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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>NeL: NLPACS::CEdgeCollide class Reference</title>
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<h1>NLPACS::CEdgeCollide Class Reference</h1><code>#include <<a class="el" href="a05665.html">edge_collide.h</a>></code>
<p>
<p>Inheritance diagram for NLPACS::CEdgeCollide:
<p><center><img src="a02448.png" usemap="#NLPACS::CEdgeCollide_map" border="0" alt=""></center>
<map name="NLPACS::CEdgeCollide_map">
<area href="a02449.html" alt="NLPACS::CEdgeCollideNode" shape="rect" coords="0,56,175,80">
</map>
<hr><a name="_details"></a><h2>Detailed Description</h2>
Collisions against edge in 2D. <dl compact><dt><b>Author:</b></dt><dd>Lionel Berenguier <p>
Nevrax France </dd></dl>
<dl compact><dt><b>Date:</b></dt><dd>2001 </dd></dl>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00180">180</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.<table border=0 cellpadding=0 cellspacing=0>
<tr><td></td></tr>
<tr><td colspan=2><br><h2>Public Types</h2></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>enum </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">TPointMoveProblem</a> { <br>
<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a> = 0,
<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>,
<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>,
<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>,
<br>
<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>,
<a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew2">PointMoveProblemCount</a>
<br>
}</td></tr>
<tr><td colspan=2><br><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea1">make</a> (const <a class="el" href="a03660.html">CVector2f</a> &p0, const <a class="el" href="a03660.html">CVector2f</a> &p1)</td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea2">testBBoxCollide</a> (const <a class="el" href="a03660.html">CVector2f</a> bbox[4])</td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea3">testBBoxMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &start, const <a class="el" href="a03660.html">CVector2f</a> &delta, const <a class="el" href="a03660.html">CVector2f</a> bbox[4], <a class="el" href="a03660.html">CVector2f</a> &normal)</td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea4">testCircleMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &start, const <a class="el" href="a03660.html">CVector2f</a> &delta, float radius, <a class="el" href="a03660.html">CVector2f</a> &normal)</td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03305.html">CRational64</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodea5">testPointMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &start, const <a class="el" href="a03660.html">CVector2f</a> &end, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">TPointMoveProblem</a> &moveBug)</td></tr>
<tr><td colspan=2><br><h2>Data Fields</h2></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>float </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03660.html">CVector2f</a> </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a></td></tr>
<tr><td colspan=2><br><h2>Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align=right valign=top>bool </td><td class="memItemRight" valign=bottom><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollided0">testEdgeMove</a> (const <a class="el" href="a03660.html">CVector2f</a> &q0, const <a class="el" href="a03660.html">CVector2f</a> &q1, const <a class="el" href="a03660.html">CVector2f</a> &delta, float &tMin, float &tMax, bool &normalOnBox)</td></tr>
</table>
<hr><h2>Member Enumeration Documentation</h2>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5" doxytag="NLPACS::CEdgeCollide::TPointMoveProblem" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> enum <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">NLPACS::CEdgeCollide::TPointMoveProblem</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<dl compact><dt><b>Enumeration values: </b></dt><dd>
<table border=0 cellspacing=2 cellpadding=0>
<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1" doxytag="ParallelEdges" ></a>ParallelEdges</em> </td><td>
</td></tr>
<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3" doxytag="StartOnEdge" ></a>StartOnEdge</em> </td><td>
</td></tr>
<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4" doxytag="StopOnEdge" ></a>StopOnEdge</em> </td><td>
</td></tr>
<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6" doxytag="TraverseEndPoint" ></a>TraverseEndPoint</em> </td><td>
</td></tr>
<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0" doxytag="EdgeNull" ></a>EdgeNull</em> </td><td>
</td></tr>
<tr><td valign=top><em><a class="anchor" name="NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew2" doxytag="PointMoveProblemCount" ></a>PointMoveProblemCount</em> </td><td>
</td></tr>
</table>
</dl>
<p>
Definition at line <a class="el" href="a05665.html#l00183">183</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
<p>
<div class="fragment"><pre>00183 {<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a>=0, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>, <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew2">PointMoveProblemCount</a>};
</pre></div> </td>
</tr>
</table>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea1" doxytag="NLPACS::CEdgeCollide::make" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> void NLPACS::CEdgeCollide::make </td>
<td class="md" valign="top">( </td>
<td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>p0</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>p1</em></td>
</tr>
<tr>
<td></td>
<td class="md">) </td>
<td class="md" colspan="2"></td>
</tr>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05664.html#l00043">43</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
<p>
References <a class="el" href="a05665.html#l00190">A0</a>, <a class="el" href="a05665.html#l00190">A1</a>, <a class="el" href="a05665.html#l00191">C</a>, <a class="el" href="a05665.html#l00189">Norm</a>, <a class="el" href="a06677.html#l00093">NLMISC::CVector2f::normalize()</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
<p>
Referenced by <a class="el" href="a05929.html#l01807">NLPACS::CLocalRetriever::testCollision()</a>, and <a class="el" href="a06337.html#l00635">NLPACS::CRetrieverInstance::testExteriorCollision()</a>.
<p>
<div class="fragment"><pre>00044 {
00045 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>= p0;
00046 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>= p1;
00047 <span class="comment">// translation axis of the edge.</span>
00048 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
00049 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>.normalize();
00050 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a>= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>;
00051 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a>= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>*Dir;
00052 <span class="comment">// line equation.</span>
00053 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>.x= Dir.y;
00054 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>.y= -Dir.x;
00055 <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a>= - <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>;
00056 }
</pre></div> </td>
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</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea2" doxytag="NLPACS::CEdgeCollide::testBBoxCollide" ></a><p>
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<td class="md" nowrap valign="top"> bool NLPACS::CEdgeCollide::testBBoxCollide </td>
<td class="md" valign="top">( </td>
<td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> </td>
<td class="mdname1" valign="top" nowrap> <em>bbox</em>[4] </td>
<td class="md" valign="top"> ) </td>
<td class="md" nowrap></td>
</tr>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
return true if this oriented bbox collide this edge. <dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign=top><em>bbox</em> </td><td>4 points of the bbox, in CCW. </td></tr>
</table>
</dl>
<dl compact><dt><b>Returns:</b></dt><dd>true if collision occurs.</dd></dl>
<p>
Definition at line <a class="el" href="a05664.html#l00657">657</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
<p>
References <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
<p>
Referenced by <a class="el" href="a05761.html#l02303">NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains()</a>.
<p>
<div class="fragment"><pre>00658 {
00659 <span class="comment">// clip the edge against the edge of the bbox.</span>
00660 CVector2f p0= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>, p1= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>;
00661
00662 <span class="keywordflow">for</span>(<a class="code" href="a04558.html#a14">sint</a> i=0; i<4; i++)
00663 {
00664 CVector2f a= bbox[i];
00665 CVector2f b= bbox[(i+1)&3];
00666 CVector2f delta= b-a, norm;
00667 <span class="comment">// sign is important. bbox is CCW. normal goes OUT the bbox.</span>
00668 norm.x= delta.y;
00669 norm.y= -delta.x;
00670
00671 <span class="keywordtype">float</span> d0= (p0-a)*norm;
00672 <span class="keywordtype">float</span> d1= (p1-a)*norm;
00673
00674 <span class="comment">// if boths points are out this plane, no collision.</span>
00675 <span class="keywordflow">if</span>( d0>0 && d1>0)
00676 <span class="keywordflow">return</span> <span class="keyword">false</span>;
00677 <span class="comment">// if difference, must clip.</span>
00678 <span class="keywordflow">if</span>( d0>0 || d1>0)
00679 {
00680 CVector2f intersect= p0 + (p1-p0)* ((0-d0)/(d1-d0));
00681 <span class="keywordflow">if</span>(d1>0)
00682 p1= intersect;
00683 <span class="keywordflow">else</span>
00684 p0= intersect;
00685 }
00686 }
00687
00688 <span class="comment">// if a segment is still in the bbox, collision occurs.</span>
00689 <span class="keywordflow">return</span> <span class="keyword">true</span>;
00690 }
</pre></div> </td>
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<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea3" doxytag="NLPACS::CEdgeCollide::testBBoxMove" ></a><p>
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<td class="md" nowrap valign="top"> float NLPACS::CEdgeCollide::testBBoxMove </td>
<td class="md" valign="top">( </td>
<td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>start</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>delta</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> </td>
<td class="mdname" nowrap> <em>bbox</em>[4], </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap><a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>normal</em></td>
</tr>
<tr>
<td></td>
<td class="md">) </td>
<td class="md" colspan="2"></td>
</tr>
</table>
</td>
</tr>
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<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
return 1 either if the bbox moves away from the line, or no collision occurs. Else return a [0,1[ interval. If collision occurs (ie return<1), return in "normal" the normal of the collision. It may be normal of edge (+-), or normal against a point of the edge. <dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign=top><em>bbox</em> </td><td>4 points of the bbox at start. start must be the barycentre of those points.</td></tr>
</table>
</dl>
<p>
Definition at line <a class="el" href="a05664.html#l00559">559</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
<p>
References <a class="el" href="a05665.html#l00191">C</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a05665.html#l00189">Norm</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05664.html#l00394">testEdgeMove()</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
<p>
Referenced by <a class="el" href="a05761.html#l01392">NLPACS::CGlobalRetriever::testCollisionWithCollisionChains()</a>.
<p>
<div class="fragment"><pre>00560 {
00561 <span class="comment">// distance from center to line.</span>
00562 <span class="keywordtype">float</span> dist= start*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a> + <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a>;
00563
00564 <span class="comment">// test if the movement is against the line or not.</span>
00565 <span class="keywordtype">bool</span> sensPos= dist>0;
00566 <span class="comment">// if signs are equals, same side of the line, so we allow the circle to leave the line.</span>
00567 <span class="comment">/*if(sensPos==sensSpeed)</span>
00568 <span class="comment"> return 1;*/</span>
00569
00570
00571 <span class="comment">// Else, do 4 test edge/edge, and return Tmin.</span>
00572 <span class="keywordtype">float</span> tMin, tMax;
00573 <span class="keywordtype">bool</span> edgeCollided= <span class="keyword">false</span>;
00574 <span class="keywordtype">bool</span> normalOnBox= <span class="keyword">false</span>;
00575 CVector2f boxNormal;
00576 <span class="keywordflow">for</span>(<a class="code" href="a04558.html#a14">sint</a> i=0;i<4;i++)
00577 {
00578 <span class="keywordtype">float</span> t0, t1;
00579 <span class="keywordtype">bool</span> nob;
00580 CVector2f a= bbox[i];
00581 CVector2f b= bbox[(i+1)&3];
00582
00583 <span class="comment">// test move against this edge.</span>
00584 <span class="keywordflow">if</span>(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollided0">testEdgeMove</a>(a, b, delta, t0, t1, nob))
00585 {
00586 <span class="keywordflow">if</span>(edgeCollided)
00587 {
00588 tMin= <a class="code" href="a04061.html#a0">min</a>(t0, tMin);
00589 tMax= max(t1, tMax);
00590 }
00591 <span class="keywordflow">else</span>
00592 {
00593 edgeCollided= <span class="keyword">true</span>;
00594 tMin= t0;
00595 tMax= t1;
00596 }
00597
00598 <span class="comment">// get normal of box against we collide.</span>
00599 <span class="keywordflow">if</span>(tMin==t0)
00600 {
00601 normalOnBox= nob;
00602 <span class="keywordflow">if</span>(nob)
00603 {
00604 CVector2f dab;
00605 <span class="comment">// bbox must be CCW.</span>
00606 dab= b-a;
00607 <span class="comment">// the normal is computed so that the vector goes In the bbox.</span>
00608 boxNormal.x= -dab.y;
00609 boxNormal.y= dab.x;
00610 }
00611 }
00612 }
00613 }
00614
00615 <span class="comment">// if collision occurs,and int the [0,1] interval...</span>
00616 <span class="keywordflow">if</span>(edgeCollided && tMin<1 && tMax>0)
00617 {
00618 <span class="comment">// compute normal of collision.</span>
00619 <span class="keywordflow">if</span>(normalOnBox)
00620 {
00621 <span class="comment">// assume collsion is an endpoint of the edge against the bbox.</span>
00622 normal= boxNormal;
00623 }
00624 <span class="keywordflow">else</span>
00625 {
00626 <span class="comment">// assume collision occurs on interior of the edge. the normal to return is +- Norm.</span>
00627 <span class="keywordflow">if</span>(sensPos) <span class="comment">// if algebric distance of start position was >0.</span>
00628 normal= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>;
00629 <span class="keywordflow">else</span>
00630 normal= -Norm;
00631 }
00632
00633 <span class="comment">// compute time of collison.</span>
00634 <span class="keywordflow">if</span>(tMin>0)
00635 <span class="comment">// return time of collision.</span>
00636 <span class="keywordflow">return</span> tMin;
00637 <span class="keywordflow">else</span>
00638 {
00639 <span class="comment">// The bbox is inside the edge, at t==0. test if it goes out or not.</span>
00640 <span class="comment">// accept only if we are much near the exit than the enter.</span>
00641 <span class="comment">/* NB: 0.2 is an empirical value "which works well". Normally, 1 is the good value, but because of the</span>
00642 <span class="comment"> "SURFACEMOVE NOT DETECTED" Problem (see testCircleMove()), we must be more restrictive.</span>
00643 <span class="comment"> */</span>
00644 <span class="keywordflow">if</span>( tMax<0.2*(-tMin) )
00645 <span class="keywordflow">return</span> 1;
00646 <span class="keywordflow">else</span>
00647 <span class="keywordflow">return</span> 0;
00648 }
00649 }
00650 <span class="keywordflow">else</span>
00651 <span class="keywordflow">return</span> 1;
00652
00653 }
</pre></div> </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea4" doxytag="NLPACS::CEdgeCollide::testCircleMove" ></a><p>
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<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> float NLPACS::CEdgeCollide::testCircleMove </td>
<td class="md" valign="top">( </td>
<td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>start</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>delta</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>float </td>
<td class="mdname" nowrap> <em>radius</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap><a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>normal</em></td>
</tr>
<tr>
<td></td>
<td class="md">) </td>
<td class="md" colspan="2"></td>
</tr>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
return 1 either if the circle moves away from the line, or no collision occurs. Else return a [0,1[ interval. If collision occurs (ie return<1), return in "normal" the normal of the collision. It may be normal of edge (+-), or normal against a point of the edge.
<p>
Definition at line <a class="el" href="a05664.html#l00265">265</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
<p>
References <a class="el" href="a05665.html#l00190">A0</a>, <a class="el" href="a05665.html#l00190">A1</a>, <a class="el" href="a05665.html#l00191">C</a>, <a class="el" href="a06677.html#l00113">NLMISC::CVector2f::isNull()</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a05665.html#l00189">Norm</a>, <a class="el" href="a06677.html#l00093">NLMISC::CVector2f::normalize()</a>, <a class="el" href="a05646.html#l00985">t</a>, and <a class="el" href="a05664.html#l00194">NLPACS::testCirclePoint()</a>.
<p>
Referenced by <a class="el" href="a05761.html#l01392">NLPACS::CGlobalRetriever::testCollisionWithCollisionChains()</a>.
<p>
<div class="fragment"><pre>00266 {
00267 <span class="comment">// If the movement is NULL, return 1 (no collision!)</span>
00268 <span class="keywordflow">if</span>( delta.isNull() )
00269 <span class="keywordflow">return</span> 1;
00270
00271 <span class="comment">// distance from point to line.</span>
00272 <span class="keywordtype">double</span> dist= start*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a> + <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">C</a>;
00273 <span class="comment">// projection of speed on normal.</span>
00274 <span class="keywordtype">double</span> speed= delta*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">Norm</a>;
00275
00276 <span class="comment">// test if the movement is against the line or not.</span>
00277 <span class="keywordtype">bool</span> sensPos= dist>0;
00278 <span class="keywordtype">bool</span> sensSpeed= speed>0;
00279
00280 <span class="comment">// Does the point intersect the line?</span>
00281 dist= fabs(dist) - radius;
00282 speed= fabs(speed);
00283 <span class="keywordflow">if</span>( dist > speed )
00284 <span class="keywordflow">return</span> 1;
00285
00286 <span class="comment">// if not already in collision with the line, test when it collides.</span>
00287 <span class="comment">// ===============================</span>
00288 <span class="keywordflow">if</span>(dist>=0)
00289 {
00290 <span class="comment">// if signs are equals, same side of the line, so we allow the circle to leave the line.</span>
00291 <span class="keywordflow">if</span>(sensPos==sensSpeed )
00292 <span class="keywordflow">return</span> 1;
00293
00294 <span class="comment">// if speed is 0, it means that movement is parralel to the line => never collide.</span>
00295 <span class="keywordflow">if</span>(speed==0)
00296 <span class="keywordflow">return</span> 1;
00297
00298 <span class="comment">// collide the line, at what time.</span>
00299 <span class="keywordtype">double</span> <a class="code" href="a04223.html#a627">t</a>= dist/speed;
00300
00301
00302 <span class="comment">// compute the collision position of the Circle on the edge.</span>
00303 <span class="comment">// this gives the center of the sphere at the collision point.</span>
00304 <a class="code" href="a03659.html">CVector2d</a> proj= <a class="code" href="a03659.html">CVector2d</a>(start) + CVector2d(delta)*<a class="code" href="a04223.html#a627">t</a>;
00305 <span class="comment">// must add radius vector.</span>
00306 proj+= Norm * (sensSpeed?radius:-radius);
00307 <span class="comment">// compute projection on edge.</span>
00308 <span class="keywordtype">double</span> aProj= proj*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>;
00309
00310 <span class="comment">// if on the interval of the edge.</span>
00311 <span class="keywordflow">if</span>( aProj>=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a> && aProj<=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a>)
00312 {
00313 <span class="comment">// collision occurs on interior of the edge. the normal to return is +- Norm.</span>
00314 <span class="keywordflow">if</span>(sensPos) <span class="comment">// if algebric distance of start position was >0.</span>
00315 normal= Norm;
00316 <span class="keywordflow">else</span>
00317 normal= -Norm;
00318
00319 <span class="comment">// return time of collision.</span>
00320 <span class="keywordflow">return</span> (<span class="keywordtype">float</span>)<a class="code" href="a04223.html#a627">t</a>;
00321 }
00322 }
00323 <span class="comment">// else, must test if circle collide segment at t=0. if yes, return 0.</span>
00324 <span class="comment">// ===============================</span>
00325 <span class="keywordflow">else</span>
00326 {
00327 <span class="comment">// There is just need to test if projection of circle's center onto the line hit the segment.</span>
00328 <span class="comment">// This is not a good test to know if a circle intersect a segment, but other cases are</span>
00329 <span class="comment">// managed with test of endPoints of the segment after.</span>
00330 <span class="keywordtype">float</span> aProj= start*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">Dir</a>;
00331
00332 <span class="comment">// if on the interval of the edge.</span>
00333 <span class="keywordflow">if</span>( aProj>=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">A0</a> && aProj<=<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">A1</a>)
00334 {
00335 <span class="comment">// if signs are equals, same side of the line, so we allow the circle to leave the edge.</span>
00336 <span class="comment">/* Special case: do not allow to leave the edge if we are too much in the edge.</span>
00337 <span class="comment"> It is important for CGlobalRetriever::testCollisionWithCollisionChains() because of the</span>
00338 <span class="comment"> "SURFACEMOVE NOT DETECTED" Problem.</span>
00339 <span class="comment"> Suppose we can walk on this chain SA/SB (separate Surface A/SurfaceB). Suppose we are near this edge, </span>
00340 <span class="comment"> and on Surface SA, and suppose there is an other chain SB/SC the circle collide with. If we </span>
00341 <span class="comment"> return 1 (no collision), SB/SC won't be detected (because only SA/?? chains will be tested) and </span>
00342 <span class="comment"> so the cylinder will penetrate SB/SC...</span>
00343 <span class="comment"> This case arise at best if chains SA/SB and chain SB/SC do an angle of 45deg</span>
00344 <span class="comment"></span>
00345 <span class="comment"> \todo yoyo: this is a Hack.</span>
00346 <span class="comment"> */</span>
00347 <span class="keywordflow">if</span>(sensPos==sensSpeed && (-dist)<0.5*radius)
00348 {
00349 <span class="keywordflow">return</span> 1;
00350 }
00351 <span class="keywordflow">else</span>
00352 {
00353 <span class="comment">// hit the interior of the edge, and sensPos!=sensSpeed. So must stop now!!</span>
00354 <span class="comment">// collision occurs on interior of the edge. the normal to return is +- Norm.</span>
00355 <span class="keywordflow">if</span>(sensPos) <span class="comment">// if algebric distance of start position was >0.</span>
00356 normal= Norm;
00357 <span class="keywordflow">else</span>
00358 normal= -Norm;
00359
00360 <span class="keywordflow">return</span> 0;
00361 }
00362 }
00363 }
00364
00365 <span class="comment">// In this case, the Circle do not hit the edge on the interior, but may hit on borders.</span>
00366 <span class="comment">// ===============================</span>
00367 <span class="comment">// Then, we must compute collision sphere-points.</span>
00368 <span class="keywordtype">float</span> tmin, ttmp;
00369 <span class="comment">// first point.</span>
00370 tmin= <a class="code" href="a05380.html#a27">testCirclePoint</a>(start, delta, radius, P0);
00371 <span class="comment">// second point.</span>
00372 ttmp= <a class="code" href="a05380.html#a27">testCirclePoint</a>(start, delta, radius, P1);
00373 tmin= <a class="code" href="a04061.html#a0">min</a>(tmin, ttmp);
00374
00375 <span class="comment">// if collision occurs, compute normal of collision.</span>
00376 <span class="keywordflow">if</span>(tmin<1)
00377 {
00378 <span class="comment">// to which point we collide?</span>
00379 CVector2f colPoint= tmin==ttmp? <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a> : <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
00380 <span class="comment">// compute position of the entity at collision.</span>
00381 CVector2f colPos= start + delta*tmin;
00382
00383 <span class="comment">// and so we have this normal (the perpendicular of the tangent at this point).</span>
00384 normal= colPos - colPoint;
00385 normal.normalize();
00386 }
00387
00388 <span class="keywordflow">return</span> tmin;
00389 }
</pre></div> </td>
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<a class="anchor" name="NLPACS_1_1CEdgeCollided0" doxytag="NLPACS::CEdgeCollide::testEdgeMove" ></a><p>
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<td class="md" nowrap valign="top"> bool NLPACS::CEdgeCollide::testEdgeMove </td>
<td class="md" valign="top">( </td>
<td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>q0</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>q1</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>delta</em>, </td>
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<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>float & </td>
<td class="mdname" nowrap> <em>tMin</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>float & </td>
<td class="mdname" nowrap> <em>tMax</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>bool & </td>
<td class="mdname" nowrap> <em>normalOnBox</em></td>
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<tr>
<td></td>
<td class="md">) </td>
<td class="md" colspan="2"><code> [private]</code></td>
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<p>
test if edge collide against me. if true, return time intervals of collisions (]-oo, +oo[). NB: for simplicity, if lines are //, return false.
<p>
Definition at line <a class="el" href="a05664.html#l00394">394</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
<p>
References <a class="el" href="a05664.html#l00039">NLPACS::EdgeCollideEpsilon</a>, <a class="el" href="a05484.html#l00038">min</a>, <a class="el" href="a06677.html#l00089">NLMISC::CVector2f::norm()</a>, <a class="el" href="a06675.html#l00089">NLMISC::CVector2d::sqrnorm()</a>, <a class="el" href="a06675.html#l00053">NLMISC::CVector2d::x</a>, and <a class="el" href="a06675.html#l00053">NLMISC::CVector2d::y</a>.
<p>
Referenced by <a class="el" href="a05664.html#l00559">testBBoxMove()</a>.
<p>
<div class="fragment"><pre>00395 {
00396 <span class="keywordtype">double</span> a,b,cv,cc, d,e,f;
00397 <a class="code" href="a03659.html">CVector2d</a> tmp;
00398
00399 <span class="comment">// compute D1 line equation of q0q1. bx - ay + c(t)=0, where c is function of time [0,1].</span>
00400 <span class="comment">// ===========================</span>
00401 tmp= q1 - q0; <span class="comment">// NB: along time, the direction doesn't change.</span>
00402 <span class="comment">// Divide by norm()�, so that a projection on this edge is true if the proj is in interval [0,1].</span>
00403 tmp/= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2dz2057_4">sqrnorm</a>();
00404 a= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>;
00405 b= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>;
00406 <span class="comment">// c= - q0(t)*CVector2d(b,-a). but since q0(t) is a function of time t (q0+delta*t), compute cv, and cc.</span>
00407 <span class="comment">// so c= cv*t + cc.</span>
00408 cv= - <a class="code" href="a03659.html">CVector2d</a>(b,-a)*delta;
00409 cc= - <a class="code" href="a03659.html">CVector2d</a>(b,-a)*q0;
00410
00411 <span class="comment">// compute D2 line equation of P0P1. ex - dy + f=0.</span>
00412 <span class="comment">// ===========================</span>
00413 tmp= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a> - <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
00414 <span class="comment">// Divide by norm()�, so that a projection on this edge is true if the proj is in interval [0,1].</span>
00415 tmp/= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2dz2057_4">sqrnorm</a>();
00416 d= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>;
00417 e= tmp.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>;
00418 f= - <a class="code" href="a03659.html">CVector2d</a>(e,-d)*<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
00419
00420
00421 <span class="comment">// Solve system.</span>
00422 <span class="comment">// ===========================</span>
00423 <span class="comment">/*</span>
00424 <span class="comment"> Compute the intersection I of 2 lines across time.</span>
00425 <span class="comment"> We have the system:</span>
00426 <span class="comment"> bx - ay + c(t)=0</span>
00427 <span class="comment"> ex - dy + f=0</span>
00428 <span class="comment"></span>
00429 <span class="comment"> which solve for:</span>
00430 <span class="comment"> det= ae-bd (0 <=> // lines)</span>
00431 <span class="comment"> x(t)= (d*c(t) - fa) / det</span>
00432 <span class="comment"> y(t)= (e*c(t) - fb) / det</span>
00433 <span class="comment"> */</span>
00434
00435 <span class="comment">// determinant of matrix2x2.</span>
00436 <span class="keywordtype">double</span> det= a*e - b*d;
00437 <span class="comment">// if to near of 0. (take delta for reference of test).</span>
00438 <span class="keywordflow">if</span>(det==0 || fabs(det)<delta.norm()*<a class="code" href="a05380.html#a6">EdgeCollideEpsilon</a>)
00439 <span class="keywordflow">return</span> <span class="keyword">false</span>;
00440
00441 <span class="comment">// intersection I(t)= pInt + vInt*t.</span>
00442 <a class="code" href="a03659.html">CVector2d</a> pInt, vInt;
00443 pInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>= ( d*cc - f*a ) / det;
00444 pInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>= ( e*cc - f*b ) / det;
00445 vInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do0">x</a>= ( d*cv ) / det;
00446 vInt.<a class="code" href="a03659.html#NLMISC_1_1CVector2do1">y</a>= ( e*cv ) / det;
00447
00448
00449 <span class="comment">// Project Intersection.</span>
00450 <span class="comment">// ===========================</span>
00451 <span class="comment">/*</span>
00452 <span class="comment"> Now, we project x,y onto each line D1 and D2, which gives u(t) and v(t), each one giving the parameter of </span>
00453 <span class="comment"> the parametric line function. When it is in [0,1], we are on the edge.</span>
00454 <span class="comment"></span>
00455 <span class="comment"> u(t)= (I(t)-q0(t)) * CVector2d(a,b) = uc + uv*t</span>
00456 <span class="comment"> v(t)= (I(t)-P0) * CVector2d(d,e) = vc + vv*t</span>
00457 <span class="comment"> */</span>
00458 <span class="keywordtype">double</span> uc, uv;
00459 <span class="keywordtype">double</span> vc, vv;
00460 <span class="comment">// NB: q0(t)= q0+delta*t</span>
00461 uc= (pInt-q0) * <a class="code" href="a03659.html">CVector2d</a>(a,b);
00462 uv= (vInt-delta) * <a class="code" href="a03659.html">CVector2d</a>(a,b);
00463 vc= (pInt-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>) * <a class="code" href="a03659.html">CVector2d</a>(d,e);
00464 vv= (vInt) * <a class="code" href="a03659.html">CVector2d</a>(d,e);
00465
00466
00467 <span class="comment">// Compute intervals.</span>
00468 <span class="comment">// ===========================</span>
00469 <span class="comment">/*</span>
00470 <span class="comment"> Now, for each edge, compute time interval where parameter is in [0,1]. If intervals overlap, there is a collision.</span>
00471 <span class="comment"> */</span>
00472 <span class="keywordtype">double</span> tu0, tu1, tv0, tv1;
00473 <span class="comment">// infinite interval.</span>
00474 <span class="keywordtype">bool</span> allU=<span class="keyword">false</span>, allV=<span class="keyword">false</span>;
00475
00476 <span class="comment">// compute time interval for u(t).</span>
00477 <span class="keywordflow">if</span>(uv==0 || fabs(uv)<<a class="code" href="a05380.html#a6">EdgeCollideEpsilon</a>)
00478 {
00479 <span class="comment">// The intersection does not move along D1. Always projected on u(t)=uc. so if in [0,1], OK, else never collide.</span>
00480 <span class="keywordflow">if</span>(uc<0 || uc>1)
00481 <span class="keywordflow">return</span> <span class="keyword">false</span>;
00482 <span class="comment">// else suppose "always valid".</span>
00483 tu0 =tu1= 0;
00484 allU= <span class="keyword">true</span>;
00485 }
00486 <span class="keywordflow">else</span>
00487 {
00488 tu0= (0-uc)/uv; <span class="comment">// t for u(t)=0</span>
00489 tu1= (1-uc)/uv; <span class="comment">// t for u(t)=1</span>
00490 }
00491
00492 <span class="comment">// compute time interval for v(t).</span>
00493 <span class="keywordflow">if</span>(vv==0 || fabs(vv)<<a class="code" href="a05380.html#a6">EdgeCollideEpsilon</a>)
00494 {
00495 <span class="comment">// The intersection does not move along D2. Always projected on v(t)=vc. so if in [0,1], OK, else never collide.</span>
00496 <span class="keywordflow">if</span>(vc<0 || vc>1)
00497 <span class="keywordflow">return</span> <span class="keyword">false</span>;
00498 <span class="comment">// else suppose "always valid".</span>
00499 tv0 =tv1= 0;
00500 allV= <span class="keyword">true</span>;
00501 }
00502 <span class="keywordflow">else</span>
00503 {
00504 tv0= (0-vc)/vv; <span class="comment">// t for v(t)=0</span>
00505 tv1= (1-vc)/vv; <span class="comment">// t for v(t)=1</span>
00506 }
00507
00508
00509 <span class="comment">// clip intervals.</span>
00510 <span class="comment">// ===========================</span>
00511 <span class="comment">// order time interval.</span>
00512 <span class="keywordflow">if</span>(tu0>tu1)
00513 swap(tu0, tu1); <span class="comment">// now, [tu0, tu1] represent the time interval where line D2 hit the edge D1.</span>
00514 <span class="keywordflow">if</span>(tv0>tv1)
00515 swap(tv0, tv1); <span class="comment">// now, [tv0, tv1] represent the time interval where line D1 hit the edge D2.</span>
00516
00517 normalOnBox= <span class="keyword">false</span>;
00518 <span class="keywordflow">if</span>(!allU && !allV)
00519 {
00520 <span class="comment">// if intervals do not overlap, no collision.</span>
00521 <span class="keywordflow">if</span>(tu0>tv1 || tv0>tu1)
00522 <span class="keywordflow">return</span> <span class="keyword">false</span>;
00523 <span class="keywordflow">else</span>
00524 {
00525 <span class="comment">// compute intersection of intervals.</span>
00526 tMin= (<span class="keywordtype">float</span>)max(tu0, tv0);
00527 tMax= (<span class="keywordtype">float</span>)<a class="code" href="a04061.html#a0">min</a>(tu1, tv1);
00528 <span class="comment">// if collision of edgeCollide against the bbox.</span>
00529 <span class="keywordflow">if</span>(tv0>tu0)
00530 normalOnBox= <span class="keyword">true</span>;
00531 }
00532 }
00533 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(allU)
00534 {
00535 <span class="comment">// intersection of Infinite and V interval.</span>
00536 tMin= (<span class="keywordtype">float</span>)tv0;
00537 tMax= (<span class="keywordtype">float</span>)tv1;
00538 <span class="comment">// if collision of edgeCollide against the bbox.</span>
00539 normalOnBox= <span class="keyword">true</span>;
00540 }
00541 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(allV)
00542 {
00543 <span class="comment">// intersection of Infinite and U interval.</span>
00544 tMin= (<span class="keywordtype">float</span>)tu0;
00545 tMax= (<span class="keywordtype">float</span>)tu1;
00546 }
00547 <span class="keywordflow">else</span>
00548 {
00549 <span class="comment">// if allU && allV, this means delta is near 0, and so there is always collision.</span>
00550 tMin= -1000;
00551 tMax= 1000;
00552 }
00553
00554 <span class="keywordflow">return</span> <span class="keyword">true</span>;
00555 }
</pre></div> </td>
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</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodea5" doxytag="NLPACS::CEdgeCollide::testPointMove" ></a><p>
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<td class="md" nowrap valign="top"> <a class="el" href="a03305.html">CRational64</a> NLPACS::CEdgeCollide::testPointMove </td>
<td class="md" valign="top">( </td>
<td class="md" nowrap valign="top">const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>start</em>, </td>
</tr>
<tr>
<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap>const <a class="el" href="a03660.html">CVector2f</a> & </td>
<td class="mdname" nowrap> <em>end</em>, </td>
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<td class="md" nowrap align="right"></td>
<td></td>
<td class="md" nowrap><a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5">TPointMoveProblem</a> & </td>
<td class="mdname" nowrap> <em>moveBug</em></td>
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<td></td>
<td class="md">) </td>
<td class="md" colspan="2"></td>
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<p>
return 1 either if no collision occurs. Else return a [0,1[ interval. return -1 if precision problem (see below). This method is used by <a class="el" href="a02588.html#NLPACS_1_1CGlobalRetrieverz1245_0">CGlobalRetriever::doMove()</a>. UnManageables cases arise when:<ul>
<li>the movement start/stop on a edge (dist==0). In this case, don't know on what surface we arrive (before or after).</li><li>the movement is // to the edge and collide with it. same problem than stop on an edge.</li><li>the movement traverse the edge on an endpoint. In this case, there is 2+ edges sharing the point, and result is undefined. On thoses cases, moveBug is filled, and -1 is returned.</li></ul>
<p>
Definition at line <a class="el" href="a05664.html#l00060">60</a> of file <a class="el" href="a05664.html">edge_collide.cpp</a>.
<p>
References <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>, <a class="el" href="a05587.html#l00094">NLMISC::fsgn()</a>, <a class="el" href="a05981.html#l00107">NL_I64</a>, <a class="el" href="a05622.html#l00290">nlassert</a>, <a class="el" href="a05622.html#l00135">nlwarning</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a>, <a class="el" href="a05981.html#l00104">sint</a>, <a class="el" href="a05981.html#l00101">sint64</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>, <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>, <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::x</a>, and <a class="el" href="a06677.html#l00052">NLMISC::CVector2f::y</a>.
<p>
Referenced by <a class="el" href="a05761.html#l01649">NLPACS::CGlobalRetriever::testMovementWithCollisionChains()</a>.
<p>
<div class="fragment"><pre>00061 {
00062 <span class="comment">/*</span>
00063 <span class="comment"> To have a correct test (with no float precision problem):</span>
00064 <span class="comment"> - test first if there is collision beetween the 2 edges:</span>
00065 <span class="comment"> - test if first edge collide the other line.</span>
00066 <span class="comment"> - test if second edge collide the other line.</span>
00067 <span class="comment"> - if both true, yes, there is a collision.</span>
00068 <span class="comment"> - compute time of collision.</span>
00069 <span class="comment"> */</span>
00070
00071
00072 <span class="comment">// *this must be a correct edge.</span>
00073 <span class="keywordflow">if</span>(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>==<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>)
00074 {
00075 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew0">EdgeNull</a>;
00076 <span class="keywordflow">return</span> -1;
00077 }
00078
00079 <span class="comment">// if no movement, no collision.</span>
00080 <span class="keywordflow">if</span>(start==end)
00081 <span class="keywordflow">return</span> 1;
00082
00083 <span class="comment">// NB those edges are snapped (1/256 for edgeCollide, and 1/1024 for start/end), so no float problem here.</span>
00084 <span class="comment">// precision is 20 bits.</span>
00085 CVector2f normEdge;
00086 CVector2f normMove;
00087 CVector2f deltaEdge;
00088 CVector2f deltaMove;
00089
00090 <span class="comment">// compute normal of the edge (not normalized, because no need, and for precision problem).</span>
00091 deltaEdge= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>;
00092 normEdge.x= -deltaEdge.y;
00093 normEdge.y= deltaEdge.x;
00094
00095 <span class="comment">// compute normal of the movement (not normalized, because no need, and for precision problem).</span>
00096 deltaMove= end-start;
00097 normMove.x= -deltaMove.y;
00098 normMove.y= deltaMove.x;
00099
00100 <span class="comment">// distance from points of movment against edge line. Use double, because of multiplication.</span>
00101 <span class="comment">// precision is now 43 bits.</span>
00102 <span class="keywordtype">double</span> moveD0= (<span class="keywordtype">double</span>)normEdge.x*(<span class="keywordtype">double</span>)(start.x-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)normEdge.y*(<span class="keywordtype">double</span>)(start.y-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
00103 <span class="keywordtype">double</span> moveD1= (<span class="keywordtype">double</span>)normEdge.x*(<span class="keywordtype">double</span>)(end.x -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)normEdge.y*(<span class="keywordtype">double</span>)(end.y -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
00104
00105 <span class="comment">// distance from points of edge against movement line. Use double, because of multiplication.</span>
00106 <span class="comment">// precision is now 43 bits.</span>
00107 <span class="keywordtype">double</span> edgeD0= (<span class="keywordtype">double</span>)normMove.x*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x-start.x) + (<span class="keywordtype">double</span>)normMove.y*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y-start.y);
00108 <span class="keywordtype">double</span> edgeD1= (<span class="keywordtype">double</span>)normMove.x*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>.x-start.x) + (<span class="keywordtype">double</span>)normMove.y*(<span class="keywordtype">double</span>)(<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">P1</a>.y-start.y);
00109
00110
00111 <span class="comment">// If both edges intersect lines (including endpoints), there is a collision, else none.</span>
00112 <a class="code" href="a04558.html#a14">sint</a> sgnMove0, sgnMove1;
00113 sgnMove0= <a class="code" href="a05378.html#a372">fsgn</a>(moveD0);
00114 sgnMove1= <a class="code" href="a05378.html#a372">fsgn</a>(moveD1);
00115
00116 <span class="comment">// special case if the 2 edges lies on the same line.</span>
00117 <span class="keywordflow">if</span>(sgnMove0==0 && sgnMove1==0)
00118 {
00119 <span class="comment">// must test if there is a collision. if yes, problem.</span>
00120 <span class="comment">// project all the points on the line of the edge.</span>
00121 <span class="comment">// Use double because of multiplication. precision is now 43 bits.</span>
00122 <span class="keywordtype">double</span> moveA0= (<span class="keywordtype">double</span>)deltaEdge.x*(<span class="keywordtype">double</span>)(start.x-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)deltaEdge.y*(<span class="keywordtype">double</span>)(start.y-<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
00123 <span class="keywordtype">double</span> moveA1= (<span class="keywordtype">double</span>)deltaEdge.x*(<span class="keywordtype">double</span>)(end.x -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.x) + (<span class="keywordtype">double</span>)deltaEdge.y*(<span class="keywordtype">double</span>)(end.y -<a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">P0</a>.y);
00124 <span class="keywordtype">double</span> edgeA0= 0;
00125 <span class="keywordtype">double</span> edgeA1= (<span class="keywordtype">double</span>)deltaEdge.x*(<span class="keywordtype">double</span>)deltaEdge.x + (<span class="keywordtype">double</span>)deltaEdge.y*(<span class="keywordtype">double</span>)deltaEdge.y;
00126
00127 <span class="comment">// Test is there is intersection (endpoints included). if yes, return -1. else return 1 (no collision at all).</span>
00128 <span class="keywordflow">if</span>(moveA1>=edgeA0 && edgeA1>=moveA0)
00129 {
00130 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew1">ParallelEdges</a>;
00131 <span class="keywordflow">return</span> -1;
00132 }
00133 <span class="keywordflow">else</span>
00134 <span class="keywordflow">return</span> 1;
00135 }
00136
00137 <span class="comment">// if on same side of the line=> there is no collision.</span>
00138 <span class="keywordflow">if</span>( sgnMove0==sgnMove1)
00139 <span class="keywordflow">return</span> 1;
00140
00141 <span class="comment">// test edge against move line.</span>
00142 <a class="code" href="a04558.html#a14">sint</a> sgnEdge0, sgnEdge1;
00143 sgnEdge0= <a class="code" href="a05378.html#a372">fsgn</a>(edgeD0);
00144 sgnEdge1= <a class="code" href="a05378.html#a372">fsgn</a>(edgeD1);
00145
00146 <span class="comment">// should not have this case, because tested before with (sgnMove==0 && sgnMove1==0).</span>
00147 <a class="code" href="a04199.html#a6">nlassert</a>(sgnEdge0!=0 || sgnEdge1!=0);
00148
00149
00150 <span class="comment">// if on same side of the line, no collision against this edge.</span>
00151 <span class="keywordflow">if</span>( sgnEdge0==sgnEdge1 )
00152 <span class="keywordflow">return</span> 1;
00153
00154 <span class="comment">// Here the edges intersect, but ensure that there is no limit problem.</span>
00155 <span class="keywordflow">if</span>(sgnEdge0==0 || sgnEdge1==0)
00156 {
00157 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew6">TraverseEndPoint</a>;
00158 <span class="keywordflow">return</span> -1;
00159 }
00160 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(sgnMove1==0)
00161 {
00162 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew4">StopOnEdge</a>;
00163 <span class="keywordflow">return</span> -1;
00164 }
00165 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(sgnMove0==0)
00166 {
00167 <span class="comment">// this should not arrive.</span>
00168 moveBug= <a class="code" href="a02448.html#NLPACS_1_1CEdgeCollideNodew5NLPACS_1_1CEdgeCollideNodew3">StartOnEdge</a>;
00169 <span class="keywordflow">return</span> -1;
00170 }
00171
00172
00173 <span class="comment">// Here, there is a normal collision, just compute it.</span>
00174 <span class="comment">// Because of Division, there is a precision lost in double. So compute a CRational64.</span>
00175 <span class="comment">// First, compute numerator and denominator in the highest precision. this is 1024*1024 because of prec multiplication.</span>
00176 <span class="keywordtype">double</span> numerator= (0-moveD0)*1024*1024;
00177 <span class="keywordtype">double</span> denominator= (moveD1-moveD0)*1024*1024;
00178 <a class="code" href="a04558.html#a12">sint64</a> numeratorInt= (<a class="code" href="a04558.html#a12">sint64</a>)numerator;
00179 <a class="code" href="a04558.html#a12">sint64</a> denominatorInt= (<a class="code" href="a04558.html#a12">sint64</a>)denominator;
00180 <span class="comment">/*</span>
00181 <span class="comment"> nlassert(numerator == numeratorInt);</span>
00182 <span class="comment"> nlassert(denominator == denominatorInt);</span>
00183 <span class="comment">*/</span>
00184 <span class="keywordflow">if</span> (numerator != numeratorInt)
00185 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"numerator(%f) != numeratorInt(%"</span>NL_I64<span class="stringliteral">"d)"</span>, numerator, numeratorInt);
00186 <span class="keywordflow">if</span> (denominator != denominatorInt)
00187 <a class="code" href="a04199.html#a2">nlwarning</a>(<span class="stringliteral">"denominator(%f) != denominatorInt(%"</span>NL_I64<span class="stringliteral">"d)"</span>, denominator, denominatorInt);
00188
00189 <span class="keywordflow">return</span> CRational64(numeratorInt, denominatorInt);
00190 }
</pre></div> </td>
</tr>
</table>
<hr><h2>Field Documentation</h2>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo0" doxytag="NLPACS::CEdgeCollide::A0" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> float <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo0">NLPACS::CEdgeCollide::A0</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00190">190</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
<p>
Referenced by <a class="el" href="a05664.html#l00043">make()</a>, and <a class="el" href="a05664.html#l00265">testCircleMove()</a>. </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo1" doxytag="NLPACS::CEdgeCollide::A1" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> float <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo1">NLPACS::CEdgeCollide::A1</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00190">190</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
<p>
Referenced by <a class="el" href="a05664.html#l00043">make()</a>, and <a class="el" href="a05664.html#l00265">testCircleMove()</a>. </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo2" doxytag="NLPACS::CEdgeCollide::C" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> float <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo2">NLPACS::CEdgeCollide::C</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00191">191</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
<p>
Referenced by <a class="el" href="a05664.html#l00043">make()</a>, <a class="el" href="a05664.html#l00559">testBBoxMove()</a>, and <a class="el" href="a05664.html#l00265">testCircleMove()</a>. </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo3" doxytag="NLPACS::CEdgeCollide::Dir" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo3">NLPACS::CEdgeCollide::Dir</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00189">189</a> of file <a class="el" href="a05665.html">edge_collide.h</a>. </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo5" doxytag="NLPACS::CEdgeCollide::Norm" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo5">NLPACS::CEdgeCollide::Norm</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00189">189</a> of file <a class="el" href="a05665.html">edge_collide.h</a>.
<p>
Referenced by <a class="el" href="a05664.html#l00043">make()</a>, <a class="el" href="a05664.html#l00559">testBBoxMove()</a>, <a class="el" href="a05664.html#l00265">testCircleMove()</a>, and <a class="el" href="a05761.html#l01649">NLPACS::CGlobalRetriever::testMovementWithCollisionChains()</a>. </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo6" doxytag="NLPACS::CEdgeCollide::P0" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo6">NLPACS::CEdgeCollide::P0</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00187">187</a> of file <a class="el" href="a05665.html">edge_collide.h</a>. </td>
</tr>
</table>
<a class="anchor" name="NLPACS_1_1CEdgeCollideNodeo7" doxytag="NLPACS::CEdgeCollide::P1" ></a><p>
<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
<tr>
<td class="mdRow">
<table cellpadding="0" cellspacing="0" border="0">
<tr>
<td class="md" nowrap valign="top"> <a class="el" href="a03660.html">CVector2f</a> <a class="el" href="a02448.html#NLPACS_1_1CEdgeCollideNodeo7">NLPACS::CEdgeCollide::P1</a>
</table>
</td>
</tr>
</table>
<table cellspacing=5 cellpadding=0 border=0>
<tr>
<td>
</td>
<td>
<p>
<p>
Definition at line <a class="el" href="a05665.html#l00188">188</a> of file <a class="el" href="a05665.html">edge_collide.h</a>. </td>
</tr>
</table>
<hr>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="a05665.html">edge_collide.h</a><li><a class="el" href="a05664.html">edge_collide.cpp</a></ul>
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