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doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center> +<hr><h1>collision_ot.h</h1><a href="collision__ot_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 +00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font> +00008 <font class="comment"> *</font> +00009 <font class="comment"> * This file is part of NEVRAX NEL.</font> +00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font> +00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font> +00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font> +00013 <font class="comment"> * any later version.</font> +00014 <font class="comment"></font> +00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font> +00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font> +00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font> +00018 <font class="comment"> * General Public License for more details.</font> +00019 <font class="comment"></font> +00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font> +00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font> +00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font> +00023 <font class="comment"> * MA 02111-1307, USA.</font> +00024 <font class="comment"> */</font> +00025 +00026 <font class="preprocessor">#ifndef NL_COLLISION_OT_H</font> +00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_COLLISION_OT_H</font> +00028 <font class="preprocessor"></font> +00029 <font class="preprocessor">#include "<a class="code" href="types__nl_8h.html">nel/misc/types_nl.h</a>"</font> +00030 <font class="preprocessor">#include "<a class="code" href="collision__desc_8h.html">pacs/collision_desc.h</a>"</font> +00031 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font> +00032 +00033 +00034 <font class="keyword">namespace </font>NLPACS +00035 { +00036 +00037 <font class="keyword">class </font>CMovePrimitive; +00038 <font class="keyword">class </font>CCollisionOTInfo; +00039 +<a name="l00047"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html">00047</a> <font class="keyword">class </font>CCollisionOT +00048 { +00049 <font class="keyword">public</font>: +<a name="l00050"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">00050</a> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> () +00051 { +00052 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">false</font>; +00053 <a class="code" href="classNLPACS_1_1CCollisionOT.html#a1">clear</a> (); +00054 } +00055 +<a name="l00057"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a1">00057</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a1">clear</a> () +00058 { +00059 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>=NULL; +00060 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>=NULL; +00061 } +00062 +<a name="l00064"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a2">00064</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a2">link</a> (<a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a>* newElement) +00065 { +00066 <font class="keywordflow">if</font> (newElement) +00067 { +00068 newElement->_Previous=<font class="keyword">this</font>; +00069 newElement->_Next=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>; +00070 } +00071 <font class="keywordflow">if</font> (_Next) +00072 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>->_Previous=newElement; +00073 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>=newElement; +00074 } +00075 +<a name="l00077"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a3">00077</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a3">unlink</a> () +00078 { +00079 <font class="keywordflow">if</font> (_Previous) +00080 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>->_Next=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>; +00081 <font class="keywordflow">if</font> (_Next) +00082 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>->_Previous=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>; +00083 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>=NULL; +00084 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>=NULL; +00085 } +00086 +<a name="l00088"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a4">00088</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a4">isInfo</a> ()<font class="keyword"> const</font> +00089 <font class="keyword"> </font>{ +00090 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>; +00091 } +00092 +<a name="l00094"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a5">00094</a> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a5">getPrevious</a> ()<font class="keyword"> const</font> +00095 <font class="keyword"> </font>{ +00096 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>; +00097 } +00098 +<a name="l00100"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">00100</a> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> ()<font class="keyword"> const</font> +00101 <font class="keyword"> </font>{ +00102 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>; +00103 } +00104 +00106 CCollisionOTInfo *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a7">getNextInfo</a> () <font class="keyword">const</font>; +00107 +00108 <font class="keyword">private</font>: +00109 <font class="comment">// The next cell</font> +<a name="l00110"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">00110</a> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>; +00111 +00112 <font class="comment">// The previous cell</font> +<a name="l00113"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">00113</a> <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>; +00114 +00115 <font class="keyword">protected</font>: +00116 <font class="comment">// Is a CCollisionOTInfo</font> +<a name="l00117"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">00117</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>; +00118 }; +00119 +<a name="l00127"></a><a class="code" href="classNLPACS_1_1CCollisionOTInfo.html">00127</a> <font class="keyword">class </font>CCollisionOTInfo : <font class="keyword">public</font> CCollisionOT +00128 { +00129 <font class="keyword">public</font>: +<a name="l00130"></a><a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">00130</a> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> () +00131 { +00132 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">true</font>; +00133 } +00134 +00135 <font class="comment">// Link in the primitive</font> +00136 <font class="keyword">virtual</font> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a1">primitiveLink</a> (CMovePrimitive *primitive, <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *other) =0; +00137 +00138 <font class="comment">// Link in the primitive</font> +00139 <font class="keyword">virtual</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> (CMovePrimitive *primitive) <font class="keyword">const</font> =0; +00140 +00141 <font class="comment">// Return false for dynamic collision, true for static collision</font> +00142 <font class="keyword">virtual</font> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a3">isCollisionAgainstStatic</a> () <font class="keyword">const</font>=0; +00143 +00144 <font class="comment">// Return collision time</font> +00145 <font class="keyword">virtual</font> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a4">getCollisionTime</a> () <font class="keyword">const</font>=0; +00146 +00147 <font class="comment">// Remove the collision from the primitives</font> +00148 <font class="keyword">virtual</font> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a5">removeFromPrimitives</a> ()=0; +00149 +00150 <font class="comment">// Get second primitive</font> +00151 <font class="keyword">virtual</font> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a6">getOtherPrimitive</a> (CMovePrimitive *primitive) <font class="keyword">const</font>=0; +00152 }; +00153 +<a name="l00161"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html">00161</a> <font class="keyword">class </font>CCollisionOTDynamicInfo : <font class="keyword">public</font> CCollisionOTInfo +00162 { +00163 <font class="keyword">public</font>: +<a name="l00164"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a0">00164</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a0">CCollisionOTDynamicInfo</a> () +00165 { +00166 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">true</font>; +00167 } +00168 +00169 <font class="comment">// Get the first primitive in the collision</font> +<a name="l00170"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a1">00170</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a1">getFirstPrimitive</a> ()<font class="keyword"> const</font> +00171 <font class="keyword"> </font>{ +00172 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>; +00173 } +00174 +00175 <font class="comment">// Get the second primitive in the collision</font> +<a name="l00176"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a2">00176</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a2">getSecondPrimitive</a> ()<font class="keyword"> const</font> +00177 <font class="keyword"> </font>{ +00178 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>; +00179 } +00180 +00181 <font class="comment">// Get the collision descriptor</font> +<a name="l00182"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a3">00182</a> <font class="keyword">const</font> CCollisionDesc &<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a3">getCollisionDesc</a> ()<font class="keyword"> const</font> +00183 <font class="keyword"> </font>{ +00184 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>; +00185 } +00186 +00187 <font class="comment">// Is a collision</font> +<a name="l00188"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a4">00188</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a4">isCollision</a>()<font class="keyword"> const</font> +00189 <font class="keyword"> </font>{ +00190 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">_Collision</a>; +00191 } +00192 +00193 <font class="comment">// Is enter</font> +<a name="l00194"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a5">00194</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a5">isEnter</a>()<font class="keyword"> const</font> +00195 <font class="keyword"> </font>{ +00196 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">_Enter</a>; +00197 } +00198 +00199 <font class="comment">// Is exit</font> +<a name="l00200"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a6">00200</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a6">isExit</a>()<font class="keyword"> const</font> +00201 <font class="keyword"> </font>{ +00202 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">_Exit</a>; +00203 } +00204 +00205 <font class="comment">// Is second primitive is static ?</font> +<a name="l00206"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a7">00206</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a7">isSecondStatic</a> ()<font class="keyword"> const</font> +00207 <font class="keyword"> </font>{ +00208 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">_SecondStatic</a>; +00209 } +00210 +00211 <font class="comment">// Get the world image</font> +<a name="l00212"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a8">00212</a> <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a8">getFirstWorldImage</a> ()<font class="keyword"> const</font> +00213 <font class="keyword"> </font>{ +00214 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">_FirstWorldImage</a>; +00215 } +00216 +00217 <font class="comment">// Get the world image</font> +<a name="l00218"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a9">00218</a> <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a9">getSecondWorldImage</a> ()<font class="keyword"> const</font> +00219 <font class="keyword"> </font>{ +00220 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">_SecondWorldImage</a>; +00221 } +00222 +00223 <font class="comment">// Init the info</font> +<a name="l00224"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a10">00224</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a10">init</a> (CMovePrimitive *firstPrimitive, CMovePrimitive *secondPrimitive, <font class="keyword">const</font> CCollisionDesc& desc, <font class="keywordtype">bool</font> collision, +00225 <font class="keywordtype">bool</font> enter, <font class="keywordtype">bool</font> exit, <a class="code" href="types__nl_8h.html#a6">uint8</a> firstWorldImage, <a class="code" href="types__nl_8h.html#a6">uint8</a> secondWorldImage, <font class="keywordtype">bool</font> secondStatic) +00226 { +00227 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>=firstPrimitive; +00228 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>=secondPrimitive; +00229 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>=desc; +00230 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">_Collision</a>=collision; +00231 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">_Enter</a>=enter; +00232 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">_Exit</a>=exit; +00233 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">_FirstWorldImage</a>=firstWorldImage; +00234 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">_SecondWorldImage</a>=secondWorldImage; +00235 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">_SecondStatic</a>=secondStatic; +00236 } +00237 +00238 <font class="comment">// Link in the primitive</font> +<a name="l00239"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a11">00239</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a11">primitiveLink</a> (CMovePrimitive *primitive, <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *other) +00240 { +00241 <font class="comment">// First primitive ?</font> +00242 <font class="keywordflow">if</font> (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>) +00243 { +00244 <font class="comment">// Check</font> +00245 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive!=<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>); +00246 +00247 <font class="comment">// Link</font> +00248 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">_FirstNext</a>=other; +00249 } +00250 <font class="keywordflow">else</font> <font class="comment">// second</font> +00251 { +00252 <font class="comment">// Check</font> +00253 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>); +00254 +00255 <font class="comment">// Link</font> +00256 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">_SecondNext</a>=other; +00257 } +00258 } +00259 +00260 <font class="comment">// Link in the primitive</font> +<a name="l00261"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a12">00261</a> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> (CMovePrimitive *primitive)<font class="keyword"> const</font> +00262 <font class="keyword"> </font>{ +00263 <font class="comment">// First primitive ?</font> +00264 <font class="keywordflow">if</font> (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>) +00265 { +00266 <font class="comment">// Check</font> +00267 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive!=<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>); +00268 +00269 <font class="comment">// return next</font> +00270 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">_FirstNext</a>; +00271 } +00272 <font class="keywordflow">else</font> <font class="comment">// second</font> +00273 { +00274 <font class="comment">// Check</font> +00275 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>); +00276 +00277 <font class="comment">// Link</font> +00278 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">_SecondNext</a>; +00279 } +00280 } +00281 +00282 <font class="comment">// Return false for dynamic collision, true for static collision</font> +<a name="l00283"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a13">00283</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a13">isCollisionAgainstStatic</a> ()<font class="keyword"> const</font> +00284 <font class="keyword"> </font>{ +00285 <font class="keywordflow">return</font> <font class="keyword">false</font>; +00286 } +00287 +00288 <font class="comment">// Return collision time</font> +<a name="l00289"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a14">00289</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a14">getCollisionTime</a> ()<font class="keyword"> const</font> +00290 <font class="keyword"> </font>{ +00291 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>.ContactTime; +00292 } +00293 +00294 <font class="comment">// Remove the collision from the primitives</font> +00295 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a15">removeFromPrimitives</a> (); +00296 +00297 <font class="comment">// Get second primitive</font> +<a name="l00298"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a16">00298</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a16">getOtherPrimitive</a> (CMovePrimitive *primitive)<font class="keyword"> const</font> +00299 <font class="keyword"> </font>{ +00300 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>==primitive) +00301 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>; +00302 <font class="keywordflow">else</font> +00303 { +00304 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>==primitive); +00305 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>; +00306 } +00307 } +00308 +00309 <font class="keyword">private</font>: +00310 +00311 <font class="comment">// The first primitive</font> +<a name="l00312"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">00312</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>; +00313 +00314 <font class="comment">// The second primitive</font> +<a name="l00315"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">00315</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>; +00316 +00317 <font class="comment">// Descriptor</font> +<a name="l00318"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">00318</a> CCollisionDesc <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>; +00319 +00320 <font class="comment">// Collision or only trigger ?</font> +<a name="l00321"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">00321</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">_Collision</a>; +<a name="l00322"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">00322</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">_Enter</a>; +<a name="l00323"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">00323</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">_Exit</a>; +<a name="l00324"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">00324</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">_SecondStatic</a>; +00325 +00326 <font class="comment">// World images</font> +<a name="l00327"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">00327</a> <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">_FirstWorldImage</a>; +<a name="l00328"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">00328</a> <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">_SecondWorldImage</a>; +00329 +00330 <font class="comment">// First primitive linked list</font> +<a name="l00331"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">00331</a> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">_FirstNext</a>; +00332 +00333 <font class="comment">// Second primitive linked list</font> +<a name="l00334"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">00334</a> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">_SecondNext</a>; +00335 }; +00336 +<a name="l00344"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html">00344</a> <font class="keyword">class </font>CCollisionOTStaticInfo : <font class="keyword">public</font> CCollisionOTInfo +00345 { +00346 <font class="keyword">public</font>: +<a name="l00347"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a0">00347</a> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a0">CCollisionOTStaticInfo</a> () +00348 { +00349 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">true</font>; +00350 } +00351 +00352 <font class="comment">// Get the first primitive in the collision</font> +<a name="l00353"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a1">00353</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a1">getPrimitive</a> ()<font class="keyword"> const</font> +00354 <font class="keyword"> </font>{ +00355 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">_Primitive</a>; +00356 } +00357 +00358 <font class="comment">// Get the collision descriptor</font> +<a name="l00359"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a2">00359</a> <font class="keyword">const</font> CCollisionSurfaceDesc &<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a2">getCollisionDesc</a> ()<font class="keyword"> const</font> +00360 <font class="keyword"> </font>{ +00361 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>; +00362 } +00363 +00364 <font class="comment">// Get the collision descriptor</font> +<a name="l00365"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a3">00365</a> <font class="keyword">const</font> UGlobalPosition &<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a3">getGlobalPosition</a> ()<font class="keyword"> const</font> +00366 <font class="keyword"> </font>{ +00367 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">_GlobalPosition</a>; +00368 } +00369 +00370 <font class="comment">// Get delta time</font> +<a name="l00371"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a4">00371</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a4">getDeltaTime</a> ()<font class="keyword"> const</font> +00372 <font class="keyword"> </font>{ +00373 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">_DeltaTime</a>; +00374 } +00375 +00376 <font class="comment">// Get the world image</font> +<a name="l00377"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a5">00377</a> <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a5">getWorldImage</a> ()<font class="keyword"> const</font> +00378 <font class="keyword"> </font>{ +00379 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">_WorldImage</a>; +00380 } +00381 +00382 <font class="comment">// Init the info</font> +<a name="l00383"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a6">00383</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a6">init</a> (CMovePrimitive *primitive, <font class="keyword">const</font> CCollisionSurfaceDesc& desc, +00384 <font class="keyword">const</font> UGlobalPosition& nextGlobalPosition, <font class="keywordtype">double</font> delta, <a class="code" href="types__nl_8h.html#a6">uint8</a> worldImage) +00385 { +00386 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">_Primitive</a>=primitive; +00387 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>=desc; +00388 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">_GlobalPosition</a>=nextGlobalPosition; +00389 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">_DeltaTime</a>=delta; +00390 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">_WorldImage</a>=worldImage; +00391 } +00392 +00393 <font class="comment">// Link in the primitive</font> +<a name="l00394"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a7">00394</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a7">primitiveLink</a> (CMovePrimitive *primitive, <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *other) +00395 { +00396 <font class="comment">// Link</font> +00397 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">_Next</a>=other; +00398 } +00399 +00400 <font class="comment">// Link in the primitive</font> +<a name="l00401"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a8">00401</a> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> (CMovePrimitive *primitive)<font class="keyword"> const</font> +00402 <font class="keyword"> </font>{ +00403 <font class="comment">// return next</font> +00404 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">_Next</a>; +00405 } +00406 +00407 <font class="comment">// Return false for dynamic collision, true for static collision</font> +<a name="l00408"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a9">00408</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a9">isCollisionAgainstStatic</a> ()<font class="keyword"> const</font> +00409 <font class="keyword"> </font>{ +00410 <font class="keywordflow">return</font> <font class="keyword">true</font>; +00411 } +00412 +00413 <font class="comment">// Return collision time</font> +<a name="l00414"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a10">00414</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a10">getCollisionTime</a> ()<font class="keyword"> const</font> +00415 <font class="keyword"> </font>{ +00416 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>.ContactTime; +00417 } +00418 +00419 <font class="comment">// Remove the collision from the primitives</font> +00420 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a11">removeFromPrimitives</a> (); +00421 +<a name="l00422"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a12">00422</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a12">getOtherPrimitive</a> (CMovePrimitive *primitive)<font class="keyword"> const</font> +00423 <font class="keyword"> </font>{ +00424 <font class="keywordflow">return</font> NULL; +00425 } +00426 <font class="keyword">private</font>: +00427 <font class="comment">// The first primitive</font> +<a name="l00428"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">00428</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">_Primitive</a>; +00429 +00430 <font class="comment">// The static descriptor</font> +<a name="l00431"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">00431</a> CCollisionSurfaceDesc <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>; +00432 +00433 <font class="comment">// The next global position</font> +<a name="l00434"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">00434</a> UGlobalPosition <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">_GlobalPosition</a>; +00435 +00436 <font class="comment">// Delta time for this collid</font> +<a name="l00437"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">00437</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">_DeltaTime</a>; +00438 +00439 <font class="comment">// World image</font> +<a name="l00440"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">00440</a> <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">_WorldImage</a>; +00441 +00442 <font class="comment">// Next primitive in the linked list</font> +<a name="l00443"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">00443</a> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">_Next</a>; +00444 }; +00445 +00446 <font class="comment">// ***************************************************************************</font> +00447 +<a name="l00448"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a7">00448</a> <font class="keyword">inline</font> CCollisionOTInfo *CCollisionOT::getNextInfo ()<font class="keyword"> const</font> +00449 <font class="keyword"></font>{ +00450 <font class="comment">// Get next</font> +00451 <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> *next=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>; +00452 +00453 <font class="comment">// Is an info ?</font> +00454 <font class="keywordflow">while</font> ( next && (!next->isInfo ()) ) +00455 next=next->getNextInfo (); +00456 +00457 <font class="comment">// Return an info</font> +00458 <font class="keywordflow">return</font> (CCollisionOTInfo*)next; +00459 } +00460 +00461 +00462 +00463 } <font class="comment">// NLPACS</font> +00464 +00465 +00466 <font class="preprocessor">#endif // NL_COLLISION_OT_H</font> +00467 <font class="preprocessor"></font> +00468 <font class="comment">/* End of collision_ot.h */</font> +</pre></div> + +<!-- footer --> +<BR><FONT Size=+5> </FONT> +</TD> +<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD> +</TR> +</TABLE> +</BODY> +</HTML> |