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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->_Previous=<font class="keyword">this</font>;
00069 newElement->_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>->_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>->_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>->_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 &<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& 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 &<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 &<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& desc,
00384 <font class="keyword">const</font> UGlobalPosition& 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 && (!next->isInfo ()) )
00455 next=next->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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