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doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center> +<hr><h1>chain_quad.cpp</h1><a href="chain__quad_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 +00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font> +00008 <font class="comment"> *</font> +00009 <font class="comment"> * This file is part of NEVRAX NEL.</font> +00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font> +00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font> +00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font> +00013 <font class="comment"> * any later version.</font> +00014 <font class="comment"></font> +00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font> +00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font> +00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font> +00018 <font class="comment"> * General Public License for more details.</font> +00019 <font class="comment"></font> +00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font> +00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font> +00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font> +00023 <font class="comment"> * MA 02111-1307, USA.</font> +00024 <font class="comment"> */</font> +00025 +00026 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font> +00027 +00028 <font class="preprocessor">#include "<a class="code" href="chain__quad_8h.html">pacs/chain_quad.h</a>"</font> +00029 +00030 <font class="keyword">using</font> <font class="keyword">namespace </font>std; +00031 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC; +00032 +00033 +00034 <font class="keyword">namespace </font>NLPACS +00035 { +00036 +00037 +00038 <font class="comment">// ***************************************************************************</font> +<a name="l00039"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#r0">00039</a> <font class="keyword">const</font> <font class="keywordtype">float</font> CChainQuad::_QuadElementSize= 4; <font class="comment">// = 4 meters.</font> +00040 +00041 +00042 <font class="comment">// ***************************************************************************</font> +<a name="l00043"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a0">00043</a> CChainQuad::CChainQuad() +00044 { +00045 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= NULL; +00046 <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>= 0; +00047 } +00048 <font class="comment">// ***************************************************************************</font> +<a name="l00049"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a2">00049</a> CChainQuad::~CChainQuad() +00050 { +00051 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>; +00052 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= NULL; +00053 <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>= 0; +00054 } +00055 <font class="comment">// ***************************************************************************</font> +<a name="l00056"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a1">00056</a> CChainQuad::CChainQuad(<font class="keyword">const</font> CChainQuad &o) +00057 { +00058 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= NULL; +00059 <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>= 0; +00060 *<font class="keyword">this</font>= o; +00061 } +00062 <font class="comment">// ***************************************************************************</font> +<a name="l00063"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a3">00063</a> CChainQuad &CChainQuad::operator=(<font class="keyword">const</font> CChainQuad &o) +00064 { +00065 <font class="comment">// Alloc good quaddata.</font> +00066 <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>= o._QuadDataLen; +00067 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>; +00068 <font class="keywordflow">if</font>(<a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>>0) +00069 { +00070 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[<a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>]; +00071 <font class="comment">// copy contents.</font> +00072 memcpy(<a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>, o._QuadData, <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>); +00073 } +00074 <font class="keywordflow">else</font> +00075 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= NULL; +00076 +00077 <font class="comment">// copy infos.</font> +00078 <a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>= o._Width; +00079 <a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>= o._Height; +00080 <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>= o._X; +00081 <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>= o._Y; +00082 +00083 <font class="comment">// copy good pointers.</font> +00084 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>.clear(); +00085 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>.resize(o._Quad.size(), NULL); +00086 <font class="keywordflow">for</font>(sint i=0; i<(sint)<a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>.size(); i++) +00087 { +00088 <font class="keywordflow">if</font>(o._Quad[i]) +00089 { +00090 uint32 off= (uint32)(o._Quad[i]-o._QuadData); +00091 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[i]= <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>+off; +00092 } +00093 } +00094 +00095 +00096 <font class="keywordflow">return</font> *<font class="keyword">this</font>; +00097 } +00098 +00099 +00100 +00101 <font class="comment">// ***************************************************************************</font> +<a name="l00102"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#c1">00102</a> <font class="keywordtype">void</font> CChainQuad::getGridBounds(sint32 &x0, sint32 &y0, sint32 &x1, sint32 &y1, <font class="keyword">const</font> CVector &minP, <font class="keyword">const</font> CVector &maxP)<font class="keyword"> const</font> +00103 <font class="keyword"></font>{ +00104 x0= (sint32)floor(minP.x / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>; +00105 y0= (sint32)floor(minP.y / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>; +00106 x1= (sint32) ceil(maxP.x / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>; +00107 y1= (sint32) ceil(maxP.y / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>; +00108 <font class="comment">// Manage selection of a point exactly on a quad bound</font> +00109 <font class="keywordflow">if</font>(x1-x0==0) +00110 x0--, x1++; +00111 <font class="keywordflow">if</font>(y1-y0==0) +00112 y0--, y1++; +00113 <font class="comment">// clamp</font> +00114 x0= max(x0, (sint32)0); +00115 y0= max(y0, (sint32)0); +00116 x1= <a class="code" href="bit__set_8cpp.html#a0">min</a>(x1, (sint32)<a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>); +00117 y1= <a class="code" href="bit__set_8cpp.html#a0">min</a>(y1, (sint32)<a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>); +00118 } +00119 +00120 +00121 <font class="comment">// ***************************************************************************</font> +<a name="l00122"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a4">00122</a> <font class="keywordtype">void</font> CChainQuad::build(<font class="keyword">const</font> std::vector<COrderedChain> &ochains) +00123 { +00124 vector< list<CEdgeChainEntry> > tempQuad; +00125 sint i,j; +00126 +00127 <font class="comment">// first, clear any pr-build.</font> +00128 <a class="code" href="namespaceNLMISC.html#a222">contReset</a>(<a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>); +00129 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>; +00130 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= NULL; +00131 <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>= 0; +00132 +00133 +00134 <font class="comment">// 0. Find BBox of the grid. Allocate grid.</font> +00135 <font class="comment">//=========================================</font> +00136 <font class="keywordtype">bool</font> first=<font class="keyword">true</font>; +00137 CAABBox chainquadBBox; +00138 <font class="comment">// run all chains.</font> +00139 <font class="keywordflow">for</font>(i=0;i<(sint)ochains.size();i++) +00140 { +00141 <font class="keyword">const</font> std::vector<CVector2s> &vertices= ochains[i].getVertices(); +00142 +00143 <font class="comment">// run all vertices.</font> +00144 <font class="keywordflow">for</font>(j= 0; j<(sint)vertices.size();j++) +00145 { +00146 <font class="comment">// enlarge bbox.</font> +00147 <font class="keywordflow">if</font>(first) +00148 first= <font class="keyword">false</font>, chainquadBBox.setCenter(vertices[j].unpack3f()); +00149 <font class="keywordflow">else</font> +00150 chainquadBBox.extend(vertices[j].unpack3f()); +00151 } +00152 } +00153 +00154 <font class="comment">// compute X,Y,Width, Height.</font> +00155 <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>= (sint32)floor(chainquadBBox.getMin().x / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>); +00156 <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>= (sint32)floor(chainquadBBox.getMin().y / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>); +00157 <a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>= (sint32)ceil(chainquadBBox.getMax().x / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>; +00158 <a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>= (sint32)ceil(chainquadBBox.getMax().y / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>; +00159 +00160 tempQuad.resize(<a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>); +00161 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>.resize(<a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>, NULL); +00162 +00163 +00164 <font class="comment">// 1. For each edge, add them to the quadgrid.</font> +00165 <font class="comment">//=========================================</font> +00166 <font class="comment">// run all chains.</font> +00167 <font class="keywordflow">for</font>(i=0;i<(sint)ochains.size();i++) +00168 { +00169 <font class="keyword">const</font> std::vector<CVector2s> &vertices= ochains[i].getVertices(); +00170 +00171 sint numEdges= (sint)vertices.size()-1; +00172 +00173 <font class="comment">// run all edges.</font> +00174 <font class="keywordflow">for</font>(j= 0; j<numEdges; j++) +00175 { +00176 <font class="keyword">const</font> CVector p0= vertices[j].unpack3f(); +00177 <font class="keyword">const</font> CVector p1= vertices[j+1].unpack3f(); +00178 CVector minP,maxP; +00179 minP.minof(p0, p1); +00180 maxP.maxof(p0, p1); +00181 <font class="comment">// PrecisionPb: extend a little this edge. This is important for special case like borders on zones.</font> +00182 <font class="keywordflow">if</font>(minP.x-maxP.x==0) +00183 minP.x-=0.001f, maxP.x+=0.001f; +00184 <font class="keywordflow">if</font>(minP.y-maxP.y==0) +00185 minP.y-=0.001f, maxP.y+=0.001f; +00186 +00187 +00188 <font class="comment">// get bounding coordinate of this edge in the quadgrid.</font> +00189 sint32 x0, y0, x1, y1; +00190 <a class="code" href="classNLPACS_1_1CChainQuad.html#c1">getGridBounds</a>(x0, y0, x1, y1, minP, maxP); +00191 +00192 <font class="comment">// add this edge to all the quadnode it touch.</font> +00193 <font class="keywordflow">for</font>(sint <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>= y0; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><y1; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++) +00194 { +00195 <font class="keywordflow">for</font>(sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>= x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++) +00196 { +00197 list<CEdgeChainEntry> &quadNode= tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>]; +00198 +00199 <a class="code" href="classNLPACS_1_1CChainQuad.html#c0">addEdgeToQuadNode</a>(quadNode, i, j); +00200 } +00201 } +00202 } +00203 } +00204 +00205 +00206 <font class="comment">// 2. Mem optimisation: Use only 1 block for ALL quads of the grid.</font> +00207 <font class="comment">//=========================================</font> +00208 sint memSize= 0; +00209 <font class="comment">// run all quads.</font> +00210 <font class="keywordflow">for</font>(i=0;i<(sint)tempQuad.size();i++) +00211 { +00212 list<CEdgeChainEntry> &quadNode= tempQuad[i]; +00213 +00214 <font class="keywordflow">if</font>(!quadNode.empty()) +00215 { +00216 <font class="comment">// add an entry for Len.</font> +00217 memSize+= <font class="keyword">sizeof</font>(uint16); +00218 <font class="comment">// add N entry of CEdgeChainEntry.</font> +00219 memSize+= quadNode.size()*<font class="keyword">sizeof</font>(CEdgeChainEntry); +00220 } +00221 } +00222 +00223 <font class="comment">// allocate.</font> +00224 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[memSize]; +00225 <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>= memSize; +00226 +00227 +00228 <font class="comment">// 3. Fill _QuadData with lists.</font> +00229 <font class="comment">//=========================================</font> +00230 uint8 *ptr= <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>; +00231 <font class="keywordflow">for</font>(i=0;i<(sint)tempQuad.size();i++) +00232 { +00233 list<CEdgeChainEntry> &srcQuadNode= tempQuad[i]; +00234 list<CEdgeChainEntry>::iterator it; +00235 +00236 <font class="keywordflow">if</font>(!srcQuadNode.empty()) +00237 { +00238 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[i]= ptr; +00239 +00240 <font class="comment">// write len.</font> +00241 uint16 len= srcQuadNode.size(); +00242 *((uint16*)ptr)= len; +00243 ptr+= <font class="keyword">sizeof</font>(uint16); +00244 +00245 <font class="comment">// add entries.</font> +00246 it= srcQuadNode.begin(); +00247 <font class="keywordflow">for</font>(j=0; j<len; j++, it++) +00248 { +00249 *((CEdgeChainEntry*)ptr)= *it; +00250 ptr+= <font class="keyword">sizeof</font>(CEdgeChainEntry); +00251 } +00252 } +00253 } +00254 +00255 +00256 <font class="comment">// End.</font> +00257 } +00258 +00259 +00260 <font class="comment">// ***************************************************************************</font> +<a name="l00261"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#c0">00261</a> <font class="keywordtype">void</font> CChainQuad::addEdgeToQuadNode(list<CEdgeChainEntry> &quadNode, sint ochainId, sint edgeId) +00262 { +00263 <font class="comment">// 0. try to find, insert an edge in an existing CEdgeChainEntry.</font> +00264 <font class="comment">//=========================================</font> +00265 list<CEdgeChainEntry>::iterator it; +00266 <font class="keywordflow">for</font>(it= quadNode.begin(); it!=quadNode.end();it++) +00267 { +00268 <font class="keywordflow">if</font>(it->OChainId==ochainId) +00269 { +00270 <font class="comment">// selection is faster if we only manages a single start/end block.</font> +00271 it->EdgeStart= <a class="code" href="bit__set_8cpp.html#a0">min</a>(it->EdgeStart, (uint16)edgeId); +00272 it->EdgeEnd= max(it->EdgeEnd, (uint16)(edgeId+1)); +00273 <font class="keywordflow">return</font>; +00274 } +00275 } +00276 +00277 +00278 <font class="comment">// 1. else, create new one.</font> +00279 <font class="comment">//=========================================</font> +00280 CEdgeChainEntry entry; +00281 entry.OChainId= ochainId; +00282 entry.EdgeStart= edgeId; +00283 entry.EdgeEnd= edgeId+1; +00284 quadNode.push_back(entry); +00285 } +00286 +00287 +00288 <font class="comment">// ***************************************************************************</font> +<a name="l00289"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a5">00289</a> sint CChainQuad::selectEdges(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bbox, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font> +00290 <font class="keyword"></font>{ +00291 sint nRes=0; +00292 sint i; +00293 uint16 *ochainLUT= cst.OChainLUT; +00294 +00295 <font class="comment">// start: no edge found.</font> +00296 cst.EdgeChainEntries.clear(); +00297 +00298 <font class="comment">// get bounding coordinate of this bbox in the quadgrid.</font> +00299 sint32 x0, y0, x1, y1; +00300 <a class="code" href="classNLPACS_1_1CChainQuad.html#c1">getGridBounds</a>(x0, y0, x1, y1, bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_0">getMin</a>(), bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_1">getMax</a>()); +00301 +00302 +00303 <font class="comment">// run all intersected quads.</font> +00304 <font class="keywordflow">for</font>(sint <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>= y0; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><y1; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++) +00305 { +00306 <font class="keywordflow">for</font>(sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>= x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++) +00307 { +00308 uint8 *quadNode= <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>]; +00309 +00310 <font class="comment">// no edgechain entry??</font> +00311 <font class="keywordflow">if</font>(!quadNode) +00312 <font class="keywordflow">continue</font>; +00313 +00314 <font class="comment">// get edgechain entries</font> +00315 sint numEdgeChainEntries= *((uint16*)quadNode); +00316 quadNode+= <font class="keyword">sizeof</font>(uint16); +00317 CEdgeChainEntry *ptrEdgeChainEntry= (CEdgeChainEntry*)quadNode; +00318 +00319 <font class="comment">// For each one, add it to the result list.</font> +00320 <font class="keywordflow">for</font>(i=0;i<numEdgeChainEntries;i++) +00321 { +00322 uint16 ochainId= ptrEdgeChainEntry[i].OChainId; +00323 +00324 <font class="comment">// if ochain not yet inserted.</font> +00325 <font class="keywordflow">if</font>(ochainLUT[ochainId]==0xFFFF) +00326 { +00327 <font class="comment">// inc the list.</font> +00328 ochainLUT[ochainId]= nRes; +00329 cst.EdgeChainEntries.push_back(ptrEdgeChainEntry[i]); +00330 nRes++; +00331 } +00332 <font class="keywordflow">else</font> +00333 { +00334 <font class="comment">// extend the entry in the list.</font> +00335 uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>= ochainLUT[ochainId]; +00336 CEdgeChainEntry &ece= cst.EdgeChainEntries[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>]; +00337 ece.EdgeStart= <a class="code" href="bit__set_8cpp.html#a0">min</a>(ece.EdgeStart, ptrEdgeChainEntry[i].EdgeStart); +00338 ece.EdgeEnd= max(ece.EdgeEnd, ptrEdgeChainEntry[i].EdgeEnd); +00339 } +00340 } +00341 } +00342 } +00343 +00344 +00345 <font class="comment">// reset LUT to 0xFFFF for all ochains selected.</font> +00346 <font class="keywordflow">for</font>(i=0;i<nRes;i++) +00347 { +00348 uint16 ochainId= cst.EdgeChainEntries[i].OChainId; +00349 ochainLUT[ochainId]= 0xFFFF; +00350 } +00351 +00352 +00353 <font class="keywordflow">return</font> nRes; +00354 } +00355 +<a name="l00356"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a6">00356</a> sint CChainQuad::selectEdges(CVector start, CVector end, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font> +00357 <font class="keyword"></font>{ +00358 sint nRes=0; +00359 sint i; +00360 uint16 *ochainLUT= cst.OChainLUT; +00361 +00362 <font class="comment">// start: no edge found.</font> +00363 cst.EdgeChainEntries.clear(); +00364 +00365 <font class="keywordflow">if</font> (end.x < start.x) +00366 swap(start, end); +00367 +00368 <font class="keywordtype">float</font> minx = <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>, +00369 miny = <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>, +00370 maxx = minx + <a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>, +00371 maxy = miny + <a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>; +00372 +00373 <font class="keywordflow">if</font> (start.x > maxx || end.x < minx || start.y > maxy || end.y < miny) +00374 <font class="keywordflow">return</font> nRes; +00375 +00376 <font class="keywordflow">if</font> (start.x < minx) +00377 { +00378 start.y = start.y+(end.y-start.y)*(minx-start.x)/(end.x-start.x); +00379 start.x = minx; +00380 } +00381 +00382 <font class="keywordflow">if</font> (start.y < miny) +00383 { +00384 start.x = start.x+(end.x-start.x)*(miny-start.y)/(end.y-start.y); +00385 start.y = miny; +00386 } +00387 +00388 <font class="keywordflow">if</font> (end.x > maxx) +00389 { +00390 end.y = start.y+(end.y-start.y)*(minx-start.x)/(end.x-start.x); +00391 end.x = maxx; +00392 } +00393 +00394 <font class="keywordflow">if</font> (end.y > maxy) +00395 { +00396 end.x = start.x+(end.x-start.x)*(miny-start.y)/(end.y-start.y); +00397 end.y = maxy; +00398 } +00399 +00400 sint32 x0, x1, ya, yb; +00401 sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>; +00402 <font class="keywordtype">float</font> fx, fxa, fxb, fya, fyb; +00403 +00404 x0 = (sint32)floor(start.x / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>; +00405 x1 = (sint32)ceil(end.x / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>; +00406 fx = (x0+<a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>)*<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>; +00407 +00408 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; ++<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>) +00409 { +00410 fxa = (fx < start.x) ? start.x : fx; +00411 fxb = (fx+<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a> > end.x) ? end.x : fx+<a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>; +00412 +00413 fya = start.y+(end.y-start.y)*(fxa-start.x)/(end.x-start.x); +00414 fyb = start.y+(end.y-start.y)*(fxb-start.x)/(end.x-start.x); +00415 +00416 <font class="keywordflow">if</font> (fya > fyb) +00417 swap (fya, fyb); +00418 +00419 ya = (sint32)floor(fya / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>; +00420 yb = (sint32)ceil(fyb / <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>; +00421 +00422 fx += <a class="code" href="classNLPACS_1_1CChainQuad.html#r0">_QuadElementSize</a>; +00423 +00424 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=ya; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><yb; ++<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>) +00425 { +00426 uint8 *quadNode= <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>]; +00427 +00428 <font class="comment">// no edgechain entry??</font> +00429 <font class="keywordflow">if</font>(!quadNode) +00430 <font class="keywordflow">continue</font>; +00431 +00432 <font class="comment">// get edgechain entries</font> +00433 sint numEdgeChainEntries= *((uint16*)quadNode); +00434 quadNode+= <font class="keyword">sizeof</font>(uint16); +00435 CEdgeChainEntry *ptrEdgeChainEntry= (CEdgeChainEntry*)quadNode; +00436 +00437 <font class="comment">// For each one, add it to the result list.</font> +00438 <font class="keywordflow">for</font>(i=0;i<numEdgeChainEntries;i++) +00439 { +00440 uint16 ochainId= ptrEdgeChainEntry[i].OChainId; +00441 +00442 <font class="comment">// if ochain not yet inserted.</font> +00443 <font class="keywordflow">if</font>(ochainLUT[ochainId]==0xFFFF) +00444 { +00445 <font class="comment">// inc the list.</font> +00446 ochainLUT[ochainId]= nRes; +00447 cst.EdgeChainEntries.push_back(ptrEdgeChainEntry[i]); +00448 nRes++; +00449 } +00450 <font class="keywordflow">else</font> +00451 { +00452 <font class="comment">// extend the entry in the list.</font> +00453 uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>= ochainLUT[ochainId]; +00454 CEdgeChainEntry &ece= cst.EdgeChainEntries[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>]; +00455 ece.EdgeStart= <a class="code" href="bit__set_8cpp.html#a0">min</a>(ece.EdgeStart, ptrEdgeChainEntry[i].EdgeStart); +00456 ece.EdgeEnd= max(ece.EdgeEnd, ptrEdgeChainEntry[i].EdgeEnd); +00457 } +00458 } +00459 } +00460 } +00461 +00462 <font class="comment">// reset LUT to 0xFFFF for all ochains selected.</font> +00463 <font class="keywordflow">for</font>(i=0;i<nRes;i++) +00464 { +00465 uint16 ochainId= cst.EdgeChainEntries[i].OChainId; +00466 ochainLUT[ochainId]= 0xFFFF; +00467 } +00468 +00469 <font class="keywordflow">return</font> nRes; +00470 } +00471 +00472 <font class="comment">// ***************************************************************************</font> +<a name="l00473"></a><a class="code" href="classNLPACS_1_1CChainQuad.html#a7">00473</a> <font class="keywordtype">void</font> CChainQuad::serial(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f) +00474 { +00475 <font class="comment">/*</font> +00476 <font class="comment"> Version 0:</font> +00477 <font class="comment"> - base version.</font> +00478 <font class="comment"> */</font> +00479 (void)f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(0); +00480 uint i; +00481 +00482 <font class="comment">// serial basics.</font> +00483 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CChainQuad.html#o3">_X</a>, <a class="code" href="classNLPACS_1_1CChainQuad.html#o4">_Y</a>, <a class="code" href="classNLPACS_1_1CChainQuad.html#o1">_Width</a>, <a class="code" href="classNLPACS_1_1CChainQuad.html#o2">_Height</a>, <a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>); +00484 +00485 +00486 <font class="comment">// serial _QuadData.</font> +00487 <font class="keywordflow">if</font>(f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>()) +00488 { +00489 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>; +00490 <font class="keywordflow">if</font>(<a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>>0) +00491 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[<a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>]; +00492 <font class="keywordflow">else</font> +00493 <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>= NULL; +00494 } +00495 <font class="comment">// Since we have only uint16 (see CEdgeChainEntry), serial them in a single block.</font> +00496 uint16 *ptrQData= (uint16*)<a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>; +00497 <font class="keywordflow">for</font>(i=0;i<<a class="code" href="classNLPACS_1_1CChainQuad.html#o6">_QuadDataLen</a>/2; i++, ptrQData++) +00498 { +00499 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(*ptrQData); +00500 } +00501 +00502 +00503 <font class="comment">// serial _Quad.</font> +00504 std::vector<uint32> offsets; +00505 uint32 len; +00506 uint32 val; +00507 <font class="keywordflow">if</font>(f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>()) +00508 { +00509 <font class="comment">// len/resize.</font> +00510 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(len); +00511 offsets.resize(len); +00512 <a class="code" href="namespaceNLMISC.html#a222">contReset</a>(<a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>); +00513 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>.resize(len); +00514 +00515 <font class="comment">// read offsets -> ptrs.</font> +00516 <font class="keywordflow">for</font>(i=0; i<len; i++) +00517 { +00518 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(val); +00519 <font class="keywordflow">if</font>(val== 0xFFFFFFFF) +00520 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[i]= NULL; +00521 <font class="keywordflow">else</font> +00522 <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[i]= <a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>+val; +00523 } +00524 } +00525 <font class="keywordflow">else</font> +00526 { +00527 <font class="comment">// len/resize.</font> +00528 len= <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>.size(); +00529 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(len); +00530 +00531 <font class="comment">// write offsets.</font> +00532 <font class="keywordflow">for</font>(i=0; i<len; i++) +00533 { +00534 uint8 *ptr= <a class="code" href="classNLPACS_1_1CChainQuad.html#o0">_Quad</a>[i]; +00535 <font class="keywordflow">if</font>(ptr==NULL) +00536 val= 0xFFFFFFFF; +00537 <font class="keywordflow">else</font> +00538 val= (uint32)(ptr-<a class="code" href="classNLPACS_1_1CChainQuad.html#o5">_QuadData</a>); +00539 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(val); +00540 } +00541 } +00542 +00543 } +00544 +00545 +00546 +00547 } <font class="comment">// NLPACS</font> +</pre></div> + +<!-- footer --> +<BR><FONT Size=+5> </FONT> +</TD> +<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD> +</TR> +</TABLE> +</BODY> +</HTML> |