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+<hr><h1>build_indoor.cpp</h1><a href="build__indoor_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
+00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
+00008 <font class="comment"> *</font>
+00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
+00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
+00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
+00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
+00013 <font class="comment"> * any later version.</font>
+00014 <font class="comment"></font>
+00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
+00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
+00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
+00018 <font class="comment"> * General Public License for more details.</font>
+00019 <font class="comment"></font>
+00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
+00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
+00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
+00023 <font class="comment"> * MA 02111-1307, USA.</font>
+00024 <font class="comment"> */</font>
+00025
+00026 <font class="preprocessor">#include &lt;map&gt;</font>
+00027 <font class="preprocessor">#include &lt;vector&gt;</font>
+00028
+00029 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font>
+00030
+00031 <font class="preprocessor">#include "<a class="code" href="collision__mesh__build_8h.html">pacs/collision_mesh_build.h</a>"</font>
+00032 <font class="preprocessor">#include "<a class="code" href="local__retriever_8h.html">pacs/local_retriever.h</a>"</font>
+00033 <font class="preprocessor">#include "<a class="code" href="exterior__mesh_8h.html">pacs/exterior_mesh.h</a>"</font>
+00034
+00035 <font class="preprocessor">#include "<a class="code" href="build__indoor_8h.html">build_indoor.h</a>"</font>
+00036
+00037 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
+00038 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
+00039
+00040 <font class="keyword">namespace </font>NLPACS
+00041 {
+00042
+<a name="l00049"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html">00049</a> <font class="keyword">class </font>CInteriorSurface
+00050 {
+00051 <font class="keyword">public</font>:
+<a name="l00053"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">00053</a> CCollisionMeshBuild *<a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">CollisionMeshBuild</a>;
+00054
+<a name="l00056"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m1">00056</a> std::vector&lt;uint32&gt; <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m1">Faces</a>;
+00057
+<a name="l00059"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m2">00059</a> sint32 <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m2">Id</a>;
+00060
+<a name="l00062"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m3">00062</a> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m3">Center</a>;
+00063
+<a name="l00065"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m4">00065</a> sint32 <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m4">Material</a>;
+00066
+00067 <font class="keyword">public</font>:
+<a name="l00068"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#a0">00068</a> CCollisionFace &amp;<a class="code" href="classNLPACS_1_1CInteriorSurface.html#a0">getFace</a>(uint face) { <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">CollisionMeshBuild</a>-&gt;Faces[<a class="code" href="classNLPACS_1_1CInteriorSurface.html#m1">Faces</a>[face]]; }
+<a name="l00069"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#a1">00069</a> CCollisionFace &amp;<a class="code" href="classNLPACS_1_1CInteriorSurface.html#a1">getNeighbor</a>(uint face, uint edge)
+00070 {
+00071 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">CollisionMeshBuild</a>-&gt;Faces[<a class="code" href="classNLPACS_1_1CInteriorSurface.html#a0">getFace</a>(face).Edge[edge]];
+00072 }
+00073 };
+00074
+00075
+<a name="l00082"></a><a class="code" href="classNLPACS_1_1CInteriorBorder.html">00082</a> <font class="keyword">class</font> CInteriorBorder
+00083 {
+00084 <font class="keyword">public</font>:
+<a name="l00086"></a><a class="code" href="classNLPACS_1_1CInteriorBorder.html#m0">00086</a> std::vector&lt;NLMISC::CVector&gt; Vertices;
+00087
+<a name="l00089"></a><a class="code" href="classNLPACS_1_1CInteriorBorder.html#m2">00089</a> sint32 Left, Right;
+00090
+00091 <font class="keyword">public</font>:
+00092 };
+00093
+00094
+00095 <font class="comment">// how to build interior snapping data</font>
+00096 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a15">buildSnapping</a>(CCollisionMeshBuild &amp;cmb, CLocalRetriever &amp;lr);
+00097
+00098
+00099 <font class="comment">// how to build surfaces</font>
+00100 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a16">buildSurfaces</a>(CCollisionMeshBuild &amp;cmb, CLocalRetriever &amp;lr);
+00101
+00102
+00103
+00104 <font class="comment">//</font>
+00105 <font class="comment">// functions to build interior surfaces and borders from mesh</font>
+00106 <font class="comment">//</font>
+00107
+00108 <font class="comment">// how to generate connex surfaces</font>
+00109 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a17">floodFillSurfaces</a>(CCollisionMeshBuild &amp;cmb, vector&lt;CInteriorSurface&gt; &amp;surfaces)
+00110 {
+00111 sint32 currentId = 0;
+00112
+00113 uint i;
+00114
+00115 <font class="keywordflow">for</font> (i=0; i&lt;cmb.Faces.size(); ++i)
+00116 cmb.Faces[i].InternalSurface = -1;
+00117
+00118 <font class="keywordflow">for</font> (i=0; i&lt;cmb.Faces.size(); ++i)
+00119 {
+00120 CCollisionFace &amp;face = cmb.Faces[i];
+00121 <font class="keywordflow">if</font> (face.Surface == CCollisionFace::ExteriorSurface || face.InternalSurface != -1)
+00122 <font class="keywordflow">continue</font>;
+00123
+00124 vector&lt;uint&gt; stack;
+00125 stack.push_back(i);
+00126 face.InternalSurface = currentId;
+00127
+00128 surfaces.resize(surfaces.size()+1);
+00129 surfaces.back().Id = currentId;
+00130 surfaces.back().CollisionMeshBuild = &amp;cmb;
+00131 surfaces.back().Material = face.Material;
+00132
+00133 <font class="keywordflow">while</font> (!stack.empty())
+00134 {
+00135 uint pop = stack.back();
+00136 stack.pop_back();
+00137
+00138 surfaces.back().Faces.push_back(pop);
+00139 CCollisionFace &amp;popFace = cmb.Faces[pop];
+00140
+00141 uint edge, neighb;
+00142 <font class="keywordflow">for</font> (edge=0; edge&lt;3; ++edge)
+00143 {
+00144 <font class="keywordflow">if</font> ((neighb = popFace.Edge[edge]) != -1 &amp;&amp;
+00145 cmb.Faces[neighb].InternalSurface == -1 &amp;&amp;
+00146 cmb.Faces[neighb].Surface == popFace.Surface)
+00147 {
+00148 cmb.Faces[neighb].InternalSurface = currentId;
+00149 stack.push_back(neighb);
+00150 }
+00151 }
+00152 }
+00153
+00154 ++currentId;
+00155 }
+00156 }
+00157
+00158
+00159 <font class="comment">// reset the edge flags of the whole collision mesh build</font>
+00160 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a18">resetEdgeFlags</a>(CCollisionMeshBuild &amp;cmb)
+00161 {
+00162 uint face, edge;
+00163
+00164 <font class="keywordflow">for</font> (face=0; face&lt;cmb.Faces.size(); ++face)
+00165 <font class="keywordflow">for</font> (edge=0; edge&lt;3; ++edge)
+00166 cmb.Faces[face].EdgeFlags[edge] = <font class="keyword">false</font>;
+00167 }
+00168
+00169
+00170
+00171 <font class="comment">// how to generate the borders of a given surface</font>
+00172
+00173 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a19">followBorder</a>(CInteriorSurface &amp;surface, uint first, uint edge, uint sens, vector&lt;CVector&gt; &amp;vstore, <font class="keywordtype">bool</font> &amp;loop)
+00174 {
+00175 CCollisionFace *current = &amp;surface.getFace(first);
+00176 CCollisionFace *next = (current-&gt;Edge[edge] == -1) ? NULL : &amp;surface.CollisionMeshBuild-&gt;Faces[current-&gt;Edge[edge]];
+00177 current-&gt;EdgeFlags[edge] = <font class="keyword">true</font>;
+00178 sint32 currentFace = surface.Faces[first];
+00179
+00180 <font class="keyword">const</font> sint32 currentSurfId = current-&gt;InternalSurface;
+00181 <font class="keyword">const</font> sint32 oppositeSurfId = (next != NULL) ? next-&gt;InternalSurface : (current-&gt;Visibility[edge] ? -1 : -2);
+00182 sint oedge;
+00183
+00184 sint pivot = (edge+sens)%3;
+00185 sint nextEdge = edge;
+00186
+00187 <font class="keywordtype">bool</font> allowThis = <font class="keyword">true</font>;
+00188
+00189 <font class="comment">// adds the pivot to the border and its normal</font>
+00190 vstore.push_back(surface.CollisionMeshBuild-&gt;Vertices[current-&gt;V[pivot]]);
+00191
+00192 <font class="keywordflow">while</font> (true)
+00193 {
+00194 loop = <font class="keyword">false</font>;
+00195 <font class="comment">// -1 means no neighbor at all, -2 means a neighbor that is not available yet</font>
+00196 sint32 thisOpposite = (next != NULL) ? next-&gt;InternalSurface : (current-&gt;Visibility[nextEdge] ? -1 : -2);
+00197 <font class="keywordflow">if</font> (thisOpposite != currentSurfId &amp;&amp; thisOpposite != oppositeSurfId ||
+00198 (loop = (current-&gt;EdgeFlags[nextEdge] &amp;&amp; !allowThis)))
+00199 {
+00200 <font class="comment">// if reaches the end of the border, then quits.</font>
+00201 <font class="keywordflow">break</font>;
+00202 }
+00203 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (thisOpposite == oppositeSurfId)
+00204 {
+00205 <font class="comment">// if the next edge belongs to the border, then go on the same element</font>
+00206 current-&gt;EdgeFlags[nextEdge] = <font class="keyword">true</font>;
+00207 <font class="keywordflow">if</font> (oppositeSurfId &gt;= 0)
+00208 {
+00209 <font class="keywordflow">for</font> (oedge=0; oedge&lt;3 &amp;&amp; next-&gt;Edge[oedge]!=currentFace; ++oedge)
+00210 ;
+00211 <a class="code" href="debug_8h.html#a6">nlassert</a>(oedge != 3);
+00212 <a class="code" href="debug_8h.html#a6">nlassert</a>(allowThis || !next-&gt;EdgeFlags[oedge]);
+00213 next-&gt;EdgeFlags[oedge] = <font class="keyword">true</font>;
+00214 }
+00215 pivot = (pivot+sens)%3;
+00216 nextEdge = (nextEdge+sens)%3;
+00217 next = (current-&gt;Edge[nextEdge] == -1) ? NULL : &amp;surface.CollisionMeshBuild-&gt;Faces[current-&gt;Edge[nextEdge]];
+00218 vstore.push_back(surface.CollisionMeshBuild-&gt;Vertices[current-&gt;V[pivot]]);
+00219 }
+00220 <font class="keywordflow">else</font>
+00221 {
+00222 <font class="comment">// if the next element is inside the surface, then go to the next element</font>
+00223 <a class="code" href="debug_8h.html#a6">nlassert</a>(next-&gt;InternalSurface == currentSurfId);
+00224
+00225 <font class="keywordflow">for</font> (oedge=0; oedge&lt;3 &amp;&amp; next-&gt;Edge[oedge]!=currentFace; ++oedge)
+00226 ;
+00227 <a class="code" href="debug_8h.html#a6">nlassert</a>(oedge != 3);
+00228 currentFace = current-&gt;Edge[nextEdge];
+00229 current = next;
+00230 pivot = (oedge+3-sens)%3;
+00231 nextEdge = (oedge+sens)%3;
+00232 next = (current-&gt;Edge[nextEdge] == -1) ? NULL : &amp;surface.CollisionMeshBuild-&gt;Faces[current-&gt;Edge[nextEdge]];
+00233 }
+00234
+00235 allowThis = <font class="keyword">false</font>;
+00236 }
+00237 }
+00238
+00239
+00240 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a20">computeSurfaceBorders</a>(CInteriorSurface &amp;surface, vector&lt;CInteriorBorder&gt; &amp;borders)
+00241 {
+00242 uint face, edge;
+00243
+00244 <font class="keywordflow">for</font> (face=0; face&lt;surface.Faces.size(); ++face)
+00245 {
+00246 <font class="comment">// for each element,</font>
+00247 <font class="comment">// scan for a edge that points to a different surface</font>
+00248 CCollisionFace &amp;cf = surface.getFace(face);
+00249
+00250 <font class="keywordflow">for</font> (edge=0; edge&lt;3; ++edge)
+00251 {
+00252 <font class="keywordflow">if</font> ((cf.Edge[edge] == -1 || surface.getNeighbor(face, edge).InternalSurface != surface.Id) &amp;&amp;
+00253 !cf.EdgeFlags[edge])
+00254 {
+00255 borders.resize(borders.size()+1);
+00256 CInteriorBorder &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a> = borders.back();
+00257
+00258 <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Left = cf.InternalSurface;
+00259
+00260 <font class="keywordflow">if</font> (cf.Edge[edge] == -1)
+00261 {
+00262 <font class="comment">// link on a neighbor retriever or not at all</font>
+00263 <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Right = cf.Visibility[edge] ? -1 : -2;
+00264 }
+00265 <font class="keywordflow">else</font>
+00266 {
+00267 <font class="comment">// link on the neighbor surface</font>
+00268 <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Right = surface.CollisionMeshBuild-&gt;Faces[cf.Edge[edge]].InternalSurface;
+00269 }
+00270
+00271 <a class="code" href="debug_8h.html#a0">nldebug</a>(<font class="stringliteral">"generate border %d (%d-%d)"</font>, borders.size()-1, <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Left, <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Right);
+00272
+00273 <font class="keywordtype">bool</font> loop;
+00274 vector&lt;CVector&gt; bwdVerts;
+00275 vector&lt;CVector&gt; &amp;fwdVerts = <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Vertices;
+00276
+00277 <a class="code" href="namespaceNLPACS.html#a19">followBorder</a>(surface, face, edge, 2, bwdVerts, loop);
+00278
+00279 sint i;
+00280
+00281 fwdVerts.reserve(bwdVerts.size());
+00282 fwdVerts.clear();
+00283
+00284 <font class="keywordflow">for</font> (i=(sint)(bwdVerts.size()-1); i&gt;=0; --i)
+00285 {
+00286 fwdVerts.push_back(bwdVerts[i]);
+00287 }
+00288
+00289 <font class="keywordflow">if</font> (loop)
+00290 {
+00291 fwdVerts.push_back(fwdVerts.front());
+00292 }
+00293 <font class="keywordflow">else</font>
+00294 {
+00295 fwdVerts.resize(fwdVerts.size()-2);
+00296 <a class="code" href="namespaceNLPACS.html#a19">followBorder</a>(surface, face, edge, 1, fwdVerts, loop);
+00297 }
+00298 }
+00299 }
+00300 }
+00301 }
+00302
+00303
+00304 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a21">computeSurfaceCenter</a>(CInteriorSurface &amp;surface)
+00305 {
+00306 CCollisionMeshBuild &amp;cmb = *(surface.CollisionMeshBuild);
+00307
+00308 CVector center = CVector::Null;
+00309 <font class="keywordtype">float</font> totalWeight = 0.0f;
+00310
+00311 uint i, j;
+00312
+00313 <font class="keywordflow">for</font> (i=0; i&lt;surface.Faces.size(); ++i)
+00314 {
+00315 CCollisionFace &amp;face = surface.getFace(i);
+00316 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[3];
+00317
+00318 <font class="keywordflow">for</font> (j=0; j&lt;3; ++j)
+00319 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[j] = cmb.Vertices[face.V[j]];
+00320
+00321 <font class="keywordtype">float</font> weight = ((<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2]-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0])^(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1]-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0])).norm();
+00322
+00323 center += (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0]+<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1]+<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2])*(weight/3.0f);
+00324 totalWeight += weight;
+00325 }
+00326
+00327 surface.Center = center/totalWeight;
+00328 }
+00329
+00330
+00331 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a22">computeSurfaceQuadTree</a>(CInteriorSurface &amp;surface, CSurfaceQuadTree &amp;quad)
+00332 {
+00333 uint i, j;
+00334
+00335 CAABBox box;
+00336 <font class="keywordtype">bool</font> first = <font class="keyword">true</font>;
+00337 <font class="keywordflow">for</font> (i=0; i&lt;surface.Faces.size(); ++i)
+00338 {
+00339 <font class="keywordflow">for</font> (j=0; j&lt;3; ++j)
+00340 {
+00341 <font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a> = surface.CollisionMeshBuild-&gt;Vertices[surface.CollisionMeshBuild-&gt;Faces[surface.Faces[i]].V[j]];
+00342 <font class="keywordflow">if</font> (first)
+00343 box.setCenter(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>), first=<font class="keyword">false</font>;
+00344 <font class="keywordflow">else</font>
+00345 box.extend(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>);
+00346 }
+00347 }
+00348
+00349 quad.clear();
+00350 quad.init(4.0f, 6, box.getCenter(), std::max(box.getHalfSize().x, box.getHalfSize().y));
+00351
+00352 <font class="keywordflow">for</font> (i=0; i&lt;surface.Faces.size(); ++i)
+00353 {
+00354 <font class="keywordflow">for</font> (j=0; j&lt;3; ++j)
+00355 {
+00356 <font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a> = surface.CollisionMeshBuild-&gt;Vertices[surface.CollisionMeshBuild-&gt;Faces[surface.Faces[i]].V[j]];
+00357 quad.addVertex(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>);
+00358 }
+00359 }
+00360
+00361 quad.compile();
+00362 }
+00363
+00364
+00365 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a16">buildSurfaces</a>(CCollisionMeshBuild &amp;cmb, CLocalRetriever &amp;lr)
+00366 {
+00367 vector&lt;CInteriorSurface&gt; surfaces;
+00368 vector&lt;CInteriorBorder&gt; borders;
+00369
+00370 <a class="code" href="namespaceNLPACS.html#a17">floodFillSurfaces</a>(cmb, surfaces);
+00371
+00372 <a class="code" href="namespaceNLPACS.html#a18">resetEdgeFlags</a>(cmb);
+00373
+00374 uint surf, bord;
+00375
+00377 <font class="keywordflow">for</font> (surf=0; surf&lt;surfaces.size(); ++surf)
+00378 {
+00379 CSurfaceQuadTree quad;
+00380 <a class="code" href="namespaceNLPACS.html#a20">computeSurfaceBorders</a>(surfaces[surf], borders);
+00381 <a class="code" href="namespaceNLPACS.html#a21">computeSurfaceCenter</a>(surfaces[surf]);
+00382 <a class="code" href="namespaceNLPACS.html#a22">computeSurfaceQuadTree</a>(surfaces[surf], quad);
+00383 lr.addSurface(0, 0, (uint8)surfaces[surf].<a class="code" href="classNLPACS_1_1CInteriorSurface.html#m4">Material</a>, 0, 0, <font class="keyword">false</font>, 0.0f, surfaces[surf].Center, quad);
+00384 }
+00385
+00386 sint numBorderChains = 0;
+00387
+00388 <font class="keywordflow">for</font> (bord=0; bord&lt;borders.size(); ++bord)
+00389 {
+00390 sint32 left = borders[bord].Left;
+00391 sint32 right = (borders[bord].Right == -2) ? CChain::convertBorderChainId(numBorderChains++) : borders[bord].Right;
+00392
+00393 <font class="keywordflow">if</font> (left&lt;0 || left&gt;=(sint)surfaces.size() ||
+00394 right&gt;(sint)surfaces.size())
+00395 <a class="code" href="debug_8h.html#a12">nlstop</a>;
+00396
+00397 lr.addChain(borders[bord].Vertices, left, right);
+00398 }
+00399 }
+00400
+00401
+00402 <font class="comment">//</font>
+00403
+00404 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a15">buildSnapping</a>(CCollisionMeshBuild &amp;cmb, CLocalRetriever &amp;lr)
+00405 {
+00406 <font class="comment">// copy the vertices</font>
+00407 lr.getInteriorVertices() = cmb.Vertices;
+00408
+00409 <font class="comment">// create the faces</font>
+00410 uint i;
+00411 vector&lt;CLocalRetriever::CInteriorFace&gt; &amp;faces = lr.getInteriorFaces();
+00412 <font class="keywordflow">for</font> (i=0; i&lt;cmb.Faces.size(); ++i)
+00413 {
+00414 faces.push_back(CLocalRetriever::CInteriorFace());
+00415 faces.back().Verts[0] = cmb.Faces[i].V[0];
+00416 faces.back().Verts[1] = cmb.Faces[i].V[1];
+00417 faces.back().Verts[2] = cmb.Faces[i].V[2];
+00418 faces.back().Surface = cmb.Faces[i].InternalSurface;
+00419 }
+00420
+00421 <font class="comment">// create the face grid</font>
+00422 lr.initFaceGrid();
+00423 }
+00424
+00425
+00426 <font class="comment">//</font>
+00427 <font class="comment">// functions to build local retrievers</font>
+00428 <font class="comment">//</font>
+00429
+00430 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a23">buildExteriorMesh</a>(CCollisionMeshBuild &amp;cmb, CExteriorMesh &amp;em)
+00431 {
+00432 <font class="comment">// find the first non interior face</font>
+00433 uint i, edge;
+00434 <font class="keywordtype">bool</font> found = <font class="keyword">false</font>;
+00435 <font class="keywordflow">for</font> (i=0; i&lt;cmb.Faces.size() &amp;&amp; !found; ++i)
+00436 {
+00437 <font class="keywordflow">if</font> (cmb.Faces[i].Surface != CCollisionFace::ExteriorSurface)
+00438 <font class="keywordflow">continue</font>;
+00439
+00440 <font class="keywordflow">for</font> (edge=0; edge&lt;3 &amp;&amp; !found; ++edge)
+00441 <font class="keywordflow">if</font> (cmb.Faces[i].Edge[edge] == -1)
+00442 {
+00443 found = <font class="keyword">true</font>;
+00444 <font class="keywordflow">break</font>;
+00445 }
+00446
+00447 <font class="keywordflow">if</font> (found)
+00448 <font class="keywordflow">break</font>;
+00449 }
+00450
+00451 <font class="comment">//</font>
+00452 <font class="keywordflow">if</font> (!found)
+00453 <font class="keywordflow">return</font>;
+00454
+00455 sint32 current = i;
+00456 sint32 next = cmb.Faces[current].Edge[edge];
+00457 <font class="keywordflow">for</font> (i=0; i&lt;cmb.Faces.size(); ++i)
+00458 {
+00459 cmb.Faces[i].EdgeFlags[0] = <font class="keyword">false</font>;
+00460 cmb.Faces[i].EdgeFlags[1] = <font class="keyword">false</font>;
+00461 cmb.Faces[i].EdgeFlags[2] = <font class="keyword">false</font>;
+00462 }
+00463
+00464 sint oedge;
+00465 sint pivot = (edge+1)%3;
+00466 sint nextEdge = edge;
+00467
+00468 <font class="keywordtype">bool</font> allowThis = <font class="keyword">true</font>;
+00469
+00470 vector&lt;CExteriorMesh::CEdge&gt; edges;
+00471 uint numLink = 0;
+00472
+00473 <font class="keywordflow">while</font> (true)
+00474 {
+00475 <font class="keywordflow">if</font> (cmb.Faces[current].EdgeFlags[nextEdge])
+00476 {
+00477 <font class="comment">// if reaches the end of the border, then quits.</font>
+00478 <font class="keywordflow">break</font>;
+00479 }
+00480 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (next == -1)
+00481 {
+00482 <font class="comment">// if the next edge belongs to the border, then go on the same element</font>
+00483 cmb.Faces[current].EdgeFlags[nextEdge] = <font class="keyword">true</font>;
+00485 sint link = (cmb.Faces[current].Visibility[nextEdge]) ? -1 : (numLink++);
+00486 edges.push_back(CExteriorMesh::CEdge(cmb.Vertices[cmb.Faces[current].V[pivot]], link));
+00487 <a class="code" href="debug_8h.html#a0">nldebug</a>(<font class="stringliteral">"border: vertex=%d (%.2f,%.2f,%.2f) link=%d"</font>, cmb.Faces[current].V[pivot], cmb.Vertices[cmb.Faces[current].V[pivot]].x, cmb.Vertices[cmb.Faces[current].V[pivot]].y, cmb.Vertices[cmb.Faces[current].V[pivot]].z, link);
+00488 pivot = (pivot+1)%3;
+00489 nextEdge = (nextEdge+1)%3;
+00490 next = cmb.Faces[current].Edge[nextEdge];
+00491 }
+00492 <font class="keywordflow">else</font>
+00493 {
+00494 <font class="comment">// if the next element is inside the surface, then go to the next element</font>
+00495 <font class="keywordflow">for</font> (oedge=0; oedge&lt;3 &amp;&amp; cmb.Faces[next].Edge[oedge]!=current; ++oedge)
+00496 ;
+00497 <a class="code" href="debug_8h.html#a6">nlassert</a>(oedge != 3);
+00498 current = next;
+00499 pivot = (oedge+2)%3;
+00500 nextEdge = (oedge+1)%3;
+00501 next = cmb.Faces[current].Edge[nextEdge];
+00502 }
+00503 }
+00504
+00505 edges.push_back(edges.front());
+00506 edges.back().Link = -1;
+00507
+00508 em.setEdges(edges);
+00509 }
+00510
+00511
+00512 <font class="comment">//</font>
+00513 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a24">linkExteriorToInterior</a>(CLocalRetriever &amp;lr)
+00514 {
+00515 CExteriorMesh em = lr.getExteriorMesh();
+00516 vector&lt;CExteriorMesh::CEdge&gt; edges = em.getEdges();
+00517 vector&lt;CExteriorMesh::CLink&gt; links;
+00518 <font class="keyword">const</font> vector&lt;CChain&gt; &amp;chains = lr.getChains();
+00519 <font class="keyword">const</font> vector&lt;COrderedChain3f&gt; &amp;ochains = lr.getFullOrderedChains();
+00520 <font class="keyword">const</font> vector&lt;uint16&gt; &amp;bchains = lr.getBorderChains();
+00521
+00522 {
+00523 uint i;
+00524
+00525 <font class="keywordflow">for</font> (i=0; i&lt;bchains.size(); ++i)
+00526 {
+00527 <font class="keyword">static</font> <font class="keywordtype">char</font> buf[512], <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>[256];
+00528 <font class="keyword">const</font> CChain &amp;chain = chains[bchains[i]];
+00529 sprintf(buf, <font class="stringliteral">"chain=%d "</font>, bchains[i]);
+00530 uint och;
+00531 <font class="keywordflow">for</font> (och=0; och&lt;chain.getSubChains().size(); ++och)
+00532 {
+00533 <font class="keyword">const</font> COrderedChain3f &amp;ochain = ochains[chain.getSubChain(och)];
+00534 sprintf(<a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>, <font class="stringliteral">"subchain=%d"</font>, chain.getSubChain(och));
+00535 strcat(buf, <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>);
+00536 uint <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>;
+00537 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>=0; <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>&lt;ochain.getVertices().size(); ++<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
+00538 {
+00539 sprintf(<a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>, <font class="stringliteral">" (%.2f,%.2f)"</font>, ochain[<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, ochain[<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>);
+00540 strcat(buf, <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>);
+00541 }
+00542 }
+00543
+00544 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"%s"</font>, buf);
+00545 }
+00546 }
+00547
+00548 uint edge, ch;
+00549 <font class="keywordflow">for</font> (edge=0; edge+1&lt;edges.size(); ++edge)
+00550 {
+00551 <font class="keywordflow">if</font> (edges[edge].Link == -1)
+00552 <font class="keywordflow">continue</font>;
+00553
+00554 CVector start = edges[edge].Start, stop = edges[edge+1].Start;
+00555 <font class="keywordtype">bool</font> found = <font class="keyword">false</font>;
+00556
+00557 <font class="keywordflow">for</font> (ch=0; ch&lt;bchains.size() &amp;&amp; !found; ++ch)
+00558 {
+00559 <font class="comment">// get the border chain.</font>
+00560 <font class="comment">//const CChain &amp;chain = chains[bchains[ch]];</font>
+00561
+00562 <font class="keyword">const</font> CVector &amp;cstart = lr.getStartVector(bchains[ch]),
+00563 &amp;cstop = lr.getStopVector(bchains[ch]);
+00564
+00565 <font class="keywordtype">float</font> d = (start-cstart).norm()+(stop-cstop).norm();
+00566 <font class="keywordflow">if</font> (d &lt; 1.0e-1f)
+00567 {
+00568 found = <font class="keyword">true</font>;
+00569 <font class="keywordflow">break</font>;
+00570 }
+00571 }
+00572
+00573 <font class="comment">// create a link</font>
+00574 CExteriorMesh::CLink link;
+00575
+00576 <font class="keywordflow">if</font> (!found)
+00577 {
+00578 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in linkInteriorToExterior():"</font>);
+00579 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"couldn't find any link to the exterior edge %d!!"</font>, edge);
+00580 }
+00581 <font class="keywordflow">else</font>
+00582 {
+00583 <font class="comment">// set it up to point on the chain and surface</font>
+00584 link.BorderChainId = ch;
+00585 link.ChainId = bchains[ch];
+00586 link.SurfaceId = (uint16)chains[link.ChainId].getLeft();
+00587 }
+00588
+00589 <font class="comment">// enlarge the links</font>
+00590 <font class="keywordflow">if</font> (edges[edge].Link &gt;= (sint)links.size())
+00591 links.resize(edges[edge].Link+1);
+00592
+00593 <font class="comment">// if the link already exists, warning</font>
+00594 <font class="keywordflow">if</font> (links[edges[edge].Link].BorderChainId != 0xFFFF ||
+00595 links[edges[edge].Link].ChainId != 0xFFFF ||
+00596 links[edges[edge].Link].SurfaceId != 0xFFFF)
+00597 {
+00598 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in linkInteriorToExterior():"</font>);
+00599 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"link %d already set!!"</font>, edges[edge].Link);
+00600 }
+00601
+00602 <font class="comment">// setup the link</font>
+00603 links[edges[edge].Link] = link;
+00604 }
+00605
+00606 em.setEdges(edges);
+00607 em.setLinks(links);
+00608 lr.setExteriorMesh(em);
+00609 }
+00610
+00611
+00612
+00613
+00614
+00615 <font class="comment">//</font>
+00616 <font class="keywordtype">bool</font> <a class="code" href="namespaceNLPACS.html#a25">computeRetriever</a>(CCollisionMeshBuild &amp;cmb, CLocalRetriever &amp;lr, CVector &amp;translation, string &amp;error, <font class="keywordtype">bool</font> useCmbTrivialTranslation)
+00617 {
+00618 <font class="comment">// set the retriever</font>
+00619 lr.setType(CLocalRetriever::Interior);
+00620
+00621 <font class="comment">// if should use the own cmb bbox, then compute it</font>
+00622 <font class="keywordflow">if</font> (useCmbTrivialTranslation)
+00623 {
+00624 translation = cmb.computeTrivialTranslation();
+00625 <font class="comment">// snap the translation vector to a meter wide grid</font>
+00626 translation.x = (float)ceil(translation.x);
+00627 translation.y = (float)ceil(translation.y);
+00628 translation.z = 0.0f;
+00629 }
+00630
+00631 vector&lt;string&gt; errors;
+00632
+00633 cmb.link(<font class="keyword">false</font>, errors);
+00634 cmb.link(<font class="keyword">true</font>, errors);
+00635
+00636 <font class="keywordflow">if</font> (!errors.empty())
+00637 {
+00638 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Edge issues reported !!"</font>);
+00639 uint i;
+00640 error = <font class="stringliteral">""</font>;
+00641 <font class="keywordflow">for</font> (i=0; i&lt;errors.size(); ++i)
+00642 error += errors[i]+<font class="stringliteral">"\n"</font>;
+00643 <font class="keywordflow">return</font> <font class="keyword">false</font>;
+00644 }
+00645
+00646 <font class="comment">// translate the meshbuild to the local axis</font>
+00647 cmb.translate(translation);
+00648
+00649 <font class="comment">// find the exterior mesh border</font>
+00650 CExteriorMesh extMesh;
+00651 <a class="code" href="namespaceNLPACS.html#a23">buildExteriorMesh</a>(cmb, extMesh);
+00652 lr.setExteriorMesh(extMesh);
+00653
+00654 <font class="comment">// build the surfaces in the local retriever</font>
+00655 <a class="code" href="namespaceNLPACS.html#a16">buildSurfaces</a>(cmb, lr);
+00656
+00657 <font class="comment">// create the snapping faces and vertices</font>
+00658 <font class="comment">// after the build surfaces because the InternalSurfaceId is filled within buildSurfaces()...</font>
+00659 <a class="code" href="namespaceNLPACS.html#a15">buildSnapping</a>(cmb, lr);
+00660
+00661 <font class="comment">//</font>
+00662 lr.computeLoopsAndTips();
+00663
+00664 lr.findBorderChains();
+00665 lr.updateChainIds();
+00666 lr.computeTopologies();
+00667
+00668 lr.unify();
+00669
+00670 lr.computeCollisionChainQuad();
+00671 <font class="comment">/*</font>
+00672 <font class="comment"> //</font>
+00673 <font class="comment"> for (i=0; i&lt;lr.getSurfaces().size(); ++i)</font>
+00674 <font class="comment"> lr.dumpSurface(i);</font>
+00675 <font class="comment">*/</font>
+00676 <font class="comment">//</font>
+00677 <a class="code" href="namespaceNLPACS.html#a24">linkExteriorToInterior</a>(lr);
+00678
+00679 <font class="comment">// compute the bbox of the retriever</font>
+00680 uint i, j;
+00681 CAABBox bbox;
+00682 <font class="keywordtype">bool</font> first = <font class="keyword">true</font>;
+00683
+00684 <font class="keywordflow">for</font> (i=0; i&lt;extMesh.getEdges().size(); ++i)
+00685 <font class="keywordflow">if</font> (!first)
+00686 bbox.extend(extMesh.getEdge(i).Start);
+00687 <font class="keywordflow">else</font>
+00688 bbox.setCenter(extMesh.getEdge(i).Start), first=<font class="keyword">false</font>;
+00689
+00690 <font class="keywordflow">for</font> (i=0; i&lt;lr.getOrderedChains().size(); ++i)
+00691 <font class="keywordflow">for</font> (j=0; j&lt;lr.getOrderedChain(i).getVertices().size(); ++j)
+00692 <font class="keywordflow">if</font> (!first)
+00693 bbox.extend(lr.getOrderedChain(i)[j].unpack3f());
+00694 <font class="keywordflow">else</font>
+00695 bbox.setCenter(lr.getOrderedChain(i)[j].unpack3f()), first=<font class="keyword">false</font>;
+00696
+00697 CVector bboxhs = bbox.getHalfSize();
+00698 bboxhs.z = 10000.0f;
+00699 bbox.setHalfSize(bboxhs);
+00700
+00701 lr.setBBox(bbox);
+00702
+00703 <font class="keywordflow">return</font> <font class="keyword">true</font>;
+00704 }
+00705
+00706 } <font class="comment">// NLPACS</font>
+</pre></div>
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