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<hr><h1>global_retriever.cpp</h1><a href="global__retriever_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="path_8h.html">nel/misc/path.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="line_8h.html">nel/misc/line.h</a>"</font>
00030
00031 <font class="preprocessor">#include "<a class="code" href="hierarchical__timer_8h.html">nel/misc/hierarchical_timer.h</a>"</font>
00032
00033 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
00034 <font class="preprocessor">#include "<a class="code" href="retriever__bank_8h.html">pacs/retriever_bank.h</a>"</font>
00035
00036
00037 <font class="preprocessor">#include "<a class="code" href="time__nl_8h.html">nel/misc/time_nl.h</a>"</font>
<a name="l00038"></a><a class="code" href="global__retriever_8cpp.html#a0">00038</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a0">AStarTicks</a>;
<a name="l00039"></a><a class="code" href="global__retriever_8cpp.html#a1">00039</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a1">PathTicks</a>;
<a name="l00040"></a><a class="code" href="global__retriever_8cpp.html#a2">00040</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a2">ChainTicks</a>;
<a name="l00041"></a><a class="code" href="global__retriever_8cpp.html#a3">00041</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a3">SurfTicks</a>;
<a name="l00042"></a><a class="code" href="global__retriever_8cpp.html#a4">00042</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a>;
<a name="l00043"></a><a class="code" href="global__retriever_8cpp.html#a5">00043</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a>;
<a name="l00044"></a><a class="code" href="global__retriever_8cpp.html#a6">00044</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a>;
<a name="l00045"></a><a class="code" href="global__retriever_8cpp.html#a7">00045</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a>;
00046
00047 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00048 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00049
<a name="l00050"></a><a class="code" href="global__retriever_8cpp.html#a8">00050</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="global__retriever_8cpp.html#a8">InsureSurfaceThreshold</a> = 0.5f; <font class="comment">// the threshold distance between 2 surfaces below which we insure the retrieved position to be inside the surface</font>
00051
00052 <font class="comment">// CGlobalRetriever methods implementation</font>
00053
00054 <font class="comment">//</font>
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">00055</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">NLPACS::CGlobalRetriever::init</a>()
00056 {
00057 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(CVector::Null);
00058 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_1">setHalfSize</a>(CVector::Null);
00059
00060 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.create(128, 160.0f);
00061 }
00062
<a name="l00063"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">00063</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">NLPACS::CGlobalRetriever::initQuadGrid</a>()
00064 {
00065 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.clear();
00066 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.create(128, 160.0f);
00067
00068 uint i;
00069 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++i)
00070 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.insert(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a>().getMin(), <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a>().getMax(), i);
00071 }
00072
<a name="l00073"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">00073</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">NLPACS::CGlobalRetriever::initRetrieveTable</a>()
00074 {
00075 uint i;
00076 uint size = 0;
00077
00078 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++i)
00079 {
00080 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getInstanceId() != -1 && <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId() != -1)
00081 {
00082 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId());
00083 size = std::max(retriever.getSurfaces().size(), size);
00084 }
00085 }
00086
00087 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>.resize(size);
00088 <font class="keywordflow">for</font> (i=0; i<size; ++i)
00089 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>[i] = 0;
00090 }
00091
00092 <font class="comment">//</font>
00093
<a name="l00094"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">00094</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">NLPACS::CGlobalRetriever::selectInstances</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bbox, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
00095 <font class="keyword"></font>{
00096 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.select(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>());
00097 cst.CollisionInstances.clear();
00098
00099 <a class="code" href="classNLPACS_1_1CQuadGrid.html">NLPACS::CQuadGrid<uint32></a>::CIterator it;
00100 <font class="keywordflow">for</font> (it=<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.begin(); it!=<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.end(); ++it)
00101 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[*it].getBBox().intersect(bbox))
00102 cst.CollisionInstances.push_back(*it);
00103 }
00104
00105 <font class="comment">//</font>
00106
<a name="l00107"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">00107</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">NLPACS::CGlobalRetriever::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f)
00108 {
00109 <font class="comment">/*</font>
00110 <font class="comment"> Version 0:</font>
00111 <font class="comment"> - base version.</font>
00112 <font class="comment"> */</font>
00113 (void)f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(0);
00114
00115 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>);
00116 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>);
00117
00118 <font class="keywordflow">if</font> (f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
00119 {
00120 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a>();
00121 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a>();
00122 }
00123 }
00124
00125 <font class="comment">//</font>
00126
<a name="l00127"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">00127</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">NLPACS::CGlobalRetriever::check</a>()<font class="keyword"> const</font>
00128 <font class="keyword"></font>{
00129 uint i, j, k;
00130
00131 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++i)
00132 {
00133 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getInstanceId() == -1)
00134 {
00135 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Uninitialized instance %d"</font>, i);
00136 <font class="keywordflow">continue</font>;
00137 }
00138
00139 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getInstanceId() != (sint)i)
00140 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"InstanceId for instance %d is not correctly initialized"</font>, i);
00141
00142 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId() == -1)
00143 {
00144 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"No retriever at instance %d"</font>, i);
00145 <font class="keywordflow">continue</font>;
00146 }
00147
00148 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i];
00149
00150 <font class="keywordflow">if</font> (instance.getRetrieverId()<0 || instance.getRetrieverId()>=(sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers().size())
00151 {
00152 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Instance %d has wrong retriever reference"</font>, i);
00153 <font class="keywordflow">continue</font>;
00154 }
00155
00156 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00157
00158 <font class="keywordflow">for</font> (j=0; j<retriever.getChains().size(); ++j)
00159 {
00160 <font class="keyword">const</font> CChain &chain = retriever.getChain(j);
00161 <font class="keywordflow">for</font> (k=0; k<chain.getSubChains().size(); ++k)
00162 {
00163 <font class="keywordflow">if</font> (chain.getSubChain(k) >= retriever.getOrderedChains().size())
00164 {
00165 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, chain %d: subchain %d reference is not valid"</font>, instance.getRetrieverId(), j, k);
00166 <font class="keywordflow">continue</font>;
00167 }
00168
00169 <font class="keywordflow">if</font> (retriever.getOrderedChain(chain.getSubChain(k)).getParentId() != j)
00170 {
00171 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, ochain %d: reference on parent is not valid"</font>, instance.getRetrieverId(), chain.getSubChain(k));
00172 <font class="keywordflow">continue</font>;
00173 }
00174
00175 <font class="keywordflow">if</font> (retriever.getOrderedChain(chain.getSubChain(k)).getIndexInParent() != k)
00176 {
00177 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, ochain %d: index on parent is not valid"</font>, instance.getRetrieverId(), chain.getSubChain(k));
00178 <font class="keywordflow">continue</font>;
00179 }
00180 }
00181
00182 <font class="keywordflow">if</font> (chain.getLeft()<0 || chain.getLeft()>=(sint)retriever.getSurfaces().size())
00183 {
00184 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, chain %d: reference on left surface is not valid"</font>, instance.getRetrieverId(), j);
00185 }
00186
00187 <font class="keywordflow">if</font> (chain.getRight()>=(sint)retriever.getSurfaces().size() ||
00188 chain.getRight()<=CChain::getDummyBorderChainId() && !CChain::isBorderChainId(chain.getRight()))
00189 {
00190 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, chain %d: reference on right surface is not valid"</font>, instance.getRetrieverId(), j);
00191 }
00192
00193 <font class="keywordflow">if</font> (CChain::isBorderChainId(chain.getRight()))
00194 {
00195 sint link = chain.getBorderChainIndex();
00196
00197 <font class="keywordflow">if</font> (link<0 || link>=(sint)instance.getBorderChainLinks().size())
00198 {
00199 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, instance %d, chain %d: reference on right link is not valid"</font>, instance.getRetrieverId(), instance.getInstanceId(), j);
00200 }
00201 <font class="keywordflow">else</font>
00202 {
00203 CRetrieverInstance::CLink lnk = instance.getBorderChainLink(link);
00204
00205 <font class="keywordflow">if</font> (lnk.Instance != 0xFFFF || lnk.SurfaceId != 0xFFFF ||
00206 lnk.ChainId != 0xFFFF || lnk.BorderChainId != 0xFFFF)
00207 {
00208 <font class="keywordflow">if</font> (lnk.Instance >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() ||
00209 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()<0 ||
00210 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()>(sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers().size() ||
00211 lnk.SurfaceId >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()).getSurfaces().size() ||
00212 ((lnk.ChainId >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()).getChains().size() ||
00213 lnk.BorderChainId >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()).getBorderChains().size()) && instance.getType() != CLocalRetriever::Interior ))
00214 {
00215 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, instance %d, link %d: reference on instance may be not valid [Inst=%d, Surf=%d, Chain=%d, BorderChain=%d]"</font>, instance.getRetrieverId(), instance.getInstanceId(), link, lnk.Instance, lnk.SurfaceId, lnk.ChainId, lnk.BorderChainId);
00216 }
00217 }
00218 }
00219 }
00220 }
00221 }
00222 }
00223
00224 <font class="comment">//</font>
00225
<a name="l00226"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">00226</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">NLPACS::CGlobalRetriever::distanceToBorder</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font>
00227 <font class="keyword"></font>{
00228 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId > (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00229 <font class="keywordflow">return</font> 0.0f;
00230
00231 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId].getRetrieverId()).distanceToBorder(pos.LocalPosition);
00232 }
00233
<a name="l00234"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">00234</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">NLPACS::CGlobalRetriever::getBorders</a>(<font class="keyword">const</font> UGlobalPosition &pos, std::vector<NLMISC::CLine> &edges)
00235 {
00236 edges.clear();
00237
00238 <font class="keywordflow">if</font> (pos.InstanceId < 0)
00239 <font class="keywordflow">return</font>;
00240
00241 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId];
00242 CLocalRetriever &retriever = const_cast<CLocalRetriever &>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()));
00243 CChainQuad &chainquad = retriever.getChainQuad();
00244
00245 CAABBox box;
00246 box.setCenter(pos.LocalPosition.Estimation);
00247 box.setHalfSize(CVector(15.0f, 15.0f, 100.0f));
00248 chainquad.selectEdges(box, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00249
00250 uint ece;
00251 CVector origin = instance.getOrigin();
00252 <font class="keywordtype">float</font> zp = pos.LocalPosition.Estimation.z+origin.z;
00253 <font class="keywordflow">for</font> (ece=0; ece<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.EdgeChainEntries.size(); ++ece)
00254 {
00255 CEdgeChainEntry &entry = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.EdgeChainEntries[ece];
00256 <font class="keyword">const</font> COrderedChain &ochain = retriever.getOrderedChain(entry.OChainId);
00257
00258 uint edge;
00259 <font class="keywordflow">for</font> (edge=entry.EdgeStart; edge+1<entry.EdgeEnd; ++edge)
00260 {
00261 edges.push_back(CLine());
00262 edges.back().V0 = ochain[edge].unpack3f() + origin;
00263 edges.back().V0.z = zp;
00264 edges.back().V1 = ochain[edge+1].unpack3f() + origin;
00265 edges.back().V1.z = zp;
00266 }
00267 }
00268 }
00269
00270
00271 <font class="comment">//</font>
00272
<a name="l00273"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">00273</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">NLPACS::CGlobalRetriever::makeLinks</a>(uint n)
00274 {
00275 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n];
00276
00277 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(instance.getBBox(), <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00278
00279 uint i;
00280 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances.size(); ++i)
00281 {
00282 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &neighbor = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances[i]];
00283
00284 <font class="keywordflow">if</font> (neighbor.getInstanceId() == instance.getInstanceId())
00285 <font class="keywordflow">continue</font>;
00286
00287 <font class="keywordflow">try</font>
00288 {
00289 instance.link(neighbor, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers());
00290 neighbor.link(instance, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers());
00291 }
00292 <font class="keywordflow">catch</font> (Exception &e)
00293 {
00294 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CGlobalRetriever::makeLinks()"</font>);
00295 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"caught an exception during linkage of %d and %d: %s"</font>, instance.getInstanceId(), neighbor.getInstanceId(), e.what());
00296 }
00297 }
00298
00299 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()).getType() == CLocalRetriever::Interior)
00300 instance.linkEdgeQuad(*<font class="keyword">this</font>);
00301 }
00302
<a name="l00303"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">00303</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">NLPACS::CGlobalRetriever::resetAllLinks</a>()
00304 {
00305 uint n;
00306 <font class="keywordflow">for</font> (n=0; n<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++n)
00307 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].unlink(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>);
00308 }
00309
00310
<a name="l00311"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">00311</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">NLPACS::CGlobalRetriever::makeAllLinks</a>()
00312 {
00313 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">resetAllLinks</a>();
00314
00315 uint n;
00316 <font class="keywordflow">for</font> (n=0; n<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++n)
00317 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a>(n);
00318 }
00319
<a name="l00320"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">00320</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">NLPACS::CGlobalRetriever::initAll</a>()
00321 {
00322 uint n;
00323 <font class="keywordflow">for</font> (n=0; n<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++n)
00324 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].getInstanceId() != -1 && <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].getRetrieverId() != -1)
00325 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].init(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].getRetrieverId()));
00326
00327 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a>();
00328 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a>();
00329 }
00330
00331 <font class="comment">//</font>
00332
<a name="l00333"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">00333</a> <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html">NLPACS::CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">NLPACS::CGlobalRetriever::makeInstance</a>(uint32 retrieverId, uint8 orientation, <font class="keyword">const</font> CVector &origin)
00334 {
00335 uint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>;
00336 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>=0; <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a><<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() && <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>].getInstanceId()!=-1; ++<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00337 ;
00338
00339 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> == <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00340 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.resize(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>+1);
00341
00342 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>];
00343 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(retrieverId);
00344
00345 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>.size() < retriever.getSurfaces().size())
00346 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>.resize(retriever.getSurfaces().size(), 0);
00347
00348 instance.make(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>, retrieverId, retriever, orientation, origin);
00349
00350 CVector hsize = instance.getBBox().getHalfSize();
00351 hsize.z = 0.0f;
00352 <font class="keywordflow">if</font> (hsize != CVector::Null)
00353 {
00354 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_5">getHalfSize</a>() == CVector::Null)
00355 {
00356 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a> = instance.getBBox();
00357 }
00358 <font class="keywordflow">else</font>
00359 {
00360 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_4">extend</a>(instance.getBBox().getMin());
00361 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_4">extend</a>(instance.getBBox().getMax());
00362 }
00363
00364 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()).getType() == CLocalRetriever::Interior)
00365 instance.initEdgeQuad(*<font class="keyword">this</font>);
00366
00367 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.insert(instance.getBBox().getMin(), instance.getBBox().getMax(), instance.getInstanceId());
00368 }
00369
00370 <font class="keywordflow">return</font> instance;
00371 }
00372
00373 <font class="comment">//</font>
00374
00375 <font class="comment">/*</font>
00376 <font class="comment">NLPACS::UGlobalPosition NLPACS::CGlobalRetriever::retrievePosition(const CVector &estimated, float threshold) const</font>
00377 <font class="comment">{</font>
00378 <font class="comment"> // the retrieved position</font>
00379 <font class="comment"> CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated));</font>
00380 <font class="comment"></font>
00381 <font class="comment"> if (!_BBox.include(estimated))</font>
00382 <font class="comment"> return result;</font>
00383 <font class="comment"> </font>
00384 <font class="comment"> // get the best matching instances</font>
00385 <font class="comment"> CAABBox bbpos;</font>
00386 <font class="comment"> bbpos.setCenter(estimated);</font>
00387 <font class="comment"> bbpos.setHalfSize(CVector(0.5f, 0.5f, 0.5f));</font>
00388 <font class="comment"> selectInstances(bbpos, _InternalCST);</font>
00389 <font class="comment"></font>
00390 <font class="comment"> uint i;</font>
00391 <font class="comment"> float bestDist = threshold;</font>
00392 <font class="comment"> bool snapinterior = false;</font>
00393 <font class="comment"></font>
00394 <font class="comment"> // for each instance, try to retrieve the position</font>
00395 <font class="comment"> for (i=0; i<_InternalCST.CollisionInstances.size(); ++i)</font>
00396 <font class="comment"> {</font>
00397 <font class="comment"> uint32 id = _InternalCST.CollisionInstances[i];</font>
00398 <font class="comment"> // if the retrieved position is on a surface and it best match the estimated position</font>
00399 <font class="comment"> // remember it</font>
00400 <font class="comment"> const CRetrieverInstance &instance = _Instances[id];</font>
00401 <font class="comment"> CVector lestim = instance.getLocalPosition(estimated);</font>
00402 <font class="comment"> CLocalRetriever::CLocalPosition ret = instance.retrievePosition(estimated, _RetrieverBank->getRetriever(_Instances[id].getRetrieverId()), _InternalCST);</font>
00403 <font class="comment"> // go preferably on interior instances</font>
00404 <font class="comment"> float d = (float)fabs(lestim.z-ret.Estimation.z);</font>
00405 <font class="comment"> bool itype = (instance.getType() == CLocalRetriever::Interior);</font>
00406 <font class="comment"> if (ret.Surface != -1 && (snapinterior && itype && d < bestDist ||</font>
00407 <font class="comment"> !snapinterior && itype && d < 1.0f ||</font>
00408 <font class="comment"> !snapinterior && itype && d >= 1.0f && d < bestDist ||</font>
00409 <font class="comment"> !snapinterior && !itype && d < bestDist))</font>
00410 <font class="comment"> {</font>
00411 <font class="comment"> if (itype && d < 1.0f)</font>
00412 <font class="comment"> snapinterior = true;</font>
00413 <font class="comment"> bestDist = d;</font>
00414 <font class="comment"> result.LocalPosition = ret;</font>
00415 <font class="comment"> result.InstanceId = id;</font>
00416 <font class="comment"> }</font>
00417 <font class="comment"> }</font>
00418 <font class="comment"></font>
00419 <font class="comment"> return result;</font>
00420 <font class="comment">}</font>
00421 <font class="comment">*/</font>
<a name="l00422"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_2">00422</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVector &estimated, <font class="keywordtype">float</font> threshold)<font class="keyword"> const</font>
00423 <font class="keyword"></font>{
00424 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(CVectorD(estimated), (<font class="keywordtype">double</font>)threshold);
00425 }
00426
00427 <font class="comment">/*</font>
00428 <font class="comment">NLPACS::UGlobalPosition NLPACS::CGlobalRetriever::retrievePosition(const CVectorD &estimated, double threshold) const</font>
00429 <font class="comment">{</font>
00430 <font class="comment"> // the retrieved position</font>
00431 <font class="comment"> CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated));</font>
00432 <font class="comment"></font>
00433 <font class="comment"> if (!_BBox.include(CVector((float)estimated.x, (float)estimated.y, (float)estimated.z)))</font>
00434 <font class="comment"> return result;</font>
00435 <font class="comment"> </font>
00436 <font class="comment"> </font>
00437 <font class="comment"> // get the best matching instances</font>
00438 <font class="comment"> CAABBox bbpos;</font>
00439 <font class="comment"> bbpos.setCenter(estimated);</font>
00440 <font class="comment"> bbpos.setHalfSize(CVector(0.5f, 0.5f, 0.5f));</font>
00441 <font class="comment"> selectInstances(bbpos, _InternalCST);</font>
00442 <font class="comment"></font>
00443 <font class="comment"> uint i;</font>
00444 <font class="comment"> double bestDist = threshold;</font>
00445 <font class="comment"> bool snapinterior = false;</font>
00446 <font class="comment"></font>
00447 <font class="comment"> // for each instance, try to retrieve the position</font>
00448 <font class="comment"> for (i=0; i<_InternalCST.CollisionInstances.size(); ++i)</font>
00449 <font class="comment"> {</font>
00450 <font class="comment"> uint32 id = _InternalCST.CollisionInstances[i];</font>
00451 <font class="comment"> // if the retrieved position is on a surface and it best match the estimated position</font>
00452 <font class="comment"> // remember it</font>
00453 <font class="comment"> const CRetrieverInstance &instance = _Instances[id];</font>
00454 <font class="comment"> CVector lestim = instance.getLocalPosition(estimated);</font>
00455 <font class="comment"> CLocalRetriever::CLocalPosition ret = instance.retrievePosition(estimated, _RetrieverBank->getRetriever(_Instances[id].getRetrieverId()), _InternalCST);</font>
00456 <font class="comment"> // go preferably on interior instances</font>
00457 <font class="comment"> double d = fabs(lestim.z-ret.Estimation.z);</font>
00458 <font class="comment"> bool itype = (instance.getType() == CLocalRetriever::Interior);</font>
00459 <font class="comment"> if (ret.Surface != -1 && (snapinterior && itype && d < bestDist ||</font>
00460 <font class="comment"> !snapinterior && itype && d < 1.0f ||</font>
00461 <font class="comment"> !snapinterior && itype && d >= 1.0f && d < bestDist ||</font>
00462 <font class="comment"> !snapinterior && !itype && d < bestDist))</font>
00463 <font class="comment"> {</font>
00464 <font class="comment"> if (itype && d < 1.0)</font>
00465 <font class="comment"> snapinterior = true;</font>
00466 <font class="comment"> bestDist = d;</font>
00467 <font class="comment"> result.LocalPosition = ret;</font>
00468 <font class="comment"> result.InstanceId = id;</font>
00469 <font class="comment"> }</font>
00470 <font class="comment"></font>
00471 <font class="comment">// double d = fabs(lestim.z-ret.Estimation.z) * (_Instances[id].getType() == CLocalRetriever::Interior ? 0.5 : 1.0);</font>
00472 <font class="comment">// if (ret.Surface != -1 && d < bestDist)</font>
00473 <font class="comment">// {</font>
00474 <font class="comment">// bestDist = d;</font>
00475 <font class="comment">// result.LocalPosition = ret;</font>
00476 <font class="comment">// result.InstanceId = _Instances[id].getInstanceId();</font>
00477 <font class="comment">// }</font>
00478 <font class="comment"> }</font>
00479 <font class="comment"></font>
00480 <font class="comment"> return result;</font>
00481 <font class="comment">}</font>
00482 <font class="comment">*/</font>
00483
<a name="l00484"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_3">00484</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVectorD &estimated, <font class="keywordtype">double</font> threshold)<font class="keyword"> const</font>
00485 <font class="keyword"></font>{
00486 <font class="comment">// the retrieved position</font>
00487 CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated));
00488
00489 <font class="keywordflow">if</font> (!<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z265_2">include</a>(CVector((<font class="keywordtype">float</font>)estimated.x, (<font class="keywordtype">float</font>)estimated.y, (<font class="keywordtype">float</font>)estimated.z)))
00490 <font class="keywordflow">return</font> result;
00491
00492
00493 <font class="comment">// get the best matching instances</font>
00494 CAABBox bbpos;
00495 bbpos.setCenter(estimated);
00496 bbpos.setHalfSize(CVector(0.5f, 0.5f, 0.5f));
00497 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(bbpos, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00498
00499 uint i;
00500
00501 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.clear();
00502
00503 <font class="comment">// for each instance, try to retrieve the position</font>
00504 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances.size(); ++i)
00505 {
00506 uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances[i];
00507 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>];
00508 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00509 instance.retrievePosition(estimated, retriever, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00510 }
00511
00512 <font class="keywordflow">if</font> (!<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.empty())
00513 {
00514 <font class="comment">// if there are some selected surfaces, sort them</font>
00515 std::sort(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.begin(), <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.end(), CCollisionSurfaceTemp::CDistanceSurface());
00516
00517 uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces[0].Instance;
00518 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>];
00519 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00520
00521 <font class="comment">// get the UGlobalPosition of the estimation for this surface</font>
00522 result.InstanceId = <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>;
00523 result.LocalPosition.Surface = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces[0].Surface;
00524 result.LocalPosition.Estimation = instance.getLocalPosition(estimated);
00525
00526 CRetrieverInstance::snapVector(result.LocalPosition.Estimation);
00527
00528 <font class="comment">// if there are more than 1 one possible (and best matching) surface, insure the position within the surface (by moving the point)</font>
00529 <font class="comment">// if (_InternalCST.SortedSurfaces.size() >= 2 && </font>
00530 <font class="comment">// _InternalCST.SortedSurfaces[1].Distance-_InternalCST.SortedSurfaces[0].Distance < InsureSurfaceThreshold)</font>
00531 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces[0].FoundCloseEdge)
00532 {
00533 <font class="keywordtype">bool</font> moved;
00534 uint numMove = 0;
00535 <font class="keywordflow">do</font>
00536 {
00537 moved = retriever.insurePosition(result.LocalPosition);
00538 ++numMove;
00539
00540 <font class="keywordflow">if</font> (moved)
00541 {
00542 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"PACS: insured position inside surface (%d,%d)"</font>, result.InstanceId, result.LocalPosition.Surface);
00543 }
00544 }
00545 <font class="keywordflow">while</font> (moved && numMove < 100);
00546 <font class="comment">// the algo won't loop infinitely</font>
00547
00548 <font class="keywordflow">if</font> (moved)
00549 {
00550 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"PACS: couldn't insure position (%.f,%.f) within the surface (surf=%d,inst=%d) after 100 retries"</font>, result.LocalPosition.Estimation.x, result.LocalPosition.Estimation.y, result.LocalPosition.Surface, result.InstanceId);
00551 }
00552 }
00553
00554 <font class="comment">// and after selecting the best surface (and some replacement) snap the point to the surface</font>
00555 instance.snap(result.LocalPosition, retriever);
00556 }
00557 <font class="keywordflow">else</font>
00558 {
00559 <font class="comment">// nlwarning("PACS: unable to retrieve correct position (%f,%f,%f)", estimated.x, estimated.y, estimated.z);</font>
00560 <font class="comment">// nlSleep(1);</font>
00561 }
00562
00563 <font class="keywordflow">return</font> result;
00564 }
00565
<a name="l00566"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">00566</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVector &estimated)<font class="keyword"> const</font>
00567 <font class="keyword"></font>{
00568 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(estimated, 1.0e10f);
00569 }
00570
<a name="l00571"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_1">00571</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVectorD &estimated)<font class="keyword"> const</font>
00572 <font class="keyword"></font>{
00573 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(estimated, 1.0e10);
00574 }
00575
00576 <font class="comment">//</font>
00577
00578 sint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">NLPACS::CGlobalRetriever::getIdentifier</a>(<font class="keyword">const</font> string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)<font class="keyword"> const</font>
00579 <font class="keyword"></font>{
00580 sint32 i;
00581 <font class="keywordflow">for</font> (i=0; i<(sint32)(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers().size()); ++i)
00582 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(i).getIdentifier() == <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00583 <font class="keywordflow">return</font> i;
00584
00585 <font class="keywordflow">return</font> -1;
00586 }
00587
<a name="l00588"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_5">00588</a> <font class="keyword">const</font> string &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">NLPACS::CGlobalRetriever::getIdentifier</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &position)<font class="keyword"> const</font>
00589 <font class="keyword"></font>{
00590 <font class="keyword">static</font> <font class="keyword">const</font> string nullString = string(<font class="stringliteral">""</font>);
00591
00592 <font class="keywordflow">if</font> (position.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a> == -1)
00593 <font class="keywordflow">return</font> nullString;
00594
00595 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[position.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>].getRetrieverId()).getIdentifier();
00596 }
00597
00598 <font class="comment">//</font>
00599
00600 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_6">NLPACS::CGlobalRetriever::buildInstance</a>(<font class="keyword">const</font> string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &position, sint32 &instanceId)
00601 {
00602 NL_ALLOC_CONTEXT( Pacs )
00603
00604 sint32 retrieverId = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
00605
00606 instanceId = -1;
00607
00608 <font class="comment">// check retriever exists</font>
00609 <font class="keywordflow">if</font> (retrieverId < 0)
00610 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00611
00612 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">makeInstance</a>(retrieverId, 0, CVector(position));
00613
00614 <font class="comment">// check make instance success</font>
00615 <font class="keywordflow">if</font> (&instance == NULL || instance.getInstanceId() == -1 || instance.getRetrieverId() != retrieverId)
00616 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00617
00618 <font class="comment">// links new instance to its neighbors</font>
00619 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a>(instance.getInstanceId());
00620
00621 instanceId = instance.getInstanceId();
00622
00623 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00624 }
00625
00626 <font class="comment">//</font>
00627
<a name="l00628"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">00628</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">NLPACS::CGlobalRetriever::removeInstance</a>(sint32 instanceId)
00629 {
00630 <font class="keywordflow">if</font> (instanceId < 0 || instanceId >= (sint32)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() || <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[instanceId].getInstanceId() < 0)
00631 {
00632 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"CGlobalRetriever::removeInstance(): Can't unlink instance %d, doesn't exist"</font>, instanceId);
00633 <font class="keywordflow">return</font>;
00634 }
00635
00636 <font class="comment">// get instance</font>
00637 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[instanceId];
00638
00639 <font class="comment">// unlink it from others</font>
00640 instance.unlink(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>);
00641
00642
00643 }
00644
00645 <font class="comment">//</font>
00646
00647 <font class="comment">//</font>
00648 <font class="comment">/*</font>
00649 <font class="comment">void NLPACS::CGlobalRetriever::snapToInteriorGround(UGlobalPosition &position) const</font>
00650 <font class="comment">{</font>
00651 <font class="comment"> const CRetrieverInstance &instance = _Instances[position.InstanceId];</font>
00652 <font class="comment"> if (instance.getType() != CLocalRetriever::Interior)</font>
00653 <font class="comment"> return;</font>
00654 <font class="comment"></font>
00655 <font class="comment"> const CLocalRetriever &retriever = getRetriever(instance.getRetrieverId());</font>
00656 <font class="comment"> instance.snapToInteriorGround(position.LocalPosition, retriever);</font>
00657 <font class="comment">}</font>
00658 <font class="comment">*/</font>
00659
00660 <font class="comment">//</font>
<a name="l00661"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">00661</a> CVector <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">NLPACS::CGlobalRetriever::getGlobalPosition</a>(<font class="keyword">const</font> UGlobalPosition &global)<font class="keyword"> const</font>
00662 <font class="keyword"></font>{
00663 <font class="keywordflow">if</font> (global.InstanceId >= 0)
00664 {
00665 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[global.InstanceId].getGlobalPosition(global.LocalPosition.Estimation);
00666 }
00667 <font class="keywordflow">else</font>
00668 {
00669 <font class="comment">// it should be an error here</font>
00670 <font class="keywordflow">return</font> global.LocalPosition.Estimation;
00671 }
00672 }
00673
<a name="l00674"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">00674</a> CVectorD <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">NLPACS::CGlobalRetriever::getDoubleGlobalPosition</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &global)<font class="keyword"> const</font>
00675 <font class="keyword"></font>{
00676 <font class="keywordflow">if</font> (global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a> >= 0)
00677 {
00678 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>].getDoubleGlobalPosition(global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation);
00679 }
00680 <font class="keywordflow">else</font>
00681 {
00682 <font class="comment">// it should be an error here</font>
00683 <font class="keywordflow">return</font> CVectorD(global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation);
00684 }
00685 }
00686
00687 <font class="comment">//</font>
00688
00689 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">NLPACS::CGlobalRetriever::findAStarPath</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &begin,
00690 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &end,
00691 vector<NLPACS::CRetrieverInstance::CAStarNodeAccess> &path,
00692 uint32 forbidFlags)<font class="keyword"> const</font>
00693 <font class="keyword"></font>{
00694 <a class="code" href="namespaceNLMISC.html#a184">TTicks</a> astarStart;
00695 <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a> = 0;
00696 astarStart = CTime::getPerformanceTime();
00697
00698 <font class="comment">// open and close lists</font>
00699 <font class="comment">// TODO: Use a smart allocator to avoid huge alloc/free and memory fragmentation</font>
00700 <font class="comment">// open is a priority queue (implemented as a stl multimap)</font>
00701 multimap<float, CRetrieverInstance::CAStarNodeAccess> open;
00702 <font class="comment">// close is a simple stl vector</font>
00703 vector<CRetrieverInstance::CAStarNodeAccess> close;
00704
00705 <font class="comment">// inits start node and info</font>
00706 CRetrieverInstance::CAStarNodeAccess beginNode;
00707 beginNode.InstanceId = begin.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>;
00708 beginNode.NodeId = (uint16)begin.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Surface;
00709 CRetrieverInstance::CAStarNodeInfo &beginInfo = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(beginNode);
00710
00711 <font class="comment">// inits end node and info.</font>
00712 CRetrieverInstance::CAStarNodeAccess endNode;
00713 endNode.InstanceId = end.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>;
00714 endNode.NodeId = (uint16)end.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Surface;
00715 CRetrieverInstance::CAStarNodeInfo &endInfo = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(endNode);
00716
00717 <font class="comment">// set up first node...</font>
00718 CRetrieverInstance::CAStarNodeAccess node = beginNode;
00719 beginInfo.Parent.InstanceId = -1;
00720 beginInfo.Parent.NodeId = 0;
00721 beginInfo.Parent.ThroughChain = 0;
00722 beginInfo.Cost = 0;
00723 beginInfo.F = (endInfo.Position-beginInfo.Position).norm();
00724
00725 <font class="comment">// ... and inserts it in the open list.</font>
00726 open.insert(make_pair(beginInfo.F, node));
00727
00728 <font class="comment">// TO DO: use a CVector2f instead</font>
00729 CVector2f endPosition = CVector2f(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">getGlobalPosition</a>(end));
00730
00731 uint i;
00732
00733 path.clear();
00734
00735 <font class="keywordflow">while</font> (true)
00736 {
00737 <font class="keywordflow">if</font> (open.empty())
00738 {
00739 <font class="comment">// couldn't find a path</font>
00740 <font class="keywordflow">return</font>;
00741 }
00742
00743 multimap<float, CRetrieverInstance::CAStarNodeAccess>::iterator it;
00744
00745 it = open.begin();
00746 node = it->second;
00747 open.erase(it);
00748
00749 <font class="keywordflow">if</font> (node == endNode)
00750 {
00751 <font class="comment">// found a path</font>
00752 CRetrieverInstance::CAStarNodeAccess pathNode = node;
00753 uint numNodes = 0;
00754 <font class="keywordflow">while</font> (pathNode.InstanceId != -1)
00755 {
00756 ++numNodes;
00757 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pathNode.InstanceId];
00758 CRetrieverInstance::CAStarNodeInfo &pathInfo = instance._NodesInformation[pathNode.NodeId];
00759 pathNode = pathInfo.Parent;
00760 }
00761
00762 path.resize(numNodes);
00763 pathNode = node;
00764 <font class="keywordflow">while</font> (pathNode.InstanceId != -1)
00765 {
00766 path[--numNodes] = pathNode;
00767 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pathNode.InstanceId];
00768 CRetrieverInstance::CAStarNodeInfo &pathInfo = instance._NodesInformation[pathNode.NodeId];
00769 pathNode = pathInfo.Parent;
00770 }
00771
00772 <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a> += (CTime::getPerformanceTime()-astarStart);
00773
00774 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"found a path"</font>);
00775 <font class="keywordflow">for</font> (i=0; i<path.size(); ++i)
00776 {
00777 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[path[i].InstanceId];
00778 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00779 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"pathNode %d = (Inst=%d, Node=%d, Through=%d)"</font>, i, path[i].InstanceId, path[i].NodeId, path[i].ThroughChain);
00780 <font class="keywordflow">if</font> (path[i].ThroughChain != 0xffff)
00781 {
00782 <font class="keyword">const</font> CChain &chain = retriever.getChain(path[i].ThroughChain);
00783 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" chain: left=%d right=%d"</font>, chain.getLeft(), chain.getRight());
00784 <font class="keywordflow">if</font> (CChain::isBorderChainId(chain.getRight()))
00785 {
00786 CRetrieverInstance::CLink lnk = instance.getBorderChainLink(CChain::convertBorderChainId(chain.getRight()));
00787 sint instanceid = lnk.Instance;
00788 sint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> = lnk.SurfaceId;
00789 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" right: instance=%d surf=%d"</font>, instanceid, <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
00790 }
00791 }
00792 }
00793 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"open.size()=%d"</font>, open.size());
00794 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"close.size()=%d"</font>, close.size());
00795
00796 <font class="keywordflow">return</font>;
00797 }
00798
00799 <font class="comment">// push successors of the current node</font>
00800 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &inst = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[node.InstanceId];
00801 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(inst.getRetrieverId());
00802 <font class="keyword">const</font> CRetrievableSurface &surf = retriever.getSurface(node.NodeId);
00803 <font class="keyword">const</font> vector<CRetrievableSurface::CSurfaceLink> &chains = surf.getChains();
00804
00805 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> *nextInstance;
00806 <font class="keyword">const</font> CLocalRetriever *nextRetriever;
00807 <font class="keyword">const</font> CRetrievableSurface *nextSurface;
00808
00809 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"examine node (instance=%d,surf=%d,cost=%g)"</font>, node.InstanceId, node.NodeId, inst._NodesInformation[node.NodeId].Cost);
00810
00811 <font class="keywordflow">for</font> (i=0; i<chains.size(); ++i)
00812 {
00813 sint32 nextNodeId = chains[i].Surface;
00814 CRetrieverInstance::CAStarNodeAccess nextNode;
00815
00816 <font class="keywordflow">if</font> (CChain::isBorderChainId(nextNodeId))
00817 {
00818 <font class="comment">// if the chain points to another retriever</font>
00819
00820 <font class="comment">// first get the edge on the retriever</font>
00821 CRetrieverInstance::CLink lnk = inst.getBorderChainLink(CChain::convertBorderChainId(nextNodeId));
00822 nextNode.InstanceId = lnk.Instance;
00823
00824 <font class="keywordflow">if</font> (nextNode.InstanceId < 0)
00825 <font class="keywordflow">continue</font>;
00826
00827 nextInstance = &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[nextNode.InstanceId];
00828 nextRetriever = &(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(nextInstance->getRetrieverId()));
00829
00830 sint nodeId = lnk.SurfaceId;
00831 <a class="code" href="debug_8h.html#a6">nlassert</a>(nodeId >= 0);
00832 nextNode.NodeId = (uint16)nodeId;
00833 }
00834 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (nextNodeId >= 0)
00835 {
00836 <font class="comment">// if the chain points to the same instance</font>
00837 nextNode.InstanceId = node.InstanceId;
00838 nextNode.NodeId = (uint16) nextNodeId;
00839 nextInstance = &inst;
00840 nextRetriever = &retriever;
00841 }
00842 <font class="keywordflow">else</font>
00843 {
00844 <font class="comment">// if the chain cannot be crossed</font>
00845 <font class="keywordflow">continue</font>;
00846 }
00847
00848 nextSurface = &(nextRetriever->getSurface(nextNode.NodeId));
00849
00850 <font class="keywordflow">if</font> (nextSurface->getFlags() & forbidFlags)
00851 <font class="keywordflow">continue</font>;
00852
00853 <font class="comment">// compute new node value (heuristic and cost)</font>
00854
00855 CRetrieverInstance::CAStarNodeInfo &nextInfo = nextInstance->_NodesInformation[nextNode.NodeId];
00856 <font class="keywordtype">float</font> stepCost = (nextInfo.Position-inst._NodesInformation[node.NodeId].Position).norm();
00857 <font class="keywordtype">float</font> nextCost = inst._NodesInformation[node.NodeId].Cost+stepCost;
00858 <font class="keywordtype">float</font> nextHeuristic = (nextInfo.Position-endPosition).norm();
00859 <font class="keywordtype">float</font> nextF = nextCost+nextHeuristic;
00860
00861 vector<CRetrieverInstance::CAStarNodeAccess>::iterator closeIt;
00862 <font class="keywordflow">for</font> (closeIt=close.begin(); closeIt!=close.end() && *closeIt!=nextNode; ++closeIt)
00863 ;
00864
00865 <font class="keywordflow">if</font> (closeIt != close.end() && nextInfo.F < nextF)
00866 <font class="keywordflow">continue</font>;
00867
00868 multimap<float, CRetrieverInstance::CAStarNodeAccess>::iterator openIt;
00869 <font class="keywordflow">for</font> (openIt=open.begin(); openIt!=open.end() && openIt->second!=nextNode; ++openIt)
00870 ;
00871
00872 <font class="keywordflow">if</font> (openIt != open.end() && nextInfo.F < nextF)
00873 <font class="keywordflow">continue</font>;
00874
00875 <font class="keywordflow">if</font> (openIt != open.end())
00876 open.erase(openIt);
00877
00878 <font class="keywordflow">if</font> (closeIt != close.end())
00879 close.erase(closeIt);
00880
00881 nextInfo.Parent = node;
00882 nextInfo.Parent.ThroughChain = (uint16)(chains[i].Chain);
00883 nextInfo.Cost = nextCost;
00884 nextInfo.F = nextF;
00885
00886 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" adding node (instance=%d,surf=%d) f=%g, through=%d"</font>, nextNode.InstanceId, nextNode.NodeId, nextInfo.F, i);
00887
00888 open.insert(make_pair(nextInfo.F, nextNode));
00889 }
00890 close.push_back(node);
00891 }
00892 }
00893
00894
00895
<a name="l00896"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">00896</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">NLPACS::CGlobalRetriever::findPath</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &begin,
00897 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &end,
00898 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">NLPACS::CGlobalRetriever::CGlobalPath</a> &path,
00899 uint32 forbidFlags)<font class="keyword"> const</font>
00900 <font class="keyword"></font>{
00901
00902 vector<CRetrieverInstance::CAStarNodeAccess> astarPath;
00903 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">findAStarPath</a>(begin, end, astarPath, forbidFlags);
00904
00905 <a class="code" href="namespaceNLMISC.html#a184">TTicks</a> surfStart;
00906 <a class="code" href="namespaceNLMISC.html#a184">TTicks</a> chainStart;
00907
00908 <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a> = 0;
00909 <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a> = 0;
00910 <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a> = 0;
00911
00912 path.clear();
00913 path.resize(astarPath.size());
00914
00915 uint i, j;
00916 <font class="keywordflow">for</font> (i=0; i<astarPath.size(); ++i)
00917 {
00918 chainStart = CTime::getPerformanceTime();
00919 CLocalPath &surf = path[i];
00920 surf.InstanceId = astarPath[i].InstanceId;
00921 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[surf.InstanceId].getRetrieverId());
00922
00923 <font class="comment">// computes start point</font>
00924 <font class="keywordflow">if</font> (i == 0)
00925 {
00926 <font class="comment">// if it is the first point, just copy the begin</font>
00927 surf.Start.ULocalPosition::operator= (begin.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>);
00928 }
00929 <font class="keywordflow">else</font>
00930 {
00931 <font class="comment">// else, take the previous value and convert it in the current instance axis</font>
00932 <font class="comment">// TODO: avoid this if the instances are the same</font>
00933 CVector prev = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[path[i-1].InstanceId].getGlobalPosition(path[i-1].End.Estimation);
00934 CVector current = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[surf.InstanceId].getLocalPosition(prev);
00935 surf.Start.Surface = astarPath[i].NodeId;
00936 surf.Start.Estimation = current;
00937 }
00938
00939 <font class="comment">// computes end point</font>
00940 <font class="keywordflow">if</font> (i == astarPath.size()-1)
00941 {
00942 surf.End.ULocalPosition::operator= (end.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>);
00943 }
00944 <font class="keywordflow">else</font>
00945 {
00946 <font class="comment">// get to the middle of the chain</font>
00947 <font class="comment">// first get the chain between the 2 surfaces</font>
00948 <font class="keyword">const</font> CChain &chain = retriever.getChain(astarPath[i].ThroughChain);
00949 <font class="keywordtype">float</font> cumulLength = 0.0f, midLength=chain.getLength()*0.5f;
00950 <font class="keywordflow">for</font> (j=0; j<chain.getSubChains().size() && cumulLength<=midLength; ++j)
00951 cumulLength += retriever.getOrderedChain(chain.getSubChain(j)).getLength();
00952 --j;
00953 <font class="keyword">const</font> COrderedChain &ochain = retriever.getOrderedChain(chain.getSubChain(j));
00954 surf.End.Surface = astarPath[i].NodeId;
00955 {
00956 <font class="keywordflow">if</font> (ochain.getVertices().size() & 1)
00957 {
00958 surf.End.Estimation = ochain[ochain.getVertices().size()/2].unpack3f();
00959 }
00960 <font class="keywordflow">else</font>
00961 {
00962 surf.End.Estimation = (ochain[ochain.getVertices().size()/2].unpack3f()+
00963 ochain[ochain.getVertices().size()/2-1].unpack3f())*0.5f;
00964 }
00965 }
00966 }
00967 <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a> += (CTime::getPerformanceTime()-chainStart);
00968
00969 surfStart = CTime::getPerformanceTime();
00970 retriever.findPath(surf.Start, surf.End, surf.Path, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00971 <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a> += (CTime::getPerformanceTime()-surfStart);
00972 }
00973
00974 <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a> = <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a>+<a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a>+<a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a>;
00975 <a class="code" href="global__retriever_8cpp.html#a1">PathTicks</a> += <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a>;
00976 <a class="code" href="global__retriever_8cpp.html#a3">SurfTicks</a> += <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a>;
00977 <a class="code" href="global__retriever_8cpp.html#a0">AStarTicks</a> += <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a>;
00978 <a class="code" href="global__retriever_8cpp.html#a2">ChainTicks</a> += <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a>;
00979 }
00980
00981
00982 <font class="comment">// ***************************************************************************</font>
00983
00984 <font class="comment">// ***************************************************************************</font>
00985 <font class="comment">// ***************************************************************************</font>
00986 <font class="comment">// Collisions part.</font>
00987 <font class="comment">// ***************************************************************************</font>
00988 <font class="comment">// ***************************************************************************</font>
00989
00990
00991
00992 <font class="comment">// ***************************************************************************</font>
<a name="l00993"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">00993</a> <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrievableSurface.html">NLPACS::CRetrievableSurface</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">NLPACS::CGlobalRetriever::getSurfaceById</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CSurfaceIdent.html">NLPACS::CSurfaceIdent</a> &surfId)<font class="keyword"> const</font>
00994 <font class="keyword"></font>{
00995 <font class="keywordflow">if</font>(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m0">RetrieverInstanceId</a>>=0 && surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m1">SurfaceId</a>>=0)
00996 {
00997 sint32 locRetId= this-><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m0">RetrieverInstanceId</a>).getRetrieverId();
00998 <font class="keyword">const</font> CRetrievableSurface &surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(locRetId).getSurface(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m1">SurfaceId</a>);
00999 <font class="keywordflow">return</font> &surf;
01000 }
01001 <font class="keywordflow">else</font>
01002 <font class="keywordflow">return</font> NULL;
01003 }
01004
01005
01006
01007 <font class="comment">// ***************************************************************************</font>
<a name="l01008"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">01008</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">NLPACS::CGlobalRetriever::findCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bboxMove, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &origin)<font class="keyword"> const</font>
01009 <font class="keyword"></font>{
01010 <font class="comment">// H_AUTO(PACS_GR_findCollisionChains);</font>
01011
01012 sint i,j;
01013
01014 <font class="comment">// 0. reset.</font>
01015 <font class="comment">//===========</font>
01016 <font class="comment">// reset possible chains.</font>
01017 <font class="comment">// H_BEFORE(PACS_GR_findCC_reset);</font>
01018 cst.CollisionChains.clear();
01019 cst.resetEdgeCollideNodes();
01020 <font class="comment">// H_AFTER(PACS_GR_findCC_reset);</font>
01021
01022 <font class="comment">// 1. Find Instances which may hit this movement.</font>
01023 <font class="comment">//===========</font>
01024 <font class="comment">// H_BEFORE(PACS_GR_findCC_selectInstances);</font>
01025 CAABBox bboxMoveGlobal= bboxMove;
01026 bboxMoveGlobal.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(bboxMoveGlobal.getCenter()+origin);
01027 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(bboxMoveGlobal, cst);
01028 <font class="comment">// H_AFTER(PACS_GR_findCC_selectInstances);</font>
01029 <font class="comment">// \todo yoyo: TODO_INTERIOR: add interiors meshes (static/dynamic houses etc...) to this list.</font>
01030 <font class="comment">// -> done automatically with the select</font>
01031
01032
01033 <font class="comment">// 2. Fill CollisionChains.</font>
01034 <font class="comment">//===========</font>
01035 <font class="comment">// For each possible surface mesh, test collision.</font>
01036 <font class="keywordflow">for</font>(i=0 ; i<(sint)cst.CollisionInstances.size(); i++)
01037 {
01038 <font class="comment">// H_BEFORE(PACS_GR_findCC_getAndComputeMove);</font>
01039 <font class="comment">// get retrieverInstance.</font>
01040 sint32 curInstance= cst.CollisionInstances[i];
01041 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &retrieverInstance= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(curInstance);
01042
01043 <font class="comment">// Retrieve the localRetriever of this instance.</font>
01044 sint32 localRetrieverId= retrieverInstance.getRetrieverId();
01045 <font class="comment">// If invalid one (hole), continue.</font>
01046 <font class="keywordflow">if</font>(localRetrieverId<0)
01047 <font class="keywordflow">continue</font>;
01048 <font class="keyword">const</font> CLocalRetriever &localRetriever= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(localRetrieverId);
01049
01050 <font class="comment">// get delta between startPos.instance and curInstance.</font>
01051 CVector deltaOrigin;
01052 deltaOrigin= origin - retrieverInstance.getOrigin();
01053
01054 <font class="comment">// compute movement relative to this localRetriever.</font>
01055 CAABBox bboxMoveLocal= bboxMove;
01056 bboxMoveLocal.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(bboxMoveLocal.getCenter()+deltaOrigin);
01057
01058 <font class="comment">// add possible collision chains with movement.</font>
01059 <font class="comment">//================</font>
01060 sint firstCollisionChain= cst.CollisionChains.size();
01061 CVector2f transBase(-deltaOrigin.x, -deltaOrigin.y);
01062 <font class="comment">// H_AFTER(PACS_GR_findCC_getAndComputeMove);</font>
01063
01064 <font class="comment">// H_BEFORE(PACS_GR_findCC_testCollision);</font>
01065 <font class="comment">// Go! fill collision chains that this movement intersect.</font>
01066 localRetriever.testCollision(cst, bboxMoveLocal, transBase);
01067 <font class="comment">// if an interior, also test for external collisions</font>
01069 <font class="comment"> if (retrieverInstance.getType() == CLocalRetriever::Interior)</font>
01070 retrieverInstance.testExteriorCollision(cst, bboxMoveLocal, transBase, localRetriever);
01071
01072 <font class="comment">// how many collision chains added? : nCollisionChain-firstCollisionChain.</font>
01073 sint nCollisionChain= cst.CollisionChains.size();
01074 <font class="comment">// H_AFTER(PACS_GR_findCC_testCollision);</font>
01075
01076
01077 <font class="comment">// For all collision chains added, fill good SurfaceIdent info.</font>
01078 <font class="comment">//================</font>
01079 <font class="comment">// H_BEFORE(PACS_GR_findCC_fillSurfIdent);</font>
01080 <font class="keywordflow">for</font>(j=firstCollisionChain; j<nCollisionChain; j++)
01081 {
01082 CCollisionChain &cc= cst.CollisionChains[j];
01083
01084 <font class="comment">// info are already filled for exterior chains.</font>
01085 <font class="keywordflow">if</font> (cc.ExteriorEdge)
01086 <font class="keywordflow">continue</font>;
01087
01088 <font class="comment">// LeftSurface retrieverInstance is always curInstance.</font>
01089 cc.LeftSurface.RetrieverInstanceId= curInstance;
01090
01091 <font class="comment">// If RightSurface is not an "edgeId" ie a pointer on a neighbor surface on an other retrieverInstance.</font>
01092 <font class="keyword">const</font> CChain &originalChain= localRetriever.getChain(cc.ChainId);
01093 <font class="keywordflow">if</font>( !originalChain.isBorderChainId(cc.RightSurface.SurfaceId) )
01094 {
01095 cc.RightSurface.RetrieverInstanceId= curInstance;
01096 }
01097 <font class="keywordflow">else</font>
01098 {
01099 <font class="comment">// we must find the surfaceIdent of the neighbor.</font>
01100 <font class="comment">// \todo yoyo: TODO_INTERIOR: this work only for zone. Must work too for houses.</font>
01101
01102 CRetrieverInstance::CLink link;
01103 <font class="comment">// get the link to the next surface from the instance</font>
01104 link = retrieverInstance.getBorderChainLink(CChain::convertBorderChainId(cc.RightSurface.SurfaceId));
01105
01106 <font class="comment">// get the neighbor instanceId.</font>
01107 sint neighborInstanceId= (sint16)link.Instance;
01108 <font class="comment">// store in the current collisionChain Right.</font>
01109 cc.RightSurface.RetrieverInstanceId= neighborInstanceId;
01110
01111 <font class="comment">// If no instance near us, this is a WALL.</font>
01112 <font class="keywordflow">if</font>(neighborInstanceId<0)
01113 {
01114 <font class="comment">// mark as a Wall.</font>
01115 cc.RightSurface.SurfaceId= -1;
01116 }
01117 <font class="keywordflow">else</font>
01118 {
01119 <font class="comment">// Get the good neighbor surfaceId.</font>
01120 cc.RightSurface.SurfaceId= (sint16)link.SurfaceId;
01121 }
01122 }
01123
01124 <a class="code" href="debug_8h.html#a6">nlassert</a>(cc.LeftSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01125 <a class="code" href="debug_8h.html#a6">nlassert</a>(cc.RightSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01126 }
01127 <font class="comment">// H_AFTER(PACS_GR_findCC_fillSurfIdent);</font>
01128
01129
01130 <font class="comment">// For all collision chains added, look if they are a copy of preceding collsion chain (same Left/Right). Then delete them.</font>
01131 <font class="comment">//================</font>
01132 <font class="comment">// \todo yoyo: TODO_OPTIMIZE: this is a N� complexity.</font>
01133 <font class="comment">// H_BEFORE(PACS_GR_findCC_removeDouble);</font>
01134 <font class="keywordflow">for</font>(j=firstCollisionChain; j<nCollisionChain; j++)
01135 {
01136 <font class="keyword">const</font> CCollisionChain &cj = cst.CollisionChains[j];
01137
01138 <font class="keywordflow">if</font> (cj.ExteriorEdge && cj.LeftSurface.RetrieverInstanceId!=-1)
01139 <font class="keywordflow">continue</font>;
01140
01141 <font class="comment">// test for all collisionChain inserted before.</font>
01142 <font class="keywordflow">for</font>(sint k=0; k<firstCollisionChain; k++)
01143 {
01144 <font class="keyword">const</font> CCollisionChain &ck = cst.CollisionChains[k];
01145
01146 <font class="keywordflow">if</font> (cj.LeftSurface.RetrieverInstanceId != cj.RightSurface.RetrieverInstanceId &&
01147 cj.LeftSurface == ck.RightSurface && cj.RightSurface == ck.LeftSurface)
01148 {
01149 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instj = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(cj.LeftSurface.RetrieverInstanceId),
01150 &instk = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(ck.LeftSurface.RetrieverInstanceId);
01151 <font class="keyword">const</font> CLocalRetriever &retrj = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instj.getRetrieverId()),
01152 &retrk = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instk.getRetrieverId());
01153
01154 <a class="code" href="debug_8h.html#a6">nlassert</a>(retrj.getChain(cj.ChainId).isBorderChain() && retrk.getChain(ck.ChainId).isBorderChain());
01155
01156 <font class="keywordflow">if</font> (instj.getBorderChainLink(retrj.getChain(cj.ChainId).getBorderChainIndex()).ChainId != ck.ChainId ||
01157 instk.getBorderChainLink(retrk.getChain(ck.ChainId).getBorderChainIndex()).ChainId != cj.ChainId)
01158 {
01159 <font class="keywordflow">continue</font>;
01160 }
01161
01162 <font class="comment">// remove this jth entry.</font>
01163 <font class="comment">// by swapping with last entry. Only if not already last.</font>
01164 <font class="keywordflow">if</font>(j<nCollisionChain-1)
01165 {
01166 swap(cst.CollisionChains[j], cst.CollisionChains[nCollisionChain-1]);
01167 <font class="comment">// NB: some holes remain in cst._EdgeCollideNodes, but do not matters since reseted at </font>
01168 <font class="comment">// each collision test.</font>
01169 }
01170
01171 <font class="comment">// pop last entry.</font>
01172 nCollisionChain--;
01173 cst.CollisionChains.resize(nCollisionChain);
01174
01175 <font class="comment">// next entry??</font>
01176 j--;
01177 <font class="keywordflow">break</font>;
01178 }
01179 <font class="comment">/*</font>
01180 <font class="comment"> // if same surface Ident Left/Right==Left/Right or swapped Left/Right==Right/Left</font>
01181 <font class="comment"> if( cst.CollisionChains[j].sameSurfacesThan(cst.CollisionChains[k]) )</font>
01182 <font class="comment"> {</font>
01183 <font class="comment"> // remove this jth entry.</font>
01184 <font class="comment"> // by swapping with last entry. Only if not already last.</font>
01185 <font class="comment"> if(j<nCollisionChain-1)</font>
01186 <font class="comment"> {</font>
01187 <font class="comment"> swap(cst.CollisionChains[j], cst.CollisionChains[nCollisionChain-1]);</font>
01188 <font class="comment"> // NB: some holes remain in cst._EdgeCollideNodes, but do not matters since reseted at </font>
01189 <font class="comment"> // each collision test.</font>
01190 <font class="comment"> }</font>
01191 <font class="comment"></font>
01192 <font class="comment"> // pop last entry.</font>
01193 <font class="comment"> nCollisionChain--;</font>
01194 <font class="comment"> cst.CollisionChains.resize(nCollisionChain);</font>
01195 <font class="comment"></font>
01196 <font class="comment"> // next entry??</font>
01197 <font class="comment"> j--;</font>
01198 <font class="comment"> break;</font>
01199 <font class="comment"> }</font>
01200 <font class="comment">*/</font>
01201 }
01202
01203 }
01204 <font class="comment">// H_AFTER(PACS_GR_findCC_removeDouble);</font>
01205 }
01206
01207 }
01208
01209
01210 <font class="comment">// ***************************************************************************</font>
<a name="l01211"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">01211</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">NLPACS::CGlobalRetriever::testCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &deltaCol,
01212 CSurfaceIdent startSurface, <font class="keywordtype">float</font> radius, <font class="keyword">const</font> CVector2f bboxStart[4], TCollisionType colType)<font class="keyword"> const</font>
01213 <font class="keyword"></font>{
01214 <font class="comment">// H_AUTO(PACS_GR_testCollisionWithCollisionChains);</font>
01215
01216 <font class="comment">// start currentSurface with surface start.</font>
01217 CSurfaceIdent currentSurface= startSurface;
01218 uint nextCollisionSurfaceTested=0;
01219 sint i;
01220
01221 <font class="comment">// reset result.</font>
01222 cst.CollisionDescs.clear();
01223 <font class="comment">// reset all collisionChain to not tested.</font>
01224 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01225 {
01226 CCollisionChain &colChain= cst.CollisionChains[i];
01227 colChain.Tested= <font class="keyword">false</font>;
01228 }
01229
01230
01231 <font class="comment">/*</font>
01232 <font class="comment"> To manage recovery, we must use such an algorithm, so we are sure to trace the way across all surfaces really </font>
01233 <font class="comment"> collided, and discard any other (such as other floor or ceiling).</font>
01234 <font class="comment"> */</font>
01235 <font class="keywordflow">while</font>(true)
01236 {
01237 <font class="comment">// run all collisionChain.</font>
01238 <font class="comment">//========================</font>
01239 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01240 {
01241 CCollisionChain &colChain= cst.CollisionChains[i];
01242
01244 <a class="code" href="debug_8h.html#a6">nlassert</a>(colChain.LeftSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01245 <a class="code" href="debug_8h.html#a6">nlassert</a>(colChain.RightSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01246
01247 <font class="comment">// test only currentSurface/X. And don't test chains already tested before.</font>
01248 <font class="keywordflow">if</font>(colChain.hasSurface(currentSurface) && !colChain.Tested)
01249 {
01250 <font class="comment">// we are testing this chain.</font>
01251 colChain.Tested= <font class="keyword">true</font>;
01252
01253
01254 <font class="comment">// test all edges of this chain, and get tmin</font>
01255 <font class="comment">//========================</font>
01256 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>=0.0, tMin=1;
01257 CVector2f normal, normalMin;
01258 <font class="comment">// run list of edge.</font>
01259 sint32 curEdge= colChain.FirstEdgeCollide;
01260 <font class="keywordflow">while</font>(curEdge!=(sint32)0xFFFFFFFF)
01261 {
01262 <font class="comment">// get the edge.</font>
01263 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge);
01264
01265 <font class="comment">// test collision with this edge.</font>
01266 <font class="keywordflow">if</font>(colType==CGlobalRetriever::Circle)
01267 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= colEdge.testCircleMove(startCol, deltaCol, radius, normal);
01268 <font class="keywordflow">else</font> <font class="keywordflow">if</font>(colType==CGlobalRetriever::BBox)
01269 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= colEdge.testBBoxMove(startCol, deltaCol, bboxStart, normal);
01270
01271 <font class="comment">// earlier collision??</font>
01272 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a><tMin)
01273 {
01274 tMin= <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>;
01275 normalMin= normal;
01276 }
01277
01278 <font class="comment">// next edge.</font>
01279 curEdge= colEdge.Next;
01280 }
01281
01282
01283 <font class="comment">// If collision with this chain, must insert it in the array of collision.</font>
01284 <font class="comment">//========================</font>
01285 <font class="keywordflow">if</font>(tMin<1)
01286 {
01287 CSurfaceIdent collidedSurface= colChain.getOtherSurface(currentSurface);
01288
01290 <a class="code" href="debug_8h.html#a6">nlassert</a>(collidedSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01291
01292 <font class="comment">// insert or replace this collision in collisionDescs.</font>
01293 <font class="comment">// NB: yes this looks like a N algorithm (so N�). But not so many collisions may arise, so don't bother.</font>
01294 sint indexInsert= cst.CollisionDescs.size();
01295 sint colFound= -1;
01296
01297 <font class="comment">// start to search with nextCollisionSurfaceTested, because can't insert before.</font>
01298 <font class="keywordflow">for</font>(sint j= nextCollisionSurfaceTested; j<(sint)cst.CollisionDescs.size(); j++)
01299 {
01300 <font class="comment">// we must keep time order.</font>
01301 <font class="keywordflow">if</font>(tMin < cst.CollisionDescs[j].ContactTime)
01302 {
01303 indexInsert= <a class="code" href="bit__set_8cpp.html#a0">min</a>(j, indexInsert);
01304 }
01305 <font class="comment">// Does the collision with this surface already exist??</font>
01306 <font class="keywordflow">if</font>(cst.CollisionDescs[j].ContactSurface==collidedSurface)
01307 {
01308 colFound= j;
01309 <font class="comment">// if we have found our old collision, stop, there is no need to search more.</font>
01310 <font class="keywordflow">break</font>;
01311 }
01312 }
01313
01314 <font class="comment">// Insert only if the surface was not already collided, or that new collision arise before old.</font>
01315 <font class="keywordflow">if</font>(colFound==-1 || indexInsert<=colFound)
01316 {
01317 CCollisionSurfaceDesc newCol;
01318 newCol.ContactSurface= collidedSurface;
01319 newCol.ContactTime= tMin;
01320 newCol.ContactNormal.set(normalMin.x, normalMin.y, 0);
01321
01322 <font class="comment">// if, by chance, indexInsert==colFound, just replace old collision descriptor.</font>
01323 <font class="keywordflow">if</font>(colFound==indexInsert)
01324 {
01325 cst.CollisionDescs[indexInsert]= newCol;
01326 }
01327 <font class="keywordflow">else</font>
01328 {
01329 <font class="comment">// if any, erase old collision against this surface. NB: here, colFound>indexInsert.</font>
01330 <font class="keywordflow">if</font>(colFound!=-1)
01331 cst.CollisionDescs.erase(cst.CollisionDescs.begin() + colFound);
01332
01333 <font class="comment">// must insert the collision.</font>
01334 cst.CollisionDescs.insert(cst.CollisionDescs.begin() + indexInsert, newCol);
01335 }
01336 }
01337 }
01338 }
01339 }
01340
01341 <font class="comment">// Find next surface to test.</font>
01342 <font class="comment">//========================</font>
01343 <font class="comment">// No more?? so this is the end.</font>
01344 <font class="keywordflow">if</font>(nextCollisionSurfaceTested>=cst.CollisionDescs.size())
01345 <font class="keywordflow">break</font>;
01346 <font class="comment">// else next one.</font>
01347 <font class="keywordflow">else</font>
01348 {
01349 <font class="comment">// NB: with this algorithm, we are sure that no more collisions will arise before currentCollisionSurfaceTested.</font>
01350 <font class="comment">// so just continue with following surface.</font>
01351 currentSurface= cst.CollisionDescs[nextCollisionSurfaceTested].ContactSurface;
01352
01353 <font class="comment">// Do we touch a wall??</font>
01354 <font class="keywordtype">bool</font> isWall;
01355 <font class="keywordflow">if</font>(currentSurface.SurfaceId<0)
01356 isWall= <font class="keyword">true</font>;
01357 <font class="keywordflow">else</font>
01358 {
01359 <font class="comment">// test if it is a walkable wall.</font>
01360 sint32 locRetId= this-><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId();
01361 <font class="keyword">const</font> CRetrievableSurface &surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(locRetId).getSurface(currentSurface.SurfaceId);
01362 isWall= !(surf.isFloor() || surf.isCeiling());
01363 }
01364
01365 <font class="comment">// If we touch a wall, this is the end of search.</font>
01366 <font class="keywordflow">if</font>(isWall)
01367 {
01368 <font class="comment">// There can be no more collision after this one.</font>
01369 cst.CollisionDescs.resize(nextCollisionSurfaceTested+1);
01370 <font class="keywordflow">break</font>;
01371 }
01372 <font class="keywordflow">else</font>
01373 {
01374 <font class="comment">// Next time, we will test the following (NB: the array may grow during next pass, or reorder, </font>
01375 <font class="comment">// but only after nextCollisionSurfaceTested).</font>
01376 nextCollisionSurfaceTested++;
01377 }
01378 }
01379 }
01380
01381 }
01382
01383
01384 <font class="comment">// ***************************************************************************</font>
<a name="l01385"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">01385</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">NLPACS::CGlobalRetriever::verticalChain</a>(<font class="keyword">const</font> CCollisionChain &colChain)<font class="keyword"> const</font>
01386 <font class="keyword"></font>{
01387 <font class="comment">// retrieve surfaces.</font>
01388 <font class="keyword">const</font> CRetrievableSurface *left= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a>(colChain.LeftSurface);
01389 <font class="keyword">const</font> CRetrievableSurface *right= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a>(colChain.RightSurface);
01390
01391 <font class="comment">// test if left surface is a wall.</font>
01392 <font class="keywordtype">bool</font> leftWall;
01393 <font class="keywordflow">if</font>(!left)
01394 leftWall= <font class="keyword">true</font>;
01395 <font class="keywordflow">else</font>
01396 leftWall= !(left->isFloor() || left->isCeiling());
01397
01398 <font class="comment">// test if right surface is a wall.</font>
01399 <font class="keywordtype">bool</font> rightWall;
01400 <font class="keywordflow">if</font>(!right)
01401 rightWall= <font class="keyword">true</font>;
01402 <font class="keywordflow">else</font>
01403 rightWall= !(right->isFloor() || right->isCeiling());
01404
01405 <font class="comment">// true if both are a wall.</font>
01406 <font class="keywordflow">return</font> leftWall && rightWall;
01407 }
01408
01409
01410 <font class="comment">// ***************************************************************************</font>
<a name="l01411"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">01411</a> <a class="code" href="classNLPACS_1_1CSurfaceIdent.html">NLPACS::CSurfaceIdent</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">NLPACS::CGlobalRetriever::testMovementWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &endCol,
01412 CSurfaceIdent startSurface)<font class="keyword"> const</font>
01413 <font class="keyword"></font>{
01414 <font class="comment">// H_AUTO(PACS_GR_testMovementWithCollisionChains);</font>
01415
01416 <font class="comment">// start currentSurface with surface start.</font>
01417 CSurfaceIdent currentSurface= startSurface;
01418 sint i;
01419
01420 <font class="comment">// reset result.</font>
01421 cst.MoveDescs.clear();
01422
01423
01424 <font class="comment">/*</font>
01425 <font class="comment"> To manage recovery, we must use such an algorithm, so we are sure to trace the way across all surfaces really </font>
01426 <font class="comment"> collided, and discard any other (such as other floor or ceiling).</font>
01427 <font class="comment"></font>
01428 <font class="comment"> This function is quite different from testCollisionWithCollisionChains() because she must detect all collisions</font>
01429 <font class="comment"> with all edges of any chains (and not the minimum collision with a chain).</font>
01430 <font class="comment"> This is done in 3 parts:</font>
01431 <font class="comment"> - detect collisions with all edges.</font>
01432 <font class="comment"> - sort.</font>
01433 <font class="comment"> - leave only real collisions.</font>
01434 <font class="comment"> */</font>
01435 <font class="comment">// run all collisionChain.</font>
01436 <font class="comment">//========================</font>
01437 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01438 {
01439 CCollisionChain &colChain= cst.CollisionChains[i];
01440
01441
01442 <font class="comment">// test all edges of this chain, and insert if necessary.</font>
01443 <font class="comment">//========================</font>
01444 CRational64 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>;
01445 <font class="comment">// run list of edge.</font>
01446 sint32 curEdge= colChain.FirstEdgeCollide;
01447 <font class="keywordflow">while</font>(curEdge!=(sint32)0xFFFFFFFF)
01448 {
01449 <font class="comment">// get the edge.</font>
01450 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge);
01451
01452 <font class="comment">// test collision with this edge.</font>
01453 CEdgeCollide::TPointMoveProblem pmpb;
01454 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= colEdge.testPointMove(startCol, endCol, pmpb);
01455 <font class="comment">// manage multiple problems of precision.</font>
01456 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>== -1)
01457 {
01458 <font class="keyword">static</font> <font class="keyword">const</font> string errs[CEdgeCollide::PointMoveProblemCount]= {
01459 <font class="stringliteral">"ParallelEdges"</font>, <font class="stringliteral">"StartOnEdge"</font>, <font class="stringliteral">"StopOnEdge"</font>, <font class="stringliteral">"TraverseEndPoint"</font>, <font class="stringliteral">"EdgeNull"</font>};
01460 <font class="comment">// return a "Precision Problem" ident. movement is invalid. </font>
01461 <font class="comment">// BUT if startOnEdge, which should never arrive.</font>
01462 <font class="keywordflow">if</font>(pmpb==CEdgeCollide::StartOnEdge)
01463 {
01464 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"COL: Precision Problem: %s"</font>, errs[pmpb].c_str());
01465 <font class="keywordflow">return</font> CSurfaceIdent(-1, -1); <font class="comment">// so in this case, block....</font>
01466 }
01467 <font class="keywordflow">else</font> <font class="keywordflow">if</font>(pmpb==CEdgeCollide::EdgeNull)
01468 {
01469 <font class="comment">/*</font>
01470 <font class="comment"> // verify if it is an edge which separate 2 walls. in this case, ignore it. else, error.</font>
01471 <font class="comment"> if(verticalChain(colChain))</font>
01472 <font class="comment"> {</font>
01473 <font class="comment"> t=1; // no collision with this edge.</font>
01474 <font class="comment"> }</font>
01475 <font class="comment"> else</font>
01476 <font class="comment"> {</font>
01477 <font class="comment"> nlinfo("COL: Precision Problem: %s", errs[pmpb]);</font>
01478 <font class="comment"> nlstop; // this should not append.</font>
01479 <font class="comment"> return CSurfaceIdent(-1, -1);</font>
01480 <font class="comment"> }*/</font>
01481 <font class="comment">/* Actually, this is never a problem: we never get through this edge.</font>
01482 <font class="comment"> Instead, we'll get through the neighbors edge.</font>
01483 <font class="comment"> So just disable this edge.</font>
01484 <font class="comment"> */</font>
01485 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= 1;
01486 }
01487 <font class="keywordflow">else</font>
01488 <font class="keywordflow">return</font> CSurfaceIdent(-2, -2);
01489 }
01490
01491 <font class="comment">// collision??</font>
01492 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a><1)
01493 {
01494 <font class="comment">// insert in list.</font>
01495 cst.MoveDescs.push_back(CMoveSurfaceDesc(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, colChain.LeftSurface, colChain.RightSurface));
01496 }
01497
01498 <font class="comment">// next edge.</font>
01499 curEdge= colEdge.Next;
01500 }
01501 }
01502
01503
01504 <font class="comment">// sort.</font>
01505 <font class="comment">//================</font>
01506 <font class="comment">// sort the collisions in ascending time order.</font>
01507 sort(cst.MoveDescs.begin(), cst.MoveDescs.end());
01508
01509
01510 <font class="comment">// Traverse the array of collisions.</font>
01511 <font class="comment">//========================</font>
01512 <font class="keywordflow">for</font>(i=0;i<(sint)cst.MoveDescs.size();i++)
01513 {
01514 <font class="comment">// Do we collide with this chain??</font>
01515 <font class="keywordflow">if</font>(cst.MoveDescs[i].hasSurface(currentSurface))
01516 {
01517 currentSurface= cst.MoveDescs[i].getOtherSurface(currentSurface);
01518
01519 <font class="comment">// Do we touch a wall?? should not happens, but important for security.</font>
01520 <font class="keywordtype">bool</font> isWall;
01521 <font class="keywordflow">if</font>(currentSurface.SurfaceId<0)
01522 isWall= <font class="keyword">true</font>;
01523 <font class="keywordflow">else</font>
01524 {
01525 <font class="comment">// test if it is a walkable wall.</font>
01526 sint32 locRetId= this-><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId();
01527 <font class="keyword">const</font> CRetrievableSurface &surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(locRetId).getSurface(currentSurface.SurfaceId);
01528 isWall= !(surf.isFloor() || surf.isCeiling());
01529 }
01530
01531 <font class="comment">// If we touch a wall, this is the end of search.</font>
01532 <font class="keywordflow">if</font>(isWall)
01533 {
01534 <font class="comment">// return a Wall ident. movement is invalid.</font>
01535 <font class="keywordflow">return</font> CSurfaceIdent(-1, -1);
01536 }
01537 }
01538 }
01539
01540
01541 <font class="keywordflow">return</font> currentSurface;
01542 }
01543
01544
01545
01546 <font class="comment">// ***************************************************************************</font>
01547 <font class="keyword">const</font> NLPACS::TCollisionSurfaceDescVector
<a name="l01548"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">01548</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">NLPACS::CGlobalRetriever::testCylinderMove</a>(<font class="keyword">const</font> UGlobalPosition &startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, <font class="keywordtype">float</font> radius, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
01549 <font class="keyword"></font>{
01550 <font class="comment">// H_AUTO(PACS_GR_testCylinderMove);</font>
01551
01552 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface);
01553
01554 <font class="comment">// 0. reset.</font>
01555 <font class="comment">//===========</font>
01556 <font class="comment">// reset result.</font>
01557 cst.CollisionDescs.clear();
01558
01559 <font class="comment">// In a surface ?</font>
01560 <font class="keywordflow">if</font> (startPos.InstanceId==-1)
01561 {
01562 <font class="comment">// Warning this primitive is not on a surface</font>
01563 <font class="comment">//nlassertonce (0);</font>
01564
01565 <font class="comment">// Return NULL when lost</font>
01566 <font class="keywordflow">return</font> NULL;
01567 }
01568 <font class="comment">// store this request in cst.</font>
01569 cst.PrecStartSurface= startSurface;
01570 cst.PrecStartPos= startPos.LocalPosition.Estimation;
01571 cst.PrecDeltaPos= delta;
01572 cst.PrecValid= <font class="keyword">true</font>;
01573
01574 <font class="comment">// 0.bis</font>
01575 <font class="comment">//===========</font>
01576 <font class="comment">// Abort if deltamove is 0,0,0.</font>
01577 <font class="keywordflow">if</font> (delta.<a class="code" href="classNLMISC_1_1CVector.html#z332_3">isNull</a>())
01578 <font class="keywordflow">return</font> &cst.CollisionDescs;
01579
01580 <font class="comment">// 1. Choose a local basis.</font>
01581 <font class="comment">//===========</font>
01582 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01583 CVector origin;
01584 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.InstanceId).getOrigin();
01585
01586
01587 <font class="comment">// 2. compute bboxmove.</font>
01588 <font class="comment">//===========</font>
01589 CAABBox bboxMove;
01590 <font class="comment">// bounds the movement in a bbox.</font>
01591 <font class="comment">// compute start and end, relative to the retriever instance.</font>
01592 CVector start= startPos.LocalPosition.Estimation;
01593 CVector end= start+delta;
01594 <font class="comment">// extend the bbox.</font>
01595 bboxMove.setCenter(start-CVector(radius, radius, 0));
01596 bboxMove.extend(start+CVector(radius, radius, 0));
01597 bboxMove.extend(end-CVector(radius, radius, 0));
01598 bboxMove.extend(end+CVector(radius, radius, 0));
01599
01600
01601 <font class="comment">// 3. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01602 <font class="comment">//===========</font>
01603 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01604
01605
01606
01607 <font class="comment">// 4. test collisions with CollisionChains.</font>
01608 <font class="comment">//===========</font>
01609 CVector2f startCol(start.x, start.y);
01610 CVector2f deltaCol(delta.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, delta.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01611 CVector2f obbDummy[4]; <font class="comment">// dummy OBB (not obb here so don't bother)</font>
01612 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(cst, startCol, deltaCol, startSurface, radius, obbDummy, CGlobalRetriever::Circle);
01613
01614 <font class="comment">// result.</font>
01615 <font class="keywordflow">return</font> &cst.CollisionDescs;
01616 }
01617
01618
01619 <font class="comment">// ***************************************************************************</font>
01620 <font class="keyword">const</font> NLPACS::TCollisionSurfaceDescVector
<a name="l01621"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">01621</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">NLPACS::CGlobalRetriever::testBBoxMove</a>(<font class="keyword">const</font> UGlobalPosition &startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta,
01622 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locJ, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
01623 <font class="keyword"></font>{
01624 <font class="comment">// H_AUTO(PACS_GR_testBBoxMove);</font>
01625
01626 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface);
01627
01628 <font class="comment">// 0. reset.</font>
01629 <font class="comment">//===========</font>
01630 <font class="comment">// reset result.</font>
01631 cst.CollisionDescs.clear();
01632
01633 <font class="comment">// In a surface ?</font>
01634 <font class="keywordflow">if</font> (startPos.InstanceId==-1)
01635 {
01636 <font class="comment">// Warning this primitive is not on a surface</font>
01637 <font class="comment">//nlassertonce (0);</font>
01638
01639 <font class="comment">// Return NULL when lost</font>
01640 <font class="keywordflow">return</font> NULL;
01641 }
01642
01643 <font class="comment">// store this request in cst.</font>
01644 cst.PrecStartSurface= startSurface;
01645 cst.PrecStartPos= startPos.LocalPosition.Estimation;
01646 cst.PrecDeltaPos= delta;
01647 cst.PrecValid= <font class="keyword">true</font>;
01648
01649 <font class="comment">// 0.bis</font>
01650 <font class="comment">//===========</font>
01651 <font class="comment">// Abort if deltamove is 0,0,0.</font>
01652 <font class="keywordflow">if</font> (delta.<a class="code" href="classNLMISC_1_1CVector.html#z332_3">isNull</a>())
01653 <font class="keywordflow">return</font> &cst.CollisionDescs;
01654
01655 <font class="comment">// 1. Choose a local basis.</font>
01656 <font class="comment">//===========</font>
01657 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01658 CVector origin;
01659 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.InstanceId).getOrigin();
01660
01661
01662 <font class="comment">// 2. compute OBB.</font>
01663 <font class="comment">//===========</font>
01664 CVector2f obbStart[4];
01665 <font class="comment">// compute start, relative to the retriever instance.</font>
01666 CVector start= startPos.LocalPosition.Estimation;
01667 CVector2f obbCenter(start.x, start.y);
01668 CVector2f locI2d(locI.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locI.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01669 CVector2f locJ2d(locJ.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locJ.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01670
01671 <font class="comment">// build points in CCW.</font>
01672 obbStart[0]= obbCenter - locI2d - locJ2d;
01673 obbStart[1]= obbCenter + locI2d - locJ2d;
01674 obbStart[2]= obbCenter + locI2d + locJ2d;
01675 obbStart[3]= obbCenter - locI2d + locJ2d;
01676
01677 <font class="comment">// 3. compute bboxmove.</font>
01678 <font class="comment">//===========</font>
01679 CAABBox bboxMove;
01680 <font class="comment">// extend the bbox.</font>
01681 bboxMove.setCenter(CVector(obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01682 bboxMove.extend(CVector(obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01683 bboxMove.extend(CVector(obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01684 bboxMove.extend(CVector(obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01685 bboxMove.extend(CVector(obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01686 bboxMove.extend(CVector(obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01687 bboxMove.extend(CVector(obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01688 bboxMove.extend(CVector(obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01689
01690
01691
01692 <font class="comment">// 4. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01693 <font class="comment">//===========</font>
01694 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01695
01696
01697
01698 <font class="comment">// 5. test collisions with CollisionChains.</font>
01699 <font class="comment">//===========</font>
01700 CVector2f startCol(start.x, start.y);
01701 CVector2f deltaCol(delta.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, delta.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01702 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(cst, startCol, deltaCol, startSurface, 0, obbStart, CGlobalRetriever::BBox);
01703
01704 <font class="comment">// result.</font>
01705 <font class="keywordflow">return</font> &cst.CollisionDescs;
01706 }
01707
01708
01709
01710 <font class="comment">// ***************************************************************************</font>
01711 <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a>
<a name="l01712"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">01712</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">NLPACS::CGlobalRetriever::doMove</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, <a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &cst, <font class="keywordtype">bool</font> rebuildChains)<font class="keyword"> const</font>
01713 <font class="keyword"></font>{
01714 <font class="comment">// H_AUTO(PACS_GR_doMove);</font>
01715
01716 CSurfaceIdent startSurface(startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>, startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Surface);
01717
01718 <font class="comment">// clamp factor.</font>
01719 <a class="code" href="namespaceNLMISC.html#a215">clamp</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, 0.0f, 1.0f);
01720
01721 <font class="comment">// 0. reset.</font>
01722 <font class="comment">//===========</font>
01723 <font class="comment">// reset CollisionDescs.</font>
01724 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m10">CollisionDescs</a>.clear();
01725
01726 <font class="comment">// In a surface ?</font>
01727 <font class="keywordflow">if</font> (startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>==-1)
01728 {
01729 <font class="comment">// Warining: this primitive is not on a surface</font>
01730 <font class="comment">//nlassertonce (0);</font>
01731
01732 <font class="comment">// Return startpos</font>
01733 <font class="keywordflow">return</font> startPos;
01734 }
01735
01736 <font class="keywordflow">if</font>(!rebuildChains)
01737 {
01738 <font class="comment">// same move request than prec testMove() ??.</font>
01739 <font class="keywordflow">if</font>( cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m12">PrecStartSurface</a> != startSurface ||
01740 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m13">PrecStartPos</a>!=startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation ||
01741 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m14">PrecDeltaPos</a>!=delta ||
01742 !cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m15">PrecValid</a>)
01743 {
01744 <font class="comment">// if not, just return start.</font>
01745 <a class="code" href="debug_8h.html#a12">nlstop</a>;
01746 <font class="keywordflow">return</font> startPos;
01747 }
01748 <font class="comment">// Since we are sure we have same movement than prec testMove(), no need to rebuild cst.CollisionChains.</font>
01749 }
01750 <font class="keywordflow">else</font>
01751 {
01752 <font class="comment">// we don't have same movement than prec testMove(), we must rebuild cst.CollisionChains.</font>
01753 <font class="comment">// Prec settings no more valids.</font>
01754 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m15">PrecValid</a>= <font class="keyword">false</font>;
01755 }
01756
01757
01758
01759
01760 <font class="comment">// 1. Choose a local basis (same than in testMove()).</font>
01761 <font class="comment">//===========</font>
01762 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01763 CVector origin;
01764 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>).getOrigin();
01765
01766
01767 <font class="comment">// 2. test collisions with CollisionChains.</font>
01768 <font class="comment">//===========</font>
01769 CVector start= startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation;
01770 <font class="comment">// compute end with real delta position.</font>
01771 CVector end= start + delta*<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>;
01772
01773 <font class="comment">// If asked, we must rebuild array of collision chains.</font>
01774 <font class="keywordflow">if</font>(rebuildChains)
01775 {
01776 <font class="comment">// H_AUTO(PACS_GR_doMove_rebuildChains);</font>
01777
01778 <font class="comment">// compute bboxmove.</font>
01779 CAABBox bboxMove;
01780 <font class="comment">// must add some extent, to be sure to include snapped CLocalRetriever vertex (2.0f/256 should be sufficient).</font>
01781 <font class="comment">// Nb: this include the precision problem just below (move a little).</font>
01782 <font class="keywordtype">float</font> radius= 4.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>;
01783 bboxMove.setCenter(start-CVector(radius, radius, 0));
01784 bboxMove.extend(start+CVector(radius, radius, 0));
01785 bboxMove.extend(end-CVector(radius, radius, 0));
01786 bboxMove.extend(end+CVector(radius, radius, 0));
01787
01788 <font class="comment">// find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01789 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01790 }
01791
01792
01793 <font class="comment">// look where we arrive.</font>
01794 CSurfaceIdent endSurface;
01795 CVector endRequest= end;
01796 <font class="keyword">const</font> sint maxPbPrec= 32; <font class="comment">// move away from 4 mm at max, in each 8 direction.</font>
01797 sint pbPrecNum= 0;
01798
01799 <font class="comment">// must snap the end position.</font>
01800 CRetrieverInstance::snapVector(endRequest);
01801 end= endRequest;
01802
01803 <font class="comment">// verify start is already snapped</font>
01804 {
01805 CVector startTest= start;
01806 CRetrieverInstance::snapVector(startTest);
01807 <a class="code" href="debug_8h.html#a6">nlassert</a>( start == startTest );
01808 }
01809
01810
01811 <font class="comment">// Normally, just one iteration is made in this loop (but if precision problem (stopOnEdge, startOnEdge....).</font>
01812 <font class="keywordflow">while</font>(true)
01813 {
01814 <font class="comment">// must snap the end position.</font>
01815 CRetrieverInstance::snapVector(end);
01816
01817 CVector2f startCol(start.x, start.y);
01818 CVector2f endCol(end.x, end.y);
01819
01820 <font class="comment">// If same 2D position, just return startPos (suppose no movement)</font>
01821 <font class="keywordflow">if</font>(endCol==startCol)
01822 {
01823 UGlobalPosition <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01824 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>= startPos;
01825 <font class="comment">// keep good z movement.</font>
01826 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.LocalPosition.Estimation.z= end.z;
01827 <font class="keywordflow">return</font> <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01828 }
01829
01830 <font class="comment">// search destination problem.</font>
01831 endSurface= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">testMovementWithCollisionChains</a>(cst, startCol, endCol, startSurface);
01832
01833 <font class="comment">// if no precision problem, Ok, we have found our destination surface (or anormal collide against a wall).</font>
01834 <font class="keywordflow">if</font>(endSurface.SurfaceId!=-2)
01835 <font class="keywordflow">break</font>;
01836 <font class="comment">/* else we are in deep chit, for one on those reason:</font>
01837 <font class="comment"> - traverse on point.</font>
01838 <font class="comment"> - stop on a edge (dist==0).</font>
01839 <font class="comment"> - start on a edge (dist==0).</font>
01840 <font class="comment"> - run // on a edge (NB: dist==0 too).</font>
01841 <font class="comment"> */</font>
01842 <font class="keywordflow">else</font>
01843 {
01844 <font class="comment">// For simplicty, just try to move a little the end position</font>
01845 <font class="keywordflow">if</font>(pbPrecNum<maxPbPrec)
01846 {
01847 <font class="keyword">static</font> <font class="keyword">struct </font>{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>;} dirs[8]= { {1,0}, {1,1}, {0,1}, {-1,1}, {-1,0}, {-1,-1}, {0,-1}, {1,-1}};
01848 sint dir= pbPrecNum%8;
01849 sint dist= pbPrecNum/8+1;
01850 CVector dta;
01851
01852 <font class="comment">// compute small move.</font>
01853 dta.x= dirs[dir].x * dist * 1.0f/<a class="code" href="namespaceNLPACS.html#a13">SnapPrecision</a>;
01854 dta.y= dirs[dir].y * dist * 1.0f/<a class="code" href="namespaceNLPACS.html#a13">SnapPrecision</a>;
01855 dta.z= 0;
01856
01857 <font class="comment">// add it to the original end pos requested.</font>
01858 end= endRequest + dta;
01859
01860 pbPrecNum++;
01861 }
01862 <font class="keywordflow">else</font>
01863 {
01864 <font class="comment">// do not move at all.</font>
01865 endSurface= CSurfaceIdent(-1,-1);
01866 <font class="keywordflow">break</font>;
01867 }
01868 }
01869 }
01870
01871 <font class="comment">// 3. return result.</font>
01872 <font class="comment">//===========</font>
01873 <font class="comment">// Problem?? do not move.</font>
01874 <font class="keywordflow">if</font>(endSurface.SurfaceId==-1)
01875 <font class="keywordflow">return</font> startPos;
01876 <font class="keywordflow">else</font>
01877 {
01878 <font class="comment">// else must return good GlobalPosition.</font>
01879 CGlobalPosition <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01880
01881 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.InstanceId= endSurface.RetrieverInstanceId;
01882 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.LocalPosition.Surface= endSurface.SurfaceId;
01883
01884 <font class="comment">// compute newPos, localy to the endSurface.</font>
01885 <font class="comment">// get delta between startPos.instance and curInstance.</font>
01886 <font class="comment">// NB: for float precision, it is important to compute deltaOrigin, and after compute newPos in local.</font>
01887 CVector deltaOrigin;
01888 deltaOrigin= origin - <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.InstanceId).getOrigin();
01889
01890 <font class="comment">// Because Origin precision is 1 meter, and end precision is 1/1024 meter, we have no precision problem.</font>
01891 <font class="comment">// this is true because we cannot move more than, say 4*160 meters in one doMove().</font>
01892 <font class="comment">// So global position should not be bigger than 1024 * 1024/1024 meters. => Hence 20 bits of precision is </font>
01893 <font class="comment">// required. We have 23 with floats.</font>
01894 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.LocalPosition.Estimation= end + deltaOrigin;
01895
01896
01897 <font class="comment">// result.</font>
01898 <font class="keywordflow">return</font> <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01899 }
01900
01901 }
01902
01903
01904 <font class="comment">// ***************************************************************************</font>
<a name="l01905"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">01905</a> <font class="keyword">const</font> NLPACS::TCollisionSurfaceDescVector &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">NLPACS::CGlobalRetriever::testBBoxRot</a>(<font class="keyword">const</font> CGlobalPosition &startPos,
01906 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locJ, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
01907 <font class="keyword"></font>{
01908 <font class="comment">// H_AUTO(PACS_GR_testBBoxRot);</font>
01909
01910 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface);
01911
01912 <font class="comment">// 0. reset.</font>
01913 <font class="comment">//===========</font>
01914 <font class="comment">// reset result.</font>
01915 cst.CollisionDescs.clear();
01916
01917 <font class="comment">// should not doMove() after a testBBoxRot.</font>
01918 cst.PrecValid= <font class="keyword">false</font>;
01919
01920
01921 <font class="comment">// 1. Choose a local basis.</font>
01922 <font class="comment">//===========</font>
01923 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01924 CVector origin;
01925 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.InstanceId).getOrigin();
01926
01927
01928 <font class="comment">// 2. compute OBB.</font>
01929 <font class="comment">//===========</font>
01930 CVector2f obbStart[4];
01931 <font class="comment">// compute start, relative to the retriever instance.</font>
01932 CVector start= startPos.LocalPosition.Estimation;
01933 CVector2f obbCenter(start.x, start.y);
01934 CVector2f locI2d(locI.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locI.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01935 CVector2f locJ2d(locJ.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locJ.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01936
01937 <font class="comment">// build points in CCW.</font>
01938 obbStart[0]= obbCenter - locI2d - locJ2d;
01939 obbStart[1]= obbCenter + locI2d - locJ2d;
01940 obbStart[2]= obbCenter + locI2d + locJ2d;
01941 obbStart[3]= obbCenter - locI2d + locJ2d;
01942
01943 <font class="comment">// 3. compute bboxmove.</font>
01944 <font class="comment">//===========</font>
01945 CAABBox bboxMove;
01946 <font class="comment">// extend the bbox.</font>
01947 bboxMove.setCenter(CVector(obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01948 bboxMove.extend(CVector(obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01949 bboxMove.extend(CVector(obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01950 bboxMove.extend(CVector(obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01951
01952
01953
01954 <font class="comment">// 4. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01955 <font class="comment">//===========</font>
01956 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01957
01958
01959
01960 <font class="comment">// 5. test Rotcollisions with CollisionChains.</font>
01961 <font class="comment">//===========</font>
01962 CVector2f startCol(start.x, start.y);
01963 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">testRotCollisionWithCollisionChains</a>(cst, startCol, startSurface, obbStart);
01964
01965
01966 <font class="comment">// result.</font>
01967 <font class="keywordflow">return</font> cst.CollisionDescs;
01968 }
01969
01970
01971 <font class="comment">// ***************************************************************************</font>
<a name="l01972"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">01972</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, CSurfaceIdent startSurface, <font class="keyword">const</font> CVector2f bbox[4])<font class="keyword"> const</font>
01973 <font class="keyword"></font>{
01974 <font class="comment">// H_AUTO(PACS_GR_testRotCollisionWithCollisionChains);</font>
01975
01976 <font class="comment">// start currentSurface with surface start.</font>
01977 CSurfaceIdent currentSurface= startSurface;
01978 sint i;
01979
01980 <font class="comment">// reset result.</font>
01981 cst.RotDescs.clear();
01982 cst.CollisionDescs.clear();
01983
01984
01985 <font class="comment">/*</font>
01986 <font class="comment"> Test collisions with all collision chains. Then, to manage recovery, test the graph of surfaces.</font>
01987 <font class="comment"> */</font>
01988 <font class="comment">// run all collisionChain.</font>
01989 <font class="comment">//========================</font>
01990 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01991 {
01992 CCollisionChain &colChain= cst.CollisionChains[i];
01993
01994
01995 <font class="comment">// test all edges of this chain, and insert if necessary.</font>
01996 <font class="comment">//========================</font>
01997 <font class="comment">// run list of edge.</font>
01998 sint32 curEdge= colChain.FirstEdgeCollide;
01999 <font class="keywordflow">while</font>(curEdge!=(sint32)0xFFFFFFFF)
02000 {
02001 <font class="comment">// get the edge.</font>
02002 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge);
02003
02004 <font class="comment">// test collision with this edge.</font>
02005 <font class="keywordflow">if</font>(colEdge.testBBoxCollide(bbox))
02006 {
02007 <font class="comment">// yes we have a 2D collision with this chain.</font>
02008 cst.RotDescs.push_back(CRotSurfaceDesc(colChain.LeftSurface, colChain.RightSurface));
02009 <font class="keywordflow">break</font>;
02010 }
02011
02012 <font class="comment">// next edge.</font>
02013 curEdge= colEdge.Next;
02014 }
02015 }
02016
02017
02018 <font class="comment">// Traverse the array of collisions.</font>
02019 <font class="comment">//========================</font>
02020 sint indexCD=0;
02021 <font class="keywordflow">while</font>(true)
02022 {
02023 <font class="comment">// What surfaces collided do we reach from this currentSurface??</font>
02024 <font class="keywordflow">for</font>(i=0;i<(sint)cst.RotDescs.size();i++)
02025 {
02026 <font class="comment">// Do we collide with this chain?? chain not tested??</font>
02027 <font class="keywordflow">if</font>(cst.RotDescs[i].hasSurface(currentSurface) && !cst.RotDescs[i].Tested)
02028 {
02029 cst.RotDescs[i].Tested= <font class="keyword">true</font>;
02030
02031 <font class="comment">// insert the collision with the other surface.</font>
02032 CCollisionSurfaceDesc col;
02033 col.ContactTime= 0;
02034 col.ContactNormal= CVector::Null;
02035 col.ContactSurface= cst.RotDescs[i].getOtherSurface(currentSurface);
02036 cst.CollisionDescs.push_back(col);
02037 }
02038 }
02039
02040 <font class="comment">// get the next currentSurface from surface collided (traverse the graph of collisions).</font>
02041 <font class="keywordflow">if</font>(indexCD<(sint)cst.CollisionDescs.size())
02042 currentSurface= cst.CollisionDescs[indexCD++].ContactSurface;
02043 <font class="keywordflow">else</font>
02044 <font class="keywordflow">break</font>;
02045 }
02046
02047 }
02048
02049 <font class="comment">// ***************************************************************************</font>
02050
<a name="l02051"></a><a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d0">02051</a> <a class="code" href="classNLPACS_1_1UGlobalRetriever.html">NLPACS::UGlobalRetriever</a> *<a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d0">NLPACS::UGlobalRetriever::createGlobalRetriever</a> (<font class="keyword">const</font> <font class="keywordtype">char</font> *globalRetriever, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1URetrieverBank.html">NLPACS::URetrieverBank</a> *retrieverBank)
02052 {
02053 NL_ALLOC_CONTEXT( Pacs )
02054
02055 <font class="comment">// Cast</font>
02056 <font class="comment">// nlassert (dynamic_cast<const NLPACS::CRetrieverBank*>(retrieverBank));</font>
02057 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrieverBank.html">NLPACS::CRetrieverBank</a>* bank=static_cast<const NLPACS::CRetrieverBank*>(retrieverBank);
02058
02059 CIFile <a class="code" href="cf__lexical_8cpp.html#a95">file</a>;
02060 <font class="keywordflow">if</font> (<a class="code" href="cf__lexical_8cpp.html#a95">file</a>.open(CPath::lookup(globalRetriever)))
02061 {
02062 CGlobalRetriever *retriever = <font class="keyword">new</font> CGlobalRetriever();
02063
02064 <font class="comment">// always set the retriever bank before serializing !!</font>
02065 retriever->setRetrieverBank(bank);
02066
02067 <a class="code" href="cf__lexical_8cpp.html#a95">file</a>.serial(*retriever);
02068 retriever->initAll();
02069
02070 <font class="keywordflow">return</font> static_cast<UGlobalRetriever *>(retriever);
02071 }
02072 <font class="keywordflow">else</font>
02073 <font class="keywordflow">return</font> NULL;
02074 }
02075
02076 <font class="comment">// ***************************************************************************</font>
02077
<a name="l02078"></a><a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d1">02078</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d1">NLPACS::UGlobalRetriever::deleteGlobalRetriever</a> (UGlobalRetriever *retriever)
02079 {
02080 <font class="comment">// Cast</font>
02081 <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast<NLPACS::CGlobalRetriever*>(retriever));
02082 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a>* <a class="code" href="driver__opengl__extension__def_8h.html#a385">r</a>=static_cast<NLPACS::CGlobalRetriever*>(retriever);
02083
02084 <font class="comment">// Delete</font>
02085 <font class="keyword">delete</font> r;
02086 }
02087
02088 <font class="comment">// ***************************************************************************</font>
02089
<a name="l02090"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">02090</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">NLPACS::CGlobalRetriever::getMeanHeight</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font>
02091 <font class="keyword"></font>{
02092 <font class="comment">// for wrong positions, leave it unchanged</font>
02093 <font class="keywordflow">if</font> ((pos.InstanceId==-1)||(pos.LocalPosition.Surface==-1))
02094 <font class="keywordflow">return</font> pos.LocalPosition.Estimation.z;
02095
02096 <font class="comment">// get instance/localretriever.</font>
02097 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(pos.InstanceId);
02098 <font class="keyword">const</font> CLocalRetriever &retriever= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
02099
02100 <font class="comment">// return height from local retriever</font>
02101 <font class="keywordflow">return</font> retriever.getHeight(pos.LocalPosition);
02102 }
02103
02104 <font class="comment">// ***************************************************************************</font>
02105
<a name="l02106"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">02106</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">NLPACS::CGlobalRetriever::testRaytrace</a> (<font class="keyword">const</font> CVectorD &v0, <font class="keyword">const</font> CVectorD &v1)
02107 {
02108 <font class="comment">// TODO: implement raytrace</font>
02109 <font class="keywordflow">return</font> <font class="keyword">false</font>;
02110 }
02111
02112 <font class="comment">// ***************************************************************************</font>
02113
02114
02115 <font class="comment">// end of CGlobalRetriever methods implementation</font>
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