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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>edge_quad.cpp</h1><a href="edge__quad_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 +00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font> +00008 <font class="comment"> *</font> +00009 <font class="comment"> * This file is part of NEVRAX NEL.</font> +00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font> +00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font> +00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font> +00013 <font class="comment"> * any later version.</font> +00014 <font class="comment"></font> +00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font> +00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font> +00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font> +00018 <font class="comment"> * General Public License for more details.</font> +00019 <font class="comment"></font> +00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font> +00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font> +00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font> +00023 <font class="comment"> * MA 02111-1307, USA.</font> +00024 <font class="comment"> */</font> +00025 +00026 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font> +00027 +00028 <font class="preprocessor">#include "<a class="code" href="edge__quad_8h.html">pacs/edge_quad.h</a>"</font> +00029 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font> +00030 +00031 <font class="keyword">using</font> <font class="keyword">namespace </font>std; +00032 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC; +00033 +00034 +00035 <font class="keyword">namespace </font>NLPACS +00036 { +00037 +00038 +00039 <font class="comment">// ***************************************************************************</font> +<a name="l00040"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">00040</a> <font class="keyword">const</font> <font class="keywordtype">float</font> CEdgeQuad::_QuadElementSize= 4; <font class="comment">// = 4 meters.</font> +00041 +00042 +00043 <font class="comment">// ***************************************************************************</font> +<a name="l00044"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a0">00044</a> CEdgeQuad::CEdgeQuad() +00045 { +00046 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL; +00047 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0; +00048 } +00049 <font class="comment">// ***************************************************************************</font> +<a name="l00050"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a2">00050</a> CEdgeQuad::~CEdgeQuad() +00051 { +00052 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#a4">clear</a>(); +00053 } +00054 <font class="comment">// ***************************************************************************</font> +<a name="l00055"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a1">00055</a> CEdgeQuad::CEdgeQuad(<font class="keyword">const</font> CEdgeQuad &o) +00056 { +00057 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL; +00058 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0; +00059 *<font class="keyword">this</font>= o; +00060 } +00061 <font class="comment">// ***************************************************************************</font> +<a name="l00062"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a3">00062</a> CEdgeQuad &CEdgeQuad::operator=(<font class="keyword">const</font> CEdgeQuad &o) +00063 { +00064 <font class="comment">// Alloc good quaddata.</font> +00065 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= o._QuadDataLen; +00066 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>; +00067 <font class="keywordflow">if</font>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>>0) +00068 { +00069 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>]; +00070 <font class="comment">// copy contents.</font> +00071 memcpy(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>, o._QuadData, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>); +00072 } +00073 <font class="keywordflow">else</font> +00074 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL; +00075 +00076 <font class="comment">// copy infos.</font> +00077 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>= o._Width; +00078 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>= o._Height; +00079 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>= o._X; +00080 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>= o._Y; +00081 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a> = o._EdgeEntries; +00082 +00083 <font class="comment">// copy good pointers.</font> +00084 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.clear(); +00085 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.resize(o._Quad.size(), NULL); +00086 <font class="keywordflow">for</font>(sint i=0; i<(sint)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.size(); i++) +00087 { +00088 <font class="keywordflow">if</font>(o._Quad[i]) +00089 { +00090 uint32 off= (uint32)(o._Quad[i]-o._QuadData); +00091 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>+off; +00092 } +00093 } +00094 +00095 +00096 <font class="keywordflow">return</font> *<font class="keyword">this</font>; +00097 } +00098 +00099 <font class="comment">// ***************************************************************************</font> +<a name="l00100"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a4">00100</a> <font class="keywordtype">void</font> CEdgeQuad::clear() +00101 { +00102 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>; +00103 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL; +00104 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0; +00105 +00106 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.clear(); +00107 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.clear(); +00108 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a> = 0; +00109 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a> = 0; +00110 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a> = 0; +00111 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a> = 0; +00112 } +00113 +00114 <font class="comment">// ***************************************************************************</font> +<a name="l00115"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#c0">00115</a> <font class="keywordtype">void</font> CEdgeQuad::getGridBounds(sint32 &x0, sint32 &y0, sint32 &x1, sint32 &y1, <font class="keyword">const</font> CVector &minP, <font class="keyword">const</font> CVector &maxP)<font class="keyword"> const</font> +00116 <font class="keyword"></font>{ +00117 x0= (sint32)floor(minP.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>; +00118 y0= (sint32)floor(minP.y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>; +00119 x1= (sint32) ceil(maxP.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>; +00120 y1= (sint32) ceil(maxP.y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>; +00121 x0= max(x0, (sint32)0); +00122 y0= max(y0, (sint32)0); +00123 x1= <a class="code" href="bit__set_8cpp.html#a0">min</a>(x1, (sint32)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>); +00124 y1= <a class="code" href="bit__set_8cpp.html#a0">min</a>(y1, (sint32)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>); +00125 } +00126 +00127 +00128 +00129 <font class="comment">// ***************************************************************************</font> +<a name="l00130"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a5">00130</a> <font class="keywordtype">void</font> CEdgeQuad::build(<font class="keyword">const</font> CExteriorMesh &em, +00131 <font class="keyword">const</font> CGlobalRetriever &global, +00132 CCollisionSurfaceTemp &cst, +00133 uint32 thisInstance) +00134 { +00135 <font class="keyword">const</font> std::vector<CExteriorMesh::CEdge> &edges = em.getEdges(); +00136 +00137 vector< list<uint16> > tempQuad; +00138 sint i, j; +00139 +00140 <font class="comment">// first, clear any pr-build.</font> +00141 <a class="code" href="namespaceNLMISC.html#a222">contReset</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>); +00142 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>; +00143 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL; +00144 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0; +00145 +00146 <font class="comment">// don't care about the origin of the instance</font> +00147 CVector origin = global.getInstance(thisInstance).getOrigin(); +00148 +00149 <font class="comment">// 0. Find BBox of the grid. Allocate grid.</font> +00150 <font class="comment">//=========================================</font> +00151 <font class="keywordtype">bool</font> first=<font class="keyword">true</font>; +00152 CAABBox chainquadBBox; +00153 <font class="comment">// run all chains.</font> +00154 <font class="keywordflow">for</font> (i=0; i<(sint)edges.size()-1; i++) +00155 { +00156 <font class="comment">// enlarge bbox.</font> +00157 <font class="keywordflow">if</font> (first) +00158 first= <font class="keyword">false</font>, chainquadBBox.setCenter(edges[i].Start); +00159 <font class="keywordflow">else</font> +00160 chainquadBBox.extend(edges[i].Start); +00161 } +00162 +00163 <font class="comment">// compute X,Y,Width, Height.</font> +00164 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>= (sint32)floor(chainquadBBox.getMin().x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>); +00165 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>= (sint32)floor(chainquadBBox.getMin().y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>); +00166 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>= (sint32)ceil(chainquadBBox.getMax().x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>; +00167 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>= (sint32)ceil(chainquadBBox.getMax().y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>; +00168 +00169 tempQuad.resize(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>); +00170 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.resize(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>, NULL); +00171 +00172 +00173 <font class="comment">// 1. For each edge, add them to the quadgrid.</font> +00174 <font class="comment">//=========================================</font> +00175 <font class="comment">// run all chains.</font> +00176 <font class="keywordflow">for</font> (i=0; i<(sint)edges.size()-1; i++) +00177 { +00178 <font class="keywordtype">float</font> dnorm = (edges[i+1].Start-edges[i].Start).norm(); +00179 uint numStep = (uint)(dnorm/0.1f)+1; +00180 uint step; +00181 +00182 CVector pbegin = edges[i].Start+origin, +00183 pend = edges[i+1].Start+origin; +00184 +00185 CVector opbegin = edges[i].Start, +00186 opend = edges[i+1].Start; +00187 +00188 <font class="keywordflow">for</font> (step=0; step<numStep; ++step) +00189 { +00190 <font class="keywordtype">float</font> lambda0 = (float)(step)/(float)(numStep); +00191 <font class="keywordtype">float</font> lambda1 = (float)(step+1)/(float)(numStep); +00192 CVector p0 = pbegin*(1.0f-lambda0)+pend*(lambda0), +00193 p1 = pbegin*(1.0f-lambda1)+pend*(lambda1); +00194 CVector op0 = opbegin*(1.0f-lambda0)+opend*(lambda0), +00195 op1 = opbegin*(1.0f-lambda1)+opend*(lambda1); +00196 CVector s0, s1, +00197 mins, maxs; +00198 +00199 uint prevEdge = (i-1)%(edges.size()-1); +00200 <font class="keywordtype">bool</font> prio0 = (edges[i].Link!=-1) || (edges[prevEdge].Link!=-1); +00201 +00202 UGlobalPosition gp0 = global.retrievePosition(p0); +00203 global.updateHeight(gp0); +00204 UGlobalPosition gp1 = global.retrievePosition(p1); +00205 global.updateHeight(gp1); +00206 +00207 <font class="keywordflow">if</font> (!prio0) +00208 { +00209 swap(p0, p1); +00210 swap(op0, op1); +00211 swap(gp0, gp1); +00212 } +00213 +00214 <font class="keywordflow">if</font> (gp0.InstanceId == -1) +00215 { +00216 swap(p0, p1); +00217 swap(op0, op1); +00218 swap(gp0, gp1); +00219 } +00220 +00221 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *pcd = global.testCylinderMove(gp0, p1-p0, 0.01f, cst); +00222 +00223 <font class="keywordflow">if</font> (pcd == NULL) +00224 { +00225 <font class="comment">// nlwarning("in CEdgeQuad::build(): testCylinderMove() returned NULL");</font> +00226 <font class="keywordflow">continue</font>; +00227 } +00228 +00229 <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> cd = (*pcd); +00230 +00231 <font class="keywordflow">if</font> (edges[i].Link != -1 && cd.size() > 0) +00232 { +00233 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"In NLPACS::CEdgeQuad::build()"</font>); +00234 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"ERROR: exterior edge %d with interior link crosses some surfaces"</font>, i); +00235 cd.clear (); +00236 } +00237 +00238 <font class="comment">// add start surface to the collision description</font> +00239 CCollisionSurfaceDesc stcd; +00240 stcd.ContactTime = 0.0f; +00241 stcd.ContactSurface.RetrieverInstanceId = gp0.InstanceId; +00242 stcd.ContactSurface.SurfaceId = gp0.LocalPosition.Surface; +00243 cd.insert(cd.begin(), stcd); +00244 +00245 <font class="comment">// get the surface, chain ...</font> +00246 sint edgeId = i; +00247 uint16 chainId; +00248 +00249 CSurfaceIdent interior; +00250 <font class="keywordflow">if</font> (edges[i].Link == -1) +00251 { +00252 interior.RetrieverInstanceId = -1; +00253 interior.SurfaceId = -1; +00254 chainId = 0xFFFF; +00255 } +00256 <font class="keywordflow">else</font> +00257 { +00258 interior.RetrieverInstanceId = thisInstance; +00259 interior.SurfaceId = em.getLink(edges[i].Link).SurfaceId; +00260 chainId = em.getLink(edges[i].Link).ChainId; +00261 } +00262 +00263 +00264 <font class="comment">// add end point to the collision description</font> +00265 stcd = cd.back(); +00266 stcd.ContactTime = 1.0f; +00267 cd.push_back(stcd); +00268 +00269 <font class="keywordflow">for</font> (j=0; j<(sint)cd.size()-1; ++j) +00270 { +00271 s0 = op0*(float)(1.0-cd[j].ContactTime) + op1*(float)(cd[j].ContactTime); +00272 s1 = op0*(float)(1.0-cd[j+1].ContactTime) + op1*(float)(cd[j+1].ContactTime); +00273 +00274 mins.minof(s0, s1); +00275 maxs.maxof(s0, s1); +00276 +00277 <font class="comment">// PrecisionPb: extend a little this edge. This is important for special case like borders on zones.</font> +00278 <font class="keywordflow">if</font>(mins.x-maxs.x==0) +00279 mins.x-=0.001f, maxs.x+=0.001f; +00280 <font class="keywordflow">if</font>(mins.y-maxs.y==0) +00281 mins.y-=0.001f, maxs.y+=0.001f; +00282 +00283 <font class="comment">// get bounding coordinate of this edge in the quadgrid.</font> +00284 sint32 x0, y0, x1, y1; +00285 sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>; +00286 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#c0">getGridBounds</a>(x0, y0, x1, y1, mins, maxs); +00287 +00288 CSurfaceIdent exterior = cd[j].ContactSurface; +00289 +00290 uint entry; +00291 <font class="keywordflow">for</font> (entry=0; entry<<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.size(); ++entry) +00292 { +00293 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].EdgeId == edgeId && +00294 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].Exterior == exterior) +00295 { +00296 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].ChainId != chainId || +00297 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].Interior != interior) +00298 { +00299 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"In NLPACS::CEdgeQuad::build()"</font>); +00300 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"exterior edge %d has different interior linkage"</font>, edgeId); +00301 } +00302 +00303 <font class="keywordflow">break</font>; +00304 } +00305 } +00306 +00307 <font class="comment">// if this entry didn't exist before create a new one...</font> +00308 <font class="keywordflow">if</font> (entry == <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.size()) +00309 { +00310 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.push_back(CExteriorEdgeEntry()); +00311 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().EdgeId = edgeId; +00312 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().ChainId = chainId; +00313 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().Interior = interior; +00314 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().Exterior = exterior; +00315 } +00316 +00317 <font class="comment">// add this edge to all the quadnode it touches.</font> +00318 <font class="keywordflow">for</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=y0; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><y1; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++) +00319 { +00320 <font class="keywordflow">for</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++) +00321 { +00322 <font class="comment">// check we don't push this entry twice</font> +00323 list<uint16>::iterator it; +00324 <font class="keywordflow">for</font> (it=tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].begin(); it!=tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].end(); ++it) +00325 <font class="keywordflow">if</font> (entry == *it) +00326 <font class="keywordflow">break</font>; +00327 <font class="keywordflow">if</font> (it == tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].end()) +00328 tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].push_back(entry); +00329 } +00330 } +00331 } +00332 } +00333 +00334 } +00335 +00336 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"Built ExteriorEdgeQuad, linked following doors:"</font>); +00337 <font class="keywordflow">for</font> (i=0; i<(sint)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.size(); ++i) +00338 { +00339 <font class="keywordflow">if</font> (edges[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].EdgeId].Link != -1 && +00340 (<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.RetrieverInstanceId == -1 || <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.SurfaceId == -1 || +00341 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.RetrieverInstanceId == -1 || <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.SurfaceId == -1)) +00342 { +00343 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"In NLPACS::CEdgeQuad::build(): exterior door %d has corrupted link"</font>, i); +00344 } +00345 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (edges[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].EdgeId].Link != -1) +00346 { +00347 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"Inst=%d ExtEdge=%d IntInst=%d IntSurf=%d IntChain=%d ExtInst=%d ExtSurf=%d"</font>, thisInstance, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].EdgeId, +00348 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.RetrieverInstanceId, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.SurfaceId, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].ChainId, +00349 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.RetrieverInstanceId, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.SurfaceId); +00350 } +00351 } +00352 +00353 <font class="comment">// 2. Mem optimisation: Use only 1 block for ALL quads of the grid.</font> +00354 <font class="comment">//=========================================</font> +00355 sint memSize= 0; +00356 <font class="comment">// run all quads.</font> +00357 <font class="keywordflow">for</font>(i=0;i<(sint)tempQuad.size();i++) +00358 { +00359 list<uint16> &quadNode= tempQuad[i]; +00360 +00361 <font class="keywordflow">if</font>(!quadNode.empty()) +00362 { +00363 <font class="comment">// add an entry for Len.</font> +00364 memSize+= <font class="keyword">sizeof</font>(uint16); +00365 <font class="comment">// add N entry of CEdgeChainEntry.</font> +00366 memSize+= quadNode.size()*<font class="keyword">sizeof</font>(uint16); +00367 } +00368 } +00369 +00370 <font class="comment">// allocate.</font> +00371 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[memSize]; +00372 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= memSize; +00373 +00374 +00375 <font class="comment">// 3. Fill _QuadData with lists.</font> +00376 <font class="comment">//=========================================</font> +00377 uint8 *ptr= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>; +00378 <font class="keywordflow">for</font>(i=0;i<(sint)tempQuad.size();i++) +00379 { +00380 list<uint16> &srcQuadNode= tempQuad[i]; +00381 list<uint16>::iterator it; +00382 +00383 <font class="keywordflow">if</font>(!srcQuadNode.empty()) +00384 { +00385 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= ptr; +00386 +00387 <font class="comment">// write len.</font> +00388 uint16 len= srcQuadNode.size(); +00389 *((uint16*)ptr)= len; +00390 ptr+= <font class="keyword">sizeof</font>(uint16); +00391 +00392 <font class="comment">// add entries.</font> +00393 it= srcQuadNode.begin(); +00394 <font class="keywordflow">for</font>(j=0; j<len; j++, it++) +00395 { +00396 *((uint16 *)ptr)= *it; +00397 ptr+= <font class="keyword">sizeof</font>(uint16); +00398 } +00399 } +00400 } +00401 +00402 <font class="comment">// End.</font> +00403 } +00404 +00405 +00406 <font class="comment">// ***************************************************************************</font> +<a name="l00407"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a6">00407</a> sint CEdgeQuad::selectEdges(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bbox, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font> +00408 <font class="keyword"></font>{ +00409 sint nRes=0; +00410 sint i; +00411 uint16 *indexLUT = cst.OChainLUT; +00412 +00413 <font class="comment">// start: no edge found.</font> +00414 cst.ExteriorEdgeIndexes.clear(); +00415 +00416 <font class="comment">// get bounding coordinate of this bbox in the quadgrid.</font> +00417 sint32 x0, y0, x1, y1; +00418 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#c0">getGridBounds</a>(x0, y0, x1, y1, bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_0">getMin</a>(), bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_1">getMax</a>()); +00419 +00420 +00421 <font class="comment">// run all intersected quads.</font> +00422 <font class="keywordflow">for</font> (sint <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>= y0; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><y1; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++) +00423 { +00424 <font class="keywordflow">for</font> (sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>= x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++) +00425 { +00426 uint8 *quadNode= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>]; +00427 +00428 <font class="comment">// no edgechain entry??</font> +00429 <font class="keywordflow">if</font>(!quadNode) +00430 <font class="keywordflow">continue</font>; +00431 +00432 <font class="comment">// get edgechain entries</font> +00433 sint numExteriorEdgeIndexes= *((uint16*)quadNode); +00434 quadNode+= <font class="keyword">sizeof</font>(uint16); +00435 uint16 *ptrExteriorEdgeIndex= (uint16*)quadNode; +00436 +00437 <font class="comment">// For each one, add it to the result list.</font> +00438 <font class="keywordflow">for</font> (i=0;i<numExteriorEdgeIndexes;i++) +00439 { +00440 uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a> = ptrExteriorEdgeIndex[i]; +00441 +00442 <font class="comment">// if ochain not yet inserted.</font> +00443 <font class="keywordflow">if</font> (indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]==0xFFFF) +00444 { +00445 <font class="comment">// inc the list.</font> +00446 indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]= nRes; +00447 cst.ExteriorEdgeIndexes.push_back(<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>); +00448 nRes++; +00449 } +00450 } +00451 } +00452 } +00453 +00454 +00455 <font class="comment">// reset LUT to 0xFFFF for all ochains selected.</font> +00456 <font class="keywordflow">for</font>(i=0;i<nRes;i++) +00457 indexLUT[cst.ExteriorEdgeIndexes[i]]= 0xFFFF; +00458 +00459 <font class="keywordflow">return</font> nRes; +00460 } +00461 +<a name="l00462"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a7">00462</a> sint CEdgeQuad::selectEdges(CVector start, CVector end, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font> +00463 <font class="keyword"></font>{ +00464 sint nRes=0; +00465 sint i; +00466 uint16 *indexLUT= cst.OChainLUT; +00467 +00468 <font class="comment">// start: no edge found.</font> +00469 cst.ExteriorEdgeIndexes.clear(); +00470 +00471 <font class="keywordflow">if</font> (end.x < start.x) +00472 swap(start, end); +00473 +00474 <font class="keywordtype">float</font> minx = <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>, +00475 miny = <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>, +00476 maxx = minx + <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>, +00477 maxy = miny + <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>; +00478 +00479 <font class="keywordflow">if</font> (start.x > maxx || end.x < minx || start.y > maxy || end.y < miny) +00480 <font class="keywordflow">return</font> nRes; +00481 +00482 <font class="keywordflow">if</font> (start.x < minx) +00483 { +00484 start.y = start.y+(end.y-start.y)*(minx-start.x)/(end.x-start.x); +00485 start.x = minx; +00486 } +00487 +00488 <font class="keywordflow">if</font> (start.y < miny) +00489 { +00490 start.x = start.x+(end.x-start.x)*(miny-start.y)/(end.y-start.y); +00491 start.y = miny; +00492 } +00493 +00494 <font class="keywordflow">if</font> (end.x > maxx) +00495 { +00496 end.y = start.y+(end.y-start.y)*(minx-start.x)/(end.x-start.x); +00497 end.x = maxx; +00498 } +00499 +00500 <font class="keywordflow">if</font> (end.y > maxy) +00501 { +00502 end.x = start.x+(end.x-start.x)*(miny-start.y)/(end.y-start.y); +00503 end.y = maxy; +00504 } +00505 +00506 sint32 x0, x1, ya, yb; +00507 sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>; +00508 <font class="keywordtype">float</font> fx, fxa, fxb, fya, fyb; +00509 +00510 x0 = (sint32)floor(start.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>; +00511 x1 = (sint32)ceil(end.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>; +00512 fx = (x0+<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>)*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>; +00513 +00514 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; ++<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>) +00515 { +00516 fxa = (fx < start.x) ? start.x : fx; +00517 fxb = (fx+<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a> > end.x) ? end.x : fx+<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>; +00518 +00519 fya = start.y+(end.y-start.y)*(fxa-start.x)/(end.x-start.x); +00520 fyb = start.y+(end.y-start.y)*(fxb-start.x)/(end.x-start.x); +00521 +00522 <font class="keywordflow">if</font> (fya > fyb) +00523 swap (fya, fyb); +00524 +00525 ya = (sint32)floor(fya / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>; +00526 yb = (sint32)ceil(fyb / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>; +00527 +00528 fx += <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>; +00529 +00530 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=ya; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><yb; ++<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>) +00531 { +00532 uint8 *quadNode= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>]; +00533 +00534 <font class="comment">// no edgechain entry??</font> +00535 <font class="keywordflow">if</font>(!quadNode) +00536 <font class="keywordflow">continue</font>; +00537 +00538 <font class="comment">// get edgechain entries</font> +00539 sint numExteriorEdgeIndexes= *((uint16 *)quadNode); +00540 quadNode+= <font class="keyword">sizeof</font>(uint16); +00541 uint16 *ptrExteriorEdgeIndex = (uint16 *)quadNode; +00542 +00543 <font class="comment">// For each one, add it to the result list.</font> +00544 <font class="keywordflow">for</font>(i=0;i<numExteriorEdgeIndexes;i++) +00545 { +00546 uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a> = ptrExteriorEdgeIndex[i]; +00547 +00548 <font class="comment">// if ochain not yet inserted.</font> +00549 <font class="keywordflow">if</font>(indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]==0xFFFF) +00550 { +00551 <font class="comment">// inc the list.</font> +00552 indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]= nRes; +00553 cst.ExteriorEdgeIndexes.push_back(ptrExteriorEdgeIndex[i]); +00554 nRes++; +00555 } +00556 } +00557 } +00558 } +00559 +00560 <font class="comment">// reset LUT to 0xFFFF for all ochains selected.</font> +00561 <font class="keywordflow">for</font>(i=0;i<nRes;i++) +00562 indexLUT[cst.ExteriorEdgeIndexes[i]]= 0xFFFF; +00563 +00564 <font class="keywordflow">return</font> nRes; +00565 } +00566 +00567 <font class="comment">// ***************************************************************************</font> +<a name="l00568"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a10">00568</a> <font class="keywordtype">void</font> CEdgeQuad::serial(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f) +00569 { +00570 <font class="comment">/*</font> +00571 <font class="comment"> Version 0:</font> +00572 <font class="comment"> - base version.</font> +00573 <font class="comment"> */</font> +00574 (void)f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(0); +00575 uint i; +00576 +00577 <font class="comment">// serial basics.</font> +00578 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>); +00579 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>); +00580 +00581 <font class="comment">// serial _QuadData.</font> +00582 <font class="keywordflow">if</font>(f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>()) +00583 { +00584 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>; +00585 <font class="keywordflow">if</font>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>>0) +00586 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>]; +00587 <font class="keywordflow">else</font> +00588 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL; +00589 } +00590 <font class="comment">// Since we have only uint16 (see CEdgeChainEntry), serial them in a single block.</font> +00591 uint16 *ptrQData= (uint16*)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>; +00592 <font class="keywordflow">for</font>(i=0;i<<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>/2; i++, ptrQData++) +00593 { +00594 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(*ptrQData); +00595 } +00596 +00597 +00598 <font class="comment">// serial _Quad.</font> +00599 std::vector<uint32> offsets; +00600 uint32 len; +00601 uint32 val; +00602 <font class="keywordflow">if</font>(f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>()) +00603 { +00604 <font class="comment">// len/resize.</font> +00605 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(len); +00606 offsets.resize(len); +00607 <a class="code" href="namespaceNLMISC.html#a222">contReset</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>); +00608 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.resize(len); +00609 +00610 <font class="comment">// read offsets -> ptrs.</font> +00611 <font class="keywordflow">for</font>(i=0; i<len; i++) +00612 { +00613 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(val); +00614 <font class="keywordflow">if</font>(val== 0xFFFFFFFF) +00615 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= NULL; +00616 <font class="keywordflow">else</font> +00617 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>+val; +00618 } +00619 } +00620 <font class="keywordflow">else</font> +00621 { +00622 <font class="comment">// len/resize.</font> +00623 len= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.size(); +00624 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(len); +00625 +00626 <font class="comment">// write offsets.</font> +00627 <font class="keywordflow">for</font>(i=0; i<len; i++) +00628 { +00629 uint8 *ptr= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]; +00630 <font class="keywordflow">if</font>(ptr==NULL) +00631 val= 0xFFFFFFFF; +00632 <font class="keywordflow">else</font> +00633 val= (uint32)(ptr-<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>); +00634 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(val); +00635 } +00636 } +00637 +00638 } +00639 +00640 +00641 +00642 } <font class="comment">// NLPACS</font> +</pre></div> + +<!-- footer --> +<BR><FONT Size=+5> </FONT> +</TD> +<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD> +</TR> +</TABLE> +</BODY> +</HTML> |