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<hr><h1>edge_quad.cpp</h1><a href="edge__quad_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 "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font>
00027
00028 <font class="preprocessor">#include "<a class="code" href="edge__quad_8h.html">pacs/edge_quad.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
00030
00031 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00032 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00033
00034
00035 <font class="keyword">namespace </font>NLPACS
00036 {
00037
00038
00039 <font class="comment">// ***************************************************************************</font>
<a name="l00040"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">00040</a> <font class="keyword">const</font> <font class="keywordtype">float</font> CEdgeQuad::_QuadElementSize= 4; <font class="comment">// = 4 meters.</font>
00041
00042
00043 <font class="comment">// ***************************************************************************</font>
<a name="l00044"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a0">00044</a> CEdgeQuad::CEdgeQuad()
00045 {
00046 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL;
00047 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0;
00048 }
00049 <font class="comment">// ***************************************************************************</font>
<a name="l00050"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a2">00050</a> CEdgeQuad::~CEdgeQuad()
00051 {
00052 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#a4">clear</a>();
00053 }
00054 <font class="comment">// ***************************************************************************</font>
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a1">00055</a> CEdgeQuad::CEdgeQuad(<font class="keyword">const</font> CEdgeQuad &o)
00056 {
00057 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL;
00058 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0;
00059 *<font class="keyword">this</font>= o;
00060 }
00061 <font class="comment">// ***************************************************************************</font>
<a name="l00062"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a3">00062</a> CEdgeQuad &CEdgeQuad::operator=(<font class="keyword">const</font> CEdgeQuad &o)
00063 {
00064 <font class="comment">// Alloc good quaddata.</font>
00065 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= o._QuadDataLen;
00066 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>;
00067 <font class="keywordflow">if</font>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>>0)
00068 {
00069 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>];
00070 <font class="comment">// copy contents.</font>
00071 memcpy(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>, o._QuadData, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>);
00072 }
00073 <font class="keywordflow">else</font>
00074 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL;
00075
00076 <font class="comment">// copy infos.</font>
00077 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>= o._Width;
00078 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>= o._Height;
00079 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>= o._X;
00080 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>= o._Y;
00081 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a> = o._EdgeEntries;
00082
00083 <font class="comment">// copy good pointers.</font>
00084 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.clear();
00085 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.resize(o._Quad.size(), NULL);
00086 <font class="keywordflow">for</font>(sint i=0; i<(sint)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.size(); i++)
00087 {
00088 <font class="keywordflow">if</font>(o._Quad[i])
00089 {
00090 uint32 off= (uint32)(o._Quad[i]-o._QuadData);
00091 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>+off;
00092 }
00093 }
00094
00095
00096 <font class="keywordflow">return</font> *<font class="keyword">this</font>;
00097 }
00098
00099 <font class="comment">// ***************************************************************************</font>
<a name="l00100"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a4">00100</a> <font class="keywordtype">void</font> CEdgeQuad::clear()
00101 {
00102 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>;
00103 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL;
00104 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0;
00105
00106 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.clear();
00107 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.clear();
00108 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a> = 0;
00109 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a> = 0;
00110 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a> = 0;
00111 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a> = 0;
00112 }
00113
00114 <font class="comment">// ***************************************************************************</font>
<a name="l00115"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#c0">00115</a> <font class="keywordtype">void</font> CEdgeQuad::getGridBounds(sint32 &x0, sint32 &y0, sint32 &x1, sint32 &y1, <font class="keyword">const</font> CVector &minP, <font class="keyword">const</font> CVector &maxP)<font class="keyword"> const</font>
00116 <font class="keyword"></font>{
00117 x0= (sint32)floor(minP.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>;
00118 y0= (sint32)floor(minP.y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>;
00119 x1= (sint32) ceil(maxP.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>;
00120 y1= (sint32) ceil(maxP.y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>;
00121 x0= max(x0, (sint32)0);
00122 y0= max(y0, (sint32)0);
00123 x1= <a class="code" href="bit__set_8cpp.html#a0">min</a>(x1, (sint32)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>);
00124 y1= <a class="code" href="bit__set_8cpp.html#a0">min</a>(y1, (sint32)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>);
00125 }
00126
00127
00128
00129 <font class="comment">// ***************************************************************************</font>
<a name="l00130"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a5">00130</a> <font class="keywordtype">void</font> CEdgeQuad::build(<font class="keyword">const</font> CExteriorMesh &em,
00131 <font class="keyword">const</font> CGlobalRetriever &global,
00132 CCollisionSurfaceTemp &cst,
00133 uint32 thisInstance)
00134 {
00135 <font class="keyword">const</font> std::vector<CExteriorMesh::CEdge> &edges = em.getEdges();
00136
00137 vector< list<uint16> > tempQuad;
00138 sint i, j;
00139
00140 <font class="comment">// first, clear any pr-build.</font>
00141 <a class="code" href="namespaceNLMISC.html#a222">contReset</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>);
00142 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>;
00143 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL;
00144 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= 0;
00145
00146 <font class="comment">// don't care about the origin of the instance</font>
00147 CVector origin = global.getInstance(thisInstance).getOrigin();
00148
00149 <font class="comment">// 0. Find BBox of the grid. Allocate grid.</font>
00150 <font class="comment">//=========================================</font>
00151 <font class="keywordtype">bool</font> first=<font class="keyword">true</font>;
00152 CAABBox chainquadBBox;
00153 <font class="comment">// run all chains.</font>
00154 <font class="keywordflow">for</font> (i=0; i<(sint)edges.size()-1; i++)
00155 {
00156 <font class="comment">// enlarge bbox.</font>
00157 <font class="keywordflow">if</font> (first)
00158 first= <font class="keyword">false</font>, chainquadBBox.setCenter(edges[i].Start);
00159 <font class="keywordflow">else</font>
00160 chainquadBBox.extend(edges[i].Start);
00161 }
00162
00163 <font class="comment">// compute X,Y,Width, Height.</font>
00164 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>= (sint32)floor(chainquadBBox.getMin().x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>);
00165 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>= (sint32)floor(chainquadBBox.getMin().y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>);
00166 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>= (sint32)ceil(chainquadBBox.getMax().x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>;
00167 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>= (sint32)ceil(chainquadBBox.getMax().y / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>;
00168
00169 tempQuad.resize(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>);
00170 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.resize(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>, NULL);
00171
00172
00173 <font class="comment">// 1. For each edge, add them to the quadgrid.</font>
00174 <font class="comment">//=========================================</font>
00175 <font class="comment">// run all chains.</font>
00176 <font class="keywordflow">for</font> (i=0; i<(sint)edges.size()-1; i++)
00177 {
00178 <font class="keywordtype">float</font> dnorm = (edges[i+1].Start-edges[i].Start).norm();
00179 uint numStep = (uint)(dnorm/0.1f)+1;
00180 uint step;
00181
00182 CVector pbegin = edges[i].Start+origin,
00183 pend = edges[i+1].Start+origin;
00184
00185 CVector opbegin = edges[i].Start,
00186 opend = edges[i+1].Start;
00187
00188 <font class="keywordflow">for</font> (step=0; step<numStep; ++step)
00189 {
00190 <font class="keywordtype">float</font> lambda0 = (float)(step)/(float)(numStep);
00191 <font class="keywordtype">float</font> lambda1 = (float)(step+1)/(float)(numStep);
00192 CVector p0 = pbegin*(1.0f-lambda0)+pend*(lambda0),
00193 p1 = pbegin*(1.0f-lambda1)+pend*(lambda1);
00194 CVector op0 = opbegin*(1.0f-lambda0)+opend*(lambda0),
00195 op1 = opbegin*(1.0f-lambda1)+opend*(lambda1);
00196 CVector s0, s1,
00197 mins, maxs;
00198
00199 uint prevEdge = (i-1)%(edges.size()-1);
00200 <font class="keywordtype">bool</font> prio0 = (edges[i].Link!=-1) || (edges[prevEdge].Link!=-1);
00201
00202 UGlobalPosition gp0 = global.retrievePosition(p0);
00203 global.updateHeight(gp0);
00204 UGlobalPosition gp1 = global.retrievePosition(p1);
00205 global.updateHeight(gp1);
00206
00207 <font class="keywordflow">if</font> (!prio0)
00208 {
00209 swap(p0, p1);
00210 swap(op0, op1);
00211 swap(gp0, gp1);
00212 }
00213
00214 <font class="keywordflow">if</font> (gp0.InstanceId == -1)
00215 {
00216 swap(p0, p1);
00217 swap(op0, op1);
00218 swap(gp0, gp1);
00219 }
00220
00221 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *pcd = global.testCylinderMove(gp0, p1-p0, 0.01f, cst);
00222
00223 <font class="keywordflow">if</font> (pcd == NULL)
00224 {
00225 <font class="comment">// nlwarning("in CEdgeQuad::build(): testCylinderMove() returned NULL");</font>
00226 <font class="keywordflow">continue</font>;
00227 }
00228
00229 <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> cd = (*pcd);
00230
00231 <font class="keywordflow">if</font> (edges[i].Link != -1 && cd.size() > 0)
00232 {
00233 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"In NLPACS::CEdgeQuad::build()"</font>);
00234 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"ERROR: exterior edge %d with interior link crosses some surfaces"</font>, i);
00235 cd.clear ();
00236 }
00237
00238 <font class="comment">// add start surface to the collision description</font>
00239 CCollisionSurfaceDesc stcd;
00240 stcd.ContactTime = 0.0f;
00241 stcd.ContactSurface.RetrieverInstanceId = gp0.InstanceId;
00242 stcd.ContactSurface.SurfaceId = gp0.LocalPosition.Surface;
00243 cd.insert(cd.begin(), stcd);
00244
00245 <font class="comment">// get the surface, chain ...</font>
00246 sint edgeId = i;
00247 uint16 chainId;
00248
00249 CSurfaceIdent interior;
00250 <font class="keywordflow">if</font> (edges[i].Link == -1)
00251 {
00252 interior.RetrieverInstanceId = -1;
00253 interior.SurfaceId = -1;
00254 chainId = 0xFFFF;
00255 }
00256 <font class="keywordflow">else</font>
00257 {
00258 interior.RetrieverInstanceId = thisInstance;
00259 interior.SurfaceId = em.getLink(edges[i].Link).SurfaceId;
00260 chainId = em.getLink(edges[i].Link).ChainId;
00261 }
00262
00263
00264 <font class="comment">// add end point to the collision description</font>
00265 stcd = cd.back();
00266 stcd.ContactTime = 1.0f;
00267 cd.push_back(stcd);
00268
00269 <font class="keywordflow">for</font> (j=0; j<(sint)cd.size()-1; ++j)
00270 {
00271 s0 = op0*(float)(1.0-cd[j].ContactTime) + op1*(float)(cd[j].ContactTime);
00272 s1 = op0*(float)(1.0-cd[j+1].ContactTime) + op1*(float)(cd[j+1].ContactTime);
00273
00274 mins.minof(s0, s1);
00275 maxs.maxof(s0, s1);
00276
00277 <font class="comment">// PrecisionPb: extend a little this edge. This is important for special case like borders on zones.</font>
00278 <font class="keywordflow">if</font>(mins.x-maxs.x==0)
00279 mins.x-=0.001f, maxs.x+=0.001f;
00280 <font class="keywordflow">if</font>(mins.y-maxs.y==0)
00281 mins.y-=0.001f, maxs.y+=0.001f;
00282
00283 <font class="comment">// get bounding coordinate of this edge in the quadgrid.</font>
00284 sint32 x0, y0, x1, y1;
00285 sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
00286 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#c0">getGridBounds</a>(x0, y0, x1, y1, mins, maxs);
00287
00288 CSurfaceIdent exterior = cd[j].ContactSurface;
00289
00290 uint entry;
00291 <font class="keywordflow">for</font> (entry=0; entry<<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.size(); ++entry)
00292 {
00293 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].EdgeId == edgeId &&
00294 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].Exterior == exterior)
00295 {
00296 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].ChainId != chainId ||
00297 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[entry].Interior != interior)
00298 {
00299 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"In NLPACS::CEdgeQuad::build()"</font>);
00300 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"exterior edge %d has different interior linkage"</font>, edgeId);
00301 }
00302
00303 <font class="keywordflow">break</font>;
00304 }
00305 }
00306
00307 <font class="comment">// if this entry didn't exist before create a new one...</font>
00308 <font class="keywordflow">if</font> (entry == <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.size())
00309 {
00310 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.push_back(CExteriorEdgeEntry());
00311 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().EdgeId = edgeId;
00312 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().ChainId = chainId;
00313 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().Interior = interior;
00314 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.back().Exterior = exterior;
00315 }
00316
00317 <font class="comment">// add this edge to all the quadnode it touches.</font>
00318 <font class="keywordflow">for</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=y0; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><y1; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++)
00319 {
00320 <font class="keywordflow">for</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++)
00321 {
00322 <font class="comment">// check we don't push this entry twice</font>
00323 list<uint16>::iterator it;
00324 <font class="keywordflow">for</font> (it=tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].begin(); it!=tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].end(); ++it)
00325 <font class="keywordflow">if</font> (entry == *it)
00326 <font class="keywordflow">break</font>;
00327 <font class="keywordflow">if</font> (it == tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].end())
00328 tempQuad[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>].push_back(entry);
00329 }
00330 }
00331 }
00332 }
00333
00334 }
00335
00336 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"Built ExteriorEdgeQuad, linked following doors:"</font>);
00337 <font class="keywordflow">for</font> (i=0; i<(sint)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>.size(); ++i)
00338 {
00339 <font class="keywordflow">if</font> (edges[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].EdgeId].Link != -1 &&
00340 (<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.RetrieverInstanceId == -1 || <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.SurfaceId == -1 ||
00341 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.RetrieverInstanceId == -1 || <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.SurfaceId == -1))
00342 {
00343 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"In NLPACS::CEdgeQuad::build(): exterior door %d has corrupted link"</font>, i);
00344 }
00345 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (edges[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].EdgeId].Link != -1)
00346 {
00347 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"Inst=%d ExtEdge=%d IntInst=%d IntSurf=%d IntChain=%d ExtInst=%d ExtSurf=%d"</font>, thisInstance, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].EdgeId,
00348 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.RetrieverInstanceId, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Interior.SurfaceId, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].ChainId,
00349 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.RetrieverInstanceId, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>[i].Exterior.SurfaceId);
00350 }
00351 }
00352
00353 <font class="comment">// 2. Mem optimisation: Use only 1 block for ALL quads of the grid.</font>
00354 <font class="comment">//=========================================</font>
00355 sint memSize= 0;
00356 <font class="comment">// run all quads.</font>
00357 <font class="keywordflow">for</font>(i=0;i<(sint)tempQuad.size();i++)
00358 {
00359 list<uint16> &quadNode= tempQuad[i];
00360
00361 <font class="keywordflow">if</font>(!quadNode.empty())
00362 {
00363 <font class="comment">// add an entry for Len.</font>
00364 memSize+= <font class="keyword">sizeof</font>(uint16);
00365 <font class="comment">// add N entry of CEdgeChainEntry.</font>
00366 memSize+= quadNode.size()*<font class="keyword">sizeof</font>(uint16);
00367 }
00368 }
00369
00370 <font class="comment">// allocate.</font>
00371 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[memSize];
00372 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>= memSize;
00373
00374
00375 <font class="comment">// 3. Fill _QuadData with lists.</font>
00376 <font class="comment">//=========================================</font>
00377 uint8 *ptr= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>;
00378 <font class="keywordflow">for</font>(i=0;i<(sint)tempQuad.size();i++)
00379 {
00380 list<uint16> &srcQuadNode= tempQuad[i];
00381 list<uint16>::iterator it;
00382
00383 <font class="keywordflow">if</font>(!srcQuadNode.empty())
00384 {
00385 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= ptr;
00386
00387 <font class="comment">// write len.</font>
00388 uint16 len= srcQuadNode.size();
00389 *((uint16*)ptr)= len;
00390 ptr+= <font class="keyword">sizeof</font>(uint16);
00391
00392 <font class="comment">// add entries.</font>
00393 it= srcQuadNode.begin();
00394 <font class="keywordflow">for</font>(j=0; j<len; j++, it++)
00395 {
00396 *((uint16 *)ptr)= *it;
00397 ptr+= <font class="keyword">sizeof</font>(uint16);
00398 }
00399 }
00400 }
00401
00402 <font class="comment">// End.</font>
00403 }
00404
00405
00406 <font class="comment">// ***************************************************************************</font>
<a name="l00407"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a6">00407</a> sint CEdgeQuad::selectEdges(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bbox, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
00408 <font class="keyword"></font>{
00409 sint nRes=0;
00410 sint i;
00411 uint16 *indexLUT = cst.OChainLUT;
00412
00413 <font class="comment">// start: no edge found.</font>
00414 cst.ExteriorEdgeIndexes.clear();
00415
00416 <font class="comment">// get bounding coordinate of this bbox in the quadgrid.</font>
00417 sint32 x0, y0, x1, y1;
00418 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#c0">getGridBounds</a>(x0, y0, x1, y1, bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_0">getMin</a>(), bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_1">getMax</a>());
00419
00420
00421 <font class="comment">// run all intersected quads.</font>
00422 <font class="keywordflow">for</font> (sint <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>= y0; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><y1; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++)
00423 {
00424 <font class="keywordflow">for</font> (sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>= x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++)
00425 {
00426 uint8 *quadNode= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>];
00427
00428 <font class="comment">// no edgechain entry??</font>
00429 <font class="keywordflow">if</font>(!quadNode)
00430 <font class="keywordflow">continue</font>;
00431
00432 <font class="comment">// get edgechain entries</font>
00433 sint numExteriorEdgeIndexes= *((uint16*)quadNode);
00434 quadNode+= <font class="keyword">sizeof</font>(uint16);
00435 uint16 *ptrExteriorEdgeIndex= (uint16*)quadNode;
00436
00437 <font class="comment">// For each one, add it to the result list.</font>
00438 <font class="keywordflow">for</font> (i=0;i<numExteriorEdgeIndexes;i++)
00439 {
00440 uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a> = ptrExteriorEdgeIndex[i];
00441
00442 <font class="comment">// if ochain not yet inserted.</font>
00443 <font class="keywordflow">if</font> (indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]==0xFFFF)
00444 {
00445 <font class="comment">// inc the list.</font>
00446 indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]= nRes;
00447 cst.ExteriorEdgeIndexes.push_back(<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>);
00448 nRes++;
00449 }
00450 }
00451 }
00452 }
00453
00454
00455 <font class="comment">// reset LUT to 0xFFFF for all ochains selected.</font>
00456 <font class="keywordflow">for</font>(i=0;i<nRes;i++)
00457 indexLUT[cst.ExteriorEdgeIndexes[i]]= 0xFFFF;
00458
00459 <font class="keywordflow">return</font> nRes;
00460 }
00461
<a name="l00462"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a7">00462</a> sint CEdgeQuad::selectEdges(CVector start, CVector end, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
00463 <font class="keyword"></font>{
00464 sint nRes=0;
00465 sint i;
00466 uint16 *indexLUT= cst.OChainLUT;
00467
00468 <font class="comment">// start: no edge found.</font>
00469 cst.ExteriorEdgeIndexes.clear();
00470
00471 <font class="keywordflow">if</font> (end.x < start.x)
00472 swap(start, end);
00473
00474 <font class="keywordtype">float</font> minx = <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>,
00475 miny = <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>,
00476 maxx = minx + <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>,
00477 maxy = miny + <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>;
00478
00479 <font class="keywordflow">if</font> (start.x > maxx || end.x < minx || start.y > maxy || end.y < miny)
00480 <font class="keywordflow">return</font> nRes;
00481
00482 <font class="keywordflow">if</font> (start.x < minx)
00483 {
00484 start.y = start.y+(end.y-start.y)*(minx-start.x)/(end.x-start.x);
00485 start.x = minx;
00486 }
00487
00488 <font class="keywordflow">if</font> (start.y < miny)
00489 {
00490 start.x = start.x+(end.x-start.x)*(miny-start.y)/(end.y-start.y);
00491 start.y = miny;
00492 }
00493
00494 <font class="keywordflow">if</font> (end.x > maxx)
00495 {
00496 end.y = start.y+(end.y-start.y)*(minx-start.x)/(end.x-start.x);
00497 end.x = maxx;
00498 }
00499
00500 <font class="keywordflow">if</font> (end.y > maxy)
00501 {
00502 end.x = start.x+(end.x-start.x)*(miny-start.y)/(end.y-start.y);
00503 end.y = maxy;
00504 }
00505
00506 sint32 x0, x1, ya, yb;
00507 sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
00508 <font class="keywordtype">float</font> fx, fxa, fxb, fya, fyb;
00509
00510 x0 = (sint32)floor(start.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>;
00511 x1 = (sint32)ceil(end.x / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>;
00512 fx = (x0+<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>)*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>;
00513
00514 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=x0; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><x1; ++<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)
00515 {
00516 fxa = (fx < start.x) ? start.x : fx;
00517 fxb = (fx+<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a> > end.x) ? end.x : fx+<a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>;
00518
00519 fya = start.y+(end.y-start.y)*(fxa-start.x)/(end.x-start.x);
00520 fyb = start.y+(end.y-start.y)*(fxb-start.x)/(end.x-start.x);
00521
00522 <font class="keywordflow">if</font> (fya > fyb)
00523 swap (fya, fyb);
00524
00525 ya = (sint32)floor(fya / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>;
00526 yb = (sint32)ceil(fyb / <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>) - <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>;
00527
00528 fx += <a class="code" href="classNLPACS_1_1CEdgeQuad.html#r0">_QuadElementSize</a>;
00529
00530 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=ya; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><yb; ++<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>)
00531 {
00532 uint8 *quadNode= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>];
00533
00534 <font class="comment">// no edgechain entry??</font>
00535 <font class="keywordflow">if</font>(!quadNode)
00536 <font class="keywordflow">continue</font>;
00537
00538 <font class="comment">// get edgechain entries</font>
00539 sint numExteriorEdgeIndexes= *((uint16 *)quadNode);
00540 quadNode+= <font class="keyword">sizeof</font>(uint16);
00541 uint16 *ptrExteriorEdgeIndex = (uint16 *)quadNode;
00542
00543 <font class="comment">// For each one, add it to the result list.</font>
00544 <font class="keywordflow">for</font>(i=0;i<numExteriorEdgeIndexes;i++)
00545 {
00546 uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a> = ptrExteriorEdgeIndex[i];
00547
00548 <font class="comment">// if ochain not yet inserted.</font>
00549 <font class="keywordflow">if</font>(indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]==0xFFFF)
00550 {
00551 <font class="comment">// inc the list.</font>
00552 indexLUT[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]= nRes;
00553 cst.ExteriorEdgeIndexes.push_back(ptrExteriorEdgeIndex[i]);
00554 nRes++;
00555 }
00556 }
00557 }
00558 }
00559
00560 <font class="comment">// reset LUT to 0xFFFF for all ochains selected.</font>
00561 <font class="keywordflow">for</font>(i=0;i<nRes;i++)
00562 indexLUT[cst.ExteriorEdgeIndexes[i]]= 0xFFFF;
00563
00564 <font class="keywordflow">return</font> nRes;
00565 }
00566
00567 <font class="comment">// ***************************************************************************</font>
<a name="l00568"></a><a class="code" href="classNLPACS_1_1CEdgeQuad.html#a10">00568</a> <font class="keywordtype">void</font> CEdgeQuad::serial(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f)
00569 {
00570 <font class="comment">/*</font>
00571 <font class="comment"> Version 0:</font>
00572 <font class="comment"> - base version.</font>
00573 <font class="comment"> */</font>
00574 (void)f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(0);
00575 uint i;
00576
00577 <font class="comment">// serial basics.</font>
00578 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o4">_X</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o5">_Y</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o2">_Width</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o3">_Height</a>, <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>);
00579 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o1">_EdgeEntries</a>);
00580
00581 <font class="comment">// serial _QuadData.</font>
00582 <font class="keywordflow">if</font>(f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
00583 {
00584 <font class="keyword">delete</font> [] <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>;
00585 <font class="keywordflow">if</font>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>>0)
00586 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= (uint8*)<font class="keyword">new</font> uint8[<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>];
00587 <font class="keywordflow">else</font>
00588 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>= NULL;
00589 }
00590 <font class="comment">// Since we have only uint16 (see CEdgeChainEntry), serial them in a single block.</font>
00591 uint16 *ptrQData= (uint16*)<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>;
00592 <font class="keywordflow">for</font>(i=0;i<<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o7">_QuadDataLen</a>/2; i++, ptrQData++)
00593 {
00594 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(*ptrQData);
00595 }
00596
00597
00598 <font class="comment">// serial _Quad.</font>
00599 std::vector<uint32> offsets;
00600 uint32 len;
00601 uint32 val;
00602 <font class="keywordflow">if</font>(f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
00603 {
00604 <font class="comment">// len/resize.</font>
00605 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(len);
00606 offsets.resize(len);
00607 <a class="code" href="namespaceNLMISC.html#a222">contReset</a>(<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>);
00608 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.resize(len);
00609
00610 <font class="comment">// read offsets -> ptrs.</font>
00611 <font class="keywordflow">for</font>(i=0; i<len; i++)
00612 {
00613 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(val);
00614 <font class="keywordflow">if</font>(val== 0xFFFFFFFF)
00615 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= NULL;
00616 <font class="keywordflow">else</font>
00617 <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i]= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>+val;
00618 }
00619 }
00620 <font class="keywordflow">else</font>
00621 {
00622 <font class="comment">// len/resize.</font>
00623 len= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>.size();
00624 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(len);
00625
00626 <font class="comment">// write offsets.</font>
00627 <font class="keywordflow">for</font>(i=0; i<len; i++)
00628 {
00629 uint8 *ptr= <a class="code" href="classNLPACS_1_1CEdgeQuad.html#o0">_Quad</a>[i];
00630 <font class="keywordflow">if</font>(ptr==NULL)
00631 val= 0xFFFFFFFF;
00632 <font class="keywordflow">else</font>
00633 val= (uint32)(ptr-<a class="code" href="classNLPACS_1_1CEdgeQuad.html#o6">_QuadData</a>);
00634 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(val);
00635 }
00636 }
00637
00638 }
00639
00640
00641
00642 } <font class="comment">// NLPACS</font>
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