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Documentation                       Search   primitive_world_image.h Go to the documentation of this file. /* Copyright, 2001 Nevrax Ltd. * * This file is part of NEVRAX NEL. * NEVRAX NEL is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2, or (at your option) * any later version. * NEVRAX NEL is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * You should have received a copy of the GNU General Public License * along with NEVRAX NEL; see the file COPYING. If not, write to the * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, * MA 02111-1307, USA. */ #ifndef NL_PRIMITIVE_WORLD_IMAGE_H #define NL_PRIMITIVE_WORLD_IMAGE_H #include "nel/misc/types_nl.h" #include "pacs/move_container.h" namespace NLPACS { class CPrimitiveWorldImage { public: // Constructor CPrimitiveWorldImage (); // To call before destruction void deleteIt (CMoveContainer &container, uint8 worldImage); // Copy void copy (const CPrimitiveWorldImage& source); void setGlobalPosition (const UGlobalPosition& pos, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage); void setGlobalPosition (const NLMISC::CVectorD& pos, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage, bool keepZ = false); NLMISC::CVectorD getFinalPosition () const { // Get the position return _Position.getPos(); } void setOrientation (double rot, CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) { // New position _OBData.Orientation=rot; // Position has changed dirtPos (container, primitive, worldImage); } void move (const NLMISC::CVectorD& speed, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage); void setSpeed (const NLMISC::CVectorD& speed, CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) { // New time _Speed=speed; // Speed has changed dirtPos (container, primitive, worldImage); } const NLMISC::CVectorD& getSpeed () const { // New time return _Speed; } bool isInModifiedListFlag () { return (_DynamicFlags&InModifiedListFlag) != 0; } void setInModifiedListFlag (bool itis) { if (itis) _DynamicFlags|=InModifiedListFlag; else _DynamicFlags&=~InModifiedListFlag; } // Link into modified list void linkInModifiedList (CMovePrimitive* next) { _NextModified=next; } bool isInWorldImageFlag () { return (_DynamicFlags&InWorldImageFlag) != 0; } void setInWorldImageFlag (bool itis) { if (itis) _DynamicFlags|=InWorldImageFlag; else _DynamicFlags&=~InWorldImageFlag; } CMovePrimitive *getNextModified () const { return _NextModified; } double getBBXMin () const { return _BBXMin; } double getBBYMin () const { return _BBYMin; } double getBBXMax () const { return _BBXMax; } double getBBYMax () const { return _BBYMax; } const NLMISC::CVectorD& getDeltaPosition () const { return _DeltaPosition; } CMoveElement *getMoveElement (uint i) { return _MoveElement[i]; } void removeMoveElement (uint i, CMoveContainer &container, uint8 worldImage); void addMoveElement (CMoveCell& cell, uint16 x, uint16 y, double centerX, double centerY, CMovePrimitive *primitive, CMoveContainer &container, uint8 worldImage); void CPrimitiveWorldImage::addMoveElementendOfList (CMoveCell& cell, uint16 x, uint16 y, CMovePrimitive *primitive, CMoveContainer &container); void update (double beginTime, double endTime, CMovePrimitive &primitive) { // Pos dirt ? if (_DynamicFlags&DirtPosFlag) { // Compute precalculated data precalcPos (primitive); // Clean _DynamicFlags&=~DirtPosFlag; } // Bounding box dirt ? if (_DynamicFlags&DirtBBFlag) { // Compute precalculated data precalcBB (beginTime, endTime, primitive); // Clean _DynamicFlags&=~DirtBBFlag; } } void checkSortedList (uint8 worldImage); // Return the global position of the primitive const UGlobalPosition& getGlobalPosition() { return _Position.getGlobalPos(); } // Return the orientation double getOrientation () const { return _OBData.Orientation; } // Dirt the position flag. Position has changed. void dirtPos (CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) { _DynamicFlags|=DirtPosFlag; dirtBB (container, primitive, worldImage); } // Dirt the bounding box flag. void dirtBB (CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage) { // Warn container that BB has changed container->changed (primitive, worldImage); _DynamicFlags|=DirtBBFlag; } // Return the init time double getInitTime() const { return _InitTime; } // Compute precalculated data for the position void precalcPos (CMovePrimitive &primitive); // Compute precalculated data for the speed void precalcSpeed (); // Compute precalculated bounding box void precalcBB (double beginTime, double endTime, CMovePrimitive &primitive); // *** Some methods to eval collisions /* * NOTES: BB for bounding box OB for oriented Box OC for oriented cylinder P for box point S for box segment */ bool evalCollision (CPrimitiveWorldImage& other, class CCollisionDesc& desc, double timeMin, double timeMax, uint32 testTime, uint32 maxTestIteration, double &firstContactTime, double &lastContactTime, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); // Box over box bool evalCollisionOBoverOB (CPrimitiveWorldImage& other, CCollisionDesc& desc, double timeMin, double timeMax, double &firstContactTime, double &lastContactTime, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); // Box over cylinder bool evalCollisionOBoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, double timeMin, double timeMax, double &firstContactTime, double &lastContactTime, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); // Cylinder over cylinder bool evalCollisionOCoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, double timeMin, double timeMax, double &firstContactTime, double &lastContactTime, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); // *** Subprimitive over subprimitive // Point over segment in OB/OB test bool evalCollisionPoverS (CPrimitiveWorldImage& other, CCollisionDesc& desc, uint numPoint, uint numSeg, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); // Point over cylinder bool evalCollisionPoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, uint numPoint, double &firstContactTime, double &lastContactTime, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); // Segment over cylinder bool evalCollisionSoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, uint numPoint, CMovePrimitive& primitive, CMovePrimitive& otherPrimitive); const TCollisionSurfaceDescVector *evalCollision (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp, uint32 testTime, uint32 maxTestIteration, CMovePrimitive& primitive); // Make a move with globalRetriever. Must be call after a free collision evalCollision call. void doMove (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp, double originalMax, double finalMax, bool keepZ = false); // Make a move wihtout globalRetriever. void doMove (double timeMax); // Reaction between two primitives. Return true if one object has been modified. void reaction (CPrimitiveWorldImage& second, const CCollisionDesc& desc, CGlobalRetriever* retriver, CCollisionSurfaceTemp& surfaceTemp, bool collision, CMovePrimitive &primitive, CMovePrimitive &otherPrimitive, CMoveContainer *container, uint8 worldImage, uint8 secondWorldImage, bool secondConst); // Reaction with a static collision. Return true if one object has been modified. void reaction ( const CCollisionSurfaceDesc& surfaceDesc, const UGlobalPosition& globalPosition, CGlobalRetriever& retriever, double ratio, double dt, CMovePrimitive &primitive, CMoveContainer &container, uint8 worldImage); private: // Some flags enum TDynamicFlags { // The dirt flag. Precalculated data for the position must be recomputed. DirtPosFlag =0x0001, // The dirt bounding box. Precalculated data for the bounding box must be recomputed. DirtBBFlag =0x0002, // In modified list. InModifiedListFlag =0x0004, // Inserted in the world image. InWorldImageFlag =0x0008, // Force the size to uint16. ForceSize =0xffff }; // Flags uint16 _DynamicFlags; // This position is the central bottom position for the box or for the cylinder class CPosition { private: // 3d position NLMISC::CVectorD _3dPosition; // Global position UGlobalPosition _GlobalPosition; public: // Return the 3d position const NLMISC::CVectorD& getPos () const { return _3dPosition; } // Set the 3d position void setPos (const NLMISC::CVectorD& newPos) { _3dPosition=newPos; } // Return the global position const UGlobalPosition& getGlobalPos () const { return _GlobalPosition; } // Set the global position void setGlobalPos (const UGlobalPosition& globalPosition, CGlobalRetriever& globalRetriver) { // Get position with global position _GlobalPosition=globalPosition; _GlobalPosition.LocalPosition.Estimation.z = globalRetriver.getMeanHeight(globalPosition); _3dPosition=globalRetriver.getDoubleGlobalPosition (_GlobalPosition); // _3dPosition.z=(double)globalRetriver.getMeanHeight(globalPosition); } void setGlobalPosKeepZ(const UGlobalPosition& globalPosition, CGlobalRetriever& globalRetriver) { _GlobalPosition.setKeepZ(globalPosition); NLMISC::CVectorD dPos = globalRetriver.getDoubleGlobalPosition (globalPosition); _3dPosition.x = dPos.x; _3dPosition.y = dPos.y; } }; // Global position of the primitive in the world image. CPosition _Position; // Time for valid getPos () position. _Position.getPos () == _3dInitPosition + _Speed * _InitTime; double _InitTime; // 3d position at t=0 NLMISC::CVectorD _3dInitPosition; // Delta position is : _Speed*Deltatime NLMISC::CVectorD _DeltaPosition; // Current speed NLMISC::CVectorD _Speed; // Movable bounding box double _BBXMin; double _BBYMin; double _BBXMax; double _BBYMax; // Union for data space shared by primitive type (cylinder or box) union { // Data for Boxes struct { // 2d position of the 4 points of the box at initial time. double PointPosX[4]; double PointPosY[4]; // The normalized direction vector of the 4 edges of the box. double EdgeDirectionX[4]; double EdgeDirectionY[4]; // The box orientation double Orientation; } _OBData; }; // Sorted list of modified primitives. This pointer is managed by CMoveContainer. CMovePrimitive *_NextModified; // Pointer into the 4 possibles sorted lists of movable primitives. Can be NULL if not in the list CMoveElement *_MoveElement[4]; }; } // NLPACS #endif // NL_PRIMITIVE_WORLD_IMAGE_H /* End of primitive_world_image.h */