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BORDER=0></A> +</td><td><IMG SRC="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="1" HEIGHT="1" BORDER=0 ALT=""> +</td></tr></table> + + +<!-- block --> +<TABLE bgcolor="#dddddd" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td width=1% valign=middle><img width=6 height=14 hspace=2 vspace=2 src="http://www.nevrax.org/inc/img/reddots.gif"></TD> + <TD><B>Documentation</B></TD> + <TD ALIGN=RIGHT> </td> +</tr></table> +<!-- Generated by Doxygen 1.2.14 --> +<center> +<a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="namespaces.html">Namespace List</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="classes.html">Alphabetical List</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="namespacemembers.html">Namespace Members</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> <a class="qindex" href="pages.html">Related Pages</a> <a class="qindexRef" doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center> +<hr><h1>primitive_world_image.h</h1><a href="primitive__world__image_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_PRIMITIVE_WORLD_IMAGE_H</font> +00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_PRIMITIVE_WORLD_IMAGE_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 +00031 <font class="preprocessor">#include "<a class="code" href="move__container_8h.html">pacs/move_container.h</a>"</font> +00032 +00033 +00034 <font class="keyword">namespace </font>NLPACS { +00035 +00036 +<a name="l00043"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html">00043</a> <font class="keyword">class </font>CPrimitiveWorldImage +00044 { +00045 <font class="keyword">public</font>: +00046 +00047 <font class="comment">// Constructor</font> +00048 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a> (); +00049 +00050 <font class="comment">// To call before destruction</font> +00051 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a1">deleteIt</a> (CMoveContainer &container, uint8 worldImage); +00052 +00053 <font class="comment">// Copy</font> +00054 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a2">copy</a> (<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& source); +00055 +00061 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a3">setGlobalPosition</a> (<font class="keyword">const</font> UGlobalPosition& pos, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage); +00062 +00070 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a3">setGlobalPosition</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& pos, CMoveContainer& container, CMovePrimitive &primitive, +00071 uint8 worldImage, <font class="keywordtype">bool</font> keepZ = <font class="keyword">false</font>); +00072 +<a name="l00078"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a5">00078</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a5">getFinalPosition</a> ()<font class="keyword"> const</font> +00079 <font class="keyword"> </font>{ +00080 <font class="comment">// Get the position</font> +00081 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a>(); +00082 } +00083 +<a name="l00089"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a6">00089</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a6">setOrientation</a> (<font class="keywordtype">double</font> rot, CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) +00090 { +00091 <font class="comment">// New position</font> +00092 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation=rot; +00093 +00094 <font class="comment">// Position has changed</font> +00095 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (container, primitive, worldImage); +00096 } +00097 +00103 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a7">move</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& speed, CMoveContainer& container, CMovePrimitive &primitive, +00104 uint8 worldImage); +00105 +<a name="l00111"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">00111</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">setSpeed</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& speed, CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) +00112 { +00113 <font class="comment">// New time</font> +00114 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>=speed; +00115 +00116 <font class="comment">// Speed has changed</font> +00117 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (container, primitive, worldImage); +00118 } +00119 +<a name="l00125"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a9">00125</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a9">getSpeed</a> ()<font class="keyword"> const</font> +00126 <font class="keyword"> </font>{ +00127 <font class="comment">// New time</font> +00128 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>; +00129 } +00130 +<a name="l00132"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a10">00132</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a10">isInModifiedListFlag</a> () +00133 { +00134 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>) != 0; +00135 } +00136 +<a name="l00138"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a11">00138</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a11">setInModifiedListFlag</a> (<font class="keywordtype">bool</font> itis) +00139 { +00140 <font class="keywordflow">if</font> (itis) +00141 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>; +00142 <font class="keywordflow">else</font> +00143 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>; +00144 } +00145 +00146 <font class="comment">// Link into modified list</font> +<a name="l00147"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a12">00147</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a12">linkInModifiedList</a> (CMovePrimitive* next) +00148 { +00149 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">_NextModified</a>=next; +00150 } +00151 +<a name="l00153"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a13">00153</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a13">isInWorldImageFlag</a> () +00154 { +00155 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a>) != 0; +00156 } +00157 +<a name="l00159"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a14">00159</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a14">setInWorldImageFlag</a> (<font class="keywordtype">bool</font> itis) +00160 { +00161 <font class="keywordflow">if</font> (itis) +00162 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a>; +00163 <font class="keywordflow">else</font> +00164 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a>; +00165 } +00166 +<a name="l00168"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a15">00168</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a15">getNextModified</a> ()<font class="keyword"> const</font> +00169 <font class="keyword"> </font>{ +00170 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">_NextModified</a>; +00171 } +00172 +<a name="l00176"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a16">00176</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a16">getBBXMin</a> ()<font class="keyword"> const</font> +00177 <font class="keyword"> </font>{ +00178 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>; +00179 } +00180 +<a name="l00184"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a17">00184</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a17">getBBYMin</a> ()<font class="keyword"> const</font> +00185 <font class="keyword"> </font>{ +00186 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>; +00187 } +00188 +<a name="l00192"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a18">00192</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a18">getBBXMax</a> ()<font class="keyword"> const</font> +00193 <font class="keyword"> </font>{ +00194 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>; +00195 } +00196 +<a name="l00200"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a19">00200</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a19">getBBYMax</a> ()<font class="keyword"> const</font> +00201 <font class="keyword"> </font>{ +00202 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>; +00203 } +00204 +<a name="l00208"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a20">00208</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a20">getDeltaPosition</a> ()<font class="keyword"> const</font> +00209 <font class="keyword"> </font>{ +00210 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>; +00211 } +00212 +<a name="l00214"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a21">00214</a> CMoveElement *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a21">getMoveElement</a> (uint i) +00215 { +00216 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]; +00217 } +00218 +00220 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a22">removeMoveElement</a> (uint i, CMoveContainer &container, uint8 worldImage); +00221 +00223 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a23">addMoveElement</a> (CMoveCell& cell, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, <font class="keywordtype">double</font> centerX, <font class="keywordtype">double</font> centerY, CMovePrimitive *primitive, +00224 CMoveContainer &container, uint8 worldImage); +00225 +00227 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a24">CPrimitiveWorldImage::addMoveElementendOfList</a> (CMoveCell& cell, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, CMovePrimitive *primitive, +00228 CMoveContainer &container); +00229 +<a name="l00231"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a25">00231</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a25">update</a> (<font class="keywordtype">double</font> beginTime, <font class="keywordtype">double</font> endTime, CMovePrimitive &primitive) +00232 { +00233 <font class="comment">// Pos dirt ?</font> +00234 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a>) +00235 { +00236 <font class="comment">// Compute precalculated data</font> +00237 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a32">precalcPos</a> (primitive); +00238 +00239 <font class="comment">// Clean</font> +00240 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a>; +00241 } +00242 +00243 <font class="comment">// Bounding box dirt ?</font> +00244 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a>) +00245 { +00246 <font class="comment">// Compute precalculated data</font> +00247 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a34">precalcBB</a> (beginTime, endTime, primitive); +00248 +00249 <font class="comment">// Clean</font> +00250 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a>; +00251 } +00252 } +00253 +00255 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a26">checkSortedList</a> (uint8 worldImage); +00256 +00257 <font class="comment">// Return the global position of the primitive</font> +<a name="l00258"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a27">00258</a> <font class="keyword">const</font> UGlobalPosition& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a27">getGlobalPosition</a>() +00259 { +00260 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a>(); +00261 } +00262 +00263 <font class="comment">// Return the orientation</font> +<a name="l00264"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a28">00264</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a28">getOrientation</a> ()<font class="keyword"> const</font> +00265 <font class="keyword"> </font>{ +00266 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation; +00267 } +00268 +00269 <font class="comment">// Dirt the position flag. Position has changed.</font> +<a name="l00270"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">00270</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) +00271 { +00272 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a>; +00273 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a30">dirtBB</a> (container, primitive, worldImage); +00274 } +00275 +00276 <font class="comment">// Dirt the bounding box flag.</font> +<a name="l00277"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a30">00277</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a30">dirtBB</a> (CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) +00278 { +00279 <font class="comment">// Warn container that BB has changed</font> +00280 container->changed (primitive, worldImage); +00281 +00282 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a>; +00283 } +00284 +00285 <font class="comment">// Return the init time</font> +<a name="l00286"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a31">00286</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a31">getInitTime</a>()<font class="keyword"> const</font> +00287 <font class="keyword"> </font>{ +00288 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>; +00289 } +00290 +00291 <font class="comment">// Compute precalculated data for the position</font> +00292 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a32">precalcPos</a> (CMovePrimitive &primitive); +00293 +00294 <font class="comment">// Compute precalculated data for the speed</font> +00295 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a33">precalcSpeed</a> (); +00296 +00297 <font class="comment">// Compute precalculated bounding box</font> +00298 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a34">precalcBB</a> (<font class="keywordtype">double</font> beginTime, <font class="keywordtype">double</font> endTime, CMovePrimitive &primitive); +00299 +00300 <font class="comment">// *** Some methods to eval collisions</font> +00301 <font class="comment">/* * NOTES: BB for bounding box</font> +00302 <font class="comment"> OB for oriented Box</font> +00303 <font class="comment"> OC for oriented cylinder</font> +00304 <font class="comment"> P for box point</font> +00305 <font class="comment"> S for box segment</font> +00306 <font class="comment"> */</font> +00307 +00319 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a35">evalCollision</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, <font class="keyword">class</font> CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, +00320 <font class="keywordtype">double</font> timeMax, uint32 testTime, uint32 maxTestIteration, +00321 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, +00322 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); +00323 +00324 <font class="comment">// Box over box</font> +00325 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a36">evalCollisionOBoverOB</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, +00326 <font class="keywordtype">double</font> timeMax, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, +00327 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); +00328 +00329 <font class="comment">// Box over cylinder</font> +00330 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a37">evalCollisionOBoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, +00331 <font class="keywordtype">double</font> timeMax, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, +00332 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); +00333 +00334 <font class="comment">// Cylinder over cylinder</font> +00335 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a38">evalCollisionOCoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, +00336 <font class="keywordtype">double</font> timeMax, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, +00337 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); +00338 +00339 <font class="comment">// *** Subprimitive over subprimitive</font> +00340 +00341 <font class="comment">// Point over segment in OB/OB test</font> +00342 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a39">evalCollisionPoverS</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, uint numPoint, uint numSeg, +00343 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); +00344 +00345 <font class="comment">// Point over cylinder</font> +00346 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a40">evalCollisionPoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, uint numPoint, +00347 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive, +00348 CMovePrimitive& otherPrimitive); +00349 +00350 <font class="comment">// Segment over cylinder</font> +00351 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a41">evalCollisionSoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, uint numPoint, +00352 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); +00353 +00363 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a35">evalCollision</a> (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp, +00364 uint32 testTime, uint32 maxTestIteration, CMovePrimitive& primitive); +00365 +00366 <font class="comment">// Make a move with globalRetriever. Must be call after a free collision evalCollision call.</font> +00367 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a43">doMove</a> (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp, <font class="keywordtype">double</font> originalMax, <font class="keywordtype">double</font> finalMax, <font class="keywordtype">bool</font> keepZ = <font class="keyword">false</font>); +00368 +00369 <font class="comment">// Make a move wihtout globalRetriever.</font> +00370 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a43">doMove</a> (<font class="keywordtype">double</font> timeMax); +00371 +00372 <font class="comment">// Reaction between two primitives. Return true if one object has been modified.</font> +00373 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a45">reaction</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& second, <font class="keyword">const</font> CCollisionDesc& desc, CGlobalRetriever* retriver, +00374 CCollisionSurfaceTemp& surfaceTemp, <font class="keywordtype">bool</font> collision, CMovePrimitive &primitive, +00375 CMovePrimitive &otherPrimitive, CMoveContainer *container, uint8 worldImage, +00376 uint8 secondWorldImage, <font class="keywordtype">bool</font> secondConst); +00377 +00378 <font class="comment">// Reaction with a static collision. Return true if one object has been modified.</font> +00379 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a45">reaction</a> ( <font class="keyword">const</font> CCollisionSurfaceDesc& surfaceDesc, <font class="keyword">const</font> UGlobalPosition& globalPosition, +00380 CGlobalRetriever& retriever, <font class="keywordtype">double</font> ratio, <font class="keywordtype">double</font> dt, CMovePrimitive &primitive, CMoveContainer &container, +00381 uint8 worldImage); +00382 +00383 <font class="keyword">private</font>: +00384 <font class="comment">// Some flags</font> +<a name="l00385"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5">00385</a> <font class="keyword">enum</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5">TDynamicFlags</a> +00386 { +00387 <font class="comment">// The dirt flag. Precalculated data for the position must be recomputed.</font> +00388 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a> =0x0001, +00389 +00390 <font class="comment">// The dirt bounding box. Precalculated data for the bounding box must be recomputed.</font> +00391 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a> =0x0002, +00392 +00393 <font class="comment">// In modified list.</font> +00394 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a> =0x0004, +00395 +00396 <font class="comment">// Inserted in the world image.</font> +00397 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a> =0x0008, +00398 +00399 <font class="comment">// Force the size to uint16.</font> +00400 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u4">ForceSize</a> =0xffff +00401 }; +00402 +00403 <font class="comment">// Flags</font> +<a name="l00404"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">00404</a> uint16 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>; +00405 +00406 <font class="comment">// This position is the central bottom position for the box or for the cylinder</font> +<a name="l00407"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html">00407</a> <font class="keyword">class </font>CPosition +00408 { +00409 <font class="keyword">private</font>: +00410 <font class="comment">// 3d position</font> +<a name="l00411"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o0">00411</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o0">_3dPosition</a>; +00412 +00413 <font class="comment">// Global position</font> +<a name="l00414"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">00414</a> UGlobalPosition <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>; +00415 <font class="keyword">public</font>: +00416 <font class="comment">// Return the 3d position</font> +<a name="l00417"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">00417</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ()<font class="keyword"> const</font> +00418 <font class="keyword"> </font>{ +00419 <font class="keywordflow">return</font> _3dPosition; +00420 } +00421 +00422 <font class="comment">// Set the 3d position</font> +<a name="l00423"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">00423</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">setPos</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& newPos) +00424 { +00425 _3dPosition=newPos; +00426 } +00427 +00428 <font class="comment">// Return the global position</font> +<a name="l00429"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">00429</a> <font class="keyword">const</font> UGlobalPosition& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a> ()<font class="keyword"> const</font> +00430 <font class="keyword"> </font>{ +00431 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>; +00432 } +00433 +00434 <font class="comment">// Set the global position</font> +<a name="l00435"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">00435</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (<font class="keyword">const</font> UGlobalPosition& globalPosition, +00436 CGlobalRetriever& globalRetriver) +00437 { +00438 <font class="comment">// Get position with global position</font> +00439 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>=globalPosition; +00440 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>.LocalPosition.Estimation.z = globalRetriver.getMeanHeight(globalPosition); +00441 _3dPosition=globalRetriver.getDoubleGlobalPosition (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>); +00442 <font class="comment">// _3dPosition.z=(double)globalRetriver.getMeanHeight(globalPosition); </font> +00443 } +00444 +<a name="l00445"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a4">00445</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a4">setGlobalPosKeepZ</a>(<font class="keyword">const</font> UGlobalPosition& globalPosition, +00446 CGlobalRetriever& globalRetriver) +00447 { +00448 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>.setKeepZ(globalPosition); +00449 <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> dPos = globalRetriver.getDoubleGlobalPosition (globalPosition); +00450 _3dPosition.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> = dPos.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>; +00451 _3dPosition.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> = dPos.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>; +00452 } +00453 +00454 }; +00455 +00456 <font class="comment">// Global position of the primitive in the world image.</font> +<a name="l00457"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">00457</a> CPosition <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>; +00458 +00459 <font class="comment">// Time for valid getPos () position. _Position.getPos () == _3dInitPosition + _Speed * _InitTime;</font> +<a name="l00460"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">00460</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>; +00461 +00462 <font class="comment">// 3d position at t=0</font> +<a name="l00463"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">00463</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>; +00464 +00465 <font class="comment">// Delta position is : _Speed*Deltatime</font> +<a name="l00466"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">00466</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>; +00467 +00468 <font class="comment">// Current speed</font> +<a name="l00469"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">00469</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>; +00470 +00471 <font class="comment">// Movable bounding box</font> +<a name="l00472"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">00472</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>; +<a name="l00473"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">00473</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>; +<a name="l00474"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">00474</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>; +<a name="l00475"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">00475</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>; +00476 +00477 <font class="comment">// Union for data space shared by primitive type (cylinder or box)</font> +00478 <font class="keyword">union </font> +00479 <font class="keyword"> </font>{ +00480 <font class="comment">// Data for Boxes</font> +00481 <font class="keyword">struct</font> +00482 <font class="keyword"> </font>{ +00483 <font class="comment">// 2d position of the 4 points of the box at initial time.</font> +<a name="l00484"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o10">00484</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o10">PointPosX</a>[4]; +<a name="l00485"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o11">00485</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o11">PointPosY</a>[4]; +00486 +00487 <font class="comment">// The normalized direction vector of the 4 edges of the box.</font> +<a name="l00488"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o12">00488</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o12">EdgeDirectionX</a>[4]; +<a name="l00489"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o13">00489</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o13">EdgeDirectionY</a>[4]; +00490 +00491 <font class="comment">// The box orientation</font> +<a name="l00492"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o14">00492</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o14">Orientation</a>; +00493 } <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>; +00494 }; +00495 +00496 <font class="comment">// Sorted list of modified primitives. This pointer is managed by CMoveContainer.</font> +<a name="l00497"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">00497</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">_NextModified</a>; +00498 +00499 <font class="comment">// Pointer into the 4 possibles sorted lists of movable primitives. Can be NULL if not in the list</font> +<a name="l00500"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">00500</a> CMoveElement *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[4]; +00501 }; +00502 +00503 +00504 } <font class="comment">// NLPACS</font> +00505 +00506 +00507 <font class="preprocessor">#endif // NL_PRIMITIVE_WORLD_IMAGE_H</font> +00508 <font class="preprocessor"></font> +00509 <font class="comment">/* End of primitive_world_image.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> |