1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
1976
1977
1978
1979
1980
1981
1982
1983
1984
1985
1986
1987
1988
1989
1990
1991
1992
1993
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
2025
2026
2027
2028
2029
2030
2031
2032
2033
2034
2035
2036
2037
2038
2039
2040
2041
2042
2043
2044
2045
2046
2047
2048
2049
2050
2051
2052
2053
2054
2055
2056
2057
2058
2059
2060
2061
2062
2063
2064
2065
2066
2067
2068
2069
2070
2071
2072
2073
2074
2075
2076
2077
2078
2079
2080
2081
2082
2083
2084
2085
2086
2087
2088
2089
2090
2091
2092
2093
2094
2095
2096
2097
2098
2099
2100
2101
2102
2103
2104
2105
2106
2107
2108
2109
2110
2111
2112
2113
2114
2115
2116
2117
2118
2119
2120
2121
2122
2123
2124
2125
2126
2127
2128
2129
2130
2131
2132
2133
2134
2135
2136
2137
2138
2139
2140
2141
2142
2143
2144
2145
2146
2147
2148
2149
2150
2151
2152
2153
2154
2155
2156
2157
2158
2159
2160
2161
2162
2163
2164
2165
2166
2167
2168
2169
2170
2171
2172
2173
2174
2175
2176
2177
2178
2179
2180
2181
|
<!doctype html public "-//W3C//DTD HTML 4.0 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd">
<HTML>
<HEAD>
<TITLE>nevrax.org : docs</TITLE>
<LINK REL=stylesheet TYPE="text/css" HREF="/inc/css/nevrax.css">
<link href="doxygen.css" rel="stylesheet" type="text/css">
</HEAD>
<BODY MARGINHEIGHT="0" MARGINWIDTH="0">
<!-- uplinks -->
<TABLE CELLSPACING=0 CELLPADDING=0 BORDER=0>
<TR>
<TD WIDTH=16><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD WIDTH=140 BGCOLOR=#dddddd><IMG SRC="/inc/img/pixel.gif" WIDTH="140" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD WIDTH=16><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD><IMG width=6 height=14 SRC="/inc/img/reddots.gif" ALT="#" VSPACE=2 HSPACE=2 BORDER=0 ></TD><TD VALIGN=middle> <A CLASS=uplinks HREF='/'><b>Home</B></FONT></A> </TD>
<TD><IMG width=6 height=14 SRC="/inc/img/reddots.gif" ALT="#" VSPACE=2 HSPACE=2 BORDER=0 ></TD><TD VALIGN=middle> <A CLASS=uplinks HREF=><b>nevrax.com</B></FONT></A> </TD>
</TR>
</TABLE>
<!-- banner Nevrax -->
<TABLE CELLSPACING=0 CELLPADDING=0 BORDER=0 WIDTH=100%>
<TR><TD BGCOLOR="#000000" BACKGROUND="/inc/img/black_banner.jpg"><A HREF=""><IMG SRC="/inc/img/nevrax.gif" WIDTH="170" HEIGHT="45" BORDER=0 ALT="Nevrax" ></A></TD></TR>
</TABLE>
<!-- main table -->
<TABLE CELLSPACING=0 CELLPADDING=0 BORDER=0 height=100%>
<TR>
<TD WIDTH=16><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="10" BORDER=0 ALT=""></TD>
<TD WIDTH=140 BGCOLOR=#dddddd VALIGN=TOP ALIGN=middle><IMG SRC="/inc/img/pixel.gif" WIDTH="140" HEIGHT="10" BORDER=0 ALT="">
<!------ Begin Box ------>
<TABLE BORDER=0 CELLSPACING=0 CELLPADDING=0 BGCOLOR=black><TR><TD><TABLE border=0 cellspacing=2 cellpadding=0 width=120><tr><TD ALIGN=middle bgcolor=black>
<FONT COLOR=white FACE="sans-serif"><B>Nevrax.org</B></FONT></TD></TR><tr><td colspan=2 bgcolor=#FFFFFF>
<TABLE cellspacing=0 cellpadding=1 border=0>
<tr><td ALIGN=middle><a class='linkbox' href="/news/" TITLE="Rubrique news"><img width=13 height=15 hspace=5 border=0 src=/inc/img/picto-news.gif ALT=#></A></td><td><a class='linkbox' href="/news/" TITLE="News">News</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/mail/" TITLE="Rubrique mail"><img width=15 height=11 hspace=5 border=0 src=/inc/img/picto-mail.gif ALT=#></A></td><td><a class='linkbox' href="/mail/" TITLE="Mailing list archive">Mailing-list</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/docs/" TITLE="Rubrique docs"><img width=14 height=16 hspace=5 border=0 src=/inc/img/picto-docs.gif ALT=#></A></td><td><a class='linkbox' href="/docs/" TITLE="Documentation">Documentation</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/cvs/" TITLE="Rubrique cvs"><img width=13 height=17 hspace=5 border=0 src=/inc/img/picto-cvs.gif ALT=#></A></td><td><a class='linkbox' href="/cvs/" TITLE="CVS Web">CVS</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/bugs/" TITLE="Rubrique bugs"><img width=20 height=16 hspace=5 border=0 src=/inc/img/picto-bugs.gif ALT=#></A></td><td><a class='linkbox' href="/bugs/" TITLE="Bugtracking">Bugs</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/GPL.php3" TITLE="Rubrique license"><img width=18 height=12 hspace=5 border=0 src=/inc/img/picto-gpl.gif ALT=#></A></td><td><a class='linkbox' href="/GPL.php3" TITLE="License">License</a></td></tr>
</TABLE>
</TD></TR></TABLE></TD></TR></TABLE>
<!------ End Box ------>
</TD>
<TD WIDTH=15><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD ALIGN=left valign=top><IMG SRC="/inc/img/pixel.gif" WIDTH="140" HEIGHT="10" BORDER=0 ALT="">
<!-- title -->
<TABLE background="/inc/img/redline.gif" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td>
<A HREF="/docs/"><img src="/inc/img/t_docs.gif" ALT="Docs" HEIGHT=20 BORDER=0></A>
</td><td><IMG SRC="/inc/img/pixel.gif" WIDTH="1" HEIGHT="1" BORDER=0 ALT="">
</td></tr></table>
<!-- block -->
<TABLE bgcolor="#dddddd" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td width=1% valign=middle><img width=6 height=14 hspace=2 vspace=2 src="/inc/img/reddots.gif"></TD>
<TD><B>Documentation</B></TD>
<TD ALIGN=RIGHT> </td>
</tr></table>
<!-- Generated by Doxygen 1.2.14 -->
<center>
<a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="namespaces.html">Namespace List</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="classes.html">Alphabetical List</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="namespacemembers.html">Namespace Members</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> <a class="qindex" href="pages.html">Related Pages</a> <a class="qindexRef" doxygen="_cgi:/cgi-bin/nel-search.cgi" href="/cgi-bin/nel-search.cgi">Search</a> </center>
<hr><h1>global_retriever.cpp</h1><a href="global__retriever_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025
00026 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font>
00027
00028 <font class="preprocessor">#include "<a class="code" href="path_8h.html">nel/misc/path.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="line_8h.html">nel/misc/line.h</a>"</font>
00030
00031 <font class="preprocessor">#include "<a class="code" href="hierarchical__timer_8h.html">nel/misc/hierarchical_timer.h</a>"</font>
00032
00033 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
00034 <font class="preprocessor">#include "<a class="code" href="retriever__bank_8h.html">pacs/retriever_bank.h</a>"</font>
00035
00036
00037 <font class="preprocessor">#include "<a class="code" href="time__nl_8h.html">nel/misc/time_nl.h</a>"</font>
<a name="l00038"></a><a class="code" href="global__retriever_8cpp.html#a0">00038</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a0">AStarTicks</a>;
<a name="l00039"></a><a class="code" href="global__retriever_8cpp.html#a1">00039</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a1">PathTicks</a>;
<a name="l00040"></a><a class="code" href="global__retriever_8cpp.html#a2">00040</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a2">ChainTicks</a>;
<a name="l00041"></a><a class="code" href="global__retriever_8cpp.html#a3">00041</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a3">SurfTicks</a>;
<a name="l00042"></a><a class="code" href="global__retriever_8cpp.html#a4">00042</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a>;
<a name="l00043"></a><a class="code" href="global__retriever_8cpp.html#a5">00043</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a>;
<a name="l00044"></a><a class="code" href="global__retriever_8cpp.html#a6">00044</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a>;
<a name="l00045"></a><a class="code" href="global__retriever_8cpp.html#a7">00045</a> NLMISC::TTicks <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a>;
00046
00047 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00048 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00049
<a name="l00050"></a><a class="code" href="global__retriever_8cpp.html#a8">00050</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="global__retriever_8cpp.html#a8">InsureSurfaceThreshold</a> = 0.5f; <font class="comment">// the threshold distance between 2 surfaces below which we insure the retrieved position to be inside the surface</font>
00051
00052 <font class="comment">// CGlobalRetriever methods implementation</font>
00053
00054 <font class="comment">//</font>
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">00055</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">NLPACS::CGlobalRetriever::init</a>()
00056 {
00057 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(CVector::Null);
00058 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_1">setHalfSize</a>(CVector::Null);
00059
00060 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.create(128, 160.0f);
00061 }
00062
<a name="l00063"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">00063</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">NLPACS::CGlobalRetriever::initQuadGrid</a>()
00064 {
00065 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.clear();
00066 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.create(128, 160.0f);
00067
00068 uint i;
00069 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++i)
00070 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.insert(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a>().getMin(), <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a>().getMax(), i);
00071 }
00072
<a name="l00073"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">00073</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">NLPACS::CGlobalRetriever::initRetrieveTable</a>()
00074 {
00075 uint i;
00076 uint size = 0;
00077
00078 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++i)
00079 {
00080 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getInstanceId() != -1 && <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId() != -1)
00081 {
00082 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId());
00083 size = std::max(retriever.getSurfaces().size(), size);
00084 }
00085 }
00086
00087 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>.resize(size);
00088 <font class="keywordflow">for</font> (i=0; i<size; ++i)
00089 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>[i] = 0;
00090 }
00091
00092 <font class="comment">//</font>
00093
<a name="l00094"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">00094</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">NLPACS::CGlobalRetriever::selectInstances</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bbox, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
00095 <font class="keyword"></font>{
00096 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.select(bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_0">getMin</a>(), bbox.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_1">getMax</a>());
00097 cst.CollisionInstances.clear();
00098
00099 <a class="code" href="classNLPACS_1_1CQuadGrid.html">NLPACS::CQuadGrid<uint32></a>::CIterator it;
00100 <font class="keywordflow">for</font> (it=<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.begin(); it!=<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.end(); ++it)
00101 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[*it].getBBox().intersect(bbox))
00102 cst.CollisionInstances.push_back(*it);
00103 }
00104
00105 <font class="comment">//</font>
00106
<a name="l00107"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">00107</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">NLPACS::CGlobalRetriever::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f)
00108 {
00109 <font class="comment">/*</font>
00110 <font class="comment"> Version 0:</font>
00111 <font class="comment"> - base version.</font>
00112 <font class="comment"> */</font>
00113 (void)f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(0);
00114
00115 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>);
00116 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>);
00117
00118 <font class="keywordflow">if</font> (f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
00119 {
00120 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a>();
00121 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a>();
00122 }
00123 }
00124
00125 <font class="comment">//</font>
00126
<a name="l00127"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">00127</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">NLPACS::CGlobalRetriever::check</a>()<font class="keyword"> const</font>
00128 <font class="keyword"></font>{
00129 uint i, j, k;
00130
00131 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++i)
00132 {
00133 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getInstanceId() == -1)
00134 {
00135 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Uninitialized instance %d"</font>, i);
00136 <font class="keywordflow">continue</font>;
00137 }
00138
00139 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getInstanceId() != (sint)i)
00140 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"InstanceId for instance %d is not correctly initialized"</font>, i);
00141
00142 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i].getRetrieverId() == -1)
00143 {
00144 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"No retriever at instance %d"</font>, i);
00145 <font class="keywordflow">continue</font>;
00146 }
00147
00148 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[i];
00149
00150 <font class="keywordflow">if</font> (instance.getRetrieverId()<0 || instance.getRetrieverId()>=(sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers().size())
00151 {
00152 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Instance %d has wrong retriever reference"</font>, i);
00153 <font class="keywordflow">continue</font>;
00154 }
00155
00156 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00157
00158 <font class="keywordflow">for</font> (j=0; j<retriever.getChains().size(); ++j)
00159 {
00160 <font class="keyword">const</font> CChain &chain = retriever.getChain(j);
00161 <font class="keywordflow">for</font> (k=0; k<chain.getSubChains().size(); ++k)
00162 {
00163 <font class="keywordflow">if</font> (chain.getSubChain(k) >= retriever.getOrderedChains().size())
00164 {
00165 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, chain %d: subchain %d reference is not valid"</font>, instance.getRetrieverId(), j, k);
00166 <font class="keywordflow">continue</font>;
00167 }
00168
00169 <font class="keywordflow">if</font> (retriever.getOrderedChain(chain.getSubChain(k)).getParentId() != j)
00170 {
00171 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, ochain %d: reference on parent is not valid"</font>, instance.getRetrieverId(), chain.getSubChain(k));
00172 <font class="keywordflow">continue</font>;
00173 }
00174
00175 <font class="keywordflow">if</font> (retriever.getOrderedChain(chain.getSubChain(k)).getIndexInParent() != k)
00176 {
00177 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, ochain %d: index on parent is not valid"</font>, instance.getRetrieverId(), chain.getSubChain(k));
00178 <font class="keywordflow">continue</font>;
00179 }
00180 }
00181
00182 <font class="keywordflow">if</font> (chain.getLeft()<0 || chain.getLeft()>=(sint)retriever.getSurfaces().size())
00183 {
00184 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, chain %d: reference on left surface is not valid"</font>, instance.getRetrieverId(), j);
00185 }
00186
00187 <font class="keywordflow">if</font> (chain.getRight()>=(sint)retriever.getSurfaces().size() ||
00188 chain.getRight()<=CChain::getDummyBorderChainId() && !CChain::isBorderChainId(chain.getRight()))
00189 {
00190 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, chain %d: reference on right surface is not valid"</font>, instance.getRetrieverId(), j);
00191 }
00192
00193 <font class="keywordflow">if</font> (CChain::isBorderChainId(chain.getRight()))
00194 {
00195 sint link = chain.getBorderChainIndex();
00196
00197 <font class="keywordflow">if</font> (link<0 || link>=(sint)instance.getBorderChainLinks().size())
00198 {
00199 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, instance %d, chain %d: reference on right link is not valid"</font>, instance.getRetrieverId(), instance.getInstanceId(), j);
00200 }
00201 <font class="keywordflow">else</font>
00202 {
00203 CRetrieverInstance::CLink lnk = instance.getBorderChainLink(link);
00204
00205 <font class="keywordflow">if</font> (lnk.Instance != 0xFFFF || lnk.SurfaceId != 0xFFFF ||
00206 lnk.ChainId != 0xFFFF || lnk.BorderChainId != 0xFFFF)
00207 {
00208 <font class="keywordflow">if</font> (lnk.Instance >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() ||
00209 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()<0 ||
00210 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()>(sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers().size() ||
00211 lnk.SurfaceId >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()).getSurfaces().size() ||
00212 ((lnk.ChainId >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()).getChains().size() ||
00213 lnk.BorderChainId >= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[lnk.Instance].getRetrieverId()).getBorderChains().size()) && instance.getType() != CLocalRetriever::Interior ))
00214 {
00215 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"retriever %d, instance %d, link %d: reference on instance may be not valid [Inst=%d, Surf=%d, Chain=%d, BorderChain=%d]"</font>, instance.getRetrieverId(), instance.getInstanceId(), link, lnk.Instance, lnk.SurfaceId, lnk.ChainId, lnk.BorderChainId);
00216 }
00217 }
00218 }
00219 }
00220 }
00221 }
00222 }
00223
00224 <font class="comment">//</font>
00225
<a name="l00226"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">00226</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">NLPACS::CGlobalRetriever::distanceToBorder</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font>
00227 <font class="keyword"></font>{
00228 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId > (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00229 <font class="keywordflow">return</font> 0.0f;
00230
00231 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId].getRetrieverId()).distanceToBorder(pos.LocalPosition);
00232 }
00233
<a name="l00234"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">00234</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">NLPACS::CGlobalRetriever::getBorders</a>(<font class="keyword">const</font> UGlobalPosition &pos, std::vector<NLMISC::CLine> &edges)
00235 {
00236 edges.clear();
00237
00238 <font class="keywordflow">if</font> (pos.InstanceId < 0)
00239 <font class="keywordflow">return</font>;
00240
00241 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId];
00242 CLocalRetriever &retriever = const_cast<CLocalRetriever &>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()));
00243 CChainQuad &chainquad = retriever.getChainQuad();
00244
00245 CAABBox box;
00246 box.setCenter(pos.LocalPosition.Estimation);
00247 box.setHalfSize(CVector(15.0f, 15.0f, 100.0f));
00248 chainquad.selectEdges(box, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00249
00250 uint ece;
00251 CVector origin = instance.getOrigin();
00252 <font class="keywordtype">float</font> zp = pos.LocalPosition.Estimation.z+origin.z;
00253 <font class="keywordflow">for</font> (ece=0; ece<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.EdgeChainEntries.size(); ++ece)
00254 {
00255 CEdgeChainEntry &entry = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.EdgeChainEntries[ece];
00256 <font class="keyword">const</font> COrderedChain &ochain = retriever.getOrderedChain(entry.OChainId);
00257
00258 uint edge;
00259 <font class="keywordflow">for</font> (edge=entry.EdgeStart; edge+1<entry.EdgeEnd; ++edge)
00260 {
00261 edges.push_back(CLine());
00262 edges.back().V0 = ochain[edge].unpack3f() + origin;
00263 edges.back().V0.z = zp;
00264 edges.back().V1 = ochain[edge+1].unpack3f() + origin;
00265 edges.back().V1.z = zp;
00266 }
00267 }
00268 }
00269
00270
00271 <font class="comment">//</font>
00272
<a name="l00273"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">00273</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">NLPACS::CGlobalRetriever::makeLinks</a>(uint n)
00274 {
00275 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n];
00276
00277 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(instance.getBBox(), <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00278
00279 uint i;
00280 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances.size(); ++i)
00281 {
00282 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &neighbor = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances[i]];
00283
00284 <font class="keywordflow">if</font> (neighbor.getInstanceId() == instance.getInstanceId())
00285 <font class="keywordflow">continue</font>;
00286
00287 <font class="keywordflow">try</font>
00288 {
00289 instance.link(neighbor, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers());
00290 neighbor.link(instance, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers());
00291 }
00292 <font class="keywordflow">catch</font> (Exception &e)
00293 {
00294 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CGlobalRetriever::makeLinks()"</font>);
00295 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"caught an exception during linkage of %d and %d: %s"</font>, instance.getInstanceId(), neighbor.getInstanceId(), e.what());
00296 }
00297 }
00298
00299 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()).getType() == CLocalRetriever::Interior)
00300 instance.linkEdgeQuad(*<font class="keyword">this</font>);
00301 }
00302
<a name="l00303"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">00303</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">NLPACS::CGlobalRetriever::resetAllLinks</a>()
00304 {
00305 uint n;
00306 <font class="keywordflow">for</font> (n=0; n<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++n)
00307 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].unlink(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>);
00308 }
00309
00310
<a name="l00311"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">00311</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">NLPACS::CGlobalRetriever::makeAllLinks</a>()
00312 {
00313 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">resetAllLinks</a>();
00314
00315 uint n;
00316 <font class="keywordflow">for</font> (n=0; n<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++n)
00317 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a>(n);
00318 }
00319
<a name="l00320"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">00320</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">NLPACS::CGlobalRetriever::initAll</a>()
00321 {
00322 uint n;
00323 <font class="keywordflow">for</font> (n=0; n<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size(); ++n)
00324 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].getInstanceId() != -1 && <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].getRetrieverId() != -1)
00325 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].init(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[n].getRetrieverId()));
00326
00327 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a>();
00328 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a>();
00329 }
00330
00331 <font class="comment">//</font>
00332
<a name="l00333"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">00333</a> <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html">NLPACS::CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">NLPACS::CGlobalRetriever::makeInstance</a>(uint32 retrieverId, uint8 orientation, <font class="keyword">const</font> CVector &origin)
00334 {
00335 uint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>;
00336 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>=0; <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a><<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() && <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>].getInstanceId()!=-1; ++<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00337 ;
00338
00339 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> == <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00340 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.resize(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>+1);
00341
00342 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>];
00343 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(retrieverId);
00344
00345 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>.size() < retriever.getSurfaces().size())
00346 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>.resize(retriever.getSurfaces().size(), 0);
00347
00348 instance.make(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>, retrieverId, retriever, orientation, origin);
00349
00350 CVector hsize = instance.getBBox().getHalfSize();
00351 hsize.z = 0.0f;
00352 <font class="keywordflow">if</font> (hsize != CVector::Null)
00353 {
00354 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_5">getHalfSize</a>() == CVector::Null)
00355 {
00356 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a> = instance.getBBox();
00357 }
00358 <font class="keywordflow">else</font>
00359 {
00360 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_4">extend</a>(instance.getBBox().getMin());
00361 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_4">extend</a>(instance.getBBox().getMax());
00362 }
00363
00364 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId()).getType() == CLocalRetriever::Interior)
00365 instance.initEdgeQuad(*<font class="keyword">this</font>);
00366
00367 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>.insert(instance.getBBox().getMin(), instance.getBBox().getMax(), instance.getInstanceId());
00368 }
00369
00370 <font class="keywordflow">return</font> instance;
00371 }
00372
00373 <font class="comment">//</font>
00374
00375 <font class="comment">/*</font>
00376 <font class="comment">NLPACS::UGlobalPosition NLPACS::CGlobalRetriever::retrievePosition(const CVector &estimated, float threshold) const</font>
00377 <font class="comment">{</font>
00378 <font class="comment"> // the retrieved position</font>
00379 <font class="comment"> CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated));</font>
00380 <font class="comment"></font>
00381 <font class="comment"> if (!_BBox.include(estimated))</font>
00382 <font class="comment"> return result;</font>
00383 <font class="comment"> </font>
00384 <font class="comment"> // get the best matching instances</font>
00385 <font class="comment"> CAABBox bbpos;</font>
00386 <font class="comment"> bbpos.setCenter(estimated);</font>
00387 <font class="comment"> bbpos.setHalfSize(CVector(0.5f, 0.5f, 0.5f));</font>
00388 <font class="comment"> selectInstances(bbpos, _InternalCST);</font>
00389 <font class="comment"></font>
00390 <font class="comment"> uint i;</font>
00391 <font class="comment"> float bestDist = threshold;</font>
00392 <font class="comment"> bool snapinterior = false;</font>
00393 <font class="comment"></font>
00394 <font class="comment"> // for each instance, try to retrieve the position</font>
00395 <font class="comment"> for (i=0; i<_InternalCST.CollisionInstances.size(); ++i)</font>
00396 <font class="comment"> {</font>
00397 <font class="comment"> uint32 id = _InternalCST.CollisionInstances[i];</font>
00398 <font class="comment"> // if the retrieved position is on a surface and it best match the estimated position</font>
00399 <font class="comment"> // remember it</font>
00400 <font class="comment"> const CRetrieverInstance &instance = _Instances[id];</font>
00401 <font class="comment"> CVector lestim = instance.getLocalPosition(estimated);</font>
00402 <font class="comment"> CLocalRetriever::CLocalPosition ret = instance.retrievePosition(estimated, _RetrieverBank->getRetriever(_Instances[id].getRetrieverId()), _InternalCST);</font>
00403 <font class="comment"> // go preferably on interior instances</font>
00404 <font class="comment"> float d = (float)fabs(lestim.z-ret.Estimation.z);</font>
00405 <font class="comment"> bool itype = (instance.getType() == CLocalRetriever::Interior);</font>
00406 <font class="comment"> if (ret.Surface != -1 && (snapinterior && itype && d < bestDist ||</font>
00407 <font class="comment"> !snapinterior && itype && d < 1.0f ||</font>
00408 <font class="comment"> !snapinterior && itype && d >= 1.0f && d < bestDist ||</font>
00409 <font class="comment"> !snapinterior && !itype && d < bestDist))</font>
00410 <font class="comment"> {</font>
00411 <font class="comment"> if (itype && d < 1.0f)</font>
00412 <font class="comment"> snapinterior = true;</font>
00413 <font class="comment"> bestDist = d;</font>
00414 <font class="comment"> result.LocalPosition = ret;</font>
00415 <font class="comment"> result.InstanceId = id;</font>
00416 <font class="comment"> }</font>
00417 <font class="comment"> }</font>
00418 <font class="comment"></font>
00419 <font class="comment"> return result;</font>
00420 <font class="comment">}</font>
00421 <font class="comment">*/</font>
<a name="l00422"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_2">00422</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVector &estimated, <font class="keywordtype">float</font> threshold)<font class="keyword"> const</font>
00423 <font class="keyword"></font>{
00424 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(CVectorD(estimated), (<font class="keywordtype">double</font>)threshold);
00425 }
00426
00427 <font class="comment">/*</font>
00428 <font class="comment">NLPACS::UGlobalPosition NLPACS::CGlobalRetriever::retrievePosition(const CVectorD &estimated, double threshold) const</font>
00429 <font class="comment">{</font>
00430 <font class="comment"> // the retrieved position</font>
00431 <font class="comment"> CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated));</font>
00432 <font class="comment"></font>
00433 <font class="comment"> if (!_BBox.include(CVector((float)estimated.x, (float)estimated.y, (float)estimated.z)))</font>
00434 <font class="comment"> return result;</font>
00435 <font class="comment"> </font>
00436 <font class="comment"> </font>
00437 <font class="comment"> // get the best matching instances</font>
00438 <font class="comment"> CAABBox bbpos;</font>
00439 <font class="comment"> bbpos.setCenter(estimated);</font>
00440 <font class="comment"> bbpos.setHalfSize(CVector(0.5f, 0.5f, 0.5f));</font>
00441 <font class="comment"> selectInstances(bbpos, _InternalCST);</font>
00442 <font class="comment"></font>
00443 <font class="comment"> uint i;</font>
00444 <font class="comment"> double bestDist = threshold;</font>
00445 <font class="comment"> bool snapinterior = false;</font>
00446 <font class="comment"></font>
00447 <font class="comment"> // for each instance, try to retrieve the position</font>
00448 <font class="comment"> for (i=0; i<_InternalCST.CollisionInstances.size(); ++i)</font>
00449 <font class="comment"> {</font>
00450 <font class="comment"> uint32 id = _InternalCST.CollisionInstances[i];</font>
00451 <font class="comment"> // if the retrieved position is on a surface and it best match the estimated position</font>
00452 <font class="comment"> // remember it</font>
00453 <font class="comment"> const CRetrieverInstance &instance = _Instances[id];</font>
00454 <font class="comment"> CVector lestim = instance.getLocalPosition(estimated);</font>
00455 <font class="comment"> CLocalRetriever::CLocalPosition ret = instance.retrievePosition(estimated, _RetrieverBank->getRetriever(_Instances[id].getRetrieverId()), _InternalCST);</font>
00456 <font class="comment"> // go preferably on interior instances</font>
00457 <font class="comment"> double d = fabs(lestim.z-ret.Estimation.z);</font>
00458 <font class="comment"> bool itype = (instance.getType() == CLocalRetriever::Interior);</font>
00459 <font class="comment"> if (ret.Surface != -1 && (snapinterior && itype && d < bestDist ||</font>
00460 <font class="comment"> !snapinterior && itype && d < 1.0f ||</font>
00461 <font class="comment"> !snapinterior && itype && d >= 1.0f && d < bestDist ||</font>
00462 <font class="comment"> !snapinterior && !itype && d < bestDist))</font>
00463 <font class="comment"> {</font>
00464 <font class="comment"> if (itype && d < 1.0)</font>
00465 <font class="comment"> snapinterior = true;</font>
00466 <font class="comment"> bestDist = d;</font>
00467 <font class="comment"> result.LocalPosition = ret;</font>
00468 <font class="comment"> result.InstanceId = id;</font>
00469 <font class="comment"> }</font>
00470 <font class="comment"></font>
00471 <font class="comment">// double d = fabs(lestim.z-ret.Estimation.z) * (_Instances[id].getType() == CLocalRetriever::Interior ? 0.5 : 1.0);</font>
00472 <font class="comment">// if (ret.Surface != -1 && d < bestDist)</font>
00473 <font class="comment">// {</font>
00474 <font class="comment">// bestDist = d;</font>
00475 <font class="comment">// result.LocalPosition = ret;</font>
00476 <font class="comment">// result.InstanceId = _Instances[id].getInstanceId();</font>
00477 <font class="comment">// }</font>
00478 <font class="comment"> }</font>
00479 <font class="comment"></font>
00480 <font class="comment"> return result;</font>
00481 <font class="comment">}</font>
00482 <font class="comment">*/</font>
00483
<a name="l00484"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_3">00484</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVectorD &estimated, <font class="keywordtype">double</font> threshold)<font class="keyword"> const</font>
00485 <font class="keyword"></font>{
00486 <font class="comment">// the retrieved position</font>
00487 CGlobalPosition result = CGlobalPosition(-1, CLocalRetriever::CLocalPosition(-1, estimated));
00488
00489 <font class="keywordflow">if</font> (!<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z265_2">include</a>(CVector((<font class="keywordtype">float</font>)estimated.x, (<font class="keywordtype">float</font>)estimated.y, (<font class="keywordtype">float</font>)estimated.z)))
00490 <font class="keywordflow">return</font> result;
00491
00492
00493 <font class="comment">// get the best matching instances</font>
00494 CAABBox bbpos;
00495 bbpos.setCenter(estimated);
00496 bbpos.setHalfSize(CVector(0.5f, 0.5f, 0.5f));
00497 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(bbpos, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00498
00499 uint i;
00500
00501 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.clear();
00502
00503 <font class="comment">// for each instance, try to retrieve the position</font>
00504 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances.size(); ++i)
00505 {
00506 uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.CollisionInstances[i];
00507 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>];
00508 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00509 instance.retrievePosition(estimated, retriever, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00510 }
00511
00512 <font class="keywordflow">if</font> (!<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.empty())
00513 {
00514 <font class="comment">// if there are some selected surfaces, sort them</font>
00515 std::sort(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.begin(), <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces.end(), CCollisionSurfaceTemp::CDistanceSurface());
00516
00517 uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces[0].Instance;
00518 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>];
00519 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00520
00521 <font class="comment">// get the UGlobalPosition of the estimation for this surface</font>
00522 result.InstanceId = <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>;
00523 result.LocalPosition.Surface = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces[0].Surface;
00524 result.LocalPosition.Estimation = instance.getLocalPosition(estimated);
00525
00526 CRetrieverInstance::snapVector(result.LocalPosition.Estimation);
00527
00528 <font class="comment">// if there are more than 1 one possible (and best matching) surface, insure the position within the surface (by moving the point)</font>
00529 <font class="comment">// if (_InternalCST.SortedSurfaces.size() >= 2 && </font>
00530 <font class="comment">// _InternalCST.SortedSurfaces[1].Distance-_InternalCST.SortedSurfaces[0].Distance < InsureSurfaceThreshold)</font>
00531 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>.SortedSurfaces[0].FoundCloseEdge)
00532 {
00533 <font class="keywordtype">bool</font> moved;
00534 uint numMove = 0;
00535 <font class="keywordflow">do</font>
00536 {
00537 moved = retriever.insurePosition(result.LocalPosition);
00538 ++numMove;
00539
00540 <font class="keywordflow">if</font> (moved)
00541 {
00542 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"PACS: insured position inside surface (%d,%d)"</font>, result.InstanceId, result.LocalPosition.Surface);
00543 }
00544 }
00545 <font class="keywordflow">while</font> (moved && numMove < 100);
00546 <font class="comment">// the algo won't loop infinitely</font>
00547
00548 <font class="keywordflow">if</font> (moved)
00549 {
00550 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"PACS: couldn't insure position (%.f,%.f) within the surface (surf=%d,inst=%d) after 100 retries"</font>, result.LocalPosition.Estimation.x, result.LocalPosition.Estimation.y, result.LocalPosition.Surface, result.InstanceId);
00551 }
00552 }
00553
00554 <font class="comment">// and after selecting the best surface (and some replacement) snap the point to the surface</font>
00555 instance.snap(result.LocalPosition, retriever);
00556 }
00557 <font class="keywordflow">else</font>
00558 {
00559 <font class="comment">// nlwarning("PACS: unable to retrieve correct position (%f,%f,%f)", estimated.x, estimated.y, estimated.z);</font>
00560 <font class="comment">// nlSleep(1);</font>
00561 }
00562
00563 <font class="keywordflow">return</font> result;
00564 }
00565
<a name="l00566"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">00566</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVector &estimated)<font class="keyword"> const</font>
00567 <font class="keyword"></font>{
00568 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(estimated, 1.0e10f);
00569 }
00570
<a name="l00571"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_1">00571</a> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">NLPACS::CGlobalRetriever::retrievePosition</a>(<font class="keyword">const</font> CVectorD &estimated)<font class="keyword"> const</font>
00572 <font class="keyword"></font>{
00573 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(estimated, 1.0e10);
00574 }
00575
00576 <font class="comment">//</font>
00577
00578 sint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">NLPACS::CGlobalRetriever::getIdentifier</a>(<font class="keyword">const</font> string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)<font class="keyword"> const</font>
00579 <font class="keyword"></font>{
00580 sint32 i;
00581 <font class="keywordflow">for</font> (i=0; i<(sint32)(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetrievers().size()); ++i)
00582 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(i).getIdentifier() == <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00583 <font class="keywordflow">return</font> i;
00584
00585 <font class="keywordflow">return</font> -1;
00586 }
00587
<a name="l00588"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_5">00588</a> <font class="keyword">const</font> string &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">NLPACS::CGlobalRetriever::getIdentifier</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &position)<font class="keyword"> const</font>
00589 <font class="keyword"></font>{
00590 <font class="keyword">static</font> <font class="keyword">const</font> string nullString = string(<font class="stringliteral">""</font>);
00591
00592 <font class="keywordflow">if</font> (position.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a> == -1)
00593 <font class="keywordflow">return</font> nullString;
00594
00595 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[position.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>].getRetrieverId()).getIdentifier();
00596 }
00597
00598 <font class="comment">//</font>
00599
00600 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_6">NLPACS::CGlobalRetriever::buildInstance</a>(<font class="keyword">const</font> string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &position, sint32 &instanceId)
00601 {
00602 NL_ALLOC_CONTEXT( Pacs )
00603
00604 sint32 retrieverId = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
00605
00606 instanceId = -1;
00607
00608 <font class="comment">// check retriever exists</font>
00609 <font class="keywordflow">if</font> (retrieverId < 0)
00610 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00611
00612 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">makeInstance</a>(retrieverId, 0, CVector(position));
00613
00614 <font class="comment">// check make instance success</font>
00615 <font class="keywordflow">if</font> (&instance == NULL || instance.getInstanceId() == -1 || instance.getRetrieverId() != retrieverId)
00616 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00617
00618 <font class="comment">// links new instance to its neighbors</font>
00619 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a>(instance.getInstanceId());
00620
00621 instanceId = instance.getInstanceId();
00622
00623 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00624 }
00625
00626 <font class="comment">//</font>
00627
<a name="l00628"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">00628</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">NLPACS::CGlobalRetriever::removeInstance</a>(sint32 instanceId)
00629 {
00630 <font class="keywordflow">if</font> (instanceId < 0 || instanceId >= (sint32)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size() || <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[instanceId].getInstanceId() < 0)
00631 {
00632 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"CGlobalRetriever::removeInstance(): Can't unlink instance %d, doesn't exist"</font>, instanceId);
00633 <font class="keywordflow">return</font>;
00634 }
00635
00636 <font class="comment">// get instance</font>
00637 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[instanceId];
00638
00639 <font class="comment">// unlink it from others</font>
00640 instance.unlink(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>);
00641
00642
00643 }
00644
00645 <font class="comment">//</font>
00646
00647 <font class="comment">//</font>
00648 <font class="comment">/*</font>
00649 <font class="comment">void NLPACS::CGlobalRetriever::snapToInteriorGround(UGlobalPosition &position) const</font>
00650 <font class="comment">{</font>
00651 <font class="comment"> const CRetrieverInstance &instance = _Instances[position.InstanceId];</font>
00652 <font class="comment"> if (instance.getType() != CLocalRetriever::Interior)</font>
00653 <font class="comment"> return;</font>
00654 <font class="comment"></font>
00655 <font class="comment"> const CLocalRetriever &retriever = getRetriever(instance.getRetrieverId());</font>
00656 <font class="comment"> instance.snapToInteriorGround(position.LocalPosition, retriever);</font>
00657 <font class="comment">}</font>
00658 <font class="comment">*/</font>
00659
00660 <font class="comment">//</font>
<a name="l00661"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">00661</a> CVector <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">NLPACS::CGlobalRetriever::getGlobalPosition</a>(<font class="keyword">const</font> UGlobalPosition &global)<font class="keyword"> const</font>
00662 <font class="keyword"></font>{
00663 <font class="keywordflow">if</font> (global.InstanceId >= 0)
00664 {
00665 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[global.InstanceId].getGlobalPosition(global.LocalPosition.Estimation);
00666 }
00667 <font class="keywordflow">else</font>
00668 {
00669 <font class="comment">// it should be an error here</font>
00670 <font class="keywordflow">return</font> global.LocalPosition.Estimation;
00671 }
00672 }
00673
<a name="l00674"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">00674</a> CVectorD <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">NLPACS::CGlobalRetriever::getDoubleGlobalPosition</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &global)<font class="keyword"> const</font>
00675 <font class="keyword"></font>{
00676 <font class="keywordflow">if</font> (global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a> >= 0)
00677 {
00678 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>].getDoubleGlobalPosition(global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation);
00679 }
00680 <font class="keywordflow">else</font>
00681 {
00682 <font class="comment">// it should be an error here</font>
00683 <font class="keywordflow">return</font> CVectorD(global.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation);
00684 }
00685 }
00686
00687 <font class="comment">//</font>
00688
00689 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">NLPACS::CGlobalRetriever::findAStarPath</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &begin,
00690 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &end,
00691 vector<NLPACS::CRetrieverInstance::CAStarNodeAccess> &path,
00692 uint32 forbidFlags)<font class="keyword"> const</font>
00693 <font class="keyword"></font>{
00694 <a class="code" href="namespaceNLMISC.html#a184">TTicks</a> astarStart;
00695 <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a> = 0;
00696 astarStart = CTime::getPerformanceTime();
00697
00698 <font class="comment">// open and close lists</font>
00699 <font class="comment">// TODO: Use a smart allocator to avoid huge alloc/free and memory fragmentation</font>
00700 <font class="comment">// open is a priority queue (implemented as a stl multimap)</font>
00701 multimap<float, CRetrieverInstance::CAStarNodeAccess> open;
00702 <font class="comment">// close is a simple stl vector</font>
00703 vector<CRetrieverInstance::CAStarNodeAccess> close;
00704
00705 <font class="comment">// inits start node and info</font>
00706 CRetrieverInstance::CAStarNodeAccess beginNode;
00707 beginNode.InstanceId = begin.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>;
00708 beginNode.NodeId = (uint16)begin.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Surface;
00709 CRetrieverInstance::CAStarNodeInfo &beginInfo = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(beginNode);
00710
00711 <font class="comment">// inits end node and info.</font>
00712 CRetrieverInstance::CAStarNodeAccess endNode;
00713 endNode.InstanceId = end.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>;
00714 endNode.NodeId = (uint16)end.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Surface;
00715 CRetrieverInstance::CAStarNodeInfo &endInfo = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(endNode);
00716
00717 <font class="comment">// set up first node...</font>
00718 CRetrieverInstance::CAStarNodeAccess node = beginNode;
00719 beginInfo.Parent.InstanceId = -1;
00720 beginInfo.Parent.NodeId = 0;
00721 beginInfo.Parent.ThroughChain = 0;
00722 beginInfo.Cost = 0;
00723 beginInfo.F = (endInfo.Position-beginInfo.Position).norm();
00724
00725 <font class="comment">// ... and inserts it in the open list.</font>
00726 open.insert(make_pair(beginInfo.F, node));
00727
00728 <font class="comment">// TO DO: use a CVector2f instead</font>
00729 CVector2f endPosition = CVector2f(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">getGlobalPosition</a>(end));
00730
00731 uint i;
00732
00733 path.clear();
00734
00735 <font class="keywordflow">while</font> (true)
00736 {
00737 <font class="keywordflow">if</font> (open.empty())
00738 {
00739 <font class="comment">// couldn't find a path</font>
00740 <font class="keywordflow">return</font>;
00741 }
00742
00743 multimap<float, CRetrieverInstance::CAStarNodeAccess>::iterator it;
00744
00745 it = open.begin();
00746 node = it->second;
00747 open.erase(it);
00748
00749 <font class="keywordflow">if</font> (node == endNode)
00750 {
00751 <font class="comment">// found a path</font>
00752 CRetrieverInstance::CAStarNodeAccess pathNode = node;
00753 uint numNodes = 0;
00754 <font class="keywordflow">while</font> (pathNode.InstanceId != -1)
00755 {
00756 ++numNodes;
00757 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pathNode.InstanceId];
00758 CRetrieverInstance::CAStarNodeInfo &pathInfo = instance._NodesInformation[pathNode.NodeId];
00759 pathNode = pathInfo.Parent;
00760 }
00761
00762 path.resize(numNodes);
00763 pathNode = node;
00764 <font class="keywordflow">while</font> (pathNode.InstanceId != -1)
00765 {
00766 path[--numNodes] = pathNode;
00767 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pathNode.InstanceId];
00768 CRetrieverInstance::CAStarNodeInfo &pathInfo = instance._NodesInformation[pathNode.NodeId];
00769 pathNode = pathInfo.Parent;
00770 }
00771
00772 <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a> += (CTime::getPerformanceTime()-astarStart);
00773
00774 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"found a path"</font>);
00775 <font class="keywordflow">for</font> (i=0; i<path.size(); ++i)
00776 {
00777 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[path[i].InstanceId];
00778 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
00779 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"pathNode %d = (Inst=%d, Node=%d, Through=%d)"</font>, i, path[i].InstanceId, path[i].NodeId, path[i].ThroughChain);
00780 <font class="keywordflow">if</font> (path[i].ThroughChain != 0xffff)
00781 {
00782 <font class="keyword">const</font> CChain &chain = retriever.getChain(path[i].ThroughChain);
00783 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" chain: left=%d right=%d"</font>, chain.getLeft(), chain.getRight());
00784 <font class="keywordflow">if</font> (CChain::isBorderChainId(chain.getRight()))
00785 {
00786 CRetrieverInstance::CLink lnk = instance.getBorderChainLink(CChain::convertBorderChainId(chain.getRight()));
00787 sint instanceid = lnk.Instance;
00788 sint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a> = lnk.SurfaceId;
00789 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" right: instance=%d surf=%d"</font>, instanceid, <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
00790 }
00791 }
00792 }
00793 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"open.size()=%d"</font>, open.size());
00794 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"close.size()=%d"</font>, close.size());
00795
00796 <font class="keywordflow">return</font>;
00797 }
00798
00799 <font class="comment">// push successors of the current node</font>
00800 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &inst = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[node.InstanceId];
00801 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(inst.getRetrieverId());
00802 <font class="keyword">const</font> CRetrievableSurface &surf = retriever.getSurface(node.NodeId);
00803 <font class="keyword">const</font> vector<CRetrievableSurface::CSurfaceLink> &chains = surf.getChains();
00804
00805 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> *nextInstance;
00806 <font class="keyword">const</font> CLocalRetriever *nextRetriever;
00807 <font class="keyword">const</font> CRetrievableSurface *nextSurface;
00808
00809 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"examine node (instance=%d,surf=%d,cost=%g)"</font>, node.InstanceId, node.NodeId, inst._NodesInformation[node.NodeId].Cost);
00810
00811 <font class="keywordflow">for</font> (i=0; i<chains.size(); ++i)
00812 {
00813 sint32 nextNodeId = chains[i].Surface;
00814 CRetrieverInstance::CAStarNodeAccess nextNode;
00815
00816 <font class="keywordflow">if</font> (CChain::isBorderChainId(nextNodeId))
00817 {
00818 <font class="comment">// if the chain points to another retriever</font>
00819
00820 <font class="comment">// first get the edge on the retriever</font>
00821 CRetrieverInstance::CLink lnk = inst.getBorderChainLink(CChain::convertBorderChainId(nextNodeId));
00822 nextNode.InstanceId = lnk.Instance;
00823
00824 <font class="keywordflow">if</font> (nextNode.InstanceId < 0)
00825 <font class="keywordflow">continue</font>;
00826
00827 nextInstance = &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[nextNode.InstanceId];
00828 nextRetriever = &(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(nextInstance->getRetrieverId()));
00829
00830 sint nodeId = lnk.SurfaceId;
00831 <a class="code" href="debug_8h.html#a6">nlassert</a>(nodeId >= 0);
00832 nextNode.NodeId = (uint16)nodeId;
00833 }
00834 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (nextNodeId >= 0)
00835 {
00836 <font class="comment">// if the chain points to the same instance</font>
00837 nextNode.InstanceId = node.InstanceId;
00838 nextNode.NodeId = (uint16) nextNodeId;
00839 nextInstance = &inst;
00840 nextRetriever = &retriever;
00841 }
00842 <font class="keywordflow">else</font>
00843 {
00844 <font class="comment">// if the chain cannot be crossed</font>
00845 <font class="keywordflow">continue</font>;
00846 }
00847
00848 nextSurface = &(nextRetriever->getSurface(nextNode.NodeId));
00849
00850 <font class="keywordflow">if</font> (nextSurface->getFlags() & forbidFlags)
00851 <font class="keywordflow">continue</font>;
00852
00853 <font class="comment">// compute new node value (heuristic and cost)</font>
00854
00855 CRetrieverInstance::CAStarNodeInfo &nextInfo = nextInstance->_NodesInformation[nextNode.NodeId];
00856 <font class="keywordtype">float</font> stepCost = (nextInfo.Position-inst._NodesInformation[node.NodeId].Position).norm();
00857 <font class="keywordtype">float</font> nextCost = inst._NodesInformation[node.NodeId].Cost+stepCost;
00858 <font class="keywordtype">float</font> nextHeuristic = (nextInfo.Position-endPosition).norm();
00859 <font class="keywordtype">float</font> nextF = nextCost+nextHeuristic;
00860
00861 vector<CRetrieverInstance::CAStarNodeAccess>::iterator closeIt;
00862 <font class="keywordflow">for</font> (closeIt=close.begin(); closeIt!=close.end() && *closeIt!=nextNode; ++closeIt)
00863 ;
00864
00865 <font class="keywordflow">if</font> (closeIt != close.end() && nextInfo.F < nextF)
00866 <font class="keywordflow">continue</font>;
00867
00868 multimap<float, CRetrieverInstance::CAStarNodeAccess>::iterator openIt;
00869 <font class="keywordflow">for</font> (openIt=open.begin(); openIt!=open.end() && openIt->second!=nextNode; ++openIt)
00870 ;
00871
00872 <font class="keywordflow">if</font> (openIt != open.end() && nextInfo.F < nextF)
00873 <font class="keywordflow">continue</font>;
00874
00875 <font class="keywordflow">if</font> (openIt != open.end())
00876 open.erase(openIt);
00877
00878 <font class="keywordflow">if</font> (closeIt != close.end())
00879 close.erase(closeIt);
00880
00881 nextInfo.Parent = node;
00882 nextInfo.Parent.ThroughChain = (uint16)(chains[i].Chain);
00883 nextInfo.Cost = nextCost;
00884 nextInfo.F = nextF;
00885
00886 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" adding node (instance=%d,surf=%d) f=%g, through=%d"</font>, nextNode.InstanceId, nextNode.NodeId, nextInfo.F, i);
00887
00888 open.insert(make_pair(nextInfo.F, nextNode));
00889 }
00890 close.push_back(node);
00891 }
00892 }
00893
00894
00895
<a name="l00896"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">00896</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">NLPACS::CGlobalRetriever::findPath</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &begin,
00897 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &end,
00898 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">NLPACS::CGlobalRetriever::CGlobalPath</a> &path,
00899 uint32 forbidFlags)<font class="keyword"> const</font>
00900 <font class="keyword"></font>{
00901
00902 vector<CRetrieverInstance::CAStarNodeAccess> astarPath;
00903 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">findAStarPath</a>(begin, end, astarPath, forbidFlags);
00904
00905 <a class="code" href="namespaceNLMISC.html#a184">TTicks</a> surfStart;
00906 <a class="code" href="namespaceNLMISC.html#a184">TTicks</a> chainStart;
00907
00908 <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a> = 0;
00909 <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a> = 0;
00910 <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a> = 0;
00911
00912 path.clear();
00913 path.resize(astarPath.size());
00914
00915 uint i, j;
00916 <font class="keywordflow">for</font> (i=0; i<astarPath.size(); ++i)
00917 {
00918 chainStart = CTime::getPerformanceTime();
00919 CLocalPath &surf = path[i];
00920 surf.InstanceId = astarPath[i].InstanceId;
00921 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[surf.InstanceId].getRetrieverId());
00922
00923 <font class="comment">// computes start point</font>
00924 <font class="keywordflow">if</font> (i == 0)
00925 {
00926 <font class="comment">// if it is the first point, just copy the begin</font>
00927 surf.Start.ULocalPosition::operator= (begin.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>);
00928 }
00929 <font class="keywordflow">else</font>
00930 {
00931 <font class="comment">// else, take the previous value and convert it in the current instance axis</font>
00932 <font class="comment">// TODO: avoid this if the instances are the same</font>
00933 CVector prev = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[path[i-1].InstanceId].getGlobalPosition(path[i-1].End.Estimation);
00934 CVector current = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[surf.InstanceId].getLocalPosition(prev);
00935 surf.Start.Surface = astarPath[i].NodeId;
00936 surf.Start.Estimation = current;
00937 }
00938
00939 <font class="comment">// computes end point</font>
00940 <font class="keywordflow">if</font> (i == astarPath.size()-1)
00941 {
00942 surf.End.ULocalPosition::operator= (end.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>);
00943 }
00944 <font class="keywordflow">else</font>
00945 {
00946 <font class="comment">// get to the middle of the chain</font>
00947 <font class="comment">// first get the chain between the 2 surfaces</font>
00948 <font class="keyword">const</font> CChain &chain = retriever.getChain(astarPath[i].ThroughChain);
00949 <font class="keywordtype">float</font> cumulLength = 0.0f, midLength=chain.getLength()*0.5f;
00950 <font class="keywordflow">for</font> (j=0; j<chain.getSubChains().size() && cumulLength<=midLength; ++j)
00951 cumulLength += retriever.getOrderedChain(chain.getSubChain(j)).getLength();
00952 --j;
00953 <font class="keyword">const</font> COrderedChain &ochain = retriever.getOrderedChain(chain.getSubChain(j));
00954 surf.End.Surface = astarPath[i].NodeId;
00955 {
00956 <font class="keywordflow">if</font> (ochain.getVertices().size() & 1)
00957 {
00958 surf.End.Estimation = ochain[ochain.getVertices().size()/2].unpack3f();
00959 }
00960 <font class="keywordflow">else</font>
00961 {
00962 surf.End.Estimation = (ochain[ochain.getVertices().size()/2].unpack3f()+
00963 ochain[ochain.getVertices().size()/2-1].unpack3f())*0.5f;
00964 }
00965 }
00966 }
00967 <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a> += (CTime::getPerformanceTime()-chainStart);
00968
00969 surfStart = CTime::getPerformanceTime();
00970 retriever.findPath(surf.Start, surf.End, surf.Path, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>);
00971 <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a> += (CTime::getPerformanceTime()-surfStart);
00972 }
00973
00974 <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a> = <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a>+<a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a>+<a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a>;
00975 <a class="code" href="global__retriever_8cpp.html#a1">PathTicks</a> += <a class="code" href="global__retriever_8cpp.html#a5">ThisPathTicks</a>;
00976 <a class="code" href="global__retriever_8cpp.html#a3">SurfTicks</a> += <a class="code" href="global__retriever_8cpp.html#a7">ThisSurfTicks</a>;
00977 <a class="code" href="global__retriever_8cpp.html#a0">AStarTicks</a> += <a class="code" href="global__retriever_8cpp.html#a4">ThisAStarTicks</a>;
00978 <a class="code" href="global__retriever_8cpp.html#a2">ChainTicks</a> += <a class="code" href="global__retriever_8cpp.html#a6">ThisChainTicks</a>;
00979 }
00980
00981
00982 <font class="comment">// ***************************************************************************</font>
00983
00984 <font class="comment">// ***************************************************************************</font>
00985 <font class="comment">// ***************************************************************************</font>
00986 <font class="comment">// Collisions part.</font>
00987 <font class="comment">// ***************************************************************************</font>
00988 <font class="comment">// ***************************************************************************</font>
00989
00990
00991
00992 <font class="comment">// ***************************************************************************</font>
<a name="l00993"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">00993</a> <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrievableSurface.html">NLPACS::CRetrievableSurface</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">NLPACS::CGlobalRetriever::getSurfaceById</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CSurfaceIdent.html">NLPACS::CSurfaceIdent</a> &surfId)<font class="keyword"> const</font>
00994 <font class="keyword"></font>{
00995 <font class="keywordflow">if</font>(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m0">RetrieverInstanceId</a>>=0 && surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m1">SurfaceId</a>>=0)
00996 {
00997 sint32 locRetId= this-><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m0">RetrieverInstanceId</a>).getRetrieverId();
00998 <font class="keyword">const</font> CRetrievableSurface &surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(locRetId).getSurface(surfId.<a class="code" href="classNLPACS_1_1CSurfaceIdent.html#m1">SurfaceId</a>);
00999 <font class="keywordflow">return</font> &surf;
01000 }
01001 <font class="keywordflow">else</font>
01002 <font class="keywordflow">return</font> NULL;
01003 }
01004
01005
01006
01007 <font class="comment">// ***************************************************************************</font>
<a name="l01008"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">01008</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">NLPACS::CGlobalRetriever::findCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &bboxMove, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &origin)<font class="keyword"> const</font>
01009 <font class="keyword"></font>{
01010 <font class="comment">// H_AUTO(PACS_GR_findCollisionChains);</font>
01011
01012 sint i,j;
01013
01014 <font class="comment">// 0. reset.</font>
01015 <font class="comment">//===========</font>
01016 <font class="comment">// reset possible chains.</font>
01017 <font class="comment">// H_BEFORE(PACS_GR_findCC_reset);</font>
01018 cst.CollisionChains.clear();
01019 cst.resetEdgeCollideNodes();
01020 <font class="comment">// H_AFTER(PACS_GR_findCC_reset);</font>
01021
01022 <font class="comment">// 1. Find Instances which may hit this movement.</font>
01023 <font class="comment">//===========</font>
01024 <font class="comment">// H_BEFORE(PACS_GR_findCC_selectInstances);</font>
01025 CAABBox bboxMoveGlobal= bboxMove;
01026 bboxMoveGlobal.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(bboxMoveGlobal.getCenter()+origin);
01027 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">selectInstances</a>(bboxMoveGlobal, cst);
01028 <font class="comment">// H_AFTER(PACS_GR_findCC_selectInstances);</font>
01029 <font class="comment">// \todo yoyo: TODO_INTERIOR: add interiors meshes (static/dynamic houses etc...) to this list.</font>
01030 <font class="comment">// -> done automatically with the select</font>
01031
01032
01033 <font class="comment">// 2. Fill CollisionChains.</font>
01034 <font class="comment">//===========</font>
01035 <font class="comment">// For each possible surface mesh, test collision.</font>
01036 <font class="keywordflow">for</font>(i=0 ; i<(sint)cst.CollisionInstances.size(); i++)
01037 {
01038 <font class="comment">// H_BEFORE(PACS_GR_findCC_getAndComputeMove);</font>
01039 <font class="comment">// get retrieverInstance.</font>
01040 sint32 curInstance= cst.CollisionInstances[i];
01041 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &retrieverInstance= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(curInstance);
01042
01043 <font class="comment">// Retrieve the localRetriever of this instance.</font>
01044 sint32 localRetrieverId= retrieverInstance.getRetrieverId();
01045 <font class="comment">// If invalid one (hole), continue.</font>
01046 <font class="keywordflow">if</font>(localRetrieverId<0)
01047 <font class="keywordflow">continue</font>;
01048 <font class="keyword">const</font> CLocalRetriever &localRetriever= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(localRetrieverId);
01049
01050 <font class="comment">// get delta between startPos.instance and curInstance.</font>
01051 CVector deltaOrigin;
01052 deltaOrigin= origin - retrieverInstance.getOrigin();
01053
01054 <font class="comment">// compute movement relative to this localRetriever.</font>
01055 CAABBox bboxMoveLocal= bboxMove;
01056 bboxMoveLocal.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(bboxMoveLocal.getCenter()+deltaOrigin);
01057
01058 <font class="comment">// add possible collision chains with movement.</font>
01059 <font class="comment">//================</font>
01060 sint firstCollisionChain= cst.CollisionChains.size();
01061 CVector2f transBase(-deltaOrigin.x, -deltaOrigin.y);
01062 <font class="comment">// H_AFTER(PACS_GR_findCC_getAndComputeMove);</font>
01063
01064 <font class="comment">// H_BEFORE(PACS_GR_findCC_testCollision);</font>
01065 <font class="comment">// Go! fill collision chains that this movement intersect.</font>
01066 localRetriever.testCollision(cst, bboxMoveLocal, transBase);
01067 <font class="comment">// if an interior, also test for external collisions</font>
01069 <font class="comment"> if (retrieverInstance.getType() == CLocalRetriever::Interior)</font>
01070 retrieverInstance.testExteriorCollision(cst, bboxMoveLocal, transBase, localRetriever);
01071
01072 <font class="comment">// how many collision chains added? : nCollisionChain-firstCollisionChain.</font>
01073 sint nCollisionChain= cst.CollisionChains.size();
01074 <font class="comment">// H_AFTER(PACS_GR_findCC_testCollision);</font>
01075
01076
01077 <font class="comment">// For all collision chains added, fill good SurfaceIdent info.</font>
01078 <font class="comment">//================</font>
01079 <font class="comment">// H_BEFORE(PACS_GR_findCC_fillSurfIdent);</font>
01080 <font class="keywordflow">for</font>(j=firstCollisionChain; j<nCollisionChain; j++)
01081 {
01082 CCollisionChain &cc= cst.CollisionChains[j];
01083
01084 <font class="comment">// info are already filled for exterior chains.</font>
01085 <font class="keywordflow">if</font> (cc.ExteriorEdge)
01086 <font class="keywordflow">continue</font>;
01087
01088 <font class="comment">// LeftSurface retrieverInstance is always curInstance.</font>
01089 cc.LeftSurface.RetrieverInstanceId= curInstance;
01090
01091 <font class="comment">// If RightSurface is not an "edgeId" ie a pointer on a neighbor surface on an other retrieverInstance.</font>
01092 <font class="keyword">const</font> CChain &originalChain= localRetriever.getChain(cc.ChainId);
01093 <font class="keywordflow">if</font>( !originalChain.isBorderChainId(cc.RightSurface.SurfaceId) )
01094 {
01095 cc.RightSurface.RetrieverInstanceId= curInstance;
01096 }
01097 <font class="keywordflow">else</font>
01098 {
01099 <font class="comment">// we must find the surfaceIdent of the neighbor.</font>
01100 <font class="comment">// \todo yoyo: TODO_INTERIOR: this work only for zone. Must work too for houses.</font>
01101
01102 CRetrieverInstance::CLink link;
01103 <font class="comment">// get the link to the next surface from the instance</font>
01104 link = retrieverInstance.getBorderChainLink(CChain::convertBorderChainId(cc.RightSurface.SurfaceId));
01105
01106 <font class="comment">// get the neighbor instanceId.</font>
01107 sint neighborInstanceId= (sint16)link.Instance;
01108 <font class="comment">// store in the current collisionChain Right.</font>
01109 cc.RightSurface.RetrieverInstanceId= neighborInstanceId;
01110
01111 <font class="comment">// If no instance near us, this is a WALL.</font>
01112 <font class="keywordflow">if</font>(neighborInstanceId<0)
01113 {
01114 <font class="comment">// mark as a Wall.</font>
01115 cc.RightSurface.SurfaceId= -1;
01116 }
01117 <font class="keywordflow">else</font>
01118 {
01119 <font class="comment">// Get the good neighbor surfaceId.</font>
01120 cc.RightSurface.SurfaceId= (sint16)link.SurfaceId;
01121 }
01122 }
01123
01124 <a class="code" href="debug_8h.html#a6">nlassert</a>(cc.LeftSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01125 <a class="code" href="debug_8h.html#a6">nlassert</a>(cc.RightSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01126 }
01127 <font class="comment">// H_AFTER(PACS_GR_findCC_fillSurfIdent);</font>
01128
01129
01130 <font class="comment">// For all collision chains added, look if they are a copy of preceding collsion chain (same Left/Right). Then delete them.</font>
01131 <font class="comment">//================</font>
01132 <font class="comment">// \todo yoyo: TODO_OPTIMIZE: this is a N� complexity.</font>
01133 <font class="comment">// H_BEFORE(PACS_GR_findCC_removeDouble);</font>
01134 <font class="keywordflow">for</font>(j=firstCollisionChain; j<nCollisionChain; j++)
01135 {
01136 <font class="keyword">const</font> CCollisionChain &cj = cst.CollisionChains[j];
01137
01138 <font class="keywordflow">if</font> (cj.ExteriorEdge && cj.LeftSurface.RetrieverInstanceId!=-1)
01139 <font class="keywordflow">continue</font>;
01140
01141 <font class="comment">// test for all collisionChain inserted before.</font>
01142 <font class="keywordflow">for</font>(sint k=0; k<firstCollisionChain; k++)
01143 {
01144 <font class="keyword">const</font> CCollisionChain &ck = cst.CollisionChains[k];
01145
01146 <font class="keywordflow">if</font> (cj.LeftSurface.RetrieverInstanceId != cj.RightSurface.RetrieverInstanceId &&
01147 cj.LeftSurface == ck.RightSurface && cj.RightSurface == ck.LeftSurface)
01148 {
01149 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instj = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(cj.LeftSurface.RetrieverInstanceId),
01150 &instk = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(ck.LeftSurface.RetrieverInstanceId);
01151 <font class="keyword">const</font> CLocalRetriever &retrj = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instj.getRetrieverId()),
01152 &retrk = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instk.getRetrieverId());
01153
01154 <a class="code" href="debug_8h.html#a6">nlassert</a>(retrj.getChain(cj.ChainId).isBorderChain() && retrk.getChain(ck.ChainId).isBorderChain());
01155
01156 <font class="keywordflow">if</font> (instj.getBorderChainLink(retrj.getChain(cj.ChainId).getBorderChainIndex()).ChainId != ck.ChainId ||
01157 instk.getBorderChainLink(retrk.getChain(ck.ChainId).getBorderChainIndex()).ChainId != cj.ChainId)
01158 {
01159 <font class="keywordflow">continue</font>;
01160 }
01161
01162 <font class="comment">// remove this jth entry.</font>
01163 <font class="comment">// by swapping with last entry. Only if not already last.</font>
01164 <font class="keywordflow">if</font>(j<nCollisionChain-1)
01165 {
01166 swap(cst.CollisionChains[j], cst.CollisionChains[nCollisionChain-1]);
01167 <font class="comment">// NB: some holes remain in cst._EdgeCollideNodes, but do not matters since reseted at </font>
01168 <font class="comment">// each collision test.</font>
01169 }
01170
01171 <font class="comment">// pop last entry.</font>
01172 nCollisionChain--;
01173 cst.CollisionChains.resize(nCollisionChain);
01174
01175 <font class="comment">// next entry??</font>
01176 j--;
01177 <font class="keywordflow">break</font>;
01178 }
01179 <font class="comment">/*</font>
01180 <font class="comment"> // if same surface Ident Left/Right==Left/Right or swapped Left/Right==Right/Left</font>
01181 <font class="comment"> if( cst.CollisionChains[j].sameSurfacesThan(cst.CollisionChains[k]) )</font>
01182 <font class="comment"> {</font>
01183 <font class="comment"> // remove this jth entry.</font>
01184 <font class="comment"> // by swapping with last entry. Only if not already last.</font>
01185 <font class="comment"> if(j<nCollisionChain-1)</font>
01186 <font class="comment"> {</font>
01187 <font class="comment"> swap(cst.CollisionChains[j], cst.CollisionChains[nCollisionChain-1]);</font>
01188 <font class="comment"> // NB: some holes remain in cst._EdgeCollideNodes, but do not matters since reseted at </font>
01189 <font class="comment"> // each collision test.</font>
01190 <font class="comment"> }</font>
01191 <font class="comment"></font>
01192 <font class="comment"> // pop last entry.</font>
01193 <font class="comment"> nCollisionChain--;</font>
01194 <font class="comment"> cst.CollisionChains.resize(nCollisionChain);</font>
01195 <font class="comment"></font>
01196 <font class="comment"> // next entry??</font>
01197 <font class="comment"> j--;</font>
01198 <font class="comment"> break;</font>
01199 <font class="comment"> }</font>
01200 <font class="comment">*/</font>
01201 }
01202
01203 }
01204 <font class="comment">// H_AFTER(PACS_GR_findCC_removeDouble);</font>
01205 }
01206
01207 }
01208
01209
01210 <font class="comment">// ***************************************************************************</font>
<a name="l01211"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">01211</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">NLPACS::CGlobalRetriever::testCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &deltaCol,
01212 CSurfaceIdent startSurface, <font class="keywordtype">float</font> radius, <font class="keyword">const</font> CVector2f bboxStart[4], TCollisionType colType)<font class="keyword"> const</font>
01213 <font class="keyword"></font>{
01214 <font class="comment">// H_AUTO(PACS_GR_testCollisionWithCollisionChains);</font>
01215
01216 <font class="comment">// start currentSurface with surface start.</font>
01217 CSurfaceIdent currentSurface= startSurface;
01218 uint nextCollisionSurfaceTested=0;
01219 sint i;
01220
01221 <font class="comment">// reset result.</font>
01222 cst.CollisionDescs.clear();
01223 <font class="comment">// reset all collisionChain to not tested.</font>
01224 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01225 {
01226 CCollisionChain &colChain= cst.CollisionChains[i];
01227 colChain.Tested= <font class="keyword">false</font>;
01228 }
01229
01230
01231 <font class="comment">/*</font>
01232 <font class="comment"> To manage recovery, we must use such an algorithm, so we are sure to trace the way across all surfaces really </font>
01233 <font class="comment"> collided, and discard any other (such as other floor or ceiling).</font>
01234 <font class="comment"> */</font>
01235 <font class="keywordflow">while</font>(true)
01236 {
01237 <font class="comment">// run all collisionChain.</font>
01238 <font class="comment">//========================</font>
01239 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01240 {
01241 CCollisionChain &colChain= cst.CollisionChains[i];
01242
01244 <a class="code" href="debug_8h.html#a6">nlassert</a>(colChain.LeftSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01245 <a class="code" href="debug_8h.html#a6">nlassert</a>(colChain.RightSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01246
01247 <font class="comment">// test only currentSurface/X. And don't test chains already tested before.</font>
01248 <font class="keywordflow">if</font>(colChain.hasSurface(currentSurface) && !colChain.Tested)
01249 {
01250 <font class="comment">// we are testing this chain.</font>
01251 colChain.Tested= <font class="keyword">true</font>;
01252
01253
01254 <font class="comment">// test all edges of this chain, and get tmin</font>
01255 <font class="comment">//========================</font>
01256 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>=0.0, tMin=1;
01257 CVector2f normal, normalMin;
01258 <font class="comment">// run list of edge.</font>
01259 sint32 curEdge= colChain.FirstEdgeCollide;
01260 <font class="keywordflow">while</font>(curEdge!=(sint32)0xFFFFFFFF)
01261 {
01262 <font class="comment">// get the edge.</font>
01263 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge);
01264
01265 <font class="comment">// test collision with this edge.</font>
01266 <font class="keywordflow">if</font>(colType==CGlobalRetriever::Circle)
01267 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= colEdge.testCircleMove(startCol, deltaCol, radius, normal);
01268 <font class="keywordflow">else</font> <font class="keywordflow">if</font>(colType==CGlobalRetriever::BBox)
01269 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= colEdge.testBBoxMove(startCol, deltaCol, bboxStart, normal);
01270
01271 <font class="comment">// earlier collision??</font>
01272 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a><tMin)
01273 {
01274 tMin= <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>;
01275 normalMin= normal;
01276 }
01277
01278 <font class="comment">// next edge.</font>
01279 curEdge= colEdge.Next;
01280 }
01281
01282
01283 <font class="comment">// If collision with this chain, must insert it in the array of collision.</font>
01284 <font class="comment">//========================</font>
01285 <font class="keywordflow">if</font>(tMin<1)
01286 {
01287 CSurfaceIdent collidedSurface= colChain.getOtherSurface(currentSurface);
01288
01290 <a class="code" href="debug_8h.html#a6">nlassert</a>(collidedSurface.RetrieverInstanceId < (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size());
01291
01292 <font class="comment">// insert or replace this collision in collisionDescs.</font>
01293 <font class="comment">// NB: yes this looks like a N algorithm (so N�). But not so many collisions may arise, so don't bother.</font>
01294 sint indexInsert= cst.CollisionDescs.size();
01295 sint colFound= -1;
01296
01297 <font class="comment">// start to search with nextCollisionSurfaceTested, because can't insert before.</font>
01298 <font class="keywordflow">for</font>(sint j= nextCollisionSurfaceTested; j<(sint)cst.CollisionDescs.size(); j++)
01299 {
01300 <font class="comment">// we must keep time order.</font>
01301 <font class="keywordflow">if</font>(tMin < cst.CollisionDescs[j].ContactTime)
01302 {
01303 indexInsert= <a class="code" href="bit__set_8cpp.html#a0">min</a>(j, indexInsert);
01304 }
01305 <font class="comment">// Does the collision with this surface already exist??</font>
01306 <font class="keywordflow">if</font>(cst.CollisionDescs[j].ContactSurface==collidedSurface)
01307 {
01308 colFound= j;
01309 <font class="comment">// if we have found our old collision, stop, there is no need to search more.</font>
01310 <font class="keywordflow">break</font>;
01311 }
01312 }
01313
01314 <font class="comment">// Insert only if the surface was not already collided, or that new collision arise before old.</font>
01315 <font class="keywordflow">if</font>(colFound==-1 || indexInsert<=colFound)
01316 {
01317 CCollisionSurfaceDesc newCol;
01318 newCol.ContactSurface= collidedSurface;
01319 newCol.ContactTime= tMin;
01320 newCol.ContactNormal.set(normalMin.x, normalMin.y, 0);
01321
01322 <font class="comment">// if, by chance, indexInsert==colFound, just replace old collision descriptor.</font>
01323 <font class="keywordflow">if</font>(colFound==indexInsert)
01324 {
01325 cst.CollisionDescs[indexInsert]= newCol;
01326 }
01327 <font class="keywordflow">else</font>
01328 {
01329 <font class="comment">// if any, erase old collision against this surface. NB: here, colFound>indexInsert.</font>
01330 <font class="keywordflow">if</font>(colFound!=-1)
01331 cst.CollisionDescs.erase(cst.CollisionDescs.begin() + colFound);
01332
01333 <font class="comment">// must insert the collision.</font>
01334 cst.CollisionDescs.insert(cst.CollisionDescs.begin() + indexInsert, newCol);
01335 }
01336 }
01337 }
01338 }
01339 }
01340
01341 <font class="comment">// Find next surface to test.</font>
01342 <font class="comment">//========================</font>
01343 <font class="comment">// No more?? so this is the end.</font>
01344 <font class="keywordflow">if</font>(nextCollisionSurfaceTested>=cst.CollisionDescs.size())
01345 <font class="keywordflow">break</font>;
01346 <font class="comment">// else next one.</font>
01347 <font class="keywordflow">else</font>
01348 {
01349 <font class="comment">// NB: with this algorithm, we are sure that no more collisions will arise before currentCollisionSurfaceTested.</font>
01350 <font class="comment">// so just continue with following surface.</font>
01351 currentSurface= cst.CollisionDescs[nextCollisionSurfaceTested].ContactSurface;
01352
01353 <font class="comment">// Do we touch a wall??</font>
01354 <font class="keywordtype">bool</font> isWall;
01355 <font class="keywordflow">if</font>(currentSurface.SurfaceId<0)
01356 isWall= <font class="keyword">true</font>;
01357 <font class="keywordflow">else</font>
01358 {
01359 <font class="comment">// test if it is a walkable wall.</font>
01360 sint32 locRetId= this-><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId();
01361 <font class="keyword">const</font> CRetrievableSurface &surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(locRetId).getSurface(currentSurface.SurfaceId);
01362 isWall= !(surf.isFloor() || surf.isCeiling());
01363 }
01364
01365 <font class="comment">// If we touch a wall, this is the end of search.</font>
01366 <font class="keywordflow">if</font>(isWall)
01367 {
01368 <font class="comment">// There can be no more collision after this one.</font>
01369 cst.CollisionDescs.resize(nextCollisionSurfaceTested+1);
01370 <font class="keywordflow">break</font>;
01371 }
01372 <font class="keywordflow">else</font>
01373 {
01374 <font class="comment">// Next time, we will test the following (NB: the array may grow during next pass, or reorder, </font>
01375 <font class="comment">// but only after nextCollisionSurfaceTested).</font>
01376 nextCollisionSurfaceTested++;
01377 }
01378 }
01379 }
01380
01381 }
01382
01383
01384 <font class="comment">// ***************************************************************************</font>
<a name="l01385"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">01385</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">NLPACS::CGlobalRetriever::verticalChain</a>(<font class="keyword">const</font> CCollisionChain &colChain)<font class="keyword"> const</font>
01386 <font class="keyword"></font>{
01387 <font class="comment">// retrieve surfaces.</font>
01388 <font class="keyword">const</font> CRetrievableSurface *left= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a>(colChain.LeftSurface);
01389 <font class="keyword">const</font> CRetrievableSurface *right= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a>(colChain.RightSurface);
01390
01391 <font class="comment">// test if left surface is a wall.</font>
01392 <font class="keywordtype">bool</font> leftWall;
01393 <font class="keywordflow">if</font>(!left)
01394 leftWall= <font class="keyword">true</font>;
01395 <font class="keywordflow">else</font>
01396 leftWall= !(left->isFloor() || left->isCeiling());
01397
01398 <font class="comment">// test if right surface is a wall.</font>
01399 <font class="keywordtype">bool</font> rightWall;
01400 <font class="keywordflow">if</font>(!right)
01401 rightWall= <font class="keyword">true</font>;
01402 <font class="keywordflow">else</font>
01403 rightWall= !(right->isFloor() || right->isCeiling());
01404
01405 <font class="comment">// true if both are a wall.</font>
01406 <font class="keywordflow">return</font> leftWall && rightWall;
01407 }
01408
01409
01410 <font class="comment">// ***************************************************************************</font>
<a name="l01411"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">01411</a> <a class="code" href="classNLPACS_1_1CSurfaceIdent.html">NLPACS::CSurfaceIdent</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">NLPACS::CGlobalRetriever::testMovementWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &endCol,
01412 CSurfaceIdent startSurface)<font class="keyword"> const</font>
01413 <font class="keyword"></font>{
01414 <font class="comment">// H_AUTO(PACS_GR_testMovementWithCollisionChains);</font>
01415
01416 <font class="comment">// start currentSurface with surface start.</font>
01417 CSurfaceIdent currentSurface= startSurface;
01418 sint i;
01419
01420 <font class="comment">// reset result.</font>
01421 cst.MoveDescs.clear();
01422
01423
01424 <font class="comment">/*</font>
01425 <font class="comment"> To manage recovery, we must use such an algorithm, so we are sure to trace the way across all surfaces really </font>
01426 <font class="comment"> collided, and discard any other (such as other floor or ceiling).</font>
01427 <font class="comment"></font>
01428 <font class="comment"> This function is quite different from testCollisionWithCollisionChains() because she must detect all collisions</font>
01429 <font class="comment"> with all edges of any chains (and not the minimum collision with a chain).</font>
01430 <font class="comment"> This is done in 3 parts:</font>
01431 <font class="comment"> - detect collisions with all edges.</font>
01432 <font class="comment"> - sort.</font>
01433 <font class="comment"> - leave only real collisions.</font>
01434 <font class="comment"> */</font>
01435 <font class="comment">// run all collisionChain.</font>
01436 <font class="comment">//========================</font>
01437 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01438 {
01439 CCollisionChain &colChain= cst.CollisionChains[i];
01440
01441
01442 <font class="comment">// test all edges of this chain, and insert if necessary.</font>
01443 <font class="comment">//========================</font>
01444 CRational64 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>;
01445 <font class="comment">// run list of edge.</font>
01446 sint32 curEdge= colChain.FirstEdgeCollide;
01447 <font class="keywordflow">while</font>(curEdge!=(sint32)0xFFFFFFFF)
01448 {
01449 <font class="comment">// get the edge.</font>
01450 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge);
01451
01452 <font class="comment">// test collision with this edge.</font>
01453 CEdgeCollide::TPointMoveProblem pmpb;
01454 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= colEdge.testPointMove(startCol, endCol, pmpb);
01455 <font class="comment">// manage multiple problems of precision.</font>
01456 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>== -1)
01457 {
01458 <font class="keyword">static</font> <font class="keyword">const</font> string errs[CEdgeCollide::PointMoveProblemCount]= {
01459 <font class="stringliteral">"ParallelEdges"</font>, <font class="stringliteral">"StartOnEdge"</font>, <font class="stringliteral">"StopOnEdge"</font>, <font class="stringliteral">"TraverseEndPoint"</font>, <font class="stringliteral">"EdgeNull"</font>};
01460 <font class="comment">// return a "Precision Problem" ident. movement is invalid. </font>
01461 <font class="comment">// BUT if startOnEdge, which should never arrive.</font>
01462 <font class="keywordflow">if</font>(pmpb==CEdgeCollide::StartOnEdge)
01463 {
01464 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"COL: Precision Problem: %s"</font>, errs[pmpb].c_str());
01465 <font class="keywordflow">return</font> CSurfaceIdent(-1, -1); <font class="comment">// so in this case, block....</font>
01466 }
01467 <font class="keywordflow">else</font> <font class="keywordflow">if</font>(pmpb==CEdgeCollide::EdgeNull)
01468 {
01469 <font class="comment">/*</font>
01470 <font class="comment"> // verify if it is an edge which separate 2 walls. in this case, ignore it. else, error.</font>
01471 <font class="comment"> if(verticalChain(colChain))</font>
01472 <font class="comment"> {</font>
01473 <font class="comment"> t=1; // no collision with this edge.</font>
01474 <font class="comment"> }</font>
01475 <font class="comment"> else</font>
01476 <font class="comment"> {</font>
01477 <font class="comment"> nlinfo("COL: Precision Problem: %s", errs[pmpb]);</font>
01478 <font class="comment"> nlstop; // this should not append.</font>
01479 <font class="comment"> return CSurfaceIdent(-1, -1);</font>
01480 <font class="comment"> }*/</font>
01481 <font class="comment">/* Actually, this is never a problem: we never get through this edge.</font>
01482 <font class="comment"> Instead, we'll get through the neighbors edge.</font>
01483 <font class="comment"> So just disable this edge.</font>
01484 <font class="comment"> */</font>
01485 <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>= 1;
01486 }
01487 <font class="keywordflow">else</font>
01488 <font class="keywordflow">return</font> CSurfaceIdent(-2, -2);
01489 }
01490
01491 <font class="comment">// collision??</font>
01492 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a><1)
01493 {
01494 <font class="comment">// insert in list.</font>
01495 cst.MoveDescs.push_back(CMoveSurfaceDesc(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, colChain.LeftSurface, colChain.RightSurface));
01496 }
01497
01498 <font class="comment">// next edge.</font>
01499 curEdge= colEdge.Next;
01500 }
01501 }
01502
01503
01504 <font class="comment">// sort.</font>
01505 <font class="comment">//================</font>
01506 <font class="comment">// sort the collisions in ascending time order.</font>
01507 sort(cst.MoveDescs.begin(), cst.MoveDescs.end());
01508
01509
01510 <font class="comment">// Traverse the array of collisions.</font>
01511 <font class="comment">//========================</font>
01512 <font class="keywordflow">for</font>(i=0;i<(sint)cst.MoveDescs.size();i++)
01513 {
01514 <font class="comment">// Do we collide with this chain??</font>
01515 <font class="keywordflow">if</font>(cst.MoveDescs[i].hasSurface(currentSurface))
01516 {
01517 currentSurface= cst.MoveDescs[i].getOtherSurface(currentSurface);
01518
01519 <font class="comment">// Do we touch a wall?? should not happens, but important for security.</font>
01520 <font class="keywordtype">bool</font> isWall;
01521 <font class="keywordflow">if</font>(currentSurface.SurfaceId<0)
01522 isWall= <font class="keyword">true</font>;
01523 <font class="keywordflow">else</font>
01524 {
01525 <font class="comment">// test if it is a walkable wall.</font>
01526 sint32 locRetId= this-><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(currentSurface.RetrieverInstanceId).getRetrieverId();
01527 <font class="keyword">const</font> CRetrievableSurface &surf= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(locRetId).getSurface(currentSurface.SurfaceId);
01528 isWall= !(surf.isFloor() || surf.isCeiling());
01529 }
01530
01531 <font class="comment">// If we touch a wall, this is the end of search.</font>
01532 <font class="keywordflow">if</font>(isWall)
01533 {
01534 <font class="comment">// return a Wall ident. movement is invalid.</font>
01535 <font class="keywordflow">return</font> CSurfaceIdent(-1, -1);
01536 }
01537 }
01538 }
01539
01540
01541 <font class="keywordflow">return</font> currentSurface;
01542 }
01543
01544
01545
01546 <font class="comment">// ***************************************************************************</font>
01547 <font class="keyword">const</font> NLPACS::TCollisionSurfaceDescVector
<a name="l01548"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">01548</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">NLPACS::CGlobalRetriever::testCylinderMove</a>(<font class="keyword">const</font> UGlobalPosition &startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, <font class="keywordtype">float</font> radius, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
01549 <font class="keyword"></font>{
01550 <font class="comment">// H_AUTO(PACS_GR_testCylinderMove);</font>
01551
01552 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface);
01553
01554 <font class="comment">// 0. reset.</font>
01555 <font class="comment">//===========</font>
01556 <font class="comment">// reset result.</font>
01557 cst.CollisionDescs.clear();
01558
01559 <font class="comment">// In a surface ?</font>
01560 <font class="keywordflow">if</font> (startPos.InstanceId==-1)
01561 {
01562 <font class="comment">// Warning this primitive is not on a surface</font>
01563 <font class="comment">//nlassertonce (0);</font>
01564
01565 <font class="comment">// Return NULL when lost</font>
01566 <font class="keywordflow">return</font> NULL;
01567 }
01568 <font class="comment">// store this request in cst.</font>
01569 cst.PrecStartSurface= startSurface;
01570 cst.PrecStartPos= startPos.LocalPosition.Estimation;
01571 cst.PrecDeltaPos= delta;
01572 cst.PrecValid= <font class="keyword">true</font>;
01573
01574 <font class="comment">// 0.bis</font>
01575 <font class="comment">//===========</font>
01576 <font class="comment">// Abort if deltamove is 0,0,0.</font>
01577 <font class="keywordflow">if</font> (delta.<a class="code" href="classNLMISC_1_1CVector.html#z332_3">isNull</a>())
01578 <font class="keywordflow">return</font> &cst.CollisionDescs;
01579
01580 <font class="comment">// 1. Choose a local basis.</font>
01581 <font class="comment">//===========</font>
01582 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01583 CVector origin;
01584 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.InstanceId).getOrigin();
01585
01586
01587 <font class="comment">// 2. compute bboxmove.</font>
01588 <font class="comment">//===========</font>
01589 CAABBox bboxMove;
01590 <font class="comment">// bounds the movement in a bbox.</font>
01591 <font class="comment">// compute start and end, relative to the retriever instance.</font>
01592 CVector start= startPos.LocalPosition.Estimation;
01593 CVector end= start+delta;
01594 <font class="comment">// extend the bbox.</font>
01595 bboxMove.setCenter(start-CVector(radius, radius, 0));
01596 bboxMove.extend(start+CVector(radius, radius, 0));
01597 bboxMove.extend(end-CVector(radius, radius, 0));
01598 bboxMove.extend(end+CVector(radius, radius, 0));
01599
01600
01601 <font class="comment">// 3. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01602 <font class="comment">//===========</font>
01603 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01604
01605
01606
01607 <font class="comment">// 4. test collisions with CollisionChains.</font>
01608 <font class="comment">//===========</font>
01609 CVector2f startCol(start.x, start.y);
01610 CVector2f deltaCol(delta.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, delta.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01611 CVector2f obbDummy[4]; <font class="comment">// dummy OBB (not obb here so don't bother)</font>
01612 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(cst, startCol, deltaCol, startSurface, radius, obbDummy, CGlobalRetriever::Circle);
01613
01614 <font class="comment">// result.</font>
01615 <font class="keywordflow">return</font> &cst.CollisionDescs;
01616 }
01617
01618
01619 <font class="comment">// ***************************************************************************</font>
01620 <font class="keyword">const</font> NLPACS::TCollisionSurfaceDescVector
<a name="l01621"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">01621</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">NLPACS::CGlobalRetriever::testBBoxMove</a>(<font class="keyword">const</font> UGlobalPosition &startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta,
01622 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locJ, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
01623 <font class="keyword"></font>{
01624 <font class="comment">// H_AUTO(PACS_GR_testBBoxMove);</font>
01625
01626 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface);
01627
01628 <font class="comment">// 0. reset.</font>
01629 <font class="comment">//===========</font>
01630 <font class="comment">// reset result.</font>
01631 cst.CollisionDescs.clear();
01632
01633 <font class="comment">// In a surface ?</font>
01634 <font class="keywordflow">if</font> (startPos.InstanceId==-1)
01635 {
01636 <font class="comment">// Warning this primitive is not on a surface</font>
01637 <font class="comment">//nlassertonce (0);</font>
01638
01639 <font class="comment">// Return NULL when lost</font>
01640 <font class="keywordflow">return</font> NULL;
01641 }
01642
01643 <font class="comment">// store this request in cst.</font>
01644 cst.PrecStartSurface= startSurface;
01645 cst.PrecStartPos= startPos.LocalPosition.Estimation;
01646 cst.PrecDeltaPos= delta;
01647 cst.PrecValid= <font class="keyword">true</font>;
01648
01649 <font class="comment">// 0.bis</font>
01650 <font class="comment">//===========</font>
01651 <font class="comment">// Abort if deltamove is 0,0,0.</font>
01652 <font class="keywordflow">if</font> (delta.<a class="code" href="classNLMISC_1_1CVector.html#z332_3">isNull</a>())
01653 <font class="keywordflow">return</font> &cst.CollisionDescs;
01654
01655 <font class="comment">// 1. Choose a local basis.</font>
01656 <font class="comment">//===========</font>
01657 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01658 CVector origin;
01659 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.InstanceId).getOrigin();
01660
01661
01662 <font class="comment">// 2. compute OBB.</font>
01663 <font class="comment">//===========</font>
01664 CVector2f obbStart[4];
01665 <font class="comment">// compute start, relative to the retriever instance.</font>
01666 CVector start= startPos.LocalPosition.Estimation;
01667 CVector2f obbCenter(start.x, start.y);
01668 CVector2f locI2d(locI.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locI.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01669 CVector2f locJ2d(locJ.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locJ.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01670
01671 <font class="comment">// build points in CCW.</font>
01672 obbStart[0]= obbCenter - locI2d - locJ2d;
01673 obbStart[1]= obbCenter + locI2d - locJ2d;
01674 obbStart[2]= obbCenter + locI2d + locJ2d;
01675 obbStart[3]= obbCenter - locI2d + locJ2d;
01676
01677 <font class="comment">// 3. compute bboxmove.</font>
01678 <font class="comment">//===========</font>
01679 CAABBox bboxMove;
01680 <font class="comment">// extend the bbox.</font>
01681 bboxMove.setCenter(CVector(obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01682 bboxMove.extend(CVector(obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01683 bboxMove.extend(CVector(obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01684 bboxMove.extend(CVector(obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01685 bboxMove.extend(CVector(obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01686 bboxMove.extend(CVector(obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01687 bboxMove.extend(CVector(obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01688 bboxMove.extend(CVector(obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0) + delta);
01689
01690
01691
01692 <font class="comment">// 4. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01693 <font class="comment">//===========</font>
01694 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01695
01696
01697
01698 <font class="comment">// 5. test collisions with CollisionChains.</font>
01699 <font class="comment">//===========</font>
01700 CVector2f startCol(start.x, start.y);
01701 CVector2f deltaCol(delta.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, delta.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01702 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(cst, startCol, deltaCol, startSurface, 0, obbStart, CGlobalRetriever::BBox);
01703
01704 <font class="comment">// result.</font>
01705 <font class="keywordflow">return</font> &cst.CollisionDescs;
01706 }
01707
01708
01709
01710 <font class="comment">// ***************************************************************************</font>
01711 <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a>
<a name="l01712"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">01712</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">NLPACS::CGlobalRetriever::doMove</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1UGlobalPosition.html">NLPACS::UGlobalPosition</a> &startPos, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, <a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &cst, <font class="keywordtype">bool</font> rebuildChains)<font class="keyword"> const</font>
01713 <font class="keyword"></font>{
01714 <font class="comment">// H_AUTO(PACS_GR_doMove);</font>
01715
01716 CSurfaceIdent startSurface(startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>, startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Surface);
01717
01718 <font class="comment">// clamp factor.</font>
01719 <a class="code" href="namespaceNLMISC.html#a215">clamp</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, 0.0f, 1.0f);
01720
01721 <font class="comment">// 0. reset.</font>
01722 <font class="comment">//===========</font>
01723 <font class="comment">// reset CollisionDescs.</font>
01724 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m10">CollisionDescs</a>.clear();
01725
01726 <font class="comment">// In a surface ?</font>
01727 <font class="keywordflow">if</font> (startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>==-1)
01728 {
01729 <font class="comment">// Warining: this primitive is not on a surface</font>
01730 <font class="comment">//nlassertonce (0);</font>
01731
01732 <font class="comment">// Return startpos</font>
01733 <font class="keywordflow">return</font> startPos;
01734 }
01735
01736 <font class="keywordflow">if</font>(!rebuildChains)
01737 {
01738 <font class="comment">// same move request than prec testMove() ??.</font>
01739 <font class="keywordflow">if</font>( cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m12">PrecStartSurface</a> != startSurface ||
01740 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m13">PrecStartPos</a>!=startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation ||
01741 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m14">PrecDeltaPos</a>!=delta ||
01742 !cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m15">PrecValid</a>)
01743 {
01744 <font class="comment">// if not, just return start.</font>
01745 <a class="code" href="debug_8h.html#a12">nlstop</a>;
01746 <font class="keywordflow">return</font> startPos;
01747 }
01748 <font class="comment">// Since we are sure we have same movement than prec testMove(), no need to rebuild cst.CollisionChains.</font>
01749 }
01750 <font class="keywordflow">else</font>
01751 {
01752 <font class="comment">// we don't have same movement than prec testMove(), we must rebuild cst.CollisionChains.</font>
01753 <font class="comment">// Prec settings no more valids.</font>
01754 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m15">PrecValid</a>= <font class="keyword">false</font>;
01755 }
01756
01757
01758
01759
01760 <font class="comment">// 1. Choose a local basis (same than in testMove()).</font>
01761 <font class="comment">//===========</font>
01762 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01763 CVector origin;
01764 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>).getOrigin();
01765
01766
01767 <font class="comment">// 2. test collisions with CollisionChains.</font>
01768 <font class="comment">//===========</font>
01769 CVector start= startPos.<a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>.Estimation;
01770 <font class="comment">// compute end with real delta position.</font>
01771 CVector end= start + delta*<a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>;
01772
01773 <font class="comment">// If asked, we must rebuild array of collision chains.</font>
01774 <font class="keywordflow">if</font>(rebuildChains)
01775 {
01776 <font class="comment">// H_AUTO(PACS_GR_doMove_rebuildChains);</font>
01777
01778 <font class="comment">// compute bboxmove.</font>
01779 CAABBox bboxMove;
01780 <font class="comment">// must add some extent, to be sure to include snapped CLocalRetriever vertex (2.0f/256 should be sufficient).</font>
01781 <font class="comment">// Nb: this include the precision problem just below (move a little).</font>
01782 <font class="keywordtype">float</font> radius= 4.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>;
01783 bboxMove.setCenter(start-CVector(radius, radius, 0));
01784 bboxMove.extend(start+CVector(radius, radius, 0));
01785 bboxMove.extend(end-CVector(radius, radius, 0));
01786 bboxMove.extend(end+CVector(radius, radius, 0));
01787
01788 <font class="comment">// find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01789 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01790 }
01791
01792
01793 <font class="comment">// look where we arrive.</font>
01794 CSurfaceIdent endSurface;
01795 CVector endRequest= end;
01796 <font class="keyword">const</font> sint maxPbPrec= 32; <font class="comment">// move away from 4 mm at max, in each 8 direction.</font>
01797 sint pbPrecNum= 0;
01798
01799 <font class="comment">// must snap the end position.</font>
01800 CRetrieverInstance::snapVector(endRequest);
01801 end= endRequest;
01802
01803 <font class="comment">// verify start is already snapped</font>
01804 {
01805 CVector startTest= start;
01806 CRetrieverInstance::snapVector(startTest);
01807 <a class="code" href="debug_8h.html#a6">nlassert</a>( start == startTest );
01808 }
01809
01810
01811 <font class="comment">// Normally, just one iteration is made in this loop (but if precision problem (stopOnEdge, startOnEdge....).</font>
01812 <font class="keywordflow">while</font>(true)
01813 {
01814 <font class="comment">// must snap the end position.</font>
01815 CRetrieverInstance::snapVector(end);
01816
01817 CVector2f startCol(start.x, start.y);
01818 CVector2f endCol(end.x, end.y);
01819
01820 <font class="comment">// If same 2D position, just return startPos (suppose no movement)</font>
01821 <font class="keywordflow">if</font>(endCol==startCol)
01822 {
01823 UGlobalPosition <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01824 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>= startPos;
01825 <font class="comment">// keep good z movement.</font>
01826 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.LocalPosition.Estimation.z= end.z;
01827 <font class="keywordflow">return</font> <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01828 }
01829
01830 <font class="comment">// search destination problem.</font>
01831 endSurface= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">testMovementWithCollisionChains</a>(cst, startCol, endCol, startSurface);
01832
01833 <font class="comment">// if no precision problem, Ok, we have found our destination surface (or anormal collide against a wall).</font>
01834 <font class="keywordflow">if</font>(endSurface.SurfaceId!=-2)
01835 <font class="keywordflow">break</font>;
01836 <font class="comment">/* else we are in deep chit, for one on those reason:</font>
01837 <font class="comment"> - traverse on point.</font>
01838 <font class="comment"> - stop on a edge (dist==0).</font>
01839 <font class="comment"> - start on a edge (dist==0).</font>
01840 <font class="comment"> - run // on a edge (NB: dist==0 too).</font>
01841 <font class="comment"> */</font>
01842 <font class="keywordflow">else</font>
01843 {
01844 <font class="comment">// For simplicty, just try to move a little the end position</font>
01845 <font class="keywordflow">if</font>(pbPrecNum<maxPbPrec)
01846 {
01847 <font class="keyword">static</font> <font class="keyword">struct </font>{sint <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>,<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;} dirs[8]= { {1,0}, {1,1}, {0,1}, {-1,1}, {-1,0}, {-1,-1}, {0,-1}, {1,-1}};
01848 sint dir= pbPrecNum%8;
01849 sint dist= pbPrecNum/8+1;
01850 CVector dta;
01851
01852 <font class="comment">// compute small move.</font>
01853 dta.x= dirs[dir].x * dist * 1.0f/<a class="code" href="namespaceNLPACS.html#a13">SnapPrecision</a>;
01854 dta.y= dirs[dir].y * dist * 1.0f/<a class="code" href="namespaceNLPACS.html#a13">SnapPrecision</a>;
01855 dta.z= 0;
01856
01857 <font class="comment">// add it to the original end pos requested.</font>
01858 end= endRequest + dta;
01859
01860 pbPrecNum++;
01861 }
01862 <font class="keywordflow">else</font>
01863 {
01864 <font class="comment">// do not move at all.</font>
01865 endSurface= CSurfaceIdent(-1,-1);
01866 <font class="keywordflow">break</font>;
01867 }
01868 }
01869 }
01870
01871 <font class="comment">// 3. return result.</font>
01872 <font class="comment">//===========</font>
01873 <font class="comment">// Problem?? do not move.</font>
01874 <font class="keywordflow">if</font>(endSurface.SurfaceId==-1)
01875 <font class="keywordflow">return</font> startPos;
01876 <font class="keywordflow">else</font>
01877 {
01878 <font class="comment">// else must return good GlobalPosition.</font>
01879 CGlobalPosition <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01880
01881 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.InstanceId= endSurface.RetrieverInstanceId;
01882 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.LocalPosition.Surface= endSurface.SurfaceId;
01883
01884 <font class="comment">// compute newPos, localy to the endSurface.</font>
01885 <font class="comment">// get delta between startPos.instance and curInstance.</font>
01886 <font class="comment">// NB: for float precision, it is important to compute deltaOrigin, and after compute newPos in local.</font>
01887 CVector deltaOrigin;
01888 deltaOrigin= origin - <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.InstanceId).getOrigin();
01889
01890 <font class="comment">// Because Origin precision is 1 meter, and end precision is 1/1024 meter, we have no precision problem.</font>
01891 <font class="comment">// this is true because we cannot move more than, say 4*160 meters in one doMove().</font>
01892 <font class="comment">// So global position should not be bigger than 1024 * 1024/1024 meters. => Hence 20 bits of precision is </font>
01893 <font class="comment">// required. We have 23 with floats.</font>
01894 <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>.LocalPosition.Estimation= end + deltaOrigin;
01895
01896
01897 <font class="comment">// result.</font>
01898 <font class="keywordflow">return</font> <a class="code" href="driver__opengl__extension__def_8h.html#a400">res</a>;
01899 }
01900
01901 }
01902
01903
01904 <font class="comment">// ***************************************************************************</font>
<a name="l01905"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">01905</a> <font class="keyword">const</font> NLPACS::TCollisionSurfaceDescVector &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">NLPACS::CGlobalRetriever::testBBoxRot</a>(<font class="keyword">const</font> CGlobalPosition &startPos,
01906 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &locJ, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
01907 <font class="keyword"></font>{
01908 <font class="comment">// H_AUTO(PACS_GR_testBBoxRot);</font>
01909
01910 CSurfaceIdent startSurface(startPos.InstanceId, startPos.LocalPosition.Surface);
01911
01912 <font class="comment">// 0. reset.</font>
01913 <font class="comment">//===========</font>
01914 <font class="comment">// reset result.</font>
01915 cst.CollisionDescs.clear();
01916
01917 <font class="comment">// should not doMove() after a testBBoxRot.</font>
01918 cst.PrecValid= <font class="keyword">false</font>;
01919
01920
01921 <font class="comment">// 1. Choose a local basis.</font>
01922 <font class="comment">//===========</font>
01923 <font class="comment">// Take the retrieverInstance of startPos as a local basis.</font>
01924 CVector origin;
01925 origin= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(startPos.InstanceId).getOrigin();
01926
01927
01928 <font class="comment">// 2. compute OBB.</font>
01929 <font class="comment">//===========</font>
01930 CVector2f obbStart[4];
01931 <font class="comment">// compute start, relative to the retriever instance.</font>
01932 CVector start= startPos.LocalPosition.Estimation;
01933 CVector2f obbCenter(start.x, start.y);
01934 CVector2f locI2d(locI.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locI.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01935 CVector2f locJ2d(locJ.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, locJ.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>);
01936
01937 <font class="comment">// build points in CCW.</font>
01938 obbStart[0]= obbCenter - locI2d - locJ2d;
01939 obbStart[1]= obbCenter + locI2d - locJ2d;
01940 obbStart[2]= obbCenter + locI2d + locJ2d;
01941 obbStart[3]= obbCenter - locI2d + locJ2d;
01942
01943 <font class="comment">// 3. compute bboxmove.</font>
01944 <font class="comment">//===========</font>
01945 CAABBox bboxMove;
01946 <font class="comment">// extend the bbox.</font>
01947 bboxMove.setCenter(CVector(obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01948 bboxMove.extend(CVector(obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01949 bboxMove.extend(CVector(obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01950 bboxMove.extend(CVector(obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, obbStart[3].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, 0));
01951
01952
01953
01954 <font class="comment">// 4. find possible collisions in bboxMove+origin. fill cst.CollisionChains.</font>
01955 <font class="comment">//===========</font>
01956 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">findCollisionChains</a>(cst, bboxMove, origin);
01957
01958
01959
01960 <font class="comment">// 5. test Rotcollisions with CollisionChains.</font>
01961 <font class="comment">//===========</font>
01962 CVector2f startCol(start.x, start.y);
01963 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">testRotCollisionWithCollisionChains</a>(cst, startCol, startSurface, obbStart);
01964
01965
01966 <font class="comment">// result.</font>
01967 <font class="keywordflow">return</font> cst.CollisionDescs;
01968 }
01969
01970
01971 <font class="comment">// ***************************************************************************</font>
<a name="l01972"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">01972</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">NLPACS::CGlobalRetriever::testRotCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, CSurfaceIdent startSurface, <font class="keyword">const</font> CVector2f bbox[4])<font class="keyword"> const</font>
01973 <font class="keyword"></font>{
01974 <font class="comment">// H_AUTO(PACS_GR_testRotCollisionWithCollisionChains);</font>
01975
01976 <font class="comment">// start currentSurface with surface start.</font>
01977 CSurfaceIdent currentSurface= startSurface;
01978 sint i;
01979
01980 <font class="comment">// reset result.</font>
01981 cst.RotDescs.clear();
01982 cst.CollisionDescs.clear();
01983
01984
01985 <font class="comment">/*</font>
01986 <font class="comment"> Test collisions with all collision chains. Then, to manage recovery, test the graph of surfaces.</font>
01987 <font class="comment"> */</font>
01988 <font class="comment">// run all collisionChain.</font>
01989 <font class="comment">//========================</font>
01990 <font class="keywordflow">for</font>(i=0; i<(sint)cst.CollisionChains.size(); i++)
01991 {
01992 CCollisionChain &colChain= cst.CollisionChains[i];
01993
01994
01995 <font class="comment">// test all edges of this chain, and insert if necessary.</font>
01996 <font class="comment">//========================</font>
01997 <font class="comment">// run list of edge.</font>
01998 sint32 curEdge= colChain.FirstEdgeCollide;
01999 <font class="keywordflow">while</font>(curEdge!=(sint32)0xFFFFFFFF)
02000 {
02001 <font class="comment">// get the edge.</font>
02002 CEdgeCollideNode &colEdge= cst.getEdgeCollideNode(curEdge);
02003
02004 <font class="comment">// test collision with this edge.</font>
02005 <font class="keywordflow">if</font>(colEdge.testBBoxCollide(bbox))
02006 {
02007 <font class="comment">// yes we have a 2D collision with this chain.</font>
02008 cst.RotDescs.push_back(CRotSurfaceDesc(colChain.LeftSurface, colChain.RightSurface));
02009 <font class="keywordflow">break</font>;
02010 }
02011
02012 <font class="comment">// next edge.</font>
02013 curEdge= colEdge.Next;
02014 }
02015 }
02016
02017
02018 <font class="comment">// Traverse the array of collisions.</font>
02019 <font class="comment">//========================</font>
02020 sint indexCD=0;
02021 <font class="keywordflow">while</font>(true)
02022 {
02023 <font class="comment">// What surfaces collided do we reach from this currentSurface??</font>
02024 <font class="keywordflow">for</font>(i=0;i<(sint)cst.RotDescs.size();i++)
02025 {
02026 <font class="comment">// Do we collide with this chain?? chain not tested??</font>
02027 <font class="keywordflow">if</font>(cst.RotDescs[i].hasSurface(currentSurface) && !cst.RotDescs[i].Tested)
02028 {
02029 cst.RotDescs[i].Tested= <font class="keyword">true</font>;
02030
02031 <font class="comment">// insert the collision with the other surface.</font>
02032 CCollisionSurfaceDesc col;
02033 col.ContactTime= 0;
02034 col.ContactNormal= CVector::Null;
02035 col.ContactSurface= cst.RotDescs[i].getOtherSurface(currentSurface);
02036 cst.CollisionDescs.push_back(col);
02037 }
02038 }
02039
02040 <font class="comment">// get the next currentSurface from surface collided (traverse the graph of collisions).</font>
02041 <font class="keywordflow">if</font>(indexCD<(sint)cst.CollisionDescs.size())
02042 currentSurface= cst.CollisionDescs[indexCD++].ContactSurface;
02043 <font class="keywordflow">else</font>
02044 <font class="keywordflow">break</font>;
02045 }
02046
02047 }
02048
02049 <font class="comment">// ***************************************************************************</font>
02050
<a name="l02051"></a><a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d0">02051</a> <a class="code" href="classNLPACS_1_1UGlobalRetriever.html">NLPACS::UGlobalRetriever</a> *<a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d0">NLPACS::UGlobalRetriever::createGlobalRetriever</a> (<font class="keyword">const</font> <font class="keywordtype">char</font> *globalRetriever, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1URetrieverBank.html">NLPACS::URetrieverBank</a> *retrieverBank)
02052 {
02053 NL_ALLOC_CONTEXT( Pacs )
02054
02055 <font class="comment">// Cast</font>
02056 <font class="comment">// nlassert (dynamic_cast<const NLPACS::CRetrieverBank*>(retrieverBank));</font>
02057 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrieverBank.html">NLPACS::CRetrieverBank</a>* bank=static_cast<const NLPACS::CRetrieverBank*>(retrieverBank);
02058
02059 CIFile <a class="code" href="cf__lexical_8cpp.html#a95">file</a>;
02060 <font class="keywordflow">if</font> (<a class="code" href="cf__lexical_8cpp.html#a95">file</a>.open(CPath::lookup(globalRetriever)))
02061 {
02062 CGlobalRetriever *retriever = <font class="keyword">new</font> CGlobalRetriever();
02063
02064 <font class="comment">// always set the retriever bank before serializing !!</font>
02065 retriever->setRetrieverBank(bank);
02066
02067 <a class="code" href="cf__lexical_8cpp.html#a95">file</a>.serial(*retriever);
02068 retriever->initAll();
02069
02070 <font class="keywordflow">return</font> static_cast<UGlobalRetriever *>(retriever);
02071 }
02072 <font class="keywordflow">else</font>
02073 <font class="keywordflow">return</font> NULL;
02074 }
02075
02076 <font class="comment">// ***************************************************************************</font>
02077
<a name="l02078"></a><a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d1">02078</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1UGlobalRetriever.html#d1">NLPACS::UGlobalRetriever::deleteGlobalRetriever</a> (UGlobalRetriever *retriever)
02079 {
02080 <font class="comment">// Cast</font>
02081 <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast<NLPACS::CGlobalRetriever*>(retriever));
02082 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a>* <a class="code" href="driver__opengl__extension__def_8h.html#a385">r</a>=static_cast<NLPACS::CGlobalRetriever*>(retriever);
02083
02084 <font class="comment">// Delete</font>
02085 <font class="keyword">delete</font> r;
02086 }
02087
02088 <font class="comment">// ***************************************************************************</font>
02089
<a name="l02090"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">02090</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">NLPACS::CGlobalRetriever::getMeanHeight</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font>
02091 <font class="keyword"></font>{
02092 <font class="comment">// for wrong positions, leave it unchanged</font>
02093 <font class="keywordflow">if</font> ((pos.InstanceId==-1)||(pos.LocalPosition.Surface==-1))
02094 <font class="keywordflow">return</font> pos.LocalPosition.Estimation.z;
02095
02096 <font class="comment">// get instance/localretriever.</font>
02097 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(pos.InstanceId);
02098 <font class="keyword">const</font> CLocalRetriever &retriever= <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(instance.getRetrieverId());
02099
02100 <font class="comment">// return height from local retriever</font>
02101 <font class="keywordflow">return</font> retriever.getHeight(pos.LocalPosition);
02102 }
02103
02104 <font class="comment">// ***************************************************************************</font>
02105
<a name="l02106"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">02106</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">NLPACS::CGlobalRetriever::testRaytrace</a> (<font class="keyword">const</font> CVectorD &v0, <font class="keyword">const</font> CVectorD &v1)
02107 {
02108 <font class="comment">// TODO: implement raytrace</font>
02109 <font class="keywordflow">return</font> <font class="keyword">false</font>;
02110 }
02111
02112 <font class="comment">// ***************************************************************************</font>
02113
02114
02115 <font class="comment">// end of CGlobalRetriever methods implementation</font>
</pre></div>
<!-- footer -->
<BR><FONT Size=+5> </FONT>
</TD>
<TD WIDTH=15><IMG SRC=/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD>
</TR>
</TABLE>
</BODY>
</HTML>
|
