocalPosition.Estimation.y, result.LocalPosition.Estimation.z, +00606 retriever.getIdentifier().c_str(), +00607 retriever.getType() == CLocalRetriever::Interior ? <span class="stringliteral">"Interior"</span> : <span class="stringliteral">"Landscape"</span>); +00608 } +00609 <span class="keywordflow">else</span> +00610 { +00611 <span class="comment">// nlwarning("PACS: unable to retrieve correct position (%f,%f,%f)", estimated.x, estimated.y, estimated.z);</span> +00612 <span class="comment">// nlSleep(1);</span> +00613 } +00614 +00615 <span class="keywordflow">return</span> result; +00616 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_10" doxytag="NLPACS::CGlobalRetriever::retrievePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname" nowrap> <em>estimated</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>double </td> + <td class="mdname" nowrap> <em>threshold</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Retrieves the position of an estimated point in the global retriever (double instead.). +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera18">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00477">477</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00482">retrievePosition()</a>. +<p> +<div class="fragment"><pre>00478 { +00479 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a>(estimated, threshold, UGlobalPosition::Unspecified); +00480 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_11" doxytag="NLPACS::CGlobalRetriever::retrievePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>estimated</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float </td> + <td class="mdname" nowrap> <em>threshold</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Retrieves the position of an estimated point in the global retriever. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera19">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00472">472</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00482">retrievePosition()</a>. +<p> +<div class="fragment"><pre>00473 { +00474 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a>(<a class="code" href="a03664.html">CVectorD</a>(estimated), (<span class="keywordtype">double</span>)threshold, UGlobalPosition::Unspecified); +00475 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_12" doxytag="NLPACS::CGlobalRetriever::retrievePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>estimated</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Retrieves the position of an estimated point in the global retriever (double instead.). +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera20">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00487">487</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00482">retrievePosition()</a>. +<p> +<div class="fragment"><pre>00488 { +00489 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a>(estimated, 1.0e10, UGlobalPosition::Unspecified); +00490 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_13" doxytag="NLPACS::CGlobalRetriever::retrievePosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02591.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>estimated</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Retrieves the position of an estimated point in the global retriever. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera21">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l00482">482</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +Referenced by <a class="el" href="a05666.html#l00130">NLPACS::CEdgeQuad::build()</a>, <a class="el" href="a05761.html#l00472">retrievePosition()</a>, <a class="el" href="a06207.html#l01429">NLPACS::CPrimitiveWorldImage::setGlobalPosition()</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, and <a class="el" href="a05761.html#l01649">testMovementWithCollisionChains()</a>. +<p> +<div class="fragment"><pre>00483 { +00484 <span class="keywordflow">return</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a>(estimated, 1.0e10f, UGlobalPosition::Unspecified); +00485 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1237_8" doxytag="NLPACS::CGlobalRetriever::selectInstances" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::selectInstances </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02156.html">NLMISC::CAABBox</a> & </td> + <td class="mdname" nowrap> <em>bbox</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02591.html#NLPACS_1_1UGlobalPositionw2">UGlobalPosition::TType</a> </td> + <td class="mdname" nowrap> <em>type</em> = UGlobalPosition::Unspecified</td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Select the instances that are in contact with the given bbox. The selected instances are stored in <a class="el" href="a02387.html#NLPACS_1_1CCollisionSurfaceTempo2">CCollisionSurfaceTemp.CollisionInstances</a> +<p> +Definition at line <a class="el" href="a05761.html#l00109">109</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00162">_InstanceGrid</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1270_0">NLPACS::CQuadGrid< uint32 >::begin()</a>, <a class="el" href="a05583.html#l00315">NLPACS::CCollisionSurfaceTemp::CollisionInstances</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1270_2">NLPACS::CQuadGrid< uint32 >::end()</a>, <a class="el" href="a05385.html#l00087">NLMISC::CAABBox::getMax()</a>, <a class="el" href="a05385.html#l00086">NLMISC::CAABBox::getMin()</a>, <a class="el" href="a06336.html#l00287">NLPACS::CRetrieverBank::isLoaded()</a>, <a class="el" href="a03272.html#NLPACS_1_1CQuadGridz1270_3">NLPACS::CQuadGrid< uint32 >::select()</a>, and <a class="el" href="a05646.html#l00244">type</a>. +<p> +Referenced by <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05761.html#l00275">getBorders()</a>, <a class="el" href="a05761.html#l00367">makeLinks()</a>, <a class="el" href="a05761.html#l02448">refreshLrAround()</a>, <a class="el" href="a05761.html#l02554">refreshLrAroundNow()</a>, and <a class="el" href="a05761.html#l00493">retrievePosition()</a>. +<p> +<div class="fragment"><pre>00110 { +00111 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.select(bbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_5">getMin</a>(), bbox.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1904_3">getMax</a>()); +00112 cst.CollisionInstances.clear(); +00113 +00114 <span class="keywordtype">bool</span> allLoaded = <span class="keyword">true</span>; +00115 +00116 <a class="code" href="a03272.html">NLPACS::CQuadGrid<uint32></a>::CIterator it; +00117 <span class="keywordflow">for</span> (it=<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.begin(); it!=<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">_InstanceGrid</a>.end(); ++it) +00118 { +00119 <span class="keywordflow">if</span> (<a class="code" href="a04223.html#a581">type</a> == UGlobalPosition::Landscape && <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[*it].getType() == CLocalRetriever::Interior || +00120 <a class="code" href="a04223.html#a581">type</a> == UGlobalPosition::Interior && _Instances[*it].getType() == CLocalRetriever::Landscape) +00121 <span class="keywordflow">continue</span>; +00122 +00123 <span class="keywordflow">if</span> (_Instances[*it].getBBox().intersect(bbox)) +00124 { +00125 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->isLoaded(_Instances[*it].getRetrieverId())) +00126 allLoaded = <span class="keyword">false</span>; +00127 cst.CollisionInstances.push_back(*it); +00128 } +00129 } +00130 +00131 <span class="keywordflow">return</span> allLoaded; +00132 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_10" doxytag="NLPACS::CGlobalRetriever::serial" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::serial </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02270.html">NLMISC::IStream</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>f</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Serialises the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l00136">136</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l00414">initAll()</a>, <a class="el" href="a06463.html#l00064">NLMISC::IStream::isReading()</a>, <a class="el" href="a06462.html#l00232">NLMISC::IStream::serial()</a>, <a class="el" href="a06462.html#l00324">NLMISC::IStream::serialCont()</a>, and <a class="el" href="a06461.html#l00266">NLMISC::IStream::serialVersion()</a>. +<p> +<div class="fragment"><pre>00137 { +00138 <span class="comment">/*</span> +00139 <span class="comment"> Version 0:</span> +00140 <span class="comment"> - base version.</span> +00141 <span class="comment"> */</span> +00142 (<span class="keywordtype">void</span>)f.<a class="code" href="a02270.html#NLMISC_1_1IStreamz2035_8">serialVersion</a>(0); +00143 +00144 f.<a class="code" href="a02270.html#NLMISC_1_1IStreamz2033_9">serialCont</a>(_Instances); +00145 f.<a class="code" href="a02270.html#NLMISC_1_1IStreama5">serial</a>(_BBox); +00146 +00147 <span class="keywordflow">if</span> (f.<a class="code" href="a02270.html#NLMISC_1_1IStreama0">isReading</a>()) +00148 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1241_5">initAll</a>(<span class="keyword">false</span>); +00149 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1241_11" doxytag="NLPACS::CGlobalRetriever::setRetrieverBank" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::setRetrieverBank </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03331.html">CRetrieverBank</a> * </td> + <td class="mdname1" valign="top" nowrap> <em>bank</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap><code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Sets the retriever bank. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00366">366</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00156">_RetrieverBank</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02382">NLPACS::UGlobalRetriever::createGlobalRetriever()</a>. +<p> +<div class="fragment"><pre>00366 { <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a> = bank; } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_3" doxytag="NLPACS::CGlobalRetriever::testBBoxMove" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a05380.html#a0">NLPACS::TCollisionSurfaceDescVector</a> * NLPACS::CGlobalRetriever::testBBoxMove </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>start</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>delta</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>locI</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>locJ</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Test a movement of a bbox against surface world. <dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>start</em> </td><td>is the start position of the movement. </td></tr> + <tr><td valign=top><em>delta</em> </td><td>is the requested movement. </td></tr> + <tr><td valign=top><em>locI</em> </td><td>is the oriented I vector of the BBox. I.norm()== Width/2. </td></tr> + <tr><td valign=top><em>locJ</em> </td><td>is the oriented J vector of the BBox. J.norm()== Height/2. </td></tr> + <tr><td valign=top><em>cst</em> </td><td>is the <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> object used as temp copmputing (one per thread). </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>list of collision against surface, ordered by increasing time. this is a synonym for cst.CollisionDescs. NB: this array may be modified by <a class="el" href="a02588.html">CGlobalRetriever</a> on any collision call.</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l01937">1937</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05583.html#l00311">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05384.html#l00215">NLMISC::CAABBox::extend()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06682.html#l00148">NLMISC::CVector::isNull()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05583.html#l00321">NLPACS::CCollisionSurfaceTemp::PrecDeltaPos</a>, <a class="el" href="a05583.html#l00320">NLPACS::CCollisionSurfaceTemp::PrecStartPos</a>, <a class="el" href="a05583.html#l00319">NLPACS::CCollisionSurfaceTemp::PrecStartSurface</a>, <a class="el" href="a05583.html#l00322">NLPACS::CCollisionSurfaceTemp::PrecValid</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="a05646.html#l00236">y</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>. +<p> +Referenced by <a class="el" href="a06207.html#l00166">NLPACS::CPrimitiveWorldImage::evalCollision()</a>. +<p> +<div class="fragment"><pre>01939 { +01940 <span class="comment">// H_AUTO(PACS_GR_testBBoxMove);</span> +01941 +01942 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface); +01943 +01944 <span class="comment">// 0. reset.</span> +01945 <span class="comment">//===========</span> +01946 <span class="comment">// reset result.</span> +01947 cst.CollisionDescs.clear(); +01948 +01949 <span class="comment">// In a surface ?</span> +01950 <span class="keywordflow">if</span> (startPos.InstanceId==-1) +01951 { +01952 <span class="comment">// Warning this primitive is not on a surface</span> +01953 <span class="comment">//nlassertonce (0);</span> +01954 +01955 <span class="comment">// Return NULL when lost</span> +01956 <span class="keywordflow">return</span> NULL; +01957 } +01958 +01959 <span class="comment">// store this request in cst.</span> +01960 cst.PrecStartSurface= startSurface; +01961 cst.PrecStartPos= startPos.LocalPosition.Estimation; +01962 cst.PrecDeltaPos= delta; +01963 cst.PrecValid= <span class="keyword">true</span>; +01964 +01965 <span class="comment">// 0.bis</span> +01966 <span class="comment">//===========</span> +01967 <span class="comment">// Abort if deltamove is 0,0,0.</span> +01968 <span class="keywordflow">if</span> (delta.<a class="code" href="a03128.html#NLMISC_1_1CVectorz2051_1">isNull</a>()) +01969 <span class="keywordflow">return</span> &cst.CollisionDescs; +01970 +01971 <span class="comment">// 1. Choose a local basis.</span> +01972 <span class="comment">//===========</span> +01973 <span class="comment">// Take the retrieverInstance of startPos as a local basis.</span> +01974 CVector origin; +01975 origin= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(startPos.InstanceId).getOrigin(); +01976 +01977 +01978 <span class="comment">// 2. compute OBB.</span> +01979 <span class="comment">//===========</span> +01980 CVector2f obbStart[4]; +01981 <span class="comment">// compute start, relative to the retriever instance.</span> +01982 CVector start= startPos.LocalPosition.Estimation; +01983 CVector2f obbCenter(start.x, start.y); +01984 CVector2f locI2d(locI.<a class="code" href="a03128.html#NLMISC_1_1CVectoro0">x</a>, locI.<a class="code" href="a03128.html#NLMISC_1_1CVectoro1">y</a>); +01985 CVector2f locJ2d(locJ.<a class="code" href="a03128.html#NLMISC_1_1CVectoro0">x</a>, locJ.<a class="code" href="a03128.html#NLMISC_1_1CVectoro1">y</a>); +01986 +01987 <span class="comment">// build points in CCW.</span> +01988 obbStart[0]= obbCenter - locI2d - locJ2d; +01989 obbStart[1]= obbCenter + locI2d - locJ2d; +01990 obbStart[2]= obbCenter + locI2d + locJ2d; +01991 obbStart[3]= obbCenter - locI2d + locJ2d; +01992 +01993 <span class="comment">// 3. compute bboxmove.</span> +01994 <span class="comment">//===========</span> +01995 <a class="code" href="a02156.html">CAABBox</a> bboxMove; +01996 <span class="comment">// extend the bbox.</span> +01997 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(CVector(obbStart[0].<a class="code" href="a04223.html#a572">x</a>, obbStart[0].<a class="code" href="a04223.html#a573">y</a>, 0)); +01998 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[1].<a class="code" href="a04223.html#a572">x</a>, obbStart[1].<a class="code" href="a04223.html#a573">y</a>, 0)); +01999 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[2].<a class="code" href="a04223.html#a572">x</a>, obbStart[2].<a class="code" href="a04223.html#a573">y</a>, 0)); +02000 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[3].<a class="code" href="a04223.html#a572">x</a>, obbStart[3].<a class="code" href="a04223.html#a573">y</a>, 0)); +02001 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[0].<a class="code" href="a04223.html#a572">x</a>, obbStart[0].<a class="code" href="a04223.html#a573">y</a>, 0) + delta); +02002 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[1].<a class="code" href="a04223.html#a572">x</a>, obbStart[1].<a class="code" href="a04223.html#a573">y</a>, 0) + delta); +02003 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[2].<a class="code" href="a04223.html#a572">x</a>, obbStart[2].<a class="code" href="a04223.html#a573">y</a>, 0) + delta); +02004 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[3].<a class="code" href="a04223.html#a572">x</a>, obbStart[3].<a class="code" href="a04223.html#a573">y</a>, 0) + delta); +02005 +02006 +02007 +02008 <span class="comment">// 4. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</span> +02009 <span class="comment">//===========</span> +02010 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_1">findCollisionChains</a>(cst, bboxMove, origin); +02011 +02012 +02013 +02014 <span class="comment">// 5. test collisions with CollisionChains.</span> +02015 <span class="comment">//===========</span> +02016 CVector2f startCol(start.x, start.y); +02017 CVector2f deltaCol(delta.<a class="code" href="a03128.html#NLMISC_1_1CVectoro0">x</a>, delta.<a class="code" href="a03128.html#NLMISC_1_1CVectoro1">y</a>); +02018 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_2">testCollisionWithCollisionChains</a>(cst, startCol, deltaCol, startSurface, 0, obbStart, CGlobalRetriever::BBox); +02019 +02020 <span class="comment">// result.</span> +02021 <span class="keywordflow">return</span> &cst.CollisionDescs; +02022 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_4" doxytag="NLPACS::CGlobalRetriever::testBBoxRot" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a05380.html#a0">NLPACS::TCollisionSurfaceDescVector</a> & NLPACS::CGlobalRetriever::testBBoxRot </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02590.html">CGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>start</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>locI</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>locJ</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Test a rotation of a BBox against the surfaces. NB: this function is not perfect because a ContactSurface may appears 2+ times in the returned array. <dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>start</em> </td><td>is the center of the bbox. </td></tr> + <tr><td valign=top><em>locI</em> </td><td>is the new oriented I vector of the BBox. I.norm()== Width/2. </td></tr> + <tr><td valign=top><em>locJ</em> </td><td>is the new oriented J vector of the BBox. J.norm()== Height/2. NB : must have locI^locJ== aK (a>0) </td></tr> + <tr><td valign=top><em>cst</em> </td><td>is the <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> object used as temp copmputing (one per thread). </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>list of collision against surface (ContactTime and ContactNormal has no means). this is a synonym for cst.CollisionDescs. NB: this array may be modified by <a class="el" href="a02588.html">CGlobalRetriever</a> on any collision call.</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l02236">2236</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05583.html#l00311">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05384.html#l00215">NLMISC::CAABBox::extend()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05583.html#l00322">NLPACS::CCollisionSurfaceTemp::PrecValid</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05578.html#l00110">NLPACS::TCollisionSurfaceDescVector</a>, <a class="el" href="a05761.html#l02303">testRotCollisionWithCollisionChains()</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="a05646.html#l00236">y</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>. +<p> +<div class="fragment"><pre>02238 { +02239 <span class="comment">// H_AUTO(PACS_GR_testBBoxRot);</span> +02240 +02241 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface); +02242 +02243 <span class="comment">// 0. reset.</span> +02244 <span class="comment">//===========</span> +02245 <span class="comment">// reset result.</span> +02246 cst.CollisionDescs.clear(); +02247 +02248 <span class="comment">// should not doMove() after a testBBoxRot.</span> +02249 cst.PrecValid= <span class="keyword">false</span>; +02250 +02251 +02252 <span class="comment">// 1. Choose a local basis.</span> +02253 <span class="comment">//===========</span> +02254 <span class="comment">// Take the retrieverInstance of startPos as a local basis.</span> +02255 CVector origin; +02256 origin= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(startPos.InstanceId).getOrigin(); +02257 +02258 +02259 <span class="comment">// 2. compute OBB.</span> +02260 <span class="comment">//===========</span> +02261 CVector2f obbStart[4]; +02262 <span class="comment">// compute start, relative to the retriever instance.</span> +02263 CVector start= startPos.LocalPosition.Estimation; +02264 CVector2f obbCenter(start.x, start.y); +02265 CVector2f locI2d(locI.<a class="code" href="a03128.html#NLMISC_1_1CVectoro0">x</a>, locI.<a class="code" href="a03128.html#NLMISC_1_1CVectoro1">y</a>); +02266 CVector2f locJ2d(locJ.<a class="code" href="a03128.html#NLMISC_1_1CVectoro0">x</a>, locJ.<a class="code" href="a03128.html#NLMISC_1_1CVectoro1">y</a>); +02267 +02268 <span class="comment">// build points in CCW.</span> +02269 obbStart[0]= obbCenter - locI2d - locJ2d; +02270 obbStart[1]= obbCenter + locI2d - locJ2d; +02271 obbStart[2]= obbCenter + locI2d + locJ2d; +02272 obbStart[3]= obbCenter - locI2d + locJ2d; +02273 +02274 <span class="comment">// 3. compute bboxmove.</span> +02275 <span class="comment">//===========</span> +02276 <a class="code" href="a02156.html">CAABBox</a> bboxMove; +02277 <span class="comment">// extend the bbox.</span> +02278 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(CVector(obbStart[0].<a class="code" href="a04223.html#a572">x</a>, obbStart[0].<a class="code" href="a04223.html#a573">y</a>, 0)); +02279 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[1].<a class="code" href="a04223.html#a572">x</a>, obbStart[1].<a class="code" href="a04223.html#a573">y</a>, 0)); +02280 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[2].<a class="code" href="a04223.html#a572">x</a>, obbStart[2].<a class="code" href="a04223.html#a573">y</a>, 0)); +02281 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(CVector(obbStart[3].<a class="code" href="a04223.html#a572">x</a>, obbStart[3].<a class="code" href="a04223.html#a573">y</a>, 0)); +02282 +02283 +02284 +02285 <span class="comment">// 4. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</span> +02286 <span class="comment">//===========</span> +02287 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_1">findCollisionChains</a>(cst, bboxMove, origin); +02288 +02289 +02290 +02291 <span class="comment">// 5. test Rotcollisions with CollisionChains.</span> +02292 <span class="comment">//===========</span> +02293 CVector2f startCol(start.x, start.y); +02294 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_4">testRotCollisionWithCollisionChains</a>(cst, startCol, startSurface, obbStart); +02295 +02296 +02297 <span class="comment">// result.</span> +02298 <span class="keywordflow">return</span> cst.CollisionDescs; +02299 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_2" doxytag="NLPACS::CGlobalRetriever::testCollisionWithCollisionChains" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::testCollisionWithCollisionChains </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td> + <td class="mdname" nowrap> <em>startCol</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td> + <td class="mdname" nowrap> <em>deltaCol</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a03462.html">CSurfaceIdent</a> </td> + <td class="mdname" nowrap> <em>startSurface</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float </td> + <td class="mdname" nowrap> <em>radius</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> </td> + <td class="mdname" nowrap> <em>bbox</em>[4], </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_0">TCollisionType</a> </td> + <td class="mdname" nowrap> <em>colType</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [private]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +reset and fill cst.CollisionDescs with effective collisions against current cst.CollisionChains. result: new collisionDescs in cst. +<p> +Definition at line <a class="el" href="a05761.html#l01392">1392</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00168">_ForbiddenInstances</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05583.html#l00074">NLPACS::CCollisionChain::ChainId</a>, <a class="el" href="a05583.html#l00299">NLPACS::CCollisionSurfaceTemp::CollisionChains</a>, <a class="el" href="a05583.html#l00311">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="a05578.html#l00102">NLPACS::CCollisionSurfaceDesc::ContactNormal</a>, <a class="el" href="a05578.html#l00106">NLPACS::CCollisionSurfaceDesc::ContactSurface</a>, <a class="el" href="a05578.html#l00103">NLPACS::CCollisionSurfaceDesc::ContactTime</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05583.html#l00078">NLPACS::CCollisionChain::ExteriorEdge</a>, <a class="el" href="a05583.html#l00070">NLPACS::CCollisionChain::FirstEdgeCollide</a>, <a class="el" href="a05582.html#l00075">NLPACS::CCollisionSurfaceTemp::getEdgeCollideNode()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a05761.html#l02421">getMeanHeight()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a05583.html#l00103">NLPACS::CCollisionChain::getOtherSurface()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a05930.html#l00399">NLPACS::CLocalRetriever::getSurfaces()</a>, <a class="el" href="a05583.html#l00097">NLPACS::CCollisionChain::hasSurface()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06334.html#l00168">NLPACS::CRetrievableSurface::isCeiling()</a>, <a class="el" href="a06334.html#l00167">NLPACS::CRetrievableSurface::isFloor()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::LeftSurface</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a05583.html#l00049">NLPACS::CEdgeCollideNode::Next</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05761.html#l00482">retrievePosition()</a>, <a class="el" href="a05578.html#l00069">NLPACS::CSurfaceIdent::RetrieverInstanceId</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::RightSurface</a>, <a class="el" href="a06685.html#l00136">NLMISC::CVectorD::set()</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00099">sint32</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05578.html#l00071">NLPACS::CSurfaceIdent::SurfaceId</a>, <a class="el" href="a05646.html#l00985">t</a>, <a class="el" href="a05664.html#l00559">NLPACS::CEdgeCollide::testBBoxMove()</a>, <a class="el" href="a05664.html#l00265">NLPACS::CEdgeCollide::testCircleMove()</a>, <a class="el" href="a05583.html#l00076">NLPACS::CCollisionChain::Tested</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +Referenced by <a class="el" href="a05761.html#l01937">testBBoxMove()</a>, and <a class="el" href="a05761.html#l01864">testCylinderMove()</a>. +<p> +<div class="fragment"><pre>01394 { +01395 <span class="comment">// H_AUTO(PACS_GR_testCollisionWithCollisionChains);</span> +01396 +01397 <span class="comment">// start currentSurface with surface start.</span> +01398 CSurfaceIdent currentSurface= startSurface; +01399 <a class="code" href="a04558.html#a15">uint</a> nextCollisionSurfaceTested=0; +01400 <a class="code" href="a04558.html#a14">sint</a> i; +01401 +01402 <span class="comment">// reset result.</span> +01403 cst.CollisionDescs.clear(); +01404 <span class="comment">// reset all collisionChain to not tested.</span> +01405 <span class="keywordflow">for</span>(i=0; i<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionChains.size(); i++) +01406 { +01407 CCollisionChain &colChain= cst.CollisionChains[i]; +01408 colChain.Tested= <span class="keyword">false</span>; +01409 } +01410 +01411 vector<pair<sint32, bool> > checkedExtEdges; +01412 +01413 +01414 <span class="comment">/*</span> +01415 <span class="comment"> To manage recovery, we must use such an algorithm, so we are sure to trace the way across all surfaces really </span> +01416 <span class="comment"> collided, and discard any other (such as other floor or ceiling).</span> +01417 <span class="comment"> */</span> +01418 <span class="keywordflow">while</span>(<span class="keyword">true</span>) +01419 { +01420 <span class="comment">// run all collisionChain.</span> +01421 <span class="comment">//========================</span> +01422 <span class="keywordflow">for</span>(i=0; i<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionChains.size(); i++) +01423 { +01424 CCollisionChain &colChain= cst.CollisionChains[i]; +01425 +01427 <a class="code" href="a04199.html#a6">nlassert</a>(colChain.LeftSurface.RetrieverInstanceId < (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()); +01428 <a class="code" href="a04199.html#a6">nlassert</a>(colChain.RightSurface.RetrieverInstanceId < (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()); +01429 +01430 <span class="comment">// test only currentSurface/X. And don't test chains already tested before.</span> +01431 <span class="keywordflow">if</span>(colChain.hasSurface(currentSurface) && !colChain.Tested) +01432 { +01433 <span class="comment">// we are testing this chain.</span> +01434 colChain.Tested= <span class="keyword">true</span>; +01435 +01436 <span class="comment">// avoid checking twice a door</span> +01437 <span class="keywordflow">if</span> (colChain.ExteriorEdge && colChain.LeftSurface.RetrieverInstanceId != -1) +01438 { +01439 <span class="keywordtype">bool</span> enterInterior = (currentSurface.RetrieverInstanceId == colChain.RightSurface.RetrieverInstanceId); +01440 +01441 <a class="code" href="a04558.html#a15">uint</a> j; +01442 <a class="code" href="a04558.html#a10">sint32</a> cmp = (colChain.LeftSurface.RetrieverInstanceId<<16) + colChain.ChainId; +01443 <span class="keywordflow">for</span> (j=0; j<checkedExtEdges.size() && (checkedExtEdges[j].first != cmp); ++j) +01444 ; +01445 <span class="comment">// if already crossed this edge, abort</span> +01446 <span class="comment">// this a door that is crossing a surface frontier</span> +01447 <span class="keywordflow">if</span> (j < checkedExtEdges.size()) +01448 { +01449 <span class="keywordflow">if</span> (checkedExtEdges[j].second != enterInterior) +01450 <span class="keywordflow">continue</span>; +01451 } +01452 <span class="keywordflow">else</span> +01453 checkedExtEdges.push_back(make_pair(cmp, enterInterior)); +01454 } +01455 +01456 <span class="comment">// test all edges of this chain, and get tmin</span> +01457 <span class="comment">//========================</span> +01458 +01459 <span class="keywordtype">float</span> <a class="code" href="a04223.html#a627">t</a>=0.0, tMin=1; +01460 CVector2f normal, normalMin; +01461 <span class="comment">// run list of edge.</span> +01462 <a class="code" href="a04558.html#a10">sint32</a> curEdge= colChain.FirstEdgeCollide; +01463 <span class="keywordflow">while</span>(curEdge!=(<a class="code" href="a04558.html#a10">sint32</a>)0xFFFFFFFF) +01464 { +01465 <span class="comment">// get the edge.</span> +01466 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge); +01467 +01468 <span class="comment">// test collision with this edge.</span> +01469 <span class="keywordflow">if</span>(colType==CGlobalRetriever::Circle) +01470 <a class="code" href="a04223.html#a627">t</a>= colEdge.testCircleMove(startCol, deltaCol, radius, normal); +01471 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(colType==CGlobalRetriever::BBox) +01472 <a class="code" href="a04223.html#a627">t</a>= colEdge.testBBoxMove(startCol, deltaCol, bboxStart, normal); +01473 +01474 <span class="comment">// earlier collision??</span> +01475 <span class="keywordflow">if</span>(<a class="code" href="a04223.html#a627">t</a><tMin) +01476 { +01477 tMin= <a class="code" href="a04223.html#a627">t</a>; +01478 normalMin= normal; +01479 } +01480 +01481 <span class="comment">// next edge.</span> +01482 curEdge= colEdge.Next; +01483 } +01484 +01485 +01486 <span class="comment">// If collision with this chain, must insert it in the array of collision.</span> +01487 <span class="comment">//========================</span> +01488 <span class="keywordflow">if</span>(tMin<1) +01489 { +01490 CSurfaceIdent collidedSurface= colChain.getOtherSurface(currentSurface); +01491 +01492 <span class="comment">// if flag as an interior/landscape interface and leave interior surf, retrieve correct surface</span> +01493 <span class="keywordflow">if</span> (colChain.ExteriorEdge && currentSurface == colChain.LeftSurface) +01494 { +01495 CVector2f p = startCol + deltaCol*tMin; +01496 CVector ori = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(startSurface.RetrieverInstanceId).getOrigin(); +01497 ori.z = 0.0f; +01498 UGlobalPosition rp; +01499 rp.InstanceId = currentSurface.RetrieverInstanceId; +01500 rp.LocalPosition.Surface = currentSurface.SurfaceId; +01501 rp.LocalPosition.Estimation = p; +01502 rp.LocalPosition.Estimation.z = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_1">getMeanHeight</a>(rp); +01503 <a class="code" href="a03664.html">CVectorD</a> zp = <a class="code" href="a03664.html">CVectorD</a>(p.x, p.y, rp.LocalPosition.Estimation.z) + CVectorD(ori); +01504 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.clear(); +01505 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.push_back(currentSurface.RetrieverInstanceId); +01506 UGlobalPosition gp = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a>(zp); +01507 +01508 collidedSurface.RetrieverInstanceId = gp.InstanceId; +01509 collidedSurface.SurfaceId = gp.LocalPosition.Surface; +01510 } +01511 +01513 <a class="code" href="a04199.html#a6">nlassert</a>(collidedSurface.RetrieverInstanceId < (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()); +01514 +01515 <span class="comment">// insert or replace this collision in collisionDescs.</span> +01516 <span class="comment">// NB: yes this looks like a N algorithm (so N²). But not so many collisions may arise, so don't bother.</span> +01517 <a class="code" href="a04558.html#a14">sint</a> indexInsert= cst.CollisionDescs.size(); +01518 <a class="code" href="a04558.html#a14">sint</a> colFound= -1; +01519 +01520 <span class="comment">// start to search with nextCollisionSurfaceTested, because can't insert before.</span> +01521 <span class="keywordflow">for</span>(<a class="code" href="a04558.html#a14">sint</a> j= nextCollisionSurfaceTested; j<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionDescs.size(); j++) +01522 { +01523 <span class="comment">// we must keep time order.</span> +01524 <span class="keywordflow">if</span>(tMin < cst.CollisionDescs[j].ContactTime) +01525 { +01526 indexInsert= <a class="code" href="a04061.html#a0">min</a>(j, indexInsert); +01527 } +01528 <span class="comment">// Does the collision with this surface already exist??</span> +01529 <span class="keywordflow">if</span>(cst.CollisionDescs[j].ContactSurface==collidedSurface) +01530 { +01531 colFound= j; +01532 <span class="comment">// if we have found our old collision, stop, there is no need to search more.</span> +01533 <span class="keywordflow">break</span>; +01534 } +01535 } +01536 +01537 <span class="comment">// Insert only if the surface was not already collided, or that new collision arise before old.</span> +01538 <span class="keywordflow">if</span>(colFound==-1 || indexInsert<=colFound) +01539 { +01540 CCollisionSurfaceDesc newCol; +01541 newCol.ContactSurface= collidedSurface; +01542 newCol.ContactTime= tMin; +01543 newCol.ContactNormal.set(normalMin.x, normalMin.y, 0); +01544 +01545 <span class="comment">// if, by chance, indexInsert==colFound, just replace old collision descriptor.</span> +01546 <span class="keywordflow">if</span>(colFound==indexInsert) +01547 { +01548 cst.CollisionDescs[indexInsert]= newCol; +01549 } +01550 <span class="keywordflow">else</span> +01551 { +01552 <span class="comment">// if any, erase old collision against this surface. NB: here, colFound>indexInsert.</span> +01553 <span class="keywordflow">if</span>(colFound!=-1) +01554 cst.CollisionDescs.erase(cst.CollisionDescs.begin() + colFound); +01555 +01556 <span class="comment">// must insert the collision.</span> +01557 cst.CollisionDescs.insert(cst.CollisionDescs.begin() + indexInsert, newCol); +01558 } +01559 } +01560 } +01561 } +01562 } +01563 +01564 <span class="comment">// Find next surface to test.</span> +01565 <span class="comment">//========================</span> +01566 <span class="comment">// No more?? so this is the end.</span> +01567 <span class="keywordflow">if</span>(nextCollisionSurfaceTested>=cst.CollisionDescs.size()) +01568 <span class="keywordflow">break</span>; +01569 <span class="comment">// else next one.</span> +01570 <span class="keywordflow">else</span> +01571 { +01572 <span class="comment">// NB: with this algorithm, we are sure that no more collisions will arise before currentCollisionSurfaceTested.</span> +01573 <span class="comment">// so just continue with following surface.</span> +01574 currentSurface= cst.CollisionDescs[nextCollisionSurfaceTested].ContactSurface; +01575 +01576 <span class="comment">// Do we touch a wall??</span> +01577 <span class="keywordtype">bool</span> isWall; +01578 <span class="keywordflow">if</span>(currentSurface.SurfaceId<0) +01579 isWall= <span class="keyword">true</span>; +01580 <span class="keywordflow">else</span> +01581 { +01582 <span class="comment">// test if it is a walkable wall.</span> +01583 <a class="code" href="a04558.html#a10">sint32</a> locRetId= this-><a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId(); +01584 +01585 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(locRetId).isLoaded()) +01586 { +01587 nextCollisionSurfaceTested++; +01588 <span class="keywordflow">continue</span>; +01589 } +01590 +01591 <span class="keyword">const</span> CLocalRetriever &retr = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(locRetId); +01592 <span class="keywordflow">if</span> (currentSurface.SurfaceId < (<a class="code" href="a04558.html#a14">sint</a>)retr.getSurfaces().size()) +01593 { +01594 <span class="keyword">const</span> CRetrievableSurface &surf= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(locRetId).getSurface(currentSurface.SurfaceId); +01595 isWall= !(surf.isFloor() || surf.isCeiling()); +01596 } +01597 <span class="keywordflow">else</span> +01598 { +01599 isWall = <span class="keyword">true</span>; +01600 } +01601 } +01602 +01603 <span class="comment">// If we touch a wall, this is the end of search.</span> +01604 <span class="keywordflow">if</span>(isWall) +01605 { +01606 <span class="comment">// There can be no more collision after this one.</span> +01607 cst.CollisionDescs.resize(nextCollisionSurfaceTested+1); +01608 <span class="keywordflow">break</span>; +01609 } +01610 <span class="keywordflow">else</span> +01611 { +01612 <span class="comment">// Next time, we will test the following (NB: the array may grow during next pass, or reorder, </span> +01613 <span class="comment">// but only after nextCollisionSurfaceTested).</span> +01614 nextCollisionSurfaceTested++; +01615 } +01616 } +01617 } +01618 +01619 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_5" doxytag="NLPACS::CGlobalRetriever::testCylinderMove" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a05380.html#a0">NLPACS::TCollisionSurfaceDescVector</a> * NLPACS::CGlobalRetriever::testCylinderMove </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>start</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03128.html">NLMISC::CVector</a> & </td> + <td class="mdname" nowrap> <em>delta</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>float </td> + <td class="mdname" nowrap> <em>radius</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const</td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Test a movement of a cylinder against surface world. <dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>start</em> </td><td>is the start position of the movement. </td></tr> + <tr><td valign=top><em>delta</em> </td><td>is the requested movement. </td></tr> + <tr><td valign=top><em>radius</em> </td><td>is the radius of the vertical cylinder. </td></tr> + <tr><td valign=top><em>cst</em> </td><td>is the <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> object used as temp copmputing (one per thread). </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>list of collision against surface, ordered by increasing time. this is a synonym for cst.CollisionDescs. NB: this array may be modified by <a class="el" href="a02588.html">CGlobalRetriever</a> on any collision call.</dd></dl> + +<p> +Definition at line <a class="el" href="a05761.html#l01864">1864</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05583.html#l00311">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05384.html#l00215">NLMISC::CAABBox::extend()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06682.html#l00148">NLMISC::CVector::isNull()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05583.html#l00321">NLPACS::CCollisionSurfaceTemp::PrecDeltaPos</a>, <a class="el" href="a05583.html#l00320">NLPACS::CCollisionSurfaceTemp::PrecStartPos</a>, <a class="el" href="a05583.html#l00319">NLPACS::CCollisionSurfaceTemp::PrecStartSurface</a>, <a class="el" href="a05583.html#l00322">NLPACS::CCollisionSurfaceTemp::PrecValid</a>, <a class="el" href="a05385.html#l00066">NLMISC::CAABBox::setCenter()</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>. +<p> +Referenced by <a class="el" href="a05666.html#l00130">NLPACS::CEdgeQuad::build()</a>, and <a class="el" href="a06207.html#l00166">NLPACS::CPrimitiveWorldImage::evalCollision()</a>. +<p> +<div class="fragment"><pre>01865 { +01866 <span class="comment">// H_AUTO(PACS_GR_testCylinderMove);</span> +01867 +01868 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface); +01869 +01870 <span class="comment">// 0. reset.</span> +01871 <span class="comment">//===========</span> +01872 <span class="comment">// reset result.</span> +01873 cst.CollisionDescs.clear(); +01874 +01875 <span class="comment">// In a surface ?</span> +01876 <span class="keywordflow">if</span> (startPos.InstanceId==-1) +01877 { +01878 <span class="comment">// Warning this primitive is not on a surface</span> +01879 <span class="comment">//nlassertonce (0);</span> +01880 +01881 <span class="comment">// Return NULL when lost</span> +01882 <span class="keywordflow">return</span> NULL; +01883 } +01884 <span class="comment">// store this request in cst.</span> +01885 cst.PrecStartSurface= startSurface; +01886 cst.PrecStartPos= startPos.LocalPosition.Estimation; +01887 cst.PrecDeltaPos= delta; +01888 cst.PrecValid= <span class="keyword">true</span>; +01889 +01890 <span class="comment">// 0.bis</span> +01891 <span class="comment">//===========</span> +01892 <span class="comment">// Abort if deltamove is 0,0,0.</span> +01893 <span class="keywordflow">if</span> (delta.<a class="code" href="a03128.html#NLMISC_1_1CVectorz2051_1">isNull</a>()) +01894 <span class="keywordflow">return</span> &cst.CollisionDescs; +01895 +01896 <span class="comment">// 1. Choose a local basis.</span> +01897 <span class="comment">//===========</span> +01898 <span class="comment">// Take the retrieverInstance of startPos as a local basis.</span> +01899 CVector origin; +01900 origin= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(startPos.InstanceId).getOrigin(); +01901 +01902 +01903 <span class="comment">// 2. compute bboxmove.</span> +01904 <span class="comment">//===========</span> +01905 <a class="code" href="a02156.html">CAABBox</a> bboxMove; +01906 <span class="comment">// bounds the movement in a bbox.</span> +01907 <span class="comment">// compute start and end, relative to the retriever instance.</span> +01908 CVector start= startPos.LocalPosition.Estimation; +01909 CVector end= start+delta; +01910 <span class="comment">// extend the bbox.</span> +01911 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxz1902_1">setCenter</a>(start-CVector(radius, radius, 0)); +01912 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(start+CVector(radius, radius, 0)); +01913 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(end-CVector(radius, radius, 0)); +01914 bboxMove.<a class="code" href="a02156.html#NLMISC_1_1CAABBoxExtz1902_0">extend</a>(end+CVector(radius, radius, 0)); +01915 +01916 +01917 <span class="comment">// 3. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</span> +01918 <span class="comment">//===========</span> +01919 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_1">findCollisionChains</a>(cst, bboxMove, origin); +01920 +01921 +01922 +01923 <span class="comment">// 4. test collisions with CollisionChains.</span> +01924 <span class="comment">//===========</span> +01925 CVector2f startCol(start.x, start.y); +01926 CVector2f deltaCol(delta.<a class="code" href="a03128.html#NLMISC_1_1CVectoro0">x</a>, delta.<a class="code" href="a03128.html#NLMISC_1_1CVectoro1">y</a>); +01927 CVector2f obbDummy[4]; <span class="comment">// dummy OBB (not obb here so don't bother)</span> +01928 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1251_2">testCollisionWithCollisionChains</a>(cst, startCol, deltaCol, startSurface, radius, obbDummy, CGlobalRetriever::Circle); +01929 +01930 <span class="comment">// result.</span> +01931 <span class="keywordflow">return</span> &cst.CollisionDescs; +01932 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_3" doxytag="NLPACS::CGlobalRetriever::testMovementWithCollisionChains" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a03462.html">NLPACS::CSurfaceIdent</a> NLPACS::CGlobalRetriever::testMovementWithCollisionChains </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td> + <td class="mdname" nowrap> <em>startCol</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td> + <td class="mdname" nowrap> <em>deltaCol</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a03462.html">CSurfaceIdent</a> </td> + <td class="mdname" nowrap> <em>startSurface</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname" nowrap> <em>restart</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [private]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +reset and fill cst.MoveDescs with effective collisions of a point movement against current cst.CollisionChains. result: the surfaceIdent where we stop. -1 if we traverse a Wall, which should not happen because of collision test. NB: for precision pb, startCol and deltaCol should be snapped on a grid of 1/1024 meters, using snapVector(). NB: for precision pb (stop on edge etc....), return a "Precision problem ident", ie (-2,-2). NB: when leaving an interior, return a surface (-3, -3) and restart is set to the real restart position +<p> +Definition at line <a class="el" href="a05761.html#l01649">1649</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05762.html#l00168">_ForbiddenInstances</a>, <a class="el" href="a05762.html#l00156">_RetrieverBank</a>, <a class="el" href="a05583.html#l00178">NLPACS::CMoveSurfaceDesc::ChainId</a>, <a class="el" href="a05583.html#l00074">NLPACS::CCollisionChain::ChainId</a>, <a class="el" href="a05583.html#l00299">NLPACS::CCollisionSurfaceTemp::CollisionChains</a>, <a class="el" href="a05583.html#l00166">NLPACS::CMoveSurfaceDesc::ContactTime</a>, <a class="el" href="a05665.html#l00129">NLPACS::CRational64::Denominator</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05583.html#l00172">NLPACS::CMoveSurfaceDesc::ExteriorEdge</a>, <a class="el" href="a05583.html#l00078">NLPACS::CCollisionChain::ExteriorEdge</a>, <a class="el" href="a05583.html#l00070">NLPACS::CCollisionChain::FirstEdgeCollide</a>, <a class="el" href="a05582.html#l00075">NLPACS::CCollisionSurfaceTemp::getEdgeCollideNode()</a>, <a class="el" href="a05762.html#l00208">getInstance()</a>, <a class="el" href="a05761.html#l02421">getMeanHeight()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a05583.html#l00195">NLPACS::CMoveSurfaceDesc::getOtherSurface()</a>, <a class="el" href="a06336.html#l00082">NLPACS::CRetrieverBank::getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05930.html#l00401">NLPACS::CLocalRetriever::getSurface()</a>, <a class="el" href="a05583.html#l00189">NLPACS::CMoveSurfaceDesc::hasSurface()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06334.html#l00168">NLPACS::CRetrievableSurface::isCeiling()</a>, <a class="el" href="a06334.html#l00167">NLPACS::CRetrievableSurface::isFloor()</a>, <a class="el" href="a05930.html#l00422">NLPACS::CLocalRetriever::isLoaded()</a>, <a class="el" href="a05583.html#l00169">NLPACS::CMoveSurfaceDesc::LeftSurface</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::LeftSurface</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05583.html#l00303">NLPACS::CCollisionSurfaceTemp::MoveDescs</a>, <a class="el" href="a05583.html#l00175">NLPACS::CMoveSurfaceDesc::MovementSens</a>, <a class="el" href="a05583.html#l00049">NLPACS::CEdgeCollideNode::Next</a>, <a class="el" href="a05622.html#l00111">nlinfo</a>, <a class="el" href="a05665.html#l00189">NLPACS::CEdgeCollide::Norm</a>, <a class="el" href="a05665.html#l00127">NLPACS::CRational64::Numerator</a>, <a class="el" href="a05761.html#l00482">retrievePosition()</a>, <a class="el" href="a05578.html#l00069">NLPACS::CSurfaceIdent::RetrieverInstanceId</a>, <a class="el" href="a05583.html#l00169">NLPACS::CMoveSurfaceDesc::RightSurface</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::RightSurface</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00099">sint32</a>, <a class="el" href="a06605.html#l00048">NLPACS::ULocalPosition::Surface</a>, <a class="el" href="a05578.html#l00071">NLPACS::CSurfaceIdent::SurfaceId</a>, <a class="el" href="a05646.html#l00985">t</a>, <a class="el" href="a05664.html#l00060">NLPACS::CEdgeCollide::testPointMove()</a>, <a class="el" href="a05981.html#l00105">uint</a>, <a class="el" href="a05981.html#l00098">uint16</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02028">doMove()</a>. +<p> +<div class="fragment"><pre>01651 { +01652 <span class="comment">// H_AUTO(PACS_GR_testMovementWithCollisionChains);</span> +01653 +01654 <span class="comment">// start currentSurface with surface start.</span> +01655 CSurfaceIdent currentSurface= startSurface; +01656 <a class="code" href="a04558.html#a14">sint</a> i; +01657 +01658 <span class="comment">// reset result.</span> +01659 cst.MoveDescs.clear(); +01660 +01661 +01662 <span class="keyword">static</span> vector<pair<sint32, bool> > checkedExtEdges; +01663 +01664 <span class="comment">/*</span> +01665 <span class="comment"> To manage recovery, we must use such an algorithm, so we are sure to trace the way across all surfaces really </span> +01666 <span class="comment"> collided, and discard any other (such as other floor or ceiling).</span> +01667 <span class="comment"></span> +01668 <span class="comment"> This function is quite different from testCollisionWithCollisionChains() because she must detect all collisions</span> +01669 <span class="comment"> with all edges of any chains (and not the minimum collision with a chain).</span> +01670 <span class="comment"> This is done in 3 parts:</span> +01671 <span class="comment"> - detect collisions with all edges.</span> +01672 <span class="comment"> - sort.</span> +01673 <span class="comment"> - leave only real collisions.</span> +01674 <span class="comment"> */</span> +01675 <span class="comment">// run all collisionChain.</span> +01676 <span class="comment">//========================</span> +01677 <span class="keywordflow">for</span>(i=0; i<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionChains.size(); i++) +01678 { +01679 CCollisionChain &colChain= cst.CollisionChains[i]; +01680 +01681 <span class="keywordflow">if</span> (colChain.ExteriorEdge) +01682 { +01683 <a class="code" href="a04558.html#a10">sint32</a> cmp = (colChain.LeftSurface.RetrieverInstanceId<<16) + colChain.ChainId; +01684 +01685 <a class="code" href="a04558.html#a15">uint</a> j; +01686 <span class="keywordflow">for</span> (j=0; j<checkedExtEdges.size() && (checkedExtEdges[j].first != cmp); ++j) +01687 ; +01688 <span class="comment">// if already crossed this edge, abort</span> +01689 <span class="comment">// this a door that is crossing a surface frontier</span> +01690 <span class="keywordflow">if</span> (j < checkedExtEdges.size()) +01691 <span class="keywordflow">continue</span>; +01692 } +01693 +01694 <span class="comment">// test all edges of this chain, and insert if necessary.</span> +01695 <span class="comment">//========================</span> +01696 CRational64 <a class="code" href="a04223.html#a627">t</a>; +01697 <span class="comment">// run list of edge.</span> +01698 <a class="code" href="a04558.html#a10">sint32</a> curEdge= colChain.FirstEdgeCollide; +01699 <span class="keywordflow">while</span>(curEdge!=(<a class="code" href="a04558.html#a10">sint32</a>)0xFFFFFFFF) +01700 { +01701 <span class="comment">// get the edge.</span> +01702 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge); +01703 +01704 <span class="comment">// test collision with this edge.</span> +01705 CEdgeCollide::TPointMoveProblem pmpb; +01706 <a class="code" href="a04223.html#a627">t</a>= colEdge.testPointMove(startCol, endCol, pmpb); +01707 <span class="comment">// manage multiple problems of precision.</span> +01708 <span class="keywordflow">if</span>(<a class="code" href="a04223.html#a627">t</a>== -1) +01709 { +01710 <span class="keyword">static</span> <span class="keyword">const</span> string errs[CEdgeCollide::PointMoveProblemCount]= { +01711 <span class="stringliteral">"ParallelEdges"</span>, <span class="stringliteral">"StartOnEdge"</span>, <span class="stringliteral">"StopOnEdge"</span>, <span class="stringliteral">"TraverseEndPoint"</span>, <span class="stringliteral">"EdgeNull"</span>}; +01712 <span class="comment">// return a "Precision Problem" ident. movement is invalid. </span> +01713 <span class="comment">// BUT if startOnEdge, which should never arrive.</span> +01714 <span class="keywordflow">if</span>(pmpb==CEdgeCollide::StartOnEdge) +01715 { +01716 <a class="code" href="a04199.html#a1">nlinfo</a>(<span class="stringliteral">"COL: Precision Problem: %s"</span>, errs[pmpb].c_str()); +01717 checkedExtEdges.clear(); +01718 <span class="keywordflow">return</span> CSurfaceIdent(-1, -1); <span class="comment">// so in this case, block....</span> +01719 } +01720 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(pmpb==CEdgeCollide::EdgeNull) +01721 { +01722 <span class="comment">/*</span> +01723 <span class="comment"> // verify if it is an edge which separate 2 walls. in this case, ignore it. else, error.</span> +01724 <span class="comment"> if(verticalChain(colChain))</span> +01725 <span class="comment"> {</span> +01726 <span class="comment"> t=1; // no collision with this edge.</span> +01727 <span class="comment"> }</span> +01728 <span class="comment"> else</span> +01729 <span class="comment"> {</span> +01730 <span class="comment"> nlinfo("COL: Precision Problem: %s", errs[pmpb]);</span> +01731 <span class="comment"> nlstop; // this should not append.</span> +01732 <span class="comment"> return CSurfaceIdent(-1, -1);</span> +01733 <span class="comment"> }*/</span> +01734 <span class="comment">/* Actually, this is never a problem: we never get through this edge.</span> +01735 <span class="comment"> Instead, we'll get through the neighbors edge.</span> +01736 <span class="comment"> So just disable this edge.</span> +01737 <span class="comment"> */</span> +01738 <a class="code" href="a04223.html#a627">t</a>= 1; +01739 } +01740 <span class="keywordflow">else</span> +01741 <span class="keywordflow">return</span> CSurfaceIdent(-2, -2); +01742 } +01743 +01744 <span class="comment">// collision??</span> +01745 <span class="keywordflow">if</span>(<a class="code" href="a04223.html#a627">t</a><1) +01746 { +01747 <span class="comment">// insert in list.</span> +01748 cst.MoveDescs.push_back(CMoveSurfaceDesc(t, colChain.LeftSurface, colChain.RightSurface)); +01749 cst.MoveDescs.back().ExteriorEdge = colChain.ExteriorEdge; +01750 cst.MoveDescs.back().ChainId = (<a class="code" href="a04558.html#a9">uint16</a>)colChain.ChainId; +01751 cst.MoveDescs.back().MovementSens= colEdge.Norm*(endCol-startCol)>=0; +01752 } +01753 +01754 <span class="comment">// next edge.</span> +01755 curEdge= colEdge.Next; +01756 } +01757 } +01758 +01759 +01760 <span class="comment">// sort.</span> +01761 <span class="comment">//================</span> +01762 <span class="comment">// sort the collisions in ascending time order.</span> +01763 sort(cst.MoveDescs.begin(), cst.MoveDescs.end()); +01764 +01765 +01766 <span class="comment">// Traverse the array of collisions.</span> +01767 <span class="comment">//========================</span> +01768 <span class="keywordflow">for</span>(i=0;i<(<a class="code" href="a04558.html#a14">sint</a>)cst.MoveDescs.size();i++) +01769 { +01770 CMoveSurfaceDesc &msd = cst.MoveDescs[i]; +01771 +01772 <span class="comment">// Do we collide with this chain??</span> +01773 <span class="keywordflow">if</span>(msd.hasSurface(currentSurface)) +01774 { +01775 <span class="comment">// if flag as an interior/landscape interface and leave interior surf, retrieve correct surface</span> +01776 <span class="keywordflow">if</span> (msd.ExteriorEdge && msd.LeftSurface.RetrieverInstanceId != -1) +01777 { +01778 <span class="keywordtype">bool</span> enterInterior = (currentSurface.RetrieverInstanceId == msd.RightSurface.RetrieverInstanceId); +01779 +01780 <span class="comment">// msd.MovementSens is true if we "geometrically" leave the interior.</span> +01781 <span class="comment">// If logic and geometric disagree, discard</span> +01782 <span class="keywordflow">if</span>(enterInterior == msd.MovementSens) +01783 <span class="keywordflow">continue</span>; +01784 +01785 <a class="code" href="a04558.html#a15">uint</a> j; +01786 <a class="code" href="a04558.html#a10">sint32</a> cmp = (msd.LeftSurface.RetrieverInstanceId<<16) + msd.ChainId; +01787 <span class="keywordflow">for</span> (j=0; j<checkedExtEdges.size() && (checkedExtEdges[j].first != cmp); ++j) +01788 ; +01789 <span class="comment">// if already crossed this edge, abort</span> +01790 <span class="comment">// this a door that is crossing a surface frontier</span> +01791 <span class="keywordflow">if</span> (j < checkedExtEdges.size()) +01792 { +01793 <span class="keywordflow">if</span> (checkedExtEdges[j].second != enterInterior) +01794 <span class="keywordflow">continue</span>; +01795 } +01796 <span class="keywordflow">else</span> +01797 checkedExtEdges.push_back(make_pair(cmp, enterInterior)); +01798 +01799 <span class="comment">// if leave interior, retrieve good position</span> +01800 <span class="keywordflow">if</span> (!enterInterior) +01801 { +01802 <span class="keywordtype">float</span> ctime = (<span class="keywordtype">float</span>)((<span class="keywordtype">double</span>)(msd.ContactTime.Numerator)/(<span class="keywordtype">double</span>)(msd.ContactTime.Denominator)); +01803 CVector2f p = startCol*(1.0f-ctime) + endCol*ctime; +01804 CVector ori = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(startSurface.RetrieverInstanceId).getOrigin(); +01805 ori.z = 0.0f; +01806 UGlobalPosition rp; +01807 rp.InstanceId = currentSurface.RetrieverInstanceId; +01808 rp.LocalPosition.Surface = currentSurface.SurfaceId; +01809 rp.LocalPosition.Estimation = p; +01810 rp.LocalPosition.Estimation.z = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_1">getMeanHeight</a>(rp); +01811 <a class="code" href="a03664.html">CVectorD</a> zp = <a class="code" href="a03664.html">CVectorD</a>(p.x, p.y, rp.LocalPosition.Estimation.z) + CVectorD(ori); +01812 <span class="comment">//CVectorD zp = CVectorD(p.x, p.y, getMeanHeight()) + CVectorD(ori);</span> +01813 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.clear(); +01814 <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">_ForbiddenInstances</a>.push_back(currentSurface.RetrieverInstanceId); +01815 +01816 restart = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1239_13">retrievePosition</a>(zp); +01817 +01818 <span class="keywordflow">return</span> CSurfaceIdent(-3, -3); +01819 } +01820 <span class="keywordflow">else</span> +01821 { +01822 currentSurface= msd.getOtherSurface(currentSurface); +01823 } +01824 } +01825 <span class="keywordflow">else</span> +01826 { +01827 currentSurface= msd.getOtherSurface(currentSurface); +01828 } +01829 +01830 <span class="comment">// Do we touch a wall?? should not happens, but important for security.</span> +01831 <span class="keywordtype">bool</span> isWall; +01832 <span class="keywordflow">if</span>(currentSurface.SurfaceId<0) +01833 isWall= <span class="keyword">true</span>; +01834 <span class="keywordflow">else</span> +01835 { +01836 <span class="comment">// test if it is a walkable wall.</span> +01837 <a class="code" href="a04558.html#a10">sint32</a> locRetId= this-><a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_1">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId(); +01838 +01839 <span class="keywordflow">if</span> (!<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(locRetId).isLoaded()) +01840 <span class="keywordflow">continue</span>; +01841 +01842 <span class="keyword">const</span> CRetrievableSurface &surf= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">_RetrieverBank</a>->getRetriever(locRetId).getSurface(currentSurface.SurfaceId); +01843 isWall= !(surf.isFloor() || surf.isCeiling()); +01844 } +01845 +01846 <span class="comment">// If we touch a wall, this is the end of search.</span> +01847 <span class="keywordflow">if</span>(isWall) +01848 { +01849 <span class="comment">// return a Wall ident. movement is invalid.</span> +01850 checkedExtEdges.clear(); +01851 <span class="keywordflow">return</span> CSurfaceIdent(-1, -1); +01852 } +01853 } +01854 } +01855 +01856 checkedExtEdges.clear(); +01857 <span class="keywordflow">return</span> currentSurface; +01858 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_14" doxytag="NLPACS::CGlobalRetriever::testPosition" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::testPosition </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline, virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Builds a instance of retriever, and link it on the ground (or wherever) <dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign=top><em>id</em> </td><td>a valid retriever id to be instanciated </td></tr> + <tr><td valign=top><em>a</em> </td><td>valid position where the retriever should be instanciated </td></tr> + </table> +</dl> +<dl compact><dt><b>Returns:</b></dt><dd>false if failed</dd></dl> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera23">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05762.html#l00305">305</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a05762.html#l00148">_InternalCST</a>, <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a06338.html#l00220">NLPACS::CRetrieverInstance::getBBox()</a>, <a class="el" href="a06338.html#l00176">NLPACS::CRetrieverInstance::getOrigin()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a06338.html#l00172">NLPACS::CRetrieverInstance::getRetrieverId()</a>, <a class="el" href="a05384.html#l00081">NLMISC::CAABBox::include()</a>, <a class="el" href="a06605.html#l00083">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="a05981.html#l00104">sint</a>, and <a class="el" href="a05929.html#l01038">NLPACS::CLocalRetriever::testPosition()</a>. +<p> +<div class="fragment"><pre>00306 { +00307 <span class="keywordflow">if</span> (pos.InstanceId < 0 || pos.InstanceId >= (<a class="code" href="a04558.html#a14">sint</a>)<a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>.size()) +00308 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00309 +00310 <span class="keyword">const</span> <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrievern1">CRetrieverInstance</a> &instance = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">_Instances</a>[pos.InstanceId]; +00311 +00312 <span class="keywordflow">if</span> (!instance.getBBox().include(pos.LocalPosition.Estimation + instance.getOrigin())) +00313 <span class="keywordflow">return</span> <span class="keyword">false</span>; +00314 +00315 <span class="keyword">const</span> CLocalRetriever &retriever = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1237_4">getRetriever</a>(instance.getRetrieverId()); +00316 <span class="keywordflow">return</span> retriever.testPosition(pos.LocalPosition, _InternalCST); +00317 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1239_15" doxytag="NLPACS::CGlobalRetriever::testRaytrace" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::testRaytrace </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname" nowrap> <em>v0</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03664.html">NLMISC::CVectorD</a> & </td> + <td class="mdname" nowrap> <em>v1</em></td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"><code> [virtual]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Make a raytrace test. For the time, always return false. +<p> + +<p> +Implements <a class="el" href="a02589.html#NLPACS_1_1UGlobalRetrievera24">NLPACS::UGlobalRetriever</a>. +<p> +Definition at line <a class="el" href="a05761.html#l02440">2440</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +<div class="fragment"><pre>02441 { +02442 <span class="comment">// TODO: implement raytrace</span> +02443 <span class="keywordflow">return</span> <span class="keyword">false</span>; +02444 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_4" doxytag="NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02387.html">CCollisionSurfaceTemp</a> & </td> + <td class="mdname" nowrap> <em>cst</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td> + <td class="mdname" nowrap> <em>startCol</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap><a class="el" href="a03462.html">CSurfaceIdent</a> </td> + <td class="mdname" nowrap> <em>startSurface</em>, </td> + </tr> + <tr> + <td class="md" nowrap align="right"></td> + <td></td> + <td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> </td> + <td class="mdname" nowrap> <em>bbox</em>[4]</td> + </tr> + <tr> + <td></td> + <td class="md">) </td> + <td class="md" colspan="2"> const<code> [private]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +reset and fill cst.CollisionDescs with effective collisions against current cst.CollisionChains. result: new collisionDescs in cst. +<p> +Definition at line <a class="el" href="a05761.html#l02303">2303</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05583.html#l00299">NLPACS::CCollisionSurfaceTemp::CollisionChains</a>, <a class="el" href="a05583.html#l00311">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="a05578.html#l00102">NLPACS::CCollisionSurfaceDesc::ContactNormal</a>, <a class="el" href="a05578.html#l00106">NLPACS::CCollisionSurfaceDesc::ContactSurface</a>, <a class="el" href="a05578.html#l00103">NLPACS::CCollisionSurfaceDesc::ContactTime</a>, <a class="el" href="a05583.html#l00070">NLPACS::CCollisionChain::FirstEdgeCollide</a>, <a class="el" href="a05582.html#l00075">NLPACS::CCollisionSurfaceTemp::getEdgeCollideNode()</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::LeftSurface</a>, <a class="el" href="a05583.html#l00049">NLPACS::CEdgeCollideNode::Next</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::RightSurface</a>, <a class="el" href="a05583.html#l00307">NLPACS::CCollisionSurfaceTemp::RotDescs</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00099">sint32</a>, and <a class="el" href="a05664.html#l00657">NLPACS::CEdgeCollide::testBBoxCollide()</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02236">testBBoxRot()</a>. +<p> +<div class="fragment"><pre>02304 { +02305 <span class="comment">// H_AUTO(PACS_GR_testRotCollisionWithCollisionChains);</span> +02306 +02307 <span class="comment">// start currentSurface with surface start.</span> +02308 CSurfaceIdent currentSurface= startSurface; +02309 <a class="code" href="a04558.html#a14">sint</a> i; +02310 +02311 <span class="comment">// reset result.</span> +02312 cst.RotDescs.clear(); +02313 cst.CollisionDescs.clear(); +02314 +02315 +02316 <span class="comment">/*</span> +02317 <span class="comment"> Test collisions with all collision chains. Then, to manage recovery, test the graph of surfaces.</span> +02318 <span class="comment"> */</span> +02319 <span class="comment">// run all collisionChain.</span> +02320 <span class="comment">//========================</span> +02321 <span class="keywordflow">for</span>(i=0; i<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionChains.size(); i++) +02322 { +02323 CCollisionChain &colChain= cst.CollisionChains[i]; +02324 +02325 +02326 <span class="comment">// test all edges of this chain, and insert if necessary.</span> +02327 <span class="comment">//========================</span> +02328 <span class="comment">// run list of edge.</span> +02329 <a class="code" href="a04558.html#a10">sint32</a> curEdge= colChain.FirstEdgeCollide; +02330 <span class="keywordflow">while</span>(curEdge!=(<a class="code" href="a04558.html#a10">sint32</a>)0xFFFFFFFF) +02331 { +02332 <span class="comment">// get the edge.</span> +02333 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge); +02334 +02335 <span class="comment">// test collision with this edge.</span> +02336 <span class="keywordflow">if</span>(colEdge.testBBoxCollide(bbox)) +02337 { +02338 <span class="comment">// yes we have a 2D collision with this chain.</span> +02339 cst.RotDescs.push_back(CRotSurfaceDesc(colChain.LeftSurface, colChain.RightSurface)); +02340 <span class="keywordflow">break</span>; +02341 } +02342 +02343 <span class="comment">// next edge.</span> +02344 curEdge= colEdge.Next; +02345 } +02346 } +02347 +02348 +02349 <span class="comment">// Traverse the array of collisions.</span> +02350 <span class="comment">//========================</span> +02351 <a class="code" href="a04558.html#a14">sint</a> indexCD=0; +02352 <span class="keywordflow">while</span>(<span class="keyword">true</span>) +02353 { +02354 <span class="comment">// What surfaces collided do we reach from this currentSurface??</span> +02355 <span class="keywordflow">for</span>(i=0;i<(<a class="code" href="a04558.html#a14">sint</a>)cst.RotDescs.size();i++) +02356 { +02357 <span class="comment">// Do we collide with this chain?? chain not tested??</span> +02358 <span class="keywordflow">if</span>(cst.RotDescs[i].hasSurface(currentSurface) && !cst.RotDescs[i].Tested) +02359 { +02360 cst.RotDescs[i].Tested= <span class="keyword">true</span>; +02361 +02362 <span class="comment">// insert the collision with the other surface.</span> +02363 CCollisionSurfaceDesc col; +02364 col.ContactTime= 0; +02365 col.ContactNormal= CVector::Null; +02366 col.ContactSurface= cst.RotDescs[i].getOtherSurface(currentSurface); +02367 cst.CollisionDescs.push_back(col); +02368 } +02369 } +02370 +02371 <span class="comment">// get the next currentSurface from surface collided (traverse the graph of collisions).</span> +02372 <span class="keywordflow">if</span>(indexCD<(<a class="code" href="a04558.html#a14">sint</a>)cst.CollisionDescs.size()) +02373 currentSurface= cst.CollisionDescs[indexCD++].ContactSurface; +02374 <span class="keywordflow">else</span> +02375 <span class="keywordflow">break</span>; +02376 } +02377 +02378 } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1245_6" doxytag="NLPACS::CGlobalRetriever::updateHeight" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::updateHeight </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top"><a class="el" href="a02591.html">UGlobalPosition</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>pos</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [inline]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Upadates the height of the given global position. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00461">461</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +References <a class="el" href="a06605.html#l00051">NLPACS::ULocalPosition::Estimation</a>, <a class="el" href="a05761.html#l02421">getMeanHeight()</a>, <a class="el" href="a06605.html#l00086">NLPACS::UGlobalPosition::LocalPosition</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>. +<p> +Referenced by <a class="el" href="a05666.html#l00130">NLPACS::CEdgeQuad::build()</a>. +<p> +<div class="fragment"><pre>00461 { pos.LocalPosition.Estimation.z = <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_1">getMeanHeight</a>(pos); } +</pre></div> </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverz1251_5" doxytag="NLPACS::CGlobalRetriever::verticalChain" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::verticalChain </td> + <td class="md" valign="top">( </td> + <td class="md" nowrap valign="top">const <a class="el" href="a02375.html">CCollisionChain</a> & </td> + <td class="mdname1" valign="top" nowrap> <em>colChain</em> </td> + <td class="md" valign="top"> ) </td> + <td class="md" nowrap> const<code> [private]</code></td> + </tr> + + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +test if a collisionChain separate 2 walls. +<p> + +<p> +Definition at line <a class="el" href="a05761.html#l01623">1623</a> of file <a class="el" href="a05761.html">global_retriever.cpp</a>. +<p> +References <a class="el" href="a05761.html#l01159">getSurfaceById()</a>, <a class="el" href="a06334.html#l00168">NLPACS::CRetrievableSurface::isCeiling()</a>, <a class="el" href="a06334.html#l00167">NLPACS::CRetrievableSurface::isFloor()</a>, <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::LeftSurface</a>, and <a class="el" href="a05583.html#l00072">NLPACS::CCollisionChain::RightSurface</a>. +<p> +<div class="fragment"><pre>01624 { +01625 <span class="comment">// retrieve surfaces.</span> +01626 <span class="keyword">const</span> CRetrievableSurface *left= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_2">getSurfaceById</a>(colChain.LeftSurface); +01627 <span class="keyword">const</span> CRetrievableSurface *right= <a class="code" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_2">getSurfaceById</a>(colChain.RightSurface); +01628 +01629 <span class="comment">// test if left surface is a wall.</span> +01630 <span class="keywordtype">bool</span> leftWall; +01631 <span class="keywordflow">if</span>(!left) +01632 leftWall= <span class="keyword">true</span>; +01633 <span class="keywordflow">else</span> +01634 leftWall= !(left->isFloor() || left->isCeiling()); +01635 +01636 <span class="comment">// test if right surface is a wall.</span> +01637 <span class="keywordtype">bool</span> rightWall; +01638 <span class="keywordflow">if</span>(!right) +01639 rightWall= <span class="keyword">true</span>; +01640 <span class="keywordflow">else</span> +01641 rightWall= !(right->isFloor() || right->isCeiling()); +01642 +01643 <span class="comment">// true if both are a wall.</span> +01644 <span class="keywordflow">return</span> leftWall && rightWall; +01645 } +</pre></div> </td> + </tr> +</table> +<hr><h2>Friends And Related Function Documentation</h2> +<a class="anchor" name="NLPACS_1_1CGlobalRetrievern0" doxytag="NLPACS::CGlobalRetriever::CLrLoader" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> friend class <a class="el" href="a02593.html">CLrLoader</a><code> [friend]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00112">112</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrievern1" doxytag="NLPACS::CGlobalRetriever::CRetrieverInstance" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> friend class <a class="el" href="a03333.html">CRetrieverInstance</a><code> [friend]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00521">521</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. </td> + </tr> +</table> +<hr><h2>Field Documentation</h2> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverp0" doxytag="NLPACS::CGlobalRetriever::_BBox" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02156.html">NLMISC::CAABBox</a> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp0">NLPACS::CGlobalRetriever::_BBox</a><code> [protected]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +The axis aligned bounding box of the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00165">165</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverp1" doxytag="NLPACS::CGlobalRetriever::_ForbiddenInstances" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> std::vector<<a class="el" href="a04558.html#a10">sint32</a>> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp1">NLPACS::CGlobalRetriever::_ForbiddenInstances</a><code> [mutable, protected]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Forbidden instance for retrieve position. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00168">168</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00493">retrievePosition()</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, and <a class="el" href="a05761.html#l01649">testMovementWithCollisionChains()</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverp2" doxytag="NLPACS::CGlobalRetriever::_InstanceGrid" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a03272.html">CQuadGrid</a><<a class="el" href="a04558.html#a11">uint32</a>> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp2">NLPACS::CGlobalRetriever::_InstanceGrid</a><code> [mutable, protected]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +The grid of instances. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00162">162</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00078">initQuadGrid()</a>, <a class="el" href="a05761.html#l00430">makeInstance()</a>, and <a class="el" href="a05761.html#l00109">selectInstances()</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverp3" doxytag="NLPACS::CGlobalRetriever::_Instances" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> std::vector<<a class="el" href="a03333.html">CRetrieverInstance</a>> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp3">NLPACS::CGlobalRetriever::_Instances</a><code> [mutable, protected]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +The instances of the global retriever. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00159">159</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverr0" doxytag="NLPACS::CGlobalRetriever::_InternalCST" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> <a class="el" href="a02387.html">CCollisionSurfaceTemp</a> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverr0">NLPACS::CGlobalRetriever::_InternalCST</a><code> [mutable, private]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00148">148</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l01062">findPath()</a>, <a class="el" href="a05761.html#l00275">getBorders()</a>, <a class="el" href="a05762.html#l00523">getInternalCST()</a>, <a class="el" href="a05761.html#l00367">makeLinks()</a>, <a class="el" href="a05761.html#l02448">refreshLrAround()</a>, <a class="el" href="a05761.html#l02554">refreshLrAroundNow()</a>, <a class="el" href="a05761.html#l00493">retrievePosition()</a>, and <a class="el" href="a05762.html#l00305">testPosition()</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverp4" doxytag="NLPACS::CGlobalRetriever::_LrLoaderList" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> std::list<<a class="el" href="a02593.html">CLrLoader</a>> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp4">NLPACS::CGlobalRetriever::_LrLoaderList</a><code> [protected]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00144">144</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l02448">refreshLrAround()</a>, and <a class="el" href="a05761.html#l02554">refreshLrAroundNow()</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverp5" doxytag="NLPACS::CGlobalRetriever::_RetrieverBank" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> const <a class="el" href="a03331.html">CRetrieverBank</a>* <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverp5">NLPACS::CGlobalRetriever::_RetrieverBank</a><code> [protected]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +The <a class="el" href="a03331.html">CRetrieverBank</a> where the commmon retrievers are stored. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00156">156</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05762.html#l00178">CGlobalRetriever()</a>, <a class="el" href="a05761.html#l00153">check()</a>, <a class="el" href="a05761.html#l00855">findAStarPath()</a>, <a class="el" href="a05761.html#l01177">findCollisionChains()</a>, <a class="el" href="a05761.html#l01062">findPath()</a>, <a class="el" href="a05761.html#l00736">getIdentifier()</a>, <a class="el" href="a05761.html#l02421">getMeanHeight()</a>, <a class="el" href="a05762.html#l00220">getRetriever()</a>, <a class="el" href="a05762.html#l00217">getRetrieverBank()</a>, <a class="el" href="a05761.html#l01159">getSurfaceById()</a>, <a class="el" href="a05761.html#l00414">initAll()</a>, <a class="el" href="a05761.html#l00367">makeLinks()</a>, <a class="el" href="a05761.html#l02448">refreshLrAround()</a>, <a class="el" href="a05761.html#l02554">refreshLrAroundNow()</a>, <a class="el" href="a05761.html#l00493">retrievePosition()</a>, <a class="el" href="a05761.html#l00109">selectInstances()</a>, <a class="el" href="a05762.html#l00366">setRetrieverBank()</a>, <a class="el" href="a05761.html#l01392">testCollisionWithCollisionChains()</a>, and <a class="el" href="a05761.html#l01649">testMovementWithCollisionChains()</a>. </td> + </tr> +</table> +<a class="anchor" name="NLPACS_1_1CGlobalRetrieverr1" doxytag="NLPACS::CGlobalRetriever::_RetrieveTable" ></a><p> +<table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> + <tr> + <td class="mdRow"> + <table cellpadding="0" cellspacing="0" border="0"> + <tr> + <td class="md" nowrap valign="top"> std::vector<<a class="el" href="a04558.html#a7">uint8</a>> <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverr1">NLPACS::CGlobalRetriever::_RetrieveTable</a><code> [mutable, private]</code> + </table> + </td> + </tr> +</table> +<table cellspacing=5 cellpadding=0 border=0> + <tr> + <td> + + </td> + <td> + +<p> +Used to retrieve the surface. Internal use only, to avoid large amount of new/delete. +<p> + +<p> +Definition at line <a class="el" href="a05762.html#l00151">151</a> of file <a class="el" href="a05762.html">global_retriever.h</a>. +<p> +Referenced by <a class="el" href="a05761.html#l00088">initRetrieveTable()</a>, and <a class="el" href="a05761.html#l00430">makeInstance()</a>. </td> + </tr> +</table> +<hr>The documentation for this class was generated from the following files:<ul> +<li><a class="el" href="a05762.html">global_retriever.h</a><li><a class="el" href="a05761.html">global_retriever.cpp</a></ul> +<hr size="1"><address style="align: right;"><small>Generated on Tue Mar 16 14:14:21 2004 for NeL by +<a href="http://www.doxygen.org/index.html"> +<img src="doxygen.png" alt="doxygen" align="middle" border=0 > +</a>1.3.6 </small></address> +</body> +</html> |