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<hr><h1>collision_ot.h</h1><a href="collision__ot_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 
00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025 
00026 <font class="preprocessor">#ifndef NL_COLLISION_OT_H</font>
00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_COLLISION_OT_H</font>
00028 <font class="preprocessor"></font>
00029 <font class="preprocessor">#include "<a class="code" href="types__nl_8h.html">nel/misc/types_nl.h</a>"</font>
00030 <font class="preprocessor">#include "<a class="code" href="collision__desc_8h.html">pacs/collision_desc.h</a>"</font>
00031 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
00032 
00033 
00034 <font class="keyword">namespace </font>NLPACS 
00035 {
00036 
00037 <font class="keyword">class </font>CMovePrimitive;
00038 <font class="keyword">class </font>CCollisionOTInfo;
00039         
<a name="l00047"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html">00047</a> <font class="keyword">class </font>CCollisionOT
00048 {
00049 <font class="keyword">public</font>:
<a name="l00050"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">00050</a>         <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> ()
00051         {
00052                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">false</font>;
00053                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#a1">clear</a> ();
00054         }
00055 
<a name="l00057"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a1">00057</a>         <font class="keywordtype">void</font>                    <a class="code" href="classNLPACS_1_1CCollisionOT.html#a1">clear</a> ()
00058         {
00059                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>=NULL;
00060                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>=NULL;
00061         }
00062 
<a name="l00064"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a2">00064</a>         <font class="keywordtype">void</font>                    <a class="code" href="classNLPACS_1_1CCollisionOT.html#a2">link</a> (<a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a>* newElement)
00065         {
00066                 <font class="keywordflow">if</font> (newElement)
00067                 {
00068                         newElement-&gt;_Previous=<font class="keyword">this</font>;
00069                         newElement-&gt;_Next=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>;
00070                 }
00071                 <font class="keywordflow">if</font> (_Next)
00072                         <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>-&gt;_Previous=newElement;
00073                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>=newElement;
00074         }
00075 
<a name="l00077"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a3">00077</a>         <font class="keywordtype">void</font>                    <a class="code" href="classNLPACS_1_1CCollisionOT.html#a3">unlink</a> ()
00078         {
00079                 <font class="keywordflow">if</font> (_Previous)
00080                         <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>-&gt;_Next=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>;
00081                 <font class="keywordflow">if</font> (_Next)
00082                         <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>-&gt;_Previous=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>;
00083                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>=NULL;
00084                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>=NULL;
00085         }
00086 
<a name="l00088"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a4">00088</a>         <font class="keywordtype">bool</font>                    <a class="code" href="classNLPACS_1_1CCollisionOT.html#a4">isInfo</a> ()<font class="keyword"> const</font>
00089 <font class="keyword">        </font>{
00090                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>;
00091         }
00092 
<a name="l00094"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a5">00094</a>         <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a>            *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a5">getPrevious</a> ()<font class="keyword"> const</font>
00095 <font class="keyword">        </font>{
00096                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>;
00097         }
00098 
<a name="l00100"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">00100</a>         <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a>            *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> ()<font class="keyword"> const</font>
00101 <font class="keyword">        </font>{
00102                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>;
00103         }
00104 
00106         CCollisionOTInfo        *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a7">getNextInfo</a> () <font class="keyword">const</font>;
00107 
00108 <font class="keyword">private</font>:
00109         <font class="comment">// The next cell</font>
<a name="l00110"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">00110</a>         <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a>    *<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>;
00111 
00112         <font class="comment">// The previous cell</font>
<a name="l00113"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">00113</a>         <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a>    *<a class="code" href="classNLPACS_1_1CCollisionOT.html#o1">_Previous</a>;
00114 
00115 <font class="keyword">protected</font>:
00116         <font class="comment">// Is a CCollisionOTInfo</font>
<a name="l00117"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">00117</a>         <font class="keywordtype">bool</font>                    <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>;
00118 };
00119 
<a name="l00127"></a><a class="code" href="classNLPACS_1_1CCollisionOTInfo.html">00127</a> <font class="keyword">class </font>CCollisionOTInfo : <font class="keyword">public</font> CCollisionOT
00128 {
00129 <font class="keyword">public</font>:
<a name="l00130"></a><a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">00130</a>         <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> ()
00131         {
00132                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">true</font>;
00133         }
00134 
00135         <font class="comment">// Link in the primitive</font>
00136         <font class="keyword">virtual</font> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a1">primitiveLink</a> (CMovePrimitive *primitive, <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *other) =0;
00137 
00138         <font class="comment">// Link in the primitive</font>
00139         <font class="keyword">virtual</font> <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a>        *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> (CMovePrimitive *primitive) <font class="keyword">const</font> =0;
00140 
00141         <font class="comment">// Return false for dynamic collision, true for static collision</font>
00142         <font class="keyword">virtual</font> <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a3">isCollisionAgainstStatic</a> () <font class="keyword">const</font>=0;
00143 
00144         <font class="comment">// Return collision time</font>
00145         <font class="keyword">virtual</font> <font class="keywordtype">double</font>                          <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a4">getCollisionTime</a> () <font class="keyword">const</font>=0;
00146 
00147         <font class="comment">// Remove the collision from the primitives</font>
00148         <font class="keyword">virtual</font> <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a5">removeFromPrimitives</a> ()=0;
00149 
00150         <font class="comment">// Get second primitive</font>
00151         <font class="keyword">virtual</font> CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a6">getOtherPrimitive</a> (CMovePrimitive *primitive) <font class="keyword">const</font>=0;
00152 };
00153 
<a name="l00161"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html">00161</a> <font class="keyword">class </font>CCollisionOTDynamicInfo : <font class="keyword">public</font> CCollisionOTInfo
00162 {
00163 <font class="keyword">public</font>:
<a name="l00164"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a0">00164</a>         <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a0">CCollisionOTDynamicInfo</a> ()
00165         {
00166                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">true</font>;
00167         }
00168 
00169         <font class="comment">// Get the first primitive in the collision</font>
<a name="l00170"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a1">00170</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a1">getFirstPrimitive</a> ()<font class="keyword"> const</font>
00171 <font class="keyword">        </font>{
00172                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>;
00173         }
00174 
00175         <font class="comment">// Get the second primitive in the collision</font>
<a name="l00176"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a2">00176</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a2">getSecondPrimitive</a> ()<font class="keyword"> const</font>
00177 <font class="keyword">        </font>{
00178                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>;
00179         }
00180 
00181         <font class="comment">// Get the collision descriptor</font>
<a name="l00182"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a3">00182</a>         <font class="keyword">const</font> CCollisionDesc    &amp;<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a3">getCollisionDesc</a> ()<font class="keyword"> const</font>
00183 <font class="keyword">        </font>{
00184                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>;
00185         }
00186 
00187         <font class="comment">// Is a collision</font>
<a name="l00188"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a4">00188</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a4">isCollision</a>()<font class="keyword"> const</font>
00189 <font class="keyword">        </font>{
00190                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">_Collision</a>;
00191         }
00192 
00193         <font class="comment">// Is enter</font>
<a name="l00194"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a5">00194</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a5">isEnter</a>()<font class="keyword"> const</font>
00195 <font class="keyword">        </font>{
00196                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">_Enter</a>;
00197         }
00198 
00199         <font class="comment">// Is exit</font>
<a name="l00200"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a6">00200</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a6">isExit</a>()<font class="keyword"> const</font>
00201 <font class="keyword">        </font>{
00202                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">_Exit</a>;
00203         }
00204 
00205         <font class="comment">// Is second primitive is static ?</font>
<a name="l00206"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a7">00206</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a7">isSecondStatic</a> ()<font class="keyword"> const</font>
00207 <font class="keyword">        </font>{
00208                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">_SecondStatic</a>;
00209         }
00210 
00211         <font class="comment">// Get the world image</font>
<a name="l00212"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a8">00212</a>         <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a8">getFirstWorldImage</a> ()<font class="keyword"> const</font>
00213 <font class="keyword">        </font>{
00214                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">_FirstWorldImage</a>;
00215         }
00216 
00217         <font class="comment">// Get the world image</font>
<a name="l00218"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a9">00218</a>         <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a9">getSecondWorldImage</a> ()<font class="keyword"> const</font>
00219 <font class="keyword">        </font>{
00220                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">_SecondWorldImage</a>;
00221         }
00222 
00223         <font class="comment">// Init the info</font>
<a name="l00224"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a10">00224</a>         <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a10">init</a> (CMovePrimitive *firstPrimitive, CMovePrimitive *secondPrimitive, <font class="keyword">const</font> CCollisionDesc&amp; desc, <font class="keywordtype">bool</font> collision,
00225                                                                 <font class="keywordtype">bool</font> enter, <font class="keywordtype">bool</font> exit, <a class="code" href="types__nl_8h.html#a6">uint8</a> firstWorldImage, <a class="code" href="types__nl_8h.html#a6">uint8</a> secondWorldImage, <font class="keywordtype">bool</font> secondStatic)
00226         {
00227                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>=firstPrimitive;
00228                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>=secondPrimitive;
00229                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>=desc;
00230                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">_Collision</a>=collision;
00231                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">_Enter</a>=enter;
00232                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">_Exit</a>=exit;
00233                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">_FirstWorldImage</a>=firstWorldImage;
00234                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">_SecondWorldImage</a>=secondWorldImage;
00235                 <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">_SecondStatic</a>=secondStatic;
00236         }
00237 
00238         <font class="comment">// Link in the primitive</font>
<a name="l00239"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a11">00239</a>         <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a11">primitiveLink</a> (CMovePrimitive *primitive, <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *other)
00240         {
00241                 <font class="comment">// First primitive ?</font>
00242                 <font class="keywordflow">if</font> (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>)
00243                 {
00244                         <font class="comment">// Check</font>
00245                         <a class="code" href="debug_8h.html#a6">nlassert</a>  (primitive!=<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>);
00246 
00247                         <font class="comment">// Link</font>
00248                         <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">_FirstNext</a>=other;
00249                 }
00250                 <font class="keywordflow">else</font> <font class="comment">// second</font>
00251                 {
00252                         <font class="comment">// Check</font>
00253                         <a class="code" href="debug_8h.html#a6">nlassert</a>  (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>);
00254 
00255                         <font class="comment">// Link</font>
00256                         <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">_SecondNext</a>=other;
00257                 }
00258         }
00259 
00260         <font class="comment">// Link in the primitive</font>
<a name="l00261"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a12">00261</a>         <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a>        *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> (CMovePrimitive *primitive)<font class="keyword"> const</font>
00262 <font class="keyword">        </font>{
00263                 <font class="comment">// First primitive ?</font>
00264                 <font class="keywordflow">if</font> (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>)
00265                 {
00266                         <font class="comment">// Check</font>
00267                         <a class="code" href="debug_8h.html#a6">nlassert</a>  (primitive!=<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>);
00268 
00269                         <font class="comment">// return next</font>
00270                         <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">_FirstNext</a>;
00271                 }
00272                 <font class="keywordflow">else</font> <font class="comment">// second</font>
00273                 {
00274                         <font class="comment">// Check</font>
00275                         <a class="code" href="debug_8h.html#a6">nlassert</a>  (primitive==<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>);
00276 
00277                         <font class="comment">// Link</font>
00278                         <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">_SecondNext</a>;
00279                 }
00280         }
00281 
00282         <font class="comment">// Return false for dynamic collision, true for static collision</font>
<a name="l00283"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a13">00283</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a13">isCollisionAgainstStatic</a> ()<font class="keyword"> const</font>
00284 <font class="keyword">        </font>{
00285                 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00286         }
00287 
00288         <font class="comment">// Return collision time</font>
<a name="l00289"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a14">00289</a>         <font class="keywordtype">double</font>                          <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a14">getCollisionTime</a> ()<font class="keyword"> const</font>
00290 <font class="keyword">        </font>{
00291                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>.ContactTime;
00292         }
00293 
00294         <font class="comment">// Remove the collision from the primitives</font>
00295         <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a15">removeFromPrimitives</a> ();
00296 
00297         <font class="comment">// Get second primitive</font>
<a name="l00298"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a16">00298</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#a16">getOtherPrimitive</a> (CMovePrimitive *primitive)<font class="keyword"> const</font>
00299 <font class="keyword">        </font>{
00300                 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>==primitive)
00301                         <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>;
00302                 <font class="keywordflow">else</font>
00303                 {
00304                         <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>==primitive);
00305                         <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>;
00306                 }
00307         }
00308 
00309 <font class="keyword">private</font>:
00310 
00311         <font class="comment">// The first primitive</font>
<a name="l00312"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">00312</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o0">_FirstPrimitive</a>;
00313 
00314         <font class="comment">// The second primitive</font>
<a name="l00315"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">00315</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o1">_SecondPrimitive</a>;
00316 
00317         <font class="comment">// Descriptor</font>
<a name="l00318"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">00318</a>         CCollisionDesc          <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o2">_Desc</a>;
00319 
00320         <font class="comment">// Collision or only trigger ?</font>
<a name="l00321"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">00321</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o3">_Collision</a>;
<a name="l00322"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">00322</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o4">_Enter</a>;
<a name="l00323"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">00323</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o5">_Exit</a>;
<a name="l00324"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">00324</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o6">_SecondStatic</a>;
00325 
00326         <font class="comment">// World images</font>
<a name="l00327"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">00327</a>         <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o7">_FirstWorldImage</a>;
<a name="l00328"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">00328</a>         <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o8">_SecondWorldImage</a>;
00329 
00330         <font class="comment">// First primitive linked list</font>
<a name="l00331"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">00331</a>         <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a>        *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o9">_FirstNext</a>;
00332 
00333         <font class="comment">// Second primitive linked list</font>
<a name="l00334"></a><a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">00334</a>         <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a>        *<a class="code" href="classNLPACS_1_1CCollisionOTDynamicInfo.html#o10">_SecondNext</a>;
00335 };
00336 
<a name="l00344"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html">00344</a> <font class="keyword">class </font>CCollisionOTStaticInfo : <font class="keyword">public</font> CCollisionOTInfo
00345 {
00346 <font class="keyword">public</font>:
<a name="l00347"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a0">00347</a>         <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a0">CCollisionOTStaticInfo</a> ()
00348         {
00349                 <a class="code" href="classNLPACS_1_1CCollisionOT.html#n0">_Info</a>=<font class="keyword">true</font>;
00350         }
00351 
00352         <font class="comment">// Get the first primitive in the collision</font>
<a name="l00353"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a1">00353</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a1">getPrimitive</a> ()<font class="keyword"> const</font>
00354 <font class="keyword">        </font>{
00355                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">_Primitive</a>;
00356         }
00357 
00358         <font class="comment">// Get the collision descriptor</font>
<a name="l00359"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a2">00359</a>         <font class="keyword">const</font> CCollisionSurfaceDesc     &amp;<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a2">getCollisionDesc</a> ()<font class="keyword"> const</font>
00360 <font class="keyword">        </font>{
00361                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>;
00362         }
00363 
00364         <font class="comment">// Get the collision descriptor</font>
<a name="l00365"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a3">00365</a>         <font class="keyword">const</font> UGlobalPosition &amp;<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a3">getGlobalPosition</a> ()<font class="keyword"> const</font>
00366 <font class="keyword">        </font>{
00367                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">_GlobalPosition</a>;
00368         }
00369 
00370         <font class="comment">// Get delta time</font>
<a name="l00371"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a4">00371</a>         <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a4">getDeltaTime</a> ()<font class="keyword"> const</font>
00372 <font class="keyword">        </font>{
00373                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">_DeltaTime</a>;
00374         }
00375 
00376         <font class="comment">// Get the world image</font>
<a name="l00377"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a5">00377</a>         <a class="code" href="types__nl_8h.html#a6">uint8</a> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a5">getWorldImage</a> ()<font class="keyword"> const</font>
00378 <font class="keyword">        </font>{
00379                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">_WorldImage</a>;
00380         }
00381 
00382         <font class="comment">// Init the info</font>
<a name="l00383"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a6">00383</a>         <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a6">init</a> (CMovePrimitive *primitive, <font class="keyword">const</font> CCollisionSurfaceDesc&amp; desc, 
00384                                                                 <font class="keyword">const</font> UGlobalPosition&amp; nextGlobalPosition, <font class="keywordtype">double</font> delta, <a class="code" href="types__nl_8h.html#a6">uint8</a> worldImage)
00385         {
00386                 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">_Primitive</a>=primitive;
00387                 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>=desc;
00388                 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">_GlobalPosition</a>=nextGlobalPosition;
00389                 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">_DeltaTime</a>=delta;
00390                 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">_WorldImage</a>=worldImage;
00391         }
00392 
00393         <font class="comment">// Link in the primitive</font>
<a name="l00394"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a7">00394</a>         <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a7">primitiveLink</a> (CMovePrimitive *primitive, <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a> *other)
00395         {
00396                 <font class="comment">// Link</font>
00397                 <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">_Next</a>=other;
00398         }
00399 
00400         <font class="comment">// Link in the primitive</font>
<a name="l00401"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a8">00401</a>         <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a>        *<a class="code" href="classNLPACS_1_1CCollisionOT.html#a6">getNext</a> (CMovePrimitive *primitive)<font class="keyword"> const</font>
00402 <font class="keyword">        </font>{
00403                 <font class="comment">// return next</font>
00404                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">_Next</a>;
00405         }
00406 
00407         <font class="comment">// Return false for dynamic collision, true for static collision</font>
<a name="l00408"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a9">00408</a>         <font class="keywordtype">bool</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a9">isCollisionAgainstStatic</a> ()<font class="keyword"> const</font>
00409 <font class="keyword">        </font>{
00410                 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00411         }
00412 
00413         <font class="comment">// Return collision time</font>
<a name="l00414"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a10">00414</a>         <font class="keywordtype">double</font>                          <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a10">getCollisionTime</a> ()<font class="keyword"> const</font>
00415 <font class="keyword">        </font>{
00416                 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>.ContactTime;
00417         }
00418 
00419         <font class="comment">// Remove the collision from the primitives</font>
00420         <font class="keywordtype">void</font>                            <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a11">removeFromPrimitives</a> ();
00421 
<a name="l00422"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a12">00422</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#a12">getOtherPrimitive</a> (CMovePrimitive *primitive)<font class="keyword"> const</font>
00423 <font class="keyword">        </font>{
00424                 <font class="keywordflow">return</font> NULL;
00425         }
00426 <font class="keyword">private</font>:
00427         <font class="comment">// The first primitive</font>
<a name="l00428"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">00428</a>         CMovePrimitive          *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o0">_Primitive</a>;
00429 
00430         <font class="comment">// The static descriptor</font>
<a name="l00431"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">00431</a>         CCollisionSurfaceDesc   <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o1">_StaticDesc</a>;
00432 
00433         <font class="comment">// The next global position</font>
<a name="l00434"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">00434</a>         UGlobalPosition <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o2">_GlobalPosition</a>;
00435 
00436         <font class="comment">// Delta time for this collid</font>
<a name="l00437"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">00437</a>         <font class="keywordtype">double</font>                          <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o3">_DeltaTime</a>;
00438 
00439         <font class="comment">// World image</font>
<a name="l00440"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">00440</a>         <a class="code" href="types__nl_8h.html#a6">uint8</a>                           <a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o4">_WorldImage</a>;
00441 
00442         <font class="comment">// Next primitive in the linked list</font>
<a name="l00443"></a><a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">00443</a>         <a class="code" href="classNLPACS_1_1CCollisionOTInfo.html#a0">CCollisionOTInfo</a>        *<a class="code" href="classNLPACS_1_1CCollisionOTStaticInfo.html#o5">_Next</a>;
00444 };
00445 
00446 <font class="comment">// ***************************************************************************</font>
00447 
<a name="l00448"></a><a class="code" href="classNLPACS_1_1CCollisionOT.html#a7">00448</a> <font class="keyword">inline</font> CCollisionOTInfo *CCollisionOT::getNextInfo ()<font class="keyword"> const</font>
00449 <font class="keyword"></font>{
00450         <font class="comment">// Get next</font>
00451         <a class="code" href="classNLPACS_1_1CCollisionOT.html#a0">CCollisionOT</a> *next=<a class="code" href="classNLPACS_1_1CCollisionOT.html#o0">_Next</a>;
00452 
00453         <font class="comment">// Is an info ?</font>
00454         <font class="keywordflow">while</font> ( next &amp;&amp; (!next-&gt;isInfo ()) )
00455                 next=next-&gt;getNextInfo ();
00456 
00457         <font class="comment">// Return an info</font>
00458         <font class="keywordflow">return</font> (CCollisionOTInfo*)next;
00459 }
00460 
00461 
00462 
00463 } <font class="comment">// NLPACS</font>
00464 
00465 
00466 <font class="preprocessor">#endif // NL_COLLISION_OT_H</font>
00467 <font class="preprocessor"></font>
00468 <font class="comment">/* End of collision_ot.h */</font>
</pre></div>

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