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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&lt;<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&lt;<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 &amp;&amp; <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId() != -1)
00081                 {
00082                         <font class="keyword">const</font> CLocalRetriever   &amp;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&lt;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> &amp;bbox, CCollisionSurfaceTemp &amp;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&lt;uint32&gt;</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> &amp;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&lt;<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>        &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i];
00149 
00150                 <font class="keywordflow">if</font> (instance.getRetrieverId()&lt;0 || instance.getRetrieverId()&gt;=(sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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           &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;getRetriever(instance.getRetrieverId());
00157 
00158                 <font class="keywordflow">for</font> (j=0; j&lt;retriever.getChains().size(); ++j)
00159                 {
00160                         <font class="keyword">const</font> CChain    &amp;chain = retriever.getChain(j);
00161                         <font class="keywordflow">for</font> (k=0; k&lt;chain.getSubChains().size(); ++k)
00162                         {
00163                                 <font class="keywordflow">if</font> (chain.getSubChain(k) &gt;= 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()&lt;0 || chain.getLeft()&gt;=(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()&gt;=(sint)retriever.getSurfaces().size() ||
00188                                 chain.getRight()&lt;=CChain::getDummyBorderChainId() &amp;&amp; !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&lt;0 || link&gt;=(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 &gt;= <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()&lt;0 ||
00210                                                         <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()&gt;(sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;getRetrievers().size() ||
00211                                                         lnk.SurfaceId &gt;= <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 &gt;= <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 &gt;= <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()) &amp;&amp; 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 &amp;pos)<font class="keyword"> const</font>
00227 <font class="keyword"></font>{
00228         <font class="keywordflow">if</font> (pos.InstanceId &lt; 0 || pos.InstanceId &gt; (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 &amp;pos, std::vector&lt;NLMISC::CLine&gt; &amp;edges)
00235 {
00236         edges.clear();
00237 
00238         <font class="keywordflow">if</font> (pos.InstanceId &lt; 0)
00239                 <font class="keywordflow">return</font>;
00240 
00241         <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a>      &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId];
00242         CLocalRetriever         &amp;retriever = const_cast&lt;CLocalRetriever &amp;&gt;(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()));
00243         CChainQuad                      &amp;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&lt;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.EdgeChainEntries.size(); ++ece)
00254         {
00255                 CEdgeChainEntry         &amp;entry = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.EdgeChainEntries[ece];
00256                 <font class="keyword">const</font> COrderedChain     &amp;ochain = retriever.getOrderedChain(entry.OChainId);
00257 
00258                 uint    edge;
00259                 <font class="keywordflow">for</font> (edge=entry.EdgeStart; edge+1&lt;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>      &amp;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&lt;<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>      &amp;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>-&gt;getRetrievers());
00290                         neighbor.link(instance, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;getRetrievers());
00291                 }
00292                 <font class="keywordflow">catch</font> (Exception &amp;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&lt;<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&lt;<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&lt;<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 &amp;&amp; <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>-&gt;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>        &amp;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">NLPACS::CGlobalRetriever::makeInstance</a>(uint32 retrieverId, uint8 orientation, <font class="keyword">const</font> CVector &amp;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>&lt;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() &amp;&amp; <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>              &amp;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   &amp;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() &lt; 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 &amp;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&lt;_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                &amp;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-&gt;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 &amp;&amp; (snapinterior &amp;&amp; itype &amp;&amp; d &lt; bestDist ||</font>
00407 <font class="comment">                                                                  !snapinterior &amp;&amp; itype &amp;&amp; d &lt; 1.0f ||</font>
00408 <font class="comment">                                                                  !snapinterior &amp;&amp; itype &amp;&amp; d &gt;= 1.0f &amp;&amp; d &lt; bestDist ||</font>
00409 <font class="comment">                                                                  !snapinterior &amp;&amp; !itype &amp;&amp; d &lt; bestDist))</font>
00410 <font class="comment">                {</font>
00411 <font class="comment">                        if (itype &amp;&amp; d &lt; 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 &amp;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 &amp;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&lt;_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                &amp;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-&gt;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 &amp;&amp; (snapinterior &amp;&amp; itype &amp;&amp; d &lt; bestDist ||</font>
00460 <font class="comment">                                                                  !snapinterior &amp;&amp; itype &amp;&amp; d &lt; 1.0f ||</font>
00461 <font class="comment">                                                                  !snapinterior &amp;&amp; itype &amp;&amp; d &gt;= 1.0f &amp;&amp; d &lt; bestDist ||</font>
00462 <font class="comment">                                                                  !snapinterior &amp;&amp; !itype &amp;&amp; d &lt; bestDist))</font>
00463 <font class="comment">                {</font>
00464 <font class="comment">                        if (itype &amp;&amp; d &lt; 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 &amp;&amp; d &lt; 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 &amp;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&lt;<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>                &amp;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                   &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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>                &amp;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                   &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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() &gt;= 2 &amp;&amp; </font>
00530 <font class="comment">//                      _InternalCST.SortedSurfaces[1].Distance-_InternalCST.SortedSurfaces[0].Distance &lt; 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 &amp;&amp; numMove &lt; 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 &amp;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 &amp;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 &amp;<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&lt;(sint32)(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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    &amp;<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> &amp;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 &amp;<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> &amp;position, sint32 &amp;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 &lt; 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>        &amp;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> (&amp;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 &lt; 0 || instanceId &gt;= (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() &lt; 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>      &amp;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 &amp;position) const</font>
00650 <font class="comment">{</font>
00651 <font class="comment">        const CRetrieverInstance        &amp;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           &amp;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 &amp;global)<font class="keyword"> const</font>
00662 <font class="keyword"></font>{
00663         <font class="keywordflow">if</font> (global.InstanceId &gt;= 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> &amp;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> &gt;= 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> &amp;begin,
00690                                                                                                         <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &amp;end,
00691                                                                                                         vector&lt;NLPACS::CRetrieverInstance::CAStarNodeAccess&gt; &amp;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&lt;float, CRetrieverInstance::CAStarNodeAccess&gt;   open;
00702         <font class="comment">// close is a simple stl vector</font>
00703         vector&lt;CRetrieverInstance::CAStarNodeAccess&gt;                    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                                              &amp;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                                              &amp;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&lt;float, CRetrieverInstance::CAStarNodeAccess&gt;::iterator it;
00744 
00745                 it = open.begin();
00746                 node = it-&gt;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>                                                      &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pathNode.InstanceId];
00758                                 CRetrieverInstance::CAStarNodeInfo                      &amp;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>                                                      &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pathNode.InstanceId];
00768                                 CRetrieverInstance::CAStarNodeInfo                      &amp;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&lt;path.size(); ++i)
00776                         {
00777                                 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a>                                                      &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[path[i].InstanceId];
00778                                 <font class="keyword">const</font> CLocalRetriever                                           &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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                                                            &amp;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>                                                              &amp;inst = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[node.InstanceId];
00801                 <font class="keyword">const</font> CLocalRetriever                                                   &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;getRetriever(inst.getRetrieverId());
00802                 <font class="keyword">const</font> CRetrievableSurface                                               &amp;surf = retriever.getSurface(node.NodeId);
00803                 <font class="keyword">const</font> vector&lt;CRetrievableSurface::CSurfaceLink&gt; &amp;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&lt;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 &lt; 0)
00825                                         <font class="keywordflow">continue</font>;
00826 
00827                                 nextInstance = &amp;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[nextNode.InstanceId];
00828                                 nextRetriever = &amp;(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;getRetriever(nextInstance-&gt;getRetrieverId()));
00829 
00830                                 sint    nodeId = lnk.SurfaceId;
00831                                 <a class="code" href="debug_8h.html#a6">nlassert</a>(nodeId &gt;= 0);
00832                                 nextNode.NodeId = (uint16)nodeId;
00833                         }
00834                         <font class="keywordflow">else</font> <font class="keywordflow">if</font> (nextNodeId &gt;= 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 = &amp;inst;
00840                                 nextRetriever = &amp;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 = &amp;(nextRetriever-&gt;getSurface(nextNode.NodeId));
00849 
00850                         <font class="keywordflow">if</font> (nextSurface-&gt;getFlags() &amp; forbidFlags)
00851                                 <font class="keywordflow">continue</font>;
00852 
00853                         <font class="comment">// compute new node value (heuristic and cost)</font>
00854 
00855                         CRetrieverInstance::CAStarNodeInfo      &amp;nextInfo = nextInstance-&gt;_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&lt;CRetrieverInstance::CAStarNodeAccess&gt;::iterator                  closeIt;
00862                         <font class="keywordflow">for</font> (closeIt=close.begin(); closeIt!=close.end() &amp;&amp; *closeIt!=nextNode; ++closeIt)
00863                                 ;
00864 
00865                         <font class="keywordflow">if</font> (closeIt != close.end() &amp;&amp; nextInfo.F &lt; nextF)
00866                                 <font class="keywordflow">continue</font>;
00867                         
00868                         multimap&lt;float, CRetrieverInstance::CAStarNodeAccess&gt;::iterator openIt;
00869                         <font class="keywordflow">for</font> (openIt=open.begin(); openIt!=open.end() &amp;&amp; openIt-&gt;second!=nextNode; ++openIt)
00870                                 ;
00871 
00872                         <font class="keywordflow">if</font> (openIt != open.end() &amp;&amp; nextInfo.F &lt; 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> &amp;begin, 
00897                                                                                    <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &amp;end, 
00898                                                                                    <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">NLPACS::CGlobalRetriever::CGlobalPath</a> &amp;path,
00899                                                                                    uint32 forbidFlags)<font class="keyword"> const</font>
00900 <font class="keyword"></font>{
00901 
00902         vector&lt;CRetrieverInstance::CAStarNodeAccess&gt;    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&lt;astarPath.size(); ++i)
00917         {
00918                 chainStart = CTime::getPerformanceTime();
00919                 CLocalPath              &amp;surf = path[i];
00920                 surf.InstanceId = astarPath[i].InstanceId;
00921                 <font class="keyword">const</font> CLocalRetriever   &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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                    &amp;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&lt;chain.getSubChains().size() &amp;&amp; cumulLength&lt;=midLength; ++j)
00951                                 cumulLength += retriever.getOrderedChain(chain.getSubChain(j)).getLength();
00952                         --j;
00953                         <font class="keyword">const</font> COrderedChain             &amp;ochain = retriever.getOrderedChain(chain.getSubChain(j));
00954                         surf.End.Surface = astarPath[i].NodeId;
00955                         {
00956                                 <font class="keywordflow">if</font> (ochain.getVertices().size() &amp; 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> &amp;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>&gt;=0 &amp;&amp; surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m1">SurfaceId</a>&gt;=0)
00996         {
00997                 sint32  locRetId= this-&gt;<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       &amp;surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;getRetriever(locRetId).getSurface(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m1">SurfaceId</a>);
00999                 <font class="keywordflow">return</font> &amp;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 &amp;cst, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;bboxMove, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;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">// -&gt; 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&lt;(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>        &amp;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&lt;0)
01047                         <font class="keywordflow">continue</font>;
01048                 <font class="keyword">const</font> CLocalRetriever           &amp;localRetriever= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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&lt;nCollisionChain; j++)
01081                 {
01082                         CCollisionChain         &amp;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          &amp;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&lt;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 &lt; (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 &lt; (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&lt;nCollisionChain; j++)
01135                 {
01136                         <font class="keyword">const</font> CCollisionChain   &amp;cj = cst.CollisionChains[j];
01137 
01138                         <font class="keywordflow">if</font> (cj.ExteriorEdge &amp;&amp; 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&lt;firstCollisionChain; k++)
01143                         {
01144                                 <font class="keyword">const</font> CCollisionChain   &amp;ck = cst.CollisionChains[k];
01145 
01146                                 <font class="keywordflow">if</font> (cj.LeftSurface.RetrieverInstanceId != cj.RightSurface.RetrieverInstanceId &amp;&amp;
01147                                         cj.LeftSurface == ck.RightSurface &amp;&amp; cj.RightSurface == ck.LeftSurface)
01148                                 {
01149                                         <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a>        &amp;instj = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(cj.LeftSurface.RetrieverInstanceId),
01150                                                                                                 &amp;instk = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(ck.LeftSurface.RetrieverInstanceId);
01151                                         <font class="keyword">const</font> CLocalRetriever           &amp;retrj = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instj.getRetrieverId()),
01152                                                                                                 &amp;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() &amp;&amp; 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&lt;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&lt;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 &amp;cst, <font class="keyword">const</font> CVector2f &amp;startCol, <font class="keyword">const</font> CVector2f &amp;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&lt;(sint)cst.CollisionChains.size(); i++)
01225         {
01226                 CCollisionChain         &amp;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&lt;(sint)cst.CollisionChains.size(); i++)
01240                 {
01241                         CCollisionChain         &amp;colChain= cst.CollisionChains[i];
01242 
01244                         <a class="code" href="debug_8h.html#a6">nlassert</a>(colChain.LeftSurface.RetrieverInstanceId &lt; (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 &lt; (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) &amp;&amp; !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        &amp;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>&lt;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&lt;1)
01286                                 {
01287                                         CSurfaceIdent   collidedSurface= colChain.getOtherSurface(currentSurface);
01288 
01290                                         <a class="code" href="debug_8h.html#a6">nlassert</a>(collidedSurface.RetrieverInstanceId &lt; (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&lt;(sint)cst.CollisionDescs.size(); j++)
01299                                         {
01300                                                 <font class="comment">// we must keep time order.</font>
01301                                                 <font class="keywordflow">if</font>(tMin &lt; 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&lt;=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&gt;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&gt;=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&lt;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-&gt;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId();
01361                                 <font class="keyword">const</font> CRetrievableSurface       &amp;surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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 &amp;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-&gt;isFloor() || left-&gt;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-&gt;isFloor() || right-&gt;isCeiling());
01404 
01405         <font class="comment">// true if both are a wall.</font>
01406         <font class="keywordflow">return</font> leftWall &amp;&amp; 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 &amp;cst, <font class="keyword">const</font> CVector2f &amp;startCol, <font class="keyword">const</font> CVector2f &amp;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&lt;(sint)cst.CollisionChains.size(); i++)
01438         {
01439                 CCollisionChain         &amp;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        &amp;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>&lt;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&lt;(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&lt;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-&gt;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId();
01527                                 <font class="keyword">const</font> CRetrievableSurface       &amp;surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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 &amp;startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, <font class="keywordtype">float</font> radius, CCollisionSurfaceTemp &amp;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> &amp;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> &amp;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 &amp;startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, 
01622         <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locJ, CCollisionSurfaceTemp &amp;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> &amp;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> &amp;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> &amp;startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;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> &amp;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&lt;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.  =&gt; 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       &amp;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">NLPACS::CGlobalRetriever::testBBoxRot</a>(<font class="keyword">const</font> CGlobalPosition &amp;startPos, 
01906         <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locJ, CCollisionSurfaceTemp &amp;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 &amp;cst, <font class="keyword">const</font> CVector2f &amp;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&lt;(sint)cst.CollisionChains.size(); i++)
01991         {
01992                 CCollisionChain         &amp;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        &amp;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&lt;(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) &amp;&amp; !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&lt;(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&lt;const NLPACS::CRetrieverBank*&gt;(retrieverBank));</font>
02057         <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrieverBank.html">NLPACS::CRetrieverBank</a>*   bank=static_cast&lt;const NLPACS::CRetrieverBank*&gt;(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-&gt;setRetrieverBank(bank);
02066 
02067                 <a class="code" href="cf__lexical_8cpp.html#a95">file</a>.serial(*retriever);
02068                 retriever-&gt;initAll();
02069 
02070                 <font class="keywordflow">return</font> static_cast&lt;UGlobalRetriever *&gt;(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&lt;NLPACS::CGlobalRetriever*&gt;(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&lt;NLPACS::CGlobalRetriever*&gt;(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 &amp;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>        &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(pos.InstanceId);
02098         <font class="keyword">const</font> CLocalRetriever           &amp;retriever= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>-&gt;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 &amp;v0, <font class="keyword">const</font> CVectorD &amp;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>
</pre></div>

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