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+ <TD><B>Documentation</B></TD>
+ <TD ALIGN=RIGHT>&nbsp;</td>
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+<center>
+<a class="qindex" href="index.html">Main Page</a> &nbsp; <a class="qindex" href="namespaces.html">Namespace List</a> &nbsp; <a class="qindex" href="hierarchy.html">Class Hierarchy</a> &nbsp; <a class="qindex" href="classes.html">Alphabetical List</a> &nbsp; <a class="qindex" href="annotated.html">Compound List</a> &nbsp; <a class="qindex" href="files.html">File List</a> &nbsp; <a class="qindex" href="namespacemembers.html">Namespace Members</a> &nbsp; <a class="qindex" href="functions.html">Compound Members</a> &nbsp; <a class="qindex" href="globals.html">File Members</a> &nbsp; <a class="qindex" href="pages.html">Related Pages</a> &nbsp; <a class="qindexRef" doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> &nbsp; </center>
+<hr><h1>NLPACS::CGlobalRetriever Class Reference</h1>A class that allows to retrieve surface in a large amount of zones (referred as instances.).
+<a href="#_details">More...</a>
+<p>
+<code>#include &lt;<a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>&gt;</code>
+<p>
+<p>Inheritance diagram for NLPACS::CGlobalRetriever:
+<p><center><img src="classNLPACS_1_1CGlobalRetriever.gif" usemap="#NLPACS::CGlobalRetriever_map" border="0"></center>
+<map name="NLPACS::CGlobalRetriever_map">
+<area href="classNLPACS_1_1UGlobalRetriever.html" alt="NLPACS::UGlobalRetriever" shape="rect" coords="0,0,165,24">
+</map>
+<a href="classNLPACS_1_1CGlobalRetriever-members.html">List of all members.</a><table border=0 cellpadding=0 cellspacing=0>
+<tr><td colspan=2><br><h2>Collisions part.</h2></td></tr>
+<tr><td nowrap align=right valign=top>enum &nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a> { <a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_0u0">Circle</a>,
+<a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_0u1">BBox</a>
+ }</td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a> (<a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst, const <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;bboxMove, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;origin) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>reset and fill cst.CollisionChains with possible collisions in bboxMove+origin.</em> <a href="#z941_1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a> (<a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst, const CVector2f &amp;startCol, const CVector2f &amp;deltaCol, <a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a> startSurface, float radius, const CVector2f bbox[4], <a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a> colType) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>reset and fill cst.CollisionDescs with effective collisions against current cst.CollisionChains.</em> <a href="#z941_2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">testMovementWithCollisionChains</a> (<a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst, const CVector2f &amp;startCol, const CVector2f &amp;deltaCol, <a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a> startSurface) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>reset and fill cst.MoveDescs with effective collisions of a point movement against current cst.CollisionChains.</em> <a href="#z941_3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">testRotCollisionWithCollisionChains</a> (<a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst, const CVector2f &amp;startCol, <a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a> startSurface, const CVector2f bbox[4]) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>reset and fill cst.CollisionDescs with effective collisions against current cst.CollisionChains.</em> <a href="#z941_4">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">verticalChain</a> (const <a class="el" href="classNLPACS_1_1CCollisionChain.html">CCollisionChain</a> &amp;colChain) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>test if a collisionChain separate 2 walls.</em> <a href="#z941_5">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan=2><br><h2>Public Types</h2></td></tr>
+<tr><td nowrap align=right valign=top>typedef std::vector&lt; <a class="el" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html">CLocalPath</a> &gt;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a></td></tr>
+<tr><td colspan=2><br><h2>Public Methods</h2></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Initialisation</div></td></tr>
+<tr><td nowrap align=right valign=top>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z934_0">CGlobalRetriever</a> (const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> *bank=NULL)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Constructor.</em> <a href="#z934_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>virtual&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z934_1">~CGlobalRetriever</a> ()</td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">init</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Setup an empty global retriever.</em> <a href="#z934_2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Fill the quadgrid with the instances.</em> <a href="#z934_3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Init the retrieve table.</em> <a href="#z934_4">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Selectors</div></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Gets the BBox of the global retriever.</em> <a href="#z935_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const std::vector&lt; <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a> &gt; &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_1">getInstances</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Gets the vector of retriever instances that compose the global retriever.</em> <a href="#z935_1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a> (<a class="el" href="memory__common_8h.html#a15">uint</a> <a class="el" href="driver__opengl__extension__def_8h.html#a356">id</a>) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Gets the retriever instance referred by its id.</em> <a href="#z935_2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a> (const <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;bbox, <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Select the instances that are in contact with the given bbox.</em> <a href="#z935_3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> *&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_4">getRetrieverBank</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Get the retriever bank associated to this global retriever.</em> <a href="#z935_4">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLPACS_1_1CLocalRetriever.html">CLocalRetriever</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a> (<a class="el" href="memory__common_8h.html#a11">uint32</a> <a class="el" href="driver__opengl__extension__def_8h.html#a356">id</a>) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Get the local retriever.</em> <a href="#z935_5">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="memory__common_8h.html#a11">uint32</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_6">getMaterial</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Get the material at this position.</em> <a href="#z935_6">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_7">isInterior</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Test if the position is an interior.</em> <a href="#z935_7">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z935_8">isWaterPosition</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos, float &amp;waterHeight) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Test if the position is in water.</em> <a href="#z935_8">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Position retrieving methods.</div></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a> (const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;estimated) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Retrieves the position of an estimated point in the global retriever.</em> <a href="#z936_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_1">retrievePosition</a> (const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;estimated) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Retrieves the position of an estimated point in the global retriever (double instead.).</em> <a href="#z936_1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_2">retrievePosition</a> (const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;estimated, float threshold) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Retrieves the position of an estimated point in the global retriever.</em> <a href="#z936_2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_3">retrievePosition</a> (const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;estimated, double threshold) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Retrieves the position of an estimated point in the global retriever (double instead.).</em> <a href="#z936_3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="memory__common_8h.html#a10">sint32</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a> (const std::string &amp;<a class="el" href="driver__opengl__extension__def_8h.html#a356">id</a>) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Return the retriever id from the string id.</em> <a href="#z936_4">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const std::string &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_5">getIdentifier</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;position) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Get the identifier of the global position.</em> <a href="#z936_5">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_6">buildInstance</a> (const std::string &amp;<a class="el" href="driver__opengl__extension__def_8h.html#a356">id</a>, const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;position, <a class="el" href="memory__common_8h.html#a10">sint32</a> &amp;instanceId)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Builds a instance of retriever, and link it on the ground (or wherever).</em> <a href="#z936_6">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">removeInstance</a> (<a class="el" href="memory__common_8h.html#a10">sint32</a> instanceId)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Removes an instance of retriever (perform all unlinks necessary).</em> <a href="#z936_7">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">getGlobalPosition</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;global) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Converts a global position object into a 'human-readable' CVector.</em> <a href="#z936_8">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">getDoubleGlobalPosition</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;global) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Converts a global position object into a 'human-readable' CVector (double instead.).</em> <a href="#z936_9">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">testRaytrace</a> (const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;v0, const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;v1)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Make a raytrace test. For the time, always return false.</em> <a href="#z936_10">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Mutators</div></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">makeInstance</a> (<a class="el" href="memory__common_8h.html#a11">uint32</a> retriever, <a class="el" href="memory__common_8h.html#a7">uint8</a> orientation, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;origin)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Creates an instance of local retriever at the origine position with the given orientation.</em> <a href="#z937_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_1">getInstanceFullAccess</a> (<a class="el" href="memory__common_8h.html#a15">uint</a> <a class="el" href="driver__opengl__extension__def_8h.html#a356">id</a>)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Gets the instance by its id, with full read/write access.</em> <a href="#z937_1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_2">setRetrieverBank</a> (const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> *bank)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Sets the retriever bank.</em> <a href="#z937_2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">resetAllLinks</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Resets all links within the global retriever.</em> <a href="#z937_3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">initAll</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Inits all the instances inside the global retriever.</em> <a href="#z937_4">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a> (<a class="el" href="memory__common_8h.html#a15">uint</a> n)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Links the instance referred by its id to its neighbors.</em> <a href="#z937_5">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">makeAllLinks</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Links all the instances inside the global retriever.</em> <a href="#z937_6">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">check</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Checks the retriever for errors.</em> <a href="#z937_7">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>float&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">distanceToBorder</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos) const</td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">getBorders</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos, std::vector&lt; <a class="el" href="classNLMISC_1_1CLine.html">NLMISC::CLine</a> &gt; &amp;edges)</td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">serial</a> (<a class="el" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &amp;f)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Serialises the global retriever.</em> <a href="#z937_10">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Collisions part.</div></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">testCylinderMove</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;start, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, float radius, <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Test a movement of a cylinder against surface world.</em> <a href="#z938_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">testBBoxMove</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;start, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locI, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locJ, <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Test a movement of a bbox against surface world.</em> <a href="#z938_1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">doMove</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;start, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, float <a class="el" href="driver__opengl__extension__def_8h.html#a384">t</a>, <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst, bool rebuildChains=false) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>apply a movement of a point against surface world.</em> <a href="#z938_2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLPACS_1_1CRetrievableSurface.html">CRetrievableSurface</a> *&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a> (const <a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a> &amp;surfId) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>retrieve a surface by its Id.</em> <a href="#z938_3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">testBBoxRot</a> (const <a class="el" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html">CGlobalPosition</a> &amp;start, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locI, const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locJ, <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;cst) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Test a rotation of a BBox against the surfaces.</em> <a href="#z938_4">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>float&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">getMeanHeight</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>return the mean height of the surface under pos..</em> <a href="#z938_5">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_6">updateHeight</a> (<a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;pos) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Upadates the height of the given global position.</em> <a href="#z938_6">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Pathfinding part.</div></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">findAStarPath</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;begin, const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;end, std::vector&lt; <a class="el" href="structNLPACS_1_1CRetrieverInstance_1_1CAStarNodeAccess.html">CRetrieverInstance::CAStarNodeAccess</a> &gt; &amp;path, <a class="el" href="memory__common_8h.html#a11">uint32</a> forbidFlags) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Finds an A* path from a given global position to another.</em> <a href="#z939_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">findPath</a> (const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;begin, const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;end, <a class="el" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a> &amp;path, <a class="el" href="memory__common_8h.html#a11">uint32</a> forbidFlags=0) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Finds a path from a given global position to another.</em> <a href="#z939_1">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan=2><br><h2>Protected Methods</h2></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#b0">getInternalCST</a> () const</td></tr>
+<tr><td colspan=2><br><h2>Protected Attributes</h2></td></tr>
+<tr><td nowrap align=right valign=top>const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> *&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a></td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>The <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> where the commmon retrievers are stored.</em> <a href="#n0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>std::vector&lt; <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a> &gt;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a></td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>The instances of the global retriever.</em> <a href="#n1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1CQuadGrid.html">CQuadGrid</a>&lt; <a class="el" href="memory__common_8h.html#a11">uint32</a> &gt;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a></td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>The grid of instances.</em> <a href="#n2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a></td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>The axis aligned bounding box of the global retriever.</em> <a href="#n3">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan=2><br><h2>Private Types</h2></td></tr>
+<tr><td colspan=2><br><h2>Private Methods</h2></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Pathfinding part.</div></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="structNLPACS_1_1CRetrieverInstance_1_1CAStarNodeInfo.html">CRetrieverInstance::CAStarNodeInfo</a> &amp;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a> (<a class="el" href="structNLPACS_1_1CRetrieverInstance_1_1CAStarNodeAccess.html">CRetrieverInstance::CAStarNodeAccess</a> &amp;access) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Gets the CAStarNodeInfo referred by its access.</em> <a href="#z940_0">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan=2><br><h2>Private Attributes</h2></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a>&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a></td></tr>
+<tr><td nowrap align=right valign=top>std::vector&lt; <a class="el" href="memory__common_8h.html#a7">uint8</a> &gt;&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a></td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Used to retrieve the surface. Internal use only, to avoid large amount of new/delete.</em> <a href="#o1">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan=2><br><h2>Friends</h2></td></tr>
+<tr><td nowrap align=right valign=top>class&nbsp;</td><td valign=bottom><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a></td></tr>
+</table>
+<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.).
+<p>
+<dl compact><dt><b>
+Author: </b><dd>
+Benjamin Legros , Nevrax France </dl><dl compact><dt><b>
+Date: </b><dd>
+2001 </dl>
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00061">61</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.<hr><h2>Member Typedef Documentation</h2>
+<a name="s0" doxytag="NLPACS::CGlobalRetriever::CGlobalPath"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> typedef std::vector&lt;<a class="el" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html">CLocalPath</a>&gt; NLPACS::CGlobalRetriever::CGlobalPath
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00099">99</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00896">findPath</a>. </td>
+ </tr>
+</table>
+<hr><h2>Member Enumeration Documentation</h2>
+<a name="z941_0" doxytag="NLPACS::CGlobalRetriever::TCollisionType"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> enum NLPACS::CGlobalRetriever::TCollisionType<code> [private]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+<dl compact><dt><b>
+Enumeration values:</b><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em><a name="z941_0u0" doxytag="Circle"></a><em>Circle</em></em>&nbsp;</td><td>
+</td></tr>
+<tr><td valign=top><em><a name="z941_0u1" doxytag="BBox"></a><em>BBox</em></em>&nbsp;</td><td>
+</td></tr>
+</table>
+</dl>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00394">394</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>. </td>
+ </tr>
+</table>
+<hr><h2>Constructor &amp; Destructor Documentation</h2>
+<a name="z934_0" doxytag="NLPACS::CGlobalRetriever::CGlobalRetriever"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> NLPACS::CGlobalRetriever::CGlobalRetriever </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> *&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>bank</em> = NULL </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Constructor.
+<p>
+Creates a global retriever with given width, height and retriever bank.
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00130">130</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>. </td>
+ </tr>
+</table>
+<a name="z934_1" doxytag="NLPACS::CGlobalRetriever::~CGlobalRetriever"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> virtual NLPACS::CGlobalRetriever::~CGlobalRetriever </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap><code> [inline, virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00133">133</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>. </td>
+ </tr>
+</table>
+<hr><h2>Member Function Documentation</h2>
+<a name="z936_6" doxytag="NLPACS::CGlobalRetriever::buildInstance"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::buildInstance </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const std::string &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>id</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>position</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="memory__common_8h.html#a10">sint32</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>instanceId</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Builds a instance of retriever, and link it on the ground (or wherever).
+<p>
+<dl compact><dt><b>
+Parameters: </b><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em>id</em>&nbsp;</td><td>
+a valid retriever id to be instanciated </td></tr>
+<tr><td valign=top><em>a</em>&nbsp;</td><td>
+valid position where the retriever should be instanciated </td></tr>
+</table>
+</dl><dl compact><dt><b>
+Returns: </b><dd>
+false if failed </dl>
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a5">NLPACS::UGlobalRetriever</a>. </td>
+ </tr>
+</table>
+<a name="z937_7" doxytag="NLPACS::CGlobalRetriever::check"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::check </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Checks the retriever for errors.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00127">127</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>, and <a class="el" href="debug_8h-source.html#l00114">nlwarning</a>. </td>
+ </tr>
+</table>
+<a name="z937_8" doxytag="NLPACS::CGlobalRetriever::distanceToBorder"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float NLPACS::CGlobalRetriever::distanceToBorder </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>pos</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a14">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00226">226</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, and <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>. </td>
+ </tr>
+</table>
+<a name="z938_2" doxytag="NLPACS::CGlobalRetriever::doMove"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::doMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>delta</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>t</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>bool&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>rebuildChains</em> = false</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+apply a movement of a point against surface world.
+<p>
+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).<dl compact><dt><b>
+Parameters: </b><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em>start</em>&nbsp;</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>&nbsp;</td><td>
+is the requested movement (must be same as passed in test???Move()). </td></tr>
+<tr><td valign=top><em>t</em>&nbsp;</td><td>
+must be in [0,1]. t*delta is the actual requested movement. </td></tr>
+<tr><td valign=top><em>cst</em>&nbsp;</td><td>
+is the <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.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>&nbsp;</td><td>
+true if <a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">doMove</a>() is not called just after the testMove(). Then <a class="el" href="classNLPACS_1_1CGlobalRetriever.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><dd>
+new position of the entity. </dl>
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01712">1712</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="common_8h-source.html#l00151">NLMISC::clamp</a>, <a class="el" href="collision__surface__temp_8h-source.html#l00301">NLPACS::CCollisionSurfaceTemp::CollisionDescs</a>, <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="u__global__position_8h-source.html#l00075">NLPACS::UGlobalPosition::InstanceId</a>, <a class="el" href="u__global__position_8h-source.html#l00078">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="debug_8h-source.html#l00254">nlassert</a>, <a class="el" href="debug_8h-source.html#l00374">nlstop</a>, <a class="el" href="collision__surface__temp_8h-source.html#l00311">NLPACS::CCollisionSurfaceTemp::PrecDeltaPos</a>, <a class="el" href="collision__surface__temp_8h-source.html#l00310">NLPACS::CCollisionSurfaceTemp::PrecStartPos</a>, <a class="el" href="collision__surface__temp_8h-source.html#l00309">NLPACS::CCollisionSurfaceTemp::PrecStartSurface</a>, <a class="el" href="collision__surface__temp_8h-source.html#l00312">NLPACS::CCollisionSurfaceTemp::PrecValid</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00815">res</a>, <a class="el" href="retriever__instance_8h-source.html#l00046">NLPACS::SnapPrecision</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00681">t</a>, <a class="el" href="global__retriever_8cpp-source.html#l01411">testMovementWithCollisionChains</a>, <a class="el" href="vector__2s_8h-source.html#l00038">NLPACS::Vector2sAccuracy</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00233">x</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00233">y</a>. </td>
+ </tr>
+</table>
+<a name="z939_0" doxytag="NLPACS::CGlobalRetriever::findAStarPath"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::findAStarPath </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>begin</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>end</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>std::vector&lt; <a class="el" href="structNLPACS_1_1CRetrieverInstance_1_1CAStarNodeAccess.html">CRetrieverInstance::CAStarNodeAccess</a> &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>path</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="memory__common_8h.html#a11">uint32</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>forbidFlags</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Finds an A* path from a given global position to another.
+<p>
+<dl compact><dt><b>
+<a class="el" href="todo.html#_todo000033">Todo: </a></b><dd>
+ secure search to avoid crashes...</dl>
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00896">findPath</a>. </td>
+ </tr>
+</table>
+<a name="z941_1" doxytag="NLPACS::CGlobalRetriever::findCollisionChains"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::findCollisionChains </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>bboxMove</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>origin</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+reset and fill cst.CollisionChains with possible collisions in bboxMove+origin.
+<p>
+result: collisionChains, computed localy to origin.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01008">1008</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>, <a class="el" href="debug_8h-source.html#l00254">nlassert</a>, <a class="el" href="global__retriever_8cpp-source.html#l00094">selectInstances</a>, and <a class="el" href="aabbox_8h-source.html#l00070">NLMISC::CAABBox::setCenter</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01712">doMove</a>, <a class="el" href="global__retriever_8cpp-source.html#l01621">testBBoxMove</a>, <a class="el" href="global__retriever_8cpp-source.html#l01905">testBBoxRot</a>, and <a class="el" href="global__retriever_8cpp-source.html#l01548">testCylinderMove</a>. </td>
+ </tr>
+</table>
+<a name="z939_1" doxytag="NLPACS::CGlobalRetriever::findPath"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::findPath </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>begin</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>end</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>path</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="memory__common_8h.html#a11">uint32</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>forbidFlags</em> = 0</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Finds a path from a given global position to another.
+<p>
+<dl compact><dt><b>
+<a class="el" href="todo.html#_todo000034">Todo: </a></b><dd>
+ include path width</dl>
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00896">896</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00103">_InternalCST</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8cpp-source.html#l00038">AStarTicks</a>, <a class="el" href="global__retriever_8h-source.html#l00099">CGlobalPath</a>, <a class="el" href="global__retriever_8cpp-source.html#l00040">ChainTicks</a>, <a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">findAStarPath</a>, <a class="el" href="u__global__position_8h-source.html#l00078">NLPACS::UGlobalPosition::LocalPosition</a>, <a class="el" href="global__retriever_8cpp-source.html#l00039">PathTicks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00041">SurfTicks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00042">ThisAStarTicks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00044">ThisChainTicks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00043">ThisPathTicks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00045">ThisSurfTicks</a>, and <a class="el" href="time__nl_8h-source.html#l00048">NLMISC::TTicks</a>. </td>
+ </tr>
+</table>
+<a name="z935_0" doxytag="NLPACS::CGlobalRetriever::getBBox"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a>&amp; NLPACS::CGlobalRetriever::getBBox </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Gets the BBox of the global retriever.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a1">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00153">153</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00063">initQuadGrid</a>. </td>
+ </tr>
+</table>
+<a name="z937_9" doxytag="NLPACS::CGlobalRetriever::getBorders"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::getBorders </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>pos</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>std::vector&lt; <a class="el" href="classNLMISC_1_1CLine.html">NLMISC::CLine</a> &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>edges</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a15">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00234">234</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00103">_InternalCST</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>. </td>
+ </tr>
+</table>
+<a name="z936_9" doxytag="NLPACS::CGlobalRetriever::getDoubleGlobalPosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> CVectorD NLPACS::CGlobalRetriever::getDoubleGlobalPosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>global</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Converts a global position object into a 'human-readable' CVector (double instead.).
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a17">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00674">674</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="u__global__position_8h-source.html#l00075">NLPACS::UGlobalPosition::InstanceId</a>, and <a class="el" href="u__global__position_8h-source.html#l00078">NLPACS::UGlobalPosition::LocalPosition</a>. </td>
+ </tr>
+</table>
+<a name="z936_8" doxytag="NLPACS::CGlobalRetriever::getGlobalPosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> CVector NLPACS::CGlobalRetriever::getGlobalPosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>global</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Converts a global position object into a 'human-readable' CVector.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a16">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00661">661</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>. </td>
+ </tr>
+</table>
+<a name="z936_5" doxytag="NLPACS::CGlobalRetriever::getIdentifier"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const string &amp; NLPACS::CGlobalRetriever::getIdentifier </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>position</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Get the identifier of the global position.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a4">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00588">588</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>, and <a class="el" href="u__global__position_8h-source.html#l00075">NLPACS::UGlobalPosition::InstanceId</a>. </td>
+ </tr>
+</table>
+<a name="z936_4" doxytag="NLPACS::CGlobalRetriever::getIdentifier"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="memory__common_8h.html#a10">sint32</a> NLPACS::CGlobalRetriever::getIdentifier </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const std::string &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>id</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Return the retriever id from the string id.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a3">NLPACS::UGlobalRetriever</a>. </td>
+ </tr>
+</table>
+<a name="z935_2" doxytag="NLPACS::CGlobalRetriever::getInstance"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a>&amp; NLPACS::CGlobalRetriever::getInstance </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="memory__common_8h.html#a15">uint</a>&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>id</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Gets the retriever instance referred by its id.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00160">160</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00218">id</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01712">doMove</a>, <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l02090">getMeanHeight</a>, <a class="el" href="global__retriever_8cpp-source.html#l00993">getSurfaceById</a>, <a class="el" href="global__retriever_8cpp-source.html#l01621">testBBoxMove</a>, <a class="el" href="global__retriever_8cpp-source.html#l01905">testBBoxRot</a>, <a class="el" href="global__retriever_8cpp-source.html#l01211">testCollisionWithCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l01548">testCylinderMove</a>, and <a class="el" href="global__retriever_8cpp-source.html#l01411">testMovementWithCollisionChains</a>. </td>
+ </tr>
+</table>
+<a name="z937_1" doxytag="NLPACS::CGlobalRetriever::getInstanceFullAccess"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a>&amp; NLPACS::CGlobalRetriever::getInstanceFullAccess </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="memory__common_8h.html#a15">uint</a>&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>id</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Gets the instance by its id, with full read/write access.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00272">272</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00218">id</a>. </td>
+ </tr>
+</table>
+<a name="z935_1" doxytag="NLPACS::CGlobalRetriever::getInstances"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const std::vector&lt;<a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a>&gt;&amp; NLPACS::CGlobalRetriever::getInstances </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Gets the vector of retriever instances that compose the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00157">157</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>. </td>
+ </tr>
+</table>
+<a name="b0" doxytag="NLPACS::CGlobalRetriever::getInternalCST"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a>&amp; NLPACS::CGlobalRetriever::getInternalCST </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00422">422</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00103">_InternalCST</a>.
+<p>
+Referenced by <a class="el" href="retriever__instance_8cpp-source.html#l00135">NLPACS::CRetrieverInstance::initEdgeQuad</a>. </td>
+ </tr>
+</table>
+<a name="z935_6" doxytag="NLPACS::CGlobalRetriever::getMaterial"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="memory__common_8h.html#a11">uint32</a> NLPACS::CGlobalRetriever::getMaterial </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>pos</em> </td>
+ <td class="md" valign="top">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Get the material at this position.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a7">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00176">176</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>. </td>
+ </tr>
+</table>
+<a name="z938_5" doxytag="NLPACS::CGlobalRetriever::getMeanHeight"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> float NLPACS::CGlobalRetriever::getMeanHeight </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>pos</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the mean height of the surface under pos..
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a2">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l02090">2090</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8h-source.html#l00361">updateHeight</a>. </td>
+ </tr>
+</table>
+<a name="z940_0" doxytag="NLPACS::CGlobalRetriever::getNode"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="structNLPACS_1_1CRetrieverInstance_1_1CAStarNodeInfo.html">CRetrieverInstance::CAStarNodeInfo</a>&amp; NLPACS::CGlobalRetriever::getNode </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="structNLPACS_1_1CRetrieverInstance_1_1CAStarNodeAccess.html">CRetrieverInstance::CAStarNodeAccess</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>access</em> </td>
+ <td class="md" valign="top">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Gets the CAStarNodeInfo referred by its access.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00384">384</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>. </td>
+ </tr>
+</table>
+<a name="z935_5" doxytag="NLPACS::CGlobalRetriever::getRetriever"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLPACS_1_1CLocalRetriever.html">CLocalRetriever</a>&amp; NLPACS::CGlobalRetriever::getRetriever </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="memory__common_8h.html#a11">uint32</a>&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>id</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Get the local retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00172">172</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00218">id</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00127">check</a>, <a class="el" href="global__retriever_8cpp-source.html#l00226">distanceToBorder</a>, <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l00234">getBorders</a>, <a class="el" href="global__retriever_8cpp-source.html#l00588">getIdentifier</a>, <a class="el" href="global__retriever_8h-source.html#l00176">getMaterial</a>, <a class="el" href="retriever__instance_8cpp-source.html#l00135">NLPACS::CRetrieverInstance::initEdgeQuad</a>, <a class="el" href="global__retriever_8cpp-source.html#l00073">initRetrieveTable</a>, <a class="el" href="global__retriever_8h-source.html#l00200">isWaterPosition</a>, <a class="el" href="retriever__instance_8cpp-source.html#l00148">NLPACS::CRetrieverInstance::linkEdgeQuad</a>, <a class="el" href="global__retriever_8cpp-source.html#l00333">makeInstance</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>. </td>
+ </tr>
+</table>
+<a name="z935_4" doxytag="NLPACS::CGlobalRetriever::getRetrieverBank"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a>* NLPACS::CGlobalRetriever::getRetrieverBank </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Get the retriever bank associated to this global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00169">169</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>. </td>
+ </tr>
+</table>
+<a name="z938_3" doxytag="NLPACS::CGlobalRetriever::getSurfaceById"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLPACS_1_1CRetrievableSurface.html">NLPACS::CRetrievableSurface</a> * NLPACS::CGlobalRetriever::getSurfaceById </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>surfId</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+retrieve a surface by its Id.
+<p>
+NULL if not found or if -1.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00993">993</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="collision__desc_8h-source.html#l00069">NLPACS::CSurfaceIdent::RetrieverInstanceId</a>, and <a class="el" href="collision__desc_8h-source.html#l00071">NLPACS::CSurfaceIdent::SurfaceId</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01385">verticalChain</a>. </td>
+ </tr>
+</table>
+<a name="z934_2" doxytag="NLPACS::CGlobalRetriever::init"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::init </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Setup an empty global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00055">55</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00120">_BBox</a>, <a class="el" href="global__retriever_8h-source.html#l00117">_InstanceGrid</a>, <a class="el" href="aabbox_8h-source.html#l00070">NLMISC::CAABBox::setCenter</a>, and <a class="el" href="aabbox_8h-source.html#l00071">NLMISC::CAABBox::setHalfSize</a>. </td>
+ </tr>
+</table>
+<a name="z937_4" doxytag="NLPACS::CGlobalRetriever::initAll"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::initAll </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Inits all the instances inside the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00320">320</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8cpp-source.html#l00063">initQuadGrid</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00073">initRetrieveTable</a>. </td>
+ </tr>
+</table>
+<a name="z934_3" doxytag="NLPACS::CGlobalRetriever::initQuadGrid"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::initQuadGrid </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Fill the quadgrid with the instances.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00063">63</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00117">_InstanceGrid</a>, <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, and <a class="el" href="global__retriever_8h-source.html#l00153">getBBox</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00320">initAll</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00107">serial</a>. </td>
+ </tr>
+</table>
+<a name="z934_4" doxytag="NLPACS::CGlobalRetriever::initRetrieveTable"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::initRetrieveTable </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Init the retrieve table.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00073">73</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00106">_RetrieveTable</a>, and <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00320">initAll</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00107">serial</a>. </td>
+ </tr>
+</table>
+<a name="z935_7" doxytag="NLPACS::CGlobalRetriever::isInterior"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::isInterior </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>pos</em> </td>
+ <td class="md" valign="top">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Test if the position is an interior.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a12">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00191">191</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>. </td>
+ </tr>
+</table>
+<a name="z935_8" doxytag="NLPACS::CGlobalRetriever::isWaterPosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::isWaterPosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>pos</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>float &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>waterHeight</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Test if the position is in water.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a13">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00200">200</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>. </td>
+ </tr>
+</table>
+<a name="z937_6" doxytag="NLPACS::CGlobalRetriever::makeAllLinks"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::makeAllLinks </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Links all the instances inside the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00311">311</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00303">resetAllLinks</a>. </td>
+ </tr>
+</table>
+<a name="z937_0" doxytag="NLPACS::CGlobalRetriever::makeInstance"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLPACS_1_1CRetrieverInstance.html">NLPACS::CRetrieverInstance</a> &amp; NLPACS::CGlobalRetriever::makeInstance </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="memory__common_8h.html#a11">uint32</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>retriever</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="memory__common_8h.html#a7">uint8</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>orientation</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>origin</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </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="global__retriever_8cpp-source.html#l00333">333</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00120">_BBox</a>, <a class="el" href="global__retriever_8h-source.html#l00117">_InstanceGrid</a>, <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00106">_RetrieveTable</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, <a class="el" href="aabbox_8cpp-source.html#l00174">NLMISC::CAABBox::extend</a>, <a class="el" href="aabbox_8h-source.html#l00095">NLMISC::CAABBox::getHalfSize</a>, <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00218">id</a>. </td>
+ </tr>
+</table>
+<a name="z937_5" doxytag="NLPACS::CGlobalRetriever::makeLinks"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::makeLinks </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="memory__common_8h.html#a15">uint</a>&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>n</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Links the instance referred by its id to its neighbors.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00273">273</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00103">_InternalCST</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>, <a class="el" href="debug_8h-source.html#l00114">nlwarning</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00094">selectInstances</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00311">makeAllLinks</a>. </td>
+ </tr>
+</table>
+<a name="z936_7" doxytag="NLPACS::CGlobalRetriever::removeInstance"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::removeInstance </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="memory__common_8h.html#a10">sint32</a>&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>instanceId</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap><code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Removes an instance of retriever (perform all unlinks necessary).
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a6">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00628">628</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, and <a class="el" href="debug_8h-source.html#l00114">nlwarning</a>. </td>
+ </tr>
+</table>
+<a name="z937_3" doxytag="NLPACS::CGlobalRetriever::resetAllLinks"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::resetAllLinks </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Resets all links within the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00303">303</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00311">makeAllLinks</a>. </td>
+ </tr>
+</table>
+<a name="z936_3" doxytag="NLPACS::CGlobalRetriever::retrievePosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>estimated</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>double&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>threshold</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Retrieves the position of an estimated point in the global retriever (double instead.).
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a11">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00484">484</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00120">_BBox</a>, <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00103">_InternalCST</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00420">CRetrieverInstance</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00218">id</a>, <a class="el" href="aabbox_8cpp-source.html#l00081">NLMISC::CAABBox::include</a>, <a class="el" href="debug_8h-source.html#l00094">nlinfo</a>, <a class="el" href="debug_8h-source.html#l00114">nlwarning</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00094">selectInstances</a>. </td>
+ </tr>
+</table>
+<a name="z936_2" doxytag="NLPACS::CGlobalRetriever::retrievePosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>estimated</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>threshold</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Retrieves the position of an estimated point in the global retriever.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a10">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00422">422</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l00566">retrievePosition</a>. </td>
+ </tr>
+</table>
+<a name="z936_1" doxytag="NLPACS::CGlobalRetriever::retrievePosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>estimated</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Retrieves the position of an estimated point in the global retriever (double instead.).
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a9">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00571">571</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l00566">retrievePosition</a>. </td>
+ </tr>
+</table>
+<a name="z936_0" doxytag="NLPACS::CGlobalRetriever::retrievePosition"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> NLPACS::CGlobalRetriever::retrievePosition </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>estimated</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Retrieves the position of an estimated point in the global retriever.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a8">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00566">566</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00422">retrievePosition</a>. </td>
+ </tr>
+</table>
+<a name="z935_3" doxytag="NLPACS::CGlobalRetriever::selectInstances"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::selectInstances </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>bbox</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Select the instances that are in contact with the given bbox.
+<p>
+The selected instances are stored in CCollisionSurfaceTemp.CollisionInstances
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00094">94</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00117">_InstanceGrid</a>, <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="aabbox_8h-source.html#l00091">NLMISC::CAABBox::getMax</a>, and <a class="el" href="aabbox_8h-source.html#l00090">NLMISC::CAABBox::getMin</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00484">retrievePosition</a>. </td>
+ </tr>
+</table>
+<a name="z937_10" doxytag="NLPACS::CGlobalRetriever::serial"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::serial </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>f</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Serialises the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l00107">107</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00120">_BBox</a>, <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8cpp-source.html#l00063">initQuadGrid</a>, <a class="el" href="global__retriever_8cpp-source.html#l00073">initRetrieveTable</a>, <a class="el" href="stream__inline_8h-source.html#l00062">NLMISC::IStream::isReading</a>, <a class="el" href="stream_8h-source.html#l00222">NLMISC::IStream::serial</a>, <a class="el" href="stream_8h-source.html#l00312">NLMISC::IStream::serialCont</a>, and <a class="el" href="stream_8cpp-source.html#l00253">NLMISC::IStream::serialVersion</a>. </td>
+ </tr>
+</table>
+<a name="z937_2" doxytag="NLPACS::CGlobalRetriever::setRetrieverBank"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::setRetrieverBank </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> *&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>bank</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Sets the retriever bank.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00275">275</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>. </td>
+ </tr>
+</table>
+<a name="z938_1" doxytag="NLPACS::CGlobalRetriever::testBBoxMove"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="namespaceNLPACS.html#a0">NLPACS::TCollisionSurfaceDescVector</a> * NLPACS::CGlobalRetriever::testBBoxMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>delta</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>locI</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>locJ</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Test a movement of a bbox against surface world.
+<p>
+<dl compact><dt><b>
+Parameters: </b><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em>start</em>&nbsp;</td><td>
+is the start position of the movement. </td></tr>
+<tr><td valign=top><em>delta</em>&nbsp;</td><td>
+is the requested movement. </td></tr>
+<tr><td valign=top><em>locI</em>&nbsp;</td><td>
+is the oriented I vector of the BBox. I.norm()== Width/2. </td></tr>
+<tr><td valign=top><em>locJ</em>&nbsp;</td><td>
+is the oriented J vector of the BBox. J.norm()== Height/2. </td></tr>
+<tr><td valign=top><em>cst</em>&nbsp;</td><td>
+is the <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> object used as temp copmputing (one per thread). </td></tr>
+</table>
+</dl><dl compact><dt><b>
+Returns: </b><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="classNLPACS_1_1CGlobalRetriever.html">CGlobalRetriever</a> on any collision call. </dl>
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01621">1621</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="vector__inline_8h-source.html#l00148">NLMISC::CVector::isNull</a>, <a class="el" href="global__retriever_8cpp-source.html#l01211">testCollisionWithCollisionChains</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00233">x</a>, <a class="el" href="vector_8h-source.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00233">y</a>, and <a class="el" href="vector_8h-source.html#l00051">NLMISC::CVector::y</a>. </td>
+ </tr>
+</table>
+<a name="z938_4" doxytag="NLPACS::CGlobalRetriever::testBBoxRot"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="namespaceNLPACS.html#a0">NLPACS::TCollisionSurfaceDescVector</a> &amp; NLPACS::CGlobalRetriever::testBBoxRot </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html">CGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>locI</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>locJ</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Test a rotation of a BBox against the surfaces.
+<p>
+NB: this function is not perfect because a ContactSurface may appears 2+ times in the returned array. <dl compact><dt><b>
+Parameters: </b><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em>start</em>&nbsp;</td><td>
+is the center of the bbox. </td></tr>
+<tr><td valign=top><em>locI</em>&nbsp;</td><td>
+is the new oriented I vector of the BBox. I.norm()== Width/2. </td></tr>
+<tr><td valign=top><em>locJ</em>&nbsp;</td><td>
+is the new oriented J vector of the BBox. J.norm()== Height/2. NB : must have locI^locJ== aK (a&gt;0) </td></tr>
+<tr><td valign=top><em>cst</em>&nbsp;</td><td>
+is the <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> object used as temp copmputing (one per thread). </td></tr>
+</table>
+</dl><dl compact><dt><b>
+Returns: </b><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="classNLPACS_1_1CGlobalRetriever.html">CGlobalRetriever</a> on any collision call. </dl>
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01905">1905</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="global__retriever_8cpp-source.html#l01972">testRotCollisionWithCollisionChains</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00233">x</a>, <a class="el" href="vector_8h-source.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="driver__opengl__extension__def_8h-source.html#l00233">y</a>, and <a class="el" href="vector_8h-source.html#l00051">NLMISC::CVector::y</a>. </td>
+ </tr>
+</table>
+<a name="z941_2" doxytag="NLPACS::CGlobalRetriever::testCollisionWithCollisionChains"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::testCollisionWithCollisionChains </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>startCol</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>deltaCol</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>startSurface</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>radius</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>bbox</em>[4], </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>colType</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+reset and fill cst.CollisionDescs with effective collisions against current cst.CollisionChains.
+<p>
+result: new collisionDescs in cst.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01211">1211</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00114">_Instances</a>, <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="bit__set_8cpp-source.html#l00038">min</a>, <a class="el" href="debug_8h-source.html#l00254">nlassert</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00681">t</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01621">testBBoxMove</a>, and <a class="el" href="global__retriever_8cpp-source.html#l01548">testCylinderMove</a>. </td>
+ </tr>
+</table>
+<a name="z938_0" doxytag="NLPACS::CGlobalRetriever::testCylinderMove"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="namespaceNLPACS.html#a0">NLPACS::TCollisionSurfaceDescVector</a> * NLPACS::CGlobalRetriever::testCylinderMove </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>start</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>delta</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>radius</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const</td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Test a movement of a cylinder against surface world.
+<p>
+<dl compact><dt><b>
+Parameters: </b><dd>
+<table border=0 cellspacing=2 cellpadding=0>
+<tr><td valign=top><em>start</em>&nbsp;</td><td>
+is the start position of the movement. </td></tr>
+<tr><td valign=top><em>delta</em>&nbsp;</td><td>
+is the requested movement. </td></tr>
+<tr><td valign=top><em>radius</em>&nbsp;</td><td>
+is the radius of the vertical cylinder. </td></tr>
+<tr><td valign=top><em>cst</em>&nbsp;</td><td>
+is the <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> object used as temp copmputing (one per thread). </td></tr>
+</table>
+</dl><dl compact><dt><b>
+Returns: </b><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="classNLPACS_1_1CGlobalRetriever.html">CGlobalRetriever</a> on any collision call. </dl>
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01548">1548</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="vector__inline_8h-source.html#l00148">NLMISC::CVector::isNull</a>, <a class="el" href="global__retriever_8cpp-source.html#l01211">testCollisionWithCollisionChains</a>, <a class="el" href="vector_8h-source.html#l00051">NLMISC::CVector::x</a>, and <a class="el" href="vector_8h-source.html#l00051">NLMISC::CVector::y</a>. </td>
+ </tr>
+</table>
+<a name="z941_3" doxytag="NLPACS::CGlobalRetriever::testMovementWithCollisionChains"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1CSurfaceIdent.html">NLPACS::CSurfaceIdent</a> NLPACS::CGlobalRetriever::testMovementWithCollisionChains </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>startCol</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>deltaCol</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>startSurface</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+reset and fill cst.MoveDescs with effective collisions of a point movement against current cst.CollisionChains.
+<p>
+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).
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01411">1411</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8h-source.html#l00111">_RetrieverBank</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="debug_8h-source.html#l00094">nlinfo</a>, and <a class="el" href="driver__opengl__extension__def_8h-source.html#l00681">t</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01712">doMove</a>. </td>
+ </tr>
+</table>
+<a name="z936_10" doxytag="NLPACS::CGlobalRetriever::testRaytrace"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::testRaytrace </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>v0</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>v1</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [virtual]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Make a raytrace test. For the time, always return false.
+<p>
+
+<p>
+Implements <a class="el" href="classNLPACS_1_1UGlobalRetriever.html#a0">NLPACS::UGlobalRetriever</a>.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l02106">2106</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>. </td>
+ </tr>
+</table>
+<a name="z941_4" doxytag="NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>cst</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f &amp;&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>startCol</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap><a class="el" href="classNLPACS_1_1CSurfaceIdent.html">CSurfaceIdent</a>&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>startSurface</em>, </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td></td>
+ <td class="md" nowrap>const CVector2f&nbsp;</td>
+ <td class="mdname" nowrap>&nbsp; <em>bbox</em>[4]</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</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>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+reset and fill cst.CollisionDescs with effective collisions against current cst.CollisionChains.
+<p>
+result: new collisionDescs in cst.
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01972">1972</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l01905">testBBoxRot</a>. </td>
+ </tr>
+</table>
+<a name="z938_6" doxytag="NLPACS::CGlobalRetriever::updateHeight"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> void NLPACS::CGlobalRetriever::updateHeight </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="classNLPACS_1_1UGlobalPosition.html">UGlobalPosition</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>pos</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Upadates the height of the given global position.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00361">361</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l02090">getMeanHeight</a>. </td>
+ </tr>
+</table>
+<a name="z941_5" doxytag="NLPACS::CGlobalRetriever::verticalChain"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> bool NLPACS::CGlobalRetriever::verticalChain </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="classNLPACS_1_1CCollisionChain.html">CCollisionChain</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap>&nbsp; <em>colChain</em> </td>
+ <td class="md" valign="top">)&nbsp;</td>
+ <td class="md" nowrap> const<code> [private]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+test if a collisionChain separate 2 walls.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8cpp-source.html#l01385">1385</a> of file <a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a>.
+<p>
+References <a class="el" href="global__retriever_8cpp-source.html#l00993">getSurfaceById</a>. </td>
+ </tr>
+</table>
+<hr><h2>Friends And Related Function Documentation</h2>
+<a name="l0" doxytag="NLPACS::CGlobalRetriever::CRetrieverInstance"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> friend class CRetrieverInstance<code> [friend]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00420">420</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00127">check</a>, <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l00234">getBorders</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="global__retriever_8h-source.html#l00272">getInstanceFullAccess</a>, <a class="el" href="global__retriever_8h-source.html#l00176">getMaterial</a>, <a class="el" href="global__retriever_8cpp-source.html#l02090">getMeanHeight</a>, <a class="el" href="global__retriever_8h-source.html#l00200">isWaterPosition</a>, <a class="el" href="global__retriever_8cpp-source.html#l00333">makeInstance</a>, <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00628">removeInstance</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00484">retrievePosition</a>. </td>
+ </tr>
+</table>
+<hr><h2>Member Data Documentation</h2>
+<a name="n3" doxytag="NLPACS::CGlobalRetriever::_BBox"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> NLPACS::CGlobalRetriever::_BBox<code> [protected]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+The axis aligned bounding box of the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00120">120</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00055">init</a>, <a class="el" href="global__retriever_8cpp-source.html#l00333">makeInstance</a>, <a class="el" href="global__retriever_8cpp-source.html#l00484">retrievePosition</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00107">serial</a>. </td>
+ </tr>
+</table>
+<a name="n2" doxytag="NLPACS::CGlobalRetriever::_InstanceGrid"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1CQuadGrid.html">CQuadGrid</a>&lt;<a class="el" href="memory__common_8h.html#a11">uint32</a>&gt; NLPACS::CGlobalRetriever::_InstanceGrid<code> [protected]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+The grid of instances.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00117">117</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00055">init</a>, <a class="el" href="global__retriever_8cpp-source.html#l00063">initQuadGrid</a>, <a class="el" href="global__retriever_8cpp-source.html#l00333">makeInstance</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00094">selectInstances</a>. </td>
+ </tr>
+</table>
+<a name="n1" doxytag="NLPACS::CGlobalRetriever::_Instances"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> std::vector&lt;<a class="el" href="classNLPACS_1_1CRetrieverInstance.html">CRetrieverInstance</a>&gt; NLPACS::CGlobalRetriever::_Instances<code> [protected]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+The instances of the global retriever.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00114">114</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00127">check</a>, <a class="el" href="global__retriever_8cpp-source.html#l00226">distanceToBorder</a>, <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l00896">findPath</a>, <a class="el" href="global__retriever_8cpp-source.html#l00234">getBorders</a>, <a class="el" href="global__retriever_8cpp-source.html#l00674">getDoubleGlobalPosition</a>, <a class="el" href="global__retriever_8cpp-source.html#l00661">getGlobalPosition</a>, <a class="el" href="global__retriever_8cpp-source.html#l00588">getIdentifier</a>, <a class="el" href="global__retriever_8h-source.html#l00160">getInstance</a>, <a class="el" href="global__retriever_8h-source.html#l00272">getInstanceFullAccess</a>, <a class="el" href="global__retriever_8h-source.html#l00157">getInstances</a>, <a class="el" href="global__retriever_8h-source.html#l00176">getMaterial</a>, <a class="el" href="global__retriever_8h-source.html#l00384">getNode</a>, <a class="el" href="global__retriever_8cpp-source.html#l00320">initAll</a>, <a class="el" href="global__retriever_8cpp-source.html#l00063">initQuadGrid</a>, <a class="el" href="global__retriever_8cpp-source.html#l00073">initRetrieveTable</a>, <a class="el" href="global__retriever_8h-source.html#l00191">isInterior</a>, <a class="el" href="global__retriever_8h-source.html#l00200">isWaterPosition</a>, <a class="el" href="global__retriever_8cpp-source.html#l00311">makeAllLinks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00333">makeInstance</a>, <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00628">removeInstance</a>, <a class="el" href="global__retriever_8cpp-source.html#l00303">resetAllLinks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00484">retrievePosition</a>, <a class="el" href="global__retriever_8cpp-source.html#l00094">selectInstances</a>, <a class="el" href="global__retriever_8cpp-source.html#l00107">serial</a>, and <a class="el" href="global__retriever_8cpp-source.html#l01211">testCollisionWithCollisionChains</a>. </td>
+ </tr>
+</table>
+<a name="o0" doxytag="NLPACS::CGlobalRetriever::_InternalCST"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="classNLPACS_1_1CCollisionSurfaceTemp.html">CCollisionSurfaceTemp</a> NLPACS::CGlobalRetriever::_InternalCST<code> [private]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00103">103</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00896">findPath</a>, <a class="el" href="global__retriever_8cpp-source.html#l00234">getBorders</a>, <a class="el" href="global__retriever_8h-source.html#l00422">getInternalCST</a>, <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00484">retrievePosition</a>. </td>
+ </tr>
+</table>
+<a name="n0" doxytag="NLPACS::CGlobalRetriever::_RetrieverBank"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> const <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a>* NLPACS::CGlobalRetriever::_RetrieverBank<code> [protected]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+The <a class="el" href="classNLPACS_1_1CRetrieverBank.html">CRetrieverBank</a> where the commmon retrievers are stored.
+<p>
+
+<p>
+Definition at line <a class="el" href="global__retriever_8h-source.html#l00111">111</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8h-source.html#l00130">CGlobalRetriever</a>, <a class="el" href="global__retriever_8cpp-source.html#l00127">check</a>, <a class="el" href="global__retriever_8cpp-source.html#l01008">findCollisionChains</a>, <a class="el" href="global__retriever_8cpp-source.html#l00896">findPath</a>, <a class="el" href="global__retriever_8cpp-source.html#l02090">getMeanHeight</a>, <a class="el" href="global__retriever_8h-source.html#l00172">getRetriever</a>, <a class="el" href="global__retriever_8h-source.html#l00169">getRetrieverBank</a>, <a class="el" href="global__retriever_8cpp-source.html#l00993">getSurfaceById</a>, <a class="el" href="global__retriever_8cpp-source.html#l00320">initAll</a>, <a class="el" href="global__retriever_8cpp-source.html#l00273">makeLinks</a>, <a class="el" href="global__retriever_8cpp-source.html#l00484">retrievePosition</a>, <a class="el" href="global__retriever_8h-source.html#l00275">setRetrieverBank</a>, <a class="el" href="global__retriever_8cpp-source.html#l01211">testCollisionWithCollisionChains</a>, and <a class="el" href="global__retriever_8cpp-source.html#l01411">testMovementWithCollisionChains</a>. </td>
+ </tr>
+</table>
+<a name="o1" doxytag="NLPACS::CGlobalRetriever::_RetrieveTable"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" nowrap valign="top"> std::vector&lt;<a class="el" href="memory__common_8h.html#a7">uint8</a>&gt; NLPACS::CGlobalRetriever::_RetrieveTable<code> [private]</code>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </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="global__retriever_8h-source.html#l00106">106</a> of file <a class="el" href="global__retriever_8h-source.html">global_retriever.h</a>.
+<p>
+Referenced by <a class="el" href="global__retriever_8cpp-source.html#l00073">initRetrieveTable</a>, and <a class="el" href="global__retriever_8cpp-source.html#l00333">makeInstance</a>. </td>
+ </tr>
+</table>
+<hr>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="global__retriever_8h-source.html">global_retriever.h</a><li><a class="el" href="global__retriever_8cpp-source.html">global_retriever.cpp</a></ul>
+
+
+<!-- footer -->
+<BR><FONT Size=+5>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </FONT>
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