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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>global_retriever.h</h1><a href="global__retriever_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_GLOBAL_RETRIEVER_H</font> +00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_GLOBAL_RETRIEVER_H</font> +00028 <font class="preprocessor"></font> +00029 <font class="preprocessor">#include <vector></font> +00030 <font class="preprocessor">#include <list></font> +00031 +00032 <font class="preprocessor">#include "<a class="code" href="types__nl_8h.html">nel/misc/types_nl.h</a>"</font> +00033 <font class="preprocessor">#include "<a class="code" href="vector_8h.html">nel/misc/vector.h</a>"</font> +00034 <font class="preprocessor">#include "<a class="code" href="file_8h.html">nel/misc/file.h</a>"</font> +00035 +00036 <font class="preprocessor">#include "<a class="code" href="vector_8h.html">nel/misc/vector.h</a>"</font> +00037 <font class="preprocessor">#include "<a class="code" href="vectord_8h.html">nel/misc/vectord.h</a>"</font> +00038 <font class="preprocessor">#include "<a class="code" href="aabbox_8h.html">nel/misc/aabbox.h</a>"</font> +00039 +00040 <font class="preprocessor">#include "<a class="code" href="local__retriever_8h.html">pacs/local_retriever.h</a>"</font> +00041 <font class="preprocessor">#include "<a class="code" href="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font> +00042 <font class="preprocessor">#include "<a class="code" href="vector__2s_8h.html">pacs/vector_2s.h</a>"</font> +00043 <font class="preprocessor">#include "<a class="code" href="collision__surface__temp_8h.html">pacs/collision_surface_temp.h</a>"</font> +00044 <font class="preprocessor">#include "<a class="code" href="retriever__bank_8h.html">pacs/retriever_bank.h</a>"</font> +00045 +00046 <font class="preprocessor">#include "<a class="code" href="u__global__retriever_8h.html">nel/pacs/u_global_retriever.h</a>"</font> +00047 +00048 +00049 <font class="preprocessor">#include "<a class="code" href="pacs_2quad__grid_8h.html">pacs/quad_grid.h</a>"</font> +00050 +00051 +00052 <font class="keyword">namespace </font>NLPACS +00053 { +00054 +<a name="l00061"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html">00061</a> <font class="keyword">class </font>CGlobalRetriever : <font class="keyword">public</font> UGlobalRetriever +00062 { +00063 <font class="keyword">public</font>: +00064 +<a name="l00072"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html">00072</a> <font class="keyword">class </font>CGlobalPosition : <font class="keyword">public</font> UGlobalPosition +00073 { +00074 <font class="keyword">public</font>: +<a name="l00079"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html#a0">00079</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html#a0">CGlobalPosition</a>(sint32 instanceId=-1, +00080 <font class="keyword">const</font> CLocalRetriever::CLocalPosition &localPosition=CLocalRetriever::CLocalPosition::CLocalPosition()) +00081 { +00082 <a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>=instanceId; +00083 <a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>=localPosition; +00084 } +00085 +00087 <font class="comment">//void serial(NLMISC::IStream &f) { f.serial(InstanceId, LocalPosition); }</font> +00088 }; +00089 +<a name="l00090"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html">00090</a> <font class="keyword">class </font>CLocalPath +00091 { +00092 <font class="keyword">public</font>: +<a name="l00093"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m0">00093</a> sint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m0">InstanceId</a>; +<a name="l00094"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m1">00094</a> CLocalRetriever::CLocalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m1">Start</a>; +<a name="l00095"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m2">00095</a> CLocalRetriever::CLocalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m2">End</a>; +<a name="l00096"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m3">00096</a> std::vector<CVector2s> <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m3">Path</a>; +00097 }; +00098 +<a name="l00099"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">00099</a> <font class="keyword">typedef</font> std::vector<CLocalPath> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a>; +00100 +00101 <font class="keyword">private</font>: +<a name="l00103"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">00103</a> <font class="keyword">mutable</font> CCollisionSurfaceTemp <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>; +00104 +<a name="l00106"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">00106</a> <font class="keyword">mutable</font> std::vector<uint8> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>; +00107 +00108 <font class="keyword">protected</font>: +00109 +<a name="l00111"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">00111</a> <font class="keyword">const</font> CRetrieverBank *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>; +00112 +<a name="l00114"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">00114</a> <font class="keyword">mutable</font> std::vector<CRetrieverInstance> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>; +00115 +<a name="l00117"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">00117</a> <font class="keyword">mutable</font> CQuadGrid<uint32> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>; +00118 +<a name="l00120"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">00120</a> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>; +00121 +00122 <font class="keyword">public</font>: +00124 <font class="comment">// @{</font> +00125 +<a name="l00130"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_0">00130</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_0">CGlobalRetriever</a>(<font class="keyword">const</font> CRetrieverBank *bank=NULL) +00131 : <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>(bank) +00132 { } +<a name="l00133"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_1">00133</a> <font class="keyword">virtual</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_1">~CGlobalRetriever</a>() {} +00134 +00135 +00137 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">init</a>(); +00138 +00140 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a>(); +00141 +00143 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a>(); +00144 +00145 <font class="comment">// @}</font> +00146 +00147 +00149 +00150 +00151 +<a name="l00153"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">00153</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> _BBox; } +00154 +00155 +<a name="l00157"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_1">00157</a> <font class="keyword">const</font> std::vector<CRetrieverInstance> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_1">getInstances</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>; } +00158 +<a name="l00160"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">00160</a> <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(uint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>]; } +00161 +00162 +00166 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bbox, CCollisionSurfaceTemp &cst) <font class="keyword">const</font>; +00167 +<a name="l00169"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_4">00169</a> <font class="keyword">const</font> CRetrieverBank *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_4">getRetrieverBank</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>; } +00170 +<a name="l00172"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">00172</a> <font class="keyword">const</font> CLocalRetriever &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>); } +00173 +00174 +<a name="l00176"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_6">00176</a> uint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_6">getMaterial</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font> +00177 <font class="keyword"> </font>{ +00178 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId >= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size()) +00179 <font class="keywordflow">return</font> 0xFFFFFFFF; +00180 +00181 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId]; +00182 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()); +00183 +00184 <font class="keywordflow">if</font> (pos.LocalPosition.Surface < 0 || pos.LocalPosition.Surface >= (sint)retriever.getSurfaces().size()) +00185 <font class="keywordflow">return</font> 0xFFFFFFFF; +00186 +00187 <font class="keywordflow">return</font> retriever.getSurface(pos.LocalPosition.Surface).getMaterial(); +00188 } +00189 +<a name="l00191"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_7">00191</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_7">isInterior</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font> +00192 <font class="keyword"> </font>{ +00193 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId >= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size()) +00194 <font class="keywordflow">return</font> <font class="keyword">false</font>; +00195 +00196 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId].getType() == CLocalRetriever::Interior); +00197 } +00198 +<a name="l00200"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_8">00200</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_8">isWaterPosition</a>(<font class="keyword">const</font> UGlobalPosition &pos, <font class="keywordtype">float</font> &waterHeight)<font class="keyword"> const</font> +00201 <font class="keyword"> </font>{ +00202 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId >= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size()) +00203 <font class="keywordflow">return</font> <font class="keyword">false</font>; +00204 +00205 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId]; +00206 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()); +00207 <font class="keyword">const</font> CRetrievableSurface &surface = retriever.getSurface(pos.LocalPosition.Surface); +00208 +00209 waterHeight = surface.getWaterHeight(); +00210 +00211 <font class="keywordflow">return</font> (surface.getFlags() & CRetrievableSurface::IsUnderWaterBit) != 0; +00212 } +00213 +00215 +00217 +00218 +00220 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &estimated) <font class="keyword">const</font>; +00221 +00223 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &estimated) <font class="keyword">const</font>; +00224 +00226 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &estimated, <font class="keywordtype">float</font> threshold) <font class="keyword">const</font>; +00227 +00229 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &estimated, <font class="keywordtype">double</font> threshold) <font class="keyword">const</font>; +00230 +00232 sint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<font class="keyword">const</font> std::string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>) <font class="keyword">const</font>; +00233 +00235 <font class="keyword">const</font> std::string &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<font class="keyword">const</font> UGlobalPosition &position) <font class="keyword">const</font>; +00236 +00243 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_6">buildInstance</a>(<font class="keyword">const</font> std::string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &position, sint32 &instanceId); +00244 +00248 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">removeInstance</a>(sint32 instanceId); +00249 +00251 <font class="comment">// void snapToInteriorGround(UGlobalPosition &position) const;</font> +00252 +00254 <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">getGlobalPosition</a>(<font class="keyword">const</font> UGlobalPosition &global) <font class="keyword">const</font>; +00255 +00257 <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">getDoubleGlobalPosition</a>(<font class="keyword">const</font> UGlobalPosition &global) <font class="keyword">const</font>; +00258 +00260 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">testRaytrace</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &v0, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &v1); +00261 +00263 +00264 +00266 +00267 +00269 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">makeInstance</a>(uint32 retriever, uint8 orientation, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &origin); +00270 +<a name="l00272"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_1">00272</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_1">getInstanceFullAccess</a>(uint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>) { <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>]; } +00273 +<a name="l00275"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_2">00275</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_2">setRetrieverBank</a>(<font class="keyword">const</font> CRetrieverBank *bank) { <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a> = bank; } +00276 +00277 +00279 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">resetAllLinks</a>(); +00280 +00282 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">initAll</a>(); +00284 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a>(uint n); +00286 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">makeAllLinks</a>(); +00287 +00289 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">check</a>() <font class="keyword">const</font>; +00290 +00292 <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">distanceToBorder</a>(<font class="keyword">const</font> UGlobalPosition &pos) <font class="keyword">const</font>; +00294 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">getBorders</a>(<font class="keyword">const</font> UGlobalPosition &pos, std::vector<NLMISC::CLine> &edges); +00295 +00296 +00298 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f); +00299 +00301 +00302 +00304 <font class="comment">// @{</font> +00313 <font class="comment"></font> <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">testCylinderMove</a>(<font class="keyword">const</font> UGlobalPosition &start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, +00314 <font class="keywordtype">float</font> radius, CCollisionSurfaceTemp &cst) <font class="keyword">const</font>; +00324 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">testBBoxMove</a>(<font class="keyword">const</font> UGlobalPosition &start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, +00325 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locJ, CCollisionSurfaceTemp &cst) <font class="keyword">const</font>; +00339 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">doMove</a>(<font class="keyword">const</font> UGlobalPosition &start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, CCollisionSurfaceTemp &cst, <font class="keywordtype">bool</font> rebuildChains=<font class="keyword">false</font>) <font class="keyword">const</font>; +00342 <font class="keyword">const</font> CRetrievableSurface *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a>(<font class="keyword">const</font> CSurfaceIdent &surfId) <font class="keyword">const</font>; +00352 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">testBBoxRot</a>(<font class="keyword">const</font> CGlobalPosition &start, +00353 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locJ, CCollisionSurfaceTemp &cst) <font class="keyword">const</font>; +00354 +00358 <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">getMeanHeight</a>(<font class="keyword">const</font> UGlobalPosition &pos) <font class="keyword">const</font>; +00359 +<a name="l00361"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_6">00361</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_6">updateHeight</a>(UGlobalPosition &pos)<font class="keyword"> const </font>{ pos.LocalPosition.Estimation.z = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">getMeanHeight</a>(pos); } +00362 +00363 <font class="comment">// @}</font> +00364 +00365 +00367 <font class="comment">// @{</font> +00368 +00371 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">findAStarPath</a>(<font class="keyword">const</font> UGlobalPosition &begin, <font class="keyword">const</font> UGlobalPosition &end, std::vector<CRetrieverInstance::CAStarNodeAccess> &path, uint32 forbidFlags) <font class="keyword">const</font>; +00372 +00375 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">findPath</a>(<font class="keyword">const</font> UGlobalPosition &begin, <font class="keyword">const</font> UGlobalPosition &end, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a> &path, uint32 forbidFlags=0) <font class="keyword">const</font>; +00376 +00377 <font class="comment">// @}</font> +00378 +00379 <font class="keyword">private</font>: +00381 <font class="comment">// @{</font> +00382 +<a name="l00384"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">00384</a> CRetrieverInstance::CAStarNodeInfo &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(CRetrieverInstance::CAStarNodeAccess &access)<font class="keyword"> const</font> +00385 <font class="keyword"> </font>{ +00386 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[access.InstanceId]._NodesInformation[access.NodeId]; +00387 } +00388 +00389 <font class="comment">// @}</font> +00390 +00391 +00393 <font class="comment">// @{</font> +<a name="l00394"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">00394</a> <font class="keyword">enum</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a> { <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0u0">Circle</a>, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0u1">BBox</a> }; +00398 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bboxMove, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &origin) <font class="keyword">const</font>; +00402 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &deltaCol, +00403 CSurfaceIdent startSurface, <font class="keywordtype">float</font> radius, <font class="keyword">const</font> CVector2f bbox[4], <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a> colType) <font class="keyword">const</font>; +00409 CSurfaceIdent <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">testMovementWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &deltaCol, +00410 CSurfaceIdent startSurface) <font class="keyword">const</font>; +00414 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">testRotCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, CSurfaceIdent startSurface, <font class="keyword">const</font> CVector2f bbox[4]) <font class="keyword">const</font>; +00416 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">verticalChain</a>(<font class="keyword">const</font> CCollisionChain &colChain) <font class="keyword">const</font>; +00417 <font class="comment">// @}</font> +00418 +00419 <font class="keyword">protected</font>: +<a name="l00420"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">00420</a> <font class="keyword">friend</font> <font class="keyword">class </font><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a>; +00421 +<a name="l00422"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">00422</a> CCollisionSurfaceTemp &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">getInternalCST</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>; } +00423 }; +00424 +00425 }; <font class="comment">// NLPACS</font> +00426 +00427 <font class="preprocessor">#endif // NL_GLOBAL_RETRIEVER_H</font> +00428 <font class="preprocessor"></font> +00429 <font class="comment">/* End of global_retriever.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> |