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<hr><h1>build_indoor.cpp</h1><a href="build__indoor_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025
00026 <font class="preprocessor">#include <map></font>
00027 <font class="preprocessor">#include <vector></font>
00028
00029 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font>
00030
00031 <font class="preprocessor">#include "<a class="code" href="collision__mesh__build_8h.html">pacs/collision_mesh_build.h</a>"</font>
00032 <font class="preprocessor">#include "<a class="code" href="local__retriever_8h.html">pacs/local_retriever.h</a>"</font>
00033 <font class="preprocessor">#include "<a class="code" href="exterior__mesh_8h.html">pacs/exterior_mesh.h</a>"</font>
00034
00035 <font class="preprocessor">#include "<a class="code" href="build__indoor_8h.html">build_indoor.h</a>"</font>
00036
00037 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00038 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00039
00040 <font class="keyword">namespace </font>NLPACS
00041 {
00042
<a name="l00049"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html">00049</a> <font class="keyword">class </font>CInteriorSurface
00050 {
00051 <font class="keyword">public</font>:
<a name="l00053"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">00053</a> CCollisionMeshBuild *<a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">CollisionMeshBuild</a>;
00054
<a name="l00056"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m1">00056</a> std::vector<uint32> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m1">Faces</a>;
00057
<a name="l00059"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m2">00059</a> sint32 <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m2">Id</a>;
00060
<a name="l00062"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m3">00062</a> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m3">Center</a>;
00063
<a name="l00065"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#m4">00065</a> sint32 <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m4">Material</a>;
00066
00067 <font class="keyword">public</font>:
<a name="l00068"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#a0">00068</a> CCollisionFace &<a class="code" href="classNLPACS_1_1CInteriorSurface.html#a0">getFace</a>(uint face) { <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">CollisionMeshBuild</a>->Faces[<a class="code" href="classNLPACS_1_1CInteriorSurface.html#m1">Faces</a>[face]]; }
<a name="l00069"></a><a class="code" href="classNLPACS_1_1CInteriorSurface.html#a1">00069</a> CCollisionFace &<a class="code" href="classNLPACS_1_1CInteriorSurface.html#a1">getNeighbor</a>(uint face, uint edge)
00070 {
00071 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CInteriorSurface.html#m0">CollisionMeshBuild</a>->Faces[<a class="code" href="classNLPACS_1_1CInteriorSurface.html#a0">getFace</a>(face).Edge[edge]];
00072 }
00073 };
00074
00075
<a name="l00082"></a><a class="code" href="classNLPACS_1_1CInteriorBorder.html">00082</a> <font class="keyword">class</font> CInteriorBorder
00083 {
00084 <font class="keyword">public</font>:
<a name="l00086"></a><a class="code" href="classNLPACS_1_1CInteriorBorder.html#m0">00086</a> std::vector<NLMISC::CVector> Vertices;
00087
<a name="l00089"></a><a class="code" href="classNLPACS_1_1CInteriorBorder.html#m2">00089</a> sint32 Left, Right;
00090
00091 <font class="keyword">public</font>:
00092 };
00093
00094
00095 <font class="comment">// how to build interior snapping data</font>
00096 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a15">buildSnapping</a>(CCollisionMeshBuild &cmb, CLocalRetriever &lr);
00097
00098
00099 <font class="comment">// how to build surfaces</font>
00100 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a16">buildSurfaces</a>(CCollisionMeshBuild &cmb, CLocalRetriever &lr);
00101
00102
00103
00104 <font class="comment">//</font>
00105 <font class="comment">// functions to build interior surfaces and borders from mesh</font>
00106 <font class="comment">//</font>
00107
00108 <font class="comment">// how to generate connex surfaces</font>
00109 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a17">floodFillSurfaces</a>(CCollisionMeshBuild &cmb, vector<CInteriorSurface> &surfaces)
00110 {
00111 sint32 currentId = 0;
00112
00113 uint i;
00114
00115 <font class="keywordflow">for</font> (i=0; i<cmb.Faces.size(); ++i)
00116 cmb.Faces[i].InternalSurface = -1;
00117
00118 <font class="keywordflow">for</font> (i=0; i<cmb.Faces.size(); ++i)
00119 {
00120 CCollisionFace &face = cmb.Faces[i];
00121 <font class="keywordflow">if</font> (face.Surface == CCollisionFace::ExteriorSurface || face.InternalSurface != -1)
00122 <font class="keywordflow">continue</font>;
00123
00124 vector<uint> stack;
00125 stack.push_back(i);
00126 face.InternalSurface = currentId;
00127
00128 surfaces.resize(surfaces.size()+1);
00129 surfaces.back().Id = currentId;
00130 surfaces.back().CollisionMeshBuild = &cmb;
00131 surfaces.back().Material = face.Material;
00132
00133 <font class="keywordflow">while</font> (!stack.empty())
00134 {
00135 uint pop = stack.back();
00136 stack.pop_back();
00137
00138 surfaces.back().Faces.push_back(pop);
00139 CCollisionFace &popFace = cmb.Faces[pop];
00140
00141 uint edge, neighb;
00142 <font class="keywordflow">for</font> (edge=0; edge<3; ++edge)
00143 {
00144 <font class="keywordflow">if</font> ((neighb = popFace.Edge[edge]) != -1 &&
00145 cmb.Faces[neighb].InternalSurface == -1 &&
00146 cmb.Faces[neighb].Surface == popFace.Surface)
00147 {
00148 cmb.Faces[neighb].InternalSurface = currentId;
00149 stack.push_back(neighb);
00150 }
00151 }
00152 }
00153
00154 ++currentId;
00155 }
00156 }
00157
00158
00159 <font class="comment">// reset the edge flags of the whole collision mesh build</font>
00160 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a18">resetEdgeFlags</a>(CCollisionMeshBuild &cmb)
00161 {
00162 uint face, edge;
00163
00164 <font class="keywordflow">for</font> (face=0; face<cmb.Faces.size(); ++face)
00165 <font class="keywordflow">for</font> (edge=0; edge<3; ++edge)
00166 cmb.Faces[face].EdgeFlags[edge] = <font class="keyword">false</font>;
00167 }
00168
00169
00170
00171 <font class="comment">// how to generate the borders of a given surface</font>
00172
00173 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a19">followBorder</a>(CInteriorSurface &surface, uint first, uint edge, uint sens, vector<CVector> &vstore, <font class="keywordtype">bool</font> &loop)
00174 {
00175 CCollisionFace *current = &surface.getFace(first);
00176 CCollisionFace *next = (current->Edge[edge] == -1) ? NULL : &surface.CollisionMeshBuild->Faces[current->Edge[edge]];
00177 current->EdgeFlags[edge] = <font class="keyword">true</font>;
00178 sint32 currentFace = surface.Faces[first];
00179
00180 <font class="keyword">const</font> sint32 currentSurfId = current->InternalSurface;
00181 <font class="keyword">const</font> sint32 oppositeSurfId = (next != NULL) ? next->InternalSurface : (current->Visibility[edge] ? -1 : -2);
00182 sint oedge;
00183
00184 sint pivot = (edge+sens)%3;
00185 sint nextEdge = edge;
00186
00187 <font class="keywordtype">bool</font> allowThis = <font class="keyword">true</font>;
00188
00189 <font class="comment">// adds the pivot to the border and its normal</font>
00190 vstore.push_back(surface.CollisionMeshBuild->Vertices[current->V[pivot]]);
00191
00192 <font class="keywordflow">while</font> (true)
00193 {
00194 loop = <font class="keyword">false</font>;
00195 <font class="comment">// -1 means no neighbor at all, -2 means a neighbor that is not available yet</font>
00196 sint32 thisOpposite = (next != NULL) ? next->InternalSurface : (current->Visibility[nextEdge] ? -1 : -2);
00197 <font class="keywordflow">if</font> (thisOpposite != currentSurfId && thisOpposite != oppositeSurfId ||
00198 (loop = (current->EdgeFlags[nextEdge] && !allowThis)))
00199 {
00200 <font class="comment">// if reaches the end of the border, then quits.</font>
00201 <font class="keywordflow">break</font>;
00202 }
00203 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (thisOpposite == oppositeSurfId)
00204 {
00205 <font class="comment">// if the next edge belongs to the border, then go on the same element</font>
00206 current->EdgeFlags[nextEdge] = <font class="keyword">true</font>;
00207 <font class="keywordflow">if</font> (oppositeSurfId >= 0)
00208 {
00209 <font class="keywordflow">for</font> (oedge=0; oedge<3 && next->Edge[oedge]!=currentFace; ++oedge)
00210 ;
00211 <a class="code" href="debug_8h.html#a6">nlassert</a>(oedge != 3);
00212 <a class="code" href="debug_8h.html#a6">nlassert</a>(allowThis || !next->EdgeFlags[oedge]);
00213 next->EdgeFlags[oedge] = <font class="keyword">true</font>;
00214 }
00215 pivot = (pivot+sens)%3;
00216 nextEdge = (nextEdge+sens)%3;
00217 next = (current->Edge[nextEdge] == -1) ? NULL : &surface.CollisionMeshBuild->Faces[current->Edge[nextEdge]];
00218 vstore.push_back(surface.CollisionMeshBuild->Vertices[current->V[pivot]]);
00219 }
00220 <font class="keywordflow">else</font>
00221 {
00222 <font class="comment">// if the next element is inside the surface, then go to the next element</font>
00223 <a class="code" href="debug_8h.html#a6">nlassert</a>(next->InternalSurface == currentSurfId);
00224
00225 <font class="keywordflow">for</font> (oedge=0; oedge<3 && next->Edge[oedge]!=currentFace; ++oedge)
00226 ;
00227 <a class="code" href="debug_8h.html#a6">nlassert</a>(oedge != 3);
00228 currentFace = current->Edge[nextEdge];
00229 current = next;
00230 pivot = (oedge+3-sens)%3;
00231 nextEdge = (oedge+sens)%3;
00232 next = (current->Edge[nextEdge] == -1) ? NULL : &surface.CollisionMeshBuild->Faces[current->Edge[nextEdge]];
00233 }
00234
00235 allowThis = <font class="keyword">false</font>;
00236 }
00237 }
00238
00239
00240 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a20">computeSurfaceBorders</a>(CInteriorSurface &surface, vector<CInteriorBorder> &borders)
00241 {
00242 uint face, edge;
00243
00244 <font class="keywordflow">for</font> (face=0; face<surface.Faces.size(); ++face)
00245 {
00246 <font class="comment">// for each element,</font>
00247 <font class="comment">// scan for a edge that points to a different surface</font>
00248 CCollisionFace &cf = surface.getFace(face);
00249
00250 <font class="keywordflow">for</font> (edge=0; edge<3; ++edge)
00251 {
00252 <font class="keywordflow">if</font> ((cf.Edge[edge] == -1 || surface.getNeighbor(face, edge).InternalSurface != surface.Id) &&
00253 !cf.EdgeFlags[edge])
00254 {
00255 borders.resize(borders.size()+1);
00256 CInteriorBorder &<a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a> = borders.back();
00257
00258 <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Left = cf.InternalSurface;
00259
00260 <font class="keywordflow">if</font> (cf.Edge[edge] == -1)
00261 {
00262 <font class="comment">// link on a neighbor retriever or not at all</font>
00263 <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Right = cf.Visibility[edge] ? -1 : -2;
00264 }
00265 <font class="keywordflow">else</font>
00266 {
00267 <font class="comment">// link on the neighbor surface</font>
00268 <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Right = surface.CollisionMeshBuild->Faces[cf.Edge[edge]].InternalSurface;
00269 }
00270
00271 <a class="code" href="debug_8h.html#a0">nldebug</a>(<font class="stringliteral">"generate border %d (%d-%d)"</font>, borders.size()-1, <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Left, <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Right);
00272
00273 <font class="keywordtype">bool</font> loop;
00274 vector<CVector> bwdVerts;
00275 vector<CVector> &fwdVerts = <a class="code" href="driver__opengl__extension__def_8h.html#a392">border</a>.Vertices;
00276
00277 <a class="code" href="namespaceNLPACS.html#a19">followBorder</a>(surface, face, edge, 2, bwdVerts, loop);
00278
00279 sint i;
00280
00281 fwdVerts.reserve(bwdVerts.size());
00282 fwdVerts.clear();
00283
00284 <font class="keywordflow">for</font> (i=(sint)(bwdVerts.size()-1); i>=0; --i)
00285 {
00286 fwdVerts.push_back(bwdVerts[i]);
00287 }
00288
00289 <font class="keywordflow">if</font> (loop)
00290 {
00291 fwdVerts.push_back(fwdVerts.front());
00292 }
00293 <font class="keywordflow">else</font>
00294 {
00295 fwdVerts.resize(fwdVerts.size()-2);
00296 <a class="code" href="namespaceNLPACS.html#a19">followBorder</a>(surface, face, edge, 1, fwdVerts, loop);
00297 }
00298 }
00299 }
00300 }
00301 }
00302
00303
00304 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a21">computeSurfaceCenter</a>(CInteriorSurface &surface)
00305 {
00306 CCollisionMeshBuild &cmb = *(surface.CollisionMeshBuild);
00307
00308 CVector center = CVector::Null;
00309 <font class="keywordtype">float</font> totalWeight = 0.0f;
00310
00311 uint i, j;
00312
00313 <font class="keywordflow">for</font> (i=0; i<surface.Faces.size(); ++i)
00314 {
00315 CCollisionFace &face = surface.getFace(i);
00316 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[3];
00317
00318 <font class="keywordflow">for</font> (j=0; j<3; ++j)
00319 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[j] = cmb.Vertices[face.V[j]];
00320
00321 <font class="keywordtype">float</font> weight = ((<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2]-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0])^(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1]-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0])).norm();
00322
00323 center += (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0]+<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1]+<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2])*(weight/3.0f);
00324 totalWeight += weight;
00325 }
00326
00327 surface.Center = center/totalWeight;
00328 }
00329
00330
00331 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a22">computeSurfaceQuadTree</a>(CInteriorSurface &surface, CSurfaceQuadTree &quad)
00332 {
00333 uint i, j;
00334
00335 CAABBox box;
00336 <font class="keywordtype">bool</font> first = <font class="keyword">true</font>;
00337 <font class="keywordflow">for</font> (i=0; i<surface.Faces.size(); ++i)
00338 {
00339 <font class="keywordflow">for</font> (j=0; j<3; ++j)
00340 {
00341 <font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a> = surface.CollisionMeshBuild->Vertices[surface.CollisionMeshBuild->Faces[surface.Faces[i]].V[j]];
00342 <font class="keywordflow">if</font> (first)
00343 box.setCenter(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>), first=<font class="keyword">false</font>;
00344 <font class="keywordflow">else</font>
00345 box.extend(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>);
00346 }
00347 }
00348
00349 quad.clear();
00350 quad.init(4.0f, 6, box.getCenter(), std::max(box.getHalfSize().x, box.getHalfSize().y));
00351
00352 <font class="keywordflow">for</font> (i=0; i<surface.Faces.size(); ++i)
00353 {
00354 <font class="keywordflow">for</font> (j=0; j<3; ++j)
00355 {
00356 <font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a> = surface.CollisionMeshBuild->Vertices[surface.CollisionMeshBuild->Faces[surface.Faces[i]].V[j]];
00357 quad.addVertex(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>);
00358 }
00359 }
00360
00361 quad.compile();
00362 }
00363
00364
00365 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a16">buildSurfaces</a>(CCollisionMeshBuild &cmb, CLocalRetriever &lr)
00366 {
00367 vector<CInteriorSurface> surfaces;
00368 vector<CInteriorBorder> borders;
00369
00370 <a class="code" href="namespaceNLPACS.html#a17">floodFillSurfaces</a>(cmb, surfaces);
00371
00372 <a class="code" href="namespaceNLPACS.html#a18">resetEdgeFlags</a>(cmb);
00373
00374 uint surf, bord;
00375
00377 <font class="keywordflow">for</font> (surf=0; surf<surfaces.size(); ++surf)
00378 {
00379 CSurfaceQuadTree quad;
00380 <a class="code" href="namespaceNLPACS.html#a20">computeSurfaceBorders</a>(surfaces[surf], borders);
00381 <a class="code" href="namespaceNLPACS.html#a21">computeSurfaceCenter</a>(surfaces[surf]);
00382 <a class="code" href="namespaceNLPACS.html#a22">computeSurfaceQuadTree</a>(surfaces[surf], quad);
00383 lr.addSurface(0, 0, (uint8)surfaces[surf].<a class="code" href="classNLPACS_1_1CInteriorSurface.html#m4">Material</a>, 0, 0, <font class="keyword">false</font>, 0.0f, surfaces[surf].Center, quad);
00384 }
00385
00386 sint numBorderChains = 0;
00387
00388 <font class="keywordflow">for</font> (bord=0; bord<borders.size(); ++bord)
00389 {
00390 sint32 left = borders[bord].Left;
00391 sint32 right = (borders[bord].Right == -2) ? CChain::convertBorderChainId(numBorderChains++) : borders[bord].Right;
00392
00393 <font class="keywordflow">if</font> (left<0 || left>=(sint)surfaces.size() ||
00394 right>(sint)surfaces.size())
00395 <a class="code" href="debug_8h.html#a12">nlstop</a>;
00396
00397 lr.addChain(borders[bord].Vertices, left, right);
00398 }
00399 }
00400
00401
00402 <font class="comment">//</font>
00403
00404 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a15">buildSnapping</a>(CCollisionMeshBuild &cmb, CLocalRetriever &lr)
00405 {
00406 <font class="comment">// copy the vertices</font>
00407 lr.getInteriorVertices() = cmb.Vertices;
00408
00409 <font class="comment">// create the faces</font>
00410 uint i;
00411 vector<CLocalRetriever::CInteriorFace> &faces = lr.getInteriorFaces();
00412 <font class="keywordflow">for</font> (i=0; i<cmb.Faces.size(); ++i)
00413 {
00414 faces.push_back(CLocalRetriever::CInteriorFace());
00415 faces.back().Verts[0] = cmb.Faces[i].V[0];
00416 faces.back().Verts[1] = cmb.Faces[i].V[1];
00417 faces.back().Verts[2] = cmb.Faces[i].V[2];
00418 faces.back().Surface = cmb.Faces[i].InternalSurface;
00419 }
00420
00421 <font class="comment">// create the face grid</font>
00422 lr.initFaceGrid();
00423 }
00424
00425
00426 <font class="comment">//</font>
00427 <font class="comment">// functions to build local retrievers</font>
00428 <font class="comment">//</font>
00429
00430 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a23">buildExteriorMesh</a>(CCollisionMeshBuild &cmb, CExteriorMesh &em)
00431 {
00432 <font class="comment">// find the first non interior face</font>
00433 uint i, edge;
00434 <font class="keywordtype">bool</font> found = <font class="keyword">false</font>;
00435 <font class="keywordflow">for</font> (i=0; i<cmb.Faces.size() && !found; ++i)
00436 {
00437 <font class="keywordflow">if</font> (cmb.Faces[i].Surface != CCollisionFace::ExteriorSurface)
00438 <font class="keywordflow">continue</font>;
00439
00440 <font class="keywordflow">for</font> (edge=0; edge<3 && !found; ++edge)
00441 <font class="keywordflow">if</font> (cmb.Faces[i].Edge[edge] == -1)
00442 {
00443 found = <font class="keyword">true</font>;
00444 <font class="keywordflow">break</font>;
00445 }
00446
00447 <font class="keywordflow">if</font> (found)
00448 <font class="keywordflow">break</font>;
00449 }
00450
00451 <font class="comment">//</font>
00452 <font class="keywordflow">if</font> (!found)
00453 <font class="keywordflow">return</font>;
00454
00455 sint32 current = i;
00456 sint32 next = cmb.Faces[current].Edge[edge];
00457 <font class="keywordflow">for</font> (i=0; i<cmb.Faces.size(); ++i)
00458 {
00459 cmb.Faces[i].EdgeFlags[0] = <font class="keyword">false</font>;
00460 cmb.Faces[i].EdgeFlags[1] = <font class="keyword">false</font>;
00461 cmb.Faces[i].EdgeFlags[2] = <font class="keyword">false</font>;
00462 }
00463
00464 sint oedge;
00465 sint pivot = (edge+1)%3;
00466 sint nextEdge = edge;
00467
00468 <font class="keywordtype">bool</font> allowThis = <font class="keyword">true</font>;
00469
00470 vector<CExteriorMesh::CEdge> edges;
00471 uint numLink = 0;
00472
00473 <font class="keywordflow">while</font> (true)
00474 {
00475 <font class="keywordflow">if</font> (cmb.Faces[current].EdgeFlags[nextEdge])
00476 {
00477 <font class="comment">// if reaches the end of the border, then quits.</font>
00478 <font class="keywordflow">break</font>;
00479 }
00480 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (next == -1)
00481 {
00482 <font class="comment">// if the next edge belongs to the border, then go on the same element</font>
00483 cmb.Faces[current].EdgeFlags[nextEdge] = <font class="keyword">true</font>;
00485 sint link = (cmb.Faces[current].Visibility[nextEdge]) ? -1 : (numLink++);
00486 edges.push_back(CExteriorMesh::CEdge(cmb.Vertices[cmb.Faces[current].V[pivot]], link));
00487 <a class="code" href="debug_8h.html#a0">nldebug</a>(<font class="stringliteral">"border: vertex=%d (%.2f,%.2f,%.2f) link=%d"</font>, cmb.Faces[current].V[pivot], cmb.Vertices[cmb.Faces[current].V[pivot]].x, cmb.Vertices[cmb.Faces[current].V[pivot]].y, cmb.Vertices[cmb.Faces[current].V[pivot]].z, link);
00488 pivot = (pivot+1)%3;
00489 nextEdge = (nextEdge+1)%3;
00490 next = cmb.Faces[current].Edge[nextEdge];
00491 }
00492 <font class="keywordflow">else</font>
00493 {
00494 <font class="comment">// if the next element is inside the surface, then go to the next element</font>
00495 <font class="keywordflow">for</font> (oedge=0; oedge<3 && cmb.Faces[next].Edge[oedge]!=current; ++oedge)
00496 ;
00497 <a class="code" href="debug_8h.html#a6">nlassert</a>(oedge != 3);
00498 current = next;
00499 pivot = (oedge+2)%3;
00500 nextEdge = (oedge+1)%3;
00501 next = cmb.Faces[current].Edge[nextEdge];
00502 }
00503 }
00504
00505 edges.push_back(edges.front());
00506 edges.back().Link = -1;
00507
00508 em.setEdges(edges);
00509 }
00510
00511
00512 <font class="comment">//</font>
00513 <font class="keywordtype">void</font> <a class="code" href="namespaceNLPACS.html#a24">linkExteriorToInterior</a>(CLocalRetriever &lr)
00514 {
00515 CExteriorMesh em = lr.getExteriorMesh();
00516 vector<CExteriorMesh::CEdge> edges = em.getEdges();
00517 vector<CExteriorMesh::CLink> links;
00518 <font class="keyword">const</font> vector<CChain> &chains = lr.getChains();
00519 <font class="keyword">const</font> vector<COrderedChain3f> &ochains = lr.getFullOrderedChains();
00520 <font class="keyword">const</font> vector<uint16> &bchains = lr.getBorderChains();
00521
00522 {
00523 uint i;
00524
00525 <font class="keywordflow">for</font> (i=0; i<bchains.size(); ++i)
00526 {
00527 <font class="keyword">static</font> <font class="keywordtype">char</font> buf[512], <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>[256];
00528 <font class="keyword">const</font> CChain &chain = chains[bchains[i]];
00529 sprintf(buf, <font class="stringliteral">"chain=%d "</font>, bchains[i]);
00530 uint och;
00531 <font class="keywordflow">for</font> (och=0; och<chain.getSubChains().size(); ++och)
00532 {
00533 <font class="keyword">const</font> COrderedChain3f &ochain = ochains[chain.getSubChain(och)];
00534 sprintf(<a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>, <font class="stringliteral">"subchain=%d"</font>, chain.getSubChain(och));
00535 strcat(buf, <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>);
00536 uint <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>;
00537 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>=0; <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a><ochain.getVertices().size(); ++<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00538 {
00539 sprintf(<a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>, <font class="stringliteral">" (%.2f,%.2f)"</font>, ochain[<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, ochain[<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>);
00540 strcat(buf, <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>);
00541 }
00542 }
00543
00544 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"%s"</font>, buf);
00545 }
00546 }
00547
00548 uint edge, ch;
00549 <font class="keywordflow">for</font> (edge=0; edge+1<edges.size(); ++edge)
00550 {
00551 <font class="keywordflow">if</font> (edges[edge].Link == -1)
00552 <font class="keywordflow">continue</font>;
00553
00554 CVector start = edges[edge].Start, stop = edges[edge+1].Start;
00555 <font class="keywordtype">bool</font> found = <font class="keyword">false</font>;
00556
00557 <font class="keywordflow">for</font> (ch=0; ch<bchains.size() && !found; ++ch)
00558 {
00559 <font class="comment">// get the border chain.</font>
00560 <font class="comment">//const CChain &chain = chains[bchains[ch]];</font>
00561
00562 <font class="keyword">const</font> CVector &cstart = lr.getStartVector(bchains[ch]),
00563 &cstop = lr.getStopVector(bchains[ch]);
00564
00565 <font class="keywordtype">float</font> d = (start-cstart).norm()+(stop-cstop).norm();
00566 <font class="keywordflow">if</font> (d < 1.0e-1f)
00567 {
00568 found = <font class="keyword">true</font>;
00569 <font class="keywordflow">break</font>;
00570 }
00571 }
00572
00573 <font class="comment">// create a link</font>
00574 CExteriorMesh::CLink link;
00575
00576 <font class="keywordflow">if</font> (!found)
00577 {
00578 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in linkInteriorToExterior():"</font>);
00579 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"couldn't find any link to the exterior edge %d!!"</font>, edge);
00580 }
00581 <font class="keywordflow">else</font>
00582 {
00583 <font class="comment">// set it up to point on the chain and surface</font>
00584 link.BorderChainId = ch;
00585 link.ChainId = bchains[ch];
00586 link.SurfaceId = (uint16)chains[link.ChainId].getLeft();
00587 }
00588
00589 <font class="comment">// enlarge the links</font>
00590 <font class="keywordflow">if</font> (edges[edge].Link >= (sint)links.size())
00591 links.resize(edges[edge].Link+1);
00592
00593 <font class="comment">// if the link already exists, warning</font>
00594 <font class="keywordflow">if</font> (links[edges[edge].Link].BorderChainId != 0xFFFF ||
00595 links[edges[edge].Link].ChainId != 0xFFFF ||
00596 links[edges[edge].Link].SurfaceId != 0xFFFF)
00597 {
00598 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in linkInteriorToExterior():"</font>);
00599 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"link %d already set!!"</font>, edges[edge].Link);
00600 }
00601
00602 <font class="comment">// setup the link</font>
00603 links[edges[edge].Link] = link;
00604 }
00605
00606 em.setEdges(edges);
00607 em.setLinks(links);
00608 lr.setExteriorMesh(em);
00609 }
00610
00611
00612
00613
00614
00615 <font class="comment">//</font>
00616 <font class="keywordtype">bool</font> <a class="code" href="namespaceNLPACS.html#a25">computeRetriever</a>(CCollisionMeshBuild &cmb, CLocalRetriever &lr, CVector &translation, string &error, <font class="keywordtype">bool</font> useCmbTrivialTranslation)
00617 {
00618 <font class="comment">// set the retriever</font>
00619 lr.setType(CLocalRetriever::Interior);
00620
00621 <font class="comment">// if should use the own cmb bbox, then compute it</font>
00622 <font class="keywordflow">if</font> (useCmbTrivialTranslation)
00623 {
00624 translation = cmb.computeTrivialTranslation();
00625 <font class="comment">// snap the translation vector to a meter wide grid</font>
00626 translation.x = (float)ceil(translation.x);
00627 translation.y = (float)ceil(translation.y);
00628 translation.z = 0.0f;
00629 }
00630
00631 vector<string> errors;
00632
00633 cmb.link(<font class="keyword">false</font>, errors);
00634 cmb.link(<font class="keyword">true</font>, errors);
00635
00636 <font class="keywordflow">if</font> (!errors.empty())
00637 {
00638 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Edge issues reported !!"</font>);
00639 uint i;
00640 error = <font class="stringliteral">""</font>;
00641 <font class="keywordflow">for</font> (i=0; i<errors.size(); ++i)
00642 error += errors[i]+<font class="stringliteral">"\n"</font>;
00643 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00644 }
00645
00646 <font class="comment">// translate the meshbuild to the local axis</font>
00647 cmb.translate(translation);
00648
00649 <font class="comment">// find the exterior mesh border</font>
00650 CExteriorMesh extMesh;
00651 <a class="code" href="namespaceNLPACS.html#a23">buildExteriorMesh</a>(cmb, extMesh);
00652 lr.setExteriorMesh(extMesh);
00653
00654 <font class="comment">// build the surfaces in the local retriever</font>
00655 <a class="code" href="namespaceNLPACS.html#a16">buildSurfaces</a>(cmb, lr);
00656
00657 <font class="comment">// create the snapping faces and vertices</font>
00658 <font class="comment">// after the build surfaces because the InternalSurfaceId is filled within buildSurfaces()...</font>
00659 <a class="code" href="namespaceNLPACS.html#a15">buildSnapping</a>(cmb, lr);
00660
00661 <font class="comment">//</font>
00662 lr.computeLoopsAndTips();
00663
00664 lr.findBorderChains();
00665 lr.updateChainIds();
00666 lr.computeTopologies();
00667
00668 lr.unify();
00669
00670 lr.computeCollisionChainQuad();
00671 <font class="comment">/*</font>
00672 <font class="comment"> //</font>
00673 <font class="comment"> for (i=0; i<lr.getSurfaces().size(); ++i)</font>
00674 <font class="comment"> lr.dumpSurface(i);</font>
00675 <font class="comment">*/</font>
00676 <font class="comment">//</font>
00677 <a class="code" href="namespaceNLPACS.html#a24">linkExteriorToInterior</a>(lr);
00678
00679 <font class="comment">// compute the bbox of the retriever</font>
00680 uint i, j;
00681 CAABBox bbox;
00682 <font class="keywordtype">bool</font> first = <font class="keyword">true</font>;
00683
00684 <font class="keywordflow">for</font> (i=0; i<extMesh.getEdges().size(); ++i)
00685 <font class="keywordflow">if</font> (!first)
00686 bbox.extend(extMesh.getEdge(i).Start);
00687 <font class="keywordflow">else</font>
00688 bbox.setCenter(extMesh.getEdge(i).Start), first=<font class="keyword">false</font>;
00689
00690 <font class="keywordflow">for</font> (i=0; i<lr.getOrderedChains().size(); ++i)
00691 <font class="keywordflow">for</font> (j=0; j<lr.getOrderedChain(i).getVertices().size(); ++j)
00692 <font class="keywordflow">if</font> (!first)
00693 bbox.extend(lr.getOrderedChain(i)[j].unpack3f());
00694 <font class="keywordflow">else</font>
00695 bbox.setCenter(lr.getOrderedChain(i)[j].unpack3f()), first=<font class="keyword">false</font>;
00696
00697 CVector bboxhs = bbox.getHalfSize();
00698 bboxhs.z = 10000.0f;
00699 bbox.setHalfSize(bboxhs);
00700
00701 lr.setBBox(bbox);
00702
00703 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00704 }
00705
00706 } <font class="comment">// NLPACS</font>
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