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<hr><h1>global_retriever.h</h1><a href="global__retriever_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025
00026 <font class="preprocessor">#ifndef NL_GLOBAL_RETRIEVER_H</font>
00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_GLOBAL_RETRIEVER_H</font>
00028 <font class="preprocessor"></font>
00029 <font class="preprocessor">#include <vector></font>
00030 <font class="preprocessor">#include <list></font>
00031
00032 <font class="preprocessor">#include "<a class="code" href="types__nl_8h.html">nel/misc/types_nl.h</a>"</font>
00033 <font class="preprocessor">#include "<a class="code" href="vector_8h.html">nel/misc/vector.h</a>"</font>
00034 <font class="preprocessor">#include "<a class="code" href="file_8h.html">nel/misc/file.h</a>"</font>
00035
00036 <font class="preprocessor">#include "<a class="code" href="vector_8h.html">nel/misc/vector.h</a>"</font>
00037 <font class="preprocessor">#include "<a class="code" href="vectord_8h.html">nel/misc/vectord.h</a>"</font>
00038 <font class="preprocessor">#include "<a class="code" href="aabbox_8h.html">nel/misc/aabbox.h</a>"</font>
00039
00040 <font class="preprocessor">#include "<a class="code" href="local__retriever_8h.html">pacs/local_retriever.h</a>"</font>
00041 <font class="preprocessor">#include "<a class="code" href="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font>
00042 <font class="preprocessor">#include "<a class="code" href="vector__2s_8h.html">pacs/vector_2s.h</a>"</font>
00043 <font class="preprocessor">#include "<a class="code" href="collision__surface__temp_8h.html">pacs/collision_surface_temp.h</a>"</font>
00044 <font class="preprocessor">#include "<a class="code" href="retriever__bank_8h.html">pacs/retriever_bank.h</a>"</font>
00045
00046 <font class="preprocessor">#include "<a class="code" href="u__global__retriever_8h.html">nel/pacs/u_global_retriever.h</a>"</font>
00047
00048
00049 <font class="preprocessor">#include "<a class="code" href="pacs_2quad__grid_8h.html">pacs/quad_grid.h</a>"</font>
00050
00051
00052 <font class="keyword">namespace </font>NLPACS
00053 {
00054
<a name="l00061"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html">00061</a> <font class="keyword">class </font>CGlobalRetriever : <font class="keyword">public</font> UGlobalRetriever
00062 {
00063 <font class="keyword">public</font>:
00064
<a name="l00072"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html">00072</a> <font class="keyword">class </font>CGlobalPosition : <font class="keyword">public</font> UGlobalPosition
00073 {
00074 <font class="keyword">public</font>:
<a name="l00079"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html#a0">00079</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CGlobalPosition.html#a0">CGlobalPosition</a>(sint32 instanceId=-1,
00080 <font class="keyword">const</font> CLocalRetriever::CLocalPosition &localPosition=CLocalRetriever::CLocalPosition::CLocalPosition())
00081 {
00082 <a class="code" href="classNLPACS_1_1UGlobalPosition.html#m0">InstanceId</a>=instanceId;
00083 <a class="code" href="classNLPACS_1_1UGlobalPosition.html#m1">LocalPosition</a>=localPosition;
00084 }
00085
00087 <font class="comment">//void serial(NLMISC::IStream &f) { f.serial(InstanceId, LocalPosition); }</font>
00088 };
00089
<a name="l00090"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html">00090</a> <font class="keyword">class </font>CLocalPath
00091 {
00092 <font class="keyword">public</font>:
<a name="l00093"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m0">00093</a> sint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m0">InstanceId</a>;
<a name="l00094"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m1">00094</a> CLocalRetriever::CLocalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m1">Start</a>;
<a name="l00095"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m2">00095</a> CLocalRetriever::CLocalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m2">End</a>;
<a name="l00096"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m3">00096</a> std::vector<CVector2s> <a class="code" href="classNLPACS_1_1CGlobalRetriever_1_1CLocalPath.html#m3">Path</a>;
00097 };
00098
<a name="l00099"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">00099</a> <font class="keyword">typedef</font> std::vector<CLocalPath> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a>;
00100
00101 <font class="keyword">private</font>:
<a name="l00103"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">00103</a> <font class="keyword">mutable</font> CCollisionSurfaceTemp <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>;
00104
<a name="l00106"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">00106</a> <font class="keyword">mutable</font> std::vector<uint8> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o1">_RetrieveTable</a>;
00107
00108 <font class="keyword">protected</font>:
00109
<a name="l00111"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">00111</a> <font class="keyword">const</font> CRetrieverBank *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>;
00112
<a name="l00114"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">00114</a> <font class="keyword">mutable</font> std::vector<CRetrieverInstance> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>;
00115
<a name="l00117"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">00117</a> <font class="keyword">mutable</font> CQuadGrid<uint32> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n2">_InstanceGrid</a>;
00118
<a name="l00120"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">00120</a> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n3">_BBox</a>;
00121
00122 <font class="keyword">public</font>:
00124 <font class="comment">// @{</font>
00125
<a name="l00130"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_0">00130</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_0">CGlobalRetriever</a>(<font class="keyword">const</font> CRetrieverBank *bank=NULL)
00131 : <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>(bank)
00132 { }
<a name="l00133"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_1">00133</a> <font class="keyword">virtual</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_1">~CGlobalRetriever</a>() {}
00134
00135
00137 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_2">init</a>();
00138
00140 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_3">initQuadGrid</a>();
00141
00143 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z934_4">initRetrieveTable</a>();
00144
00145 <font class="comment">// @}</font>
00146
00147
00149
00150
00151
<a name="l00153"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">00153</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_0">getBBox</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> _BBox; }
00154
00155
<a name="l00157"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_1">00157</a> <font class="keyword">const</font> std::vector<CRetrieverInstance> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_1">getInstances</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>; }
00158
<a name="l00160"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">00160</a> <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_2">getInstance</a>(uint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>]; }
00161
00162
00166 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_3">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>;
00167
<a name="l00169"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_4">00169</a> <font class="keyword">const</font> CRetrieverBank *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_4">getRetrieverBank</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>; }
00170
<a name="l00172"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">00172</a> <font class="keyword">const</font> CLocalRetriever &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a>->getRetriever(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>); }
00173
00174
<a name="l00176"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_6">00176</a> uint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_6">getMaterial</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font>
00177 <font class="keyword"> </font>{
00178 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId >= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00179 <font class="keywordflow">return</font> 0xFFFFFFFF;
00180
00181 <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>[pos.InstanceId];
00182 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId());
00183
00184 <font class="keywordflow">if</font> (pos.LocalPosition.Surface < 0 || pos.LocalPosition.Surface >= (sint)retriever.getSurfaces().size())
00185 <font class="keywordflow">return</font> 0xFFFFFFFF;
00186
00187 <font class="keywordflow">return</font> retriever.getSurface(pos.LocalPosition.Surface).getMaterial();
00188 }
00189
<a name="l00191"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_7">00191</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_7">isInterior</a>(<font class="keyword">const</font> UGlobalPosition &pos)<font class="keyword"> const</font>
00192 <font class="keyword"> </font>{
00193 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId >= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00194 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00195
00196 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId].getType() == CLocalRetriever::Interior);
00197 }
00198
<a name="l00200"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_8">00200</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_8">isWaterPosition</a>(<font class="keyword">const</font> UGlobalPosition &pos, <font class="keywordtype">float</font> &waterHeight)<font class="keyword"> const</font>
00201 <font class="keyword"> </font>{
00202 <font class="keywordflow">if</font> (pos.InstanceId < 0 || pos.InstanceId >= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
00203 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00204
00205 <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>[pos.InstanceId];
00206 <font class="keyword">const</font> CLocalRetriever &retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId());
00207 <font class="keyword">const</font> CRetrievableSurface &surface = retriever.getSurface(pos.LocalPosition.Surface);
00208
00209 waterHeight = surface.getWaterHeight();
00210
00211 <font class="keywordflow">return</font> (surface.getFlags() & CRetrievableSurface::IsUnderWaterBit) != 0;
00212 }
00213
00215
00217
00218
00220 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &estimated) <font class="keyword">const</font>;
00221
00223 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &estimated) <font class="keyword">const</font>;
00224
00226 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &estimated, <font class="keywordtype">float</font> threshold) <font class="keyword">const</font>;
00227
00229 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_0">retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &estimated, <font class="keywordtype">double</font> threshold) <font class="keyword">const</font>;
00230
00232 sint32 <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<font class="keyword">const</font> std::string &<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>) <font class="keyword">const</font>;
00233
00235 <font class="keyword">const</font> std::string &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<font class="keyword">const</font> UGlobalPosition &position) <font class="keyword">const</font>;
00236
00243 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_6">buildInstance</a>(<font class="keyword">const</font> std::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);
00244
00248 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_7">removeInstance</a>(sint32 instanceId);
00249
00251 <font class="comment">// void snapToInteriorGround(UGlobalPosition &position) const;</font>
00252
00254 <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_8">getGlobalPosition</a>(<font class="keyword">const</font> UGlobalPosition &global) <font class="keyword">const</font>;
00255
00257 <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_9">getDoubleGlobalPosition</a>(<font class="keyword">const</font> UGlobalPosition &global) <font class="keyword">const</font>;
00258
00260 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_10">testRaytrace</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &v0, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &v1);
00261
00263
00264
00266
00267
00269 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_0">makeInstance</a>(uint32 retriever, uint8 orientation, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &origin);
00270
<a name="l00272"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_1">00272</a> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_1">getInstanceFullAccess</a>(uint <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>) { <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>]; }
00273
<a name="l00275"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_2">00275</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_2">setRetrieverBank</a>(<font class="keyword">const</font> CRetrieverBank *bank) { <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n0">_RetrieverBank</a> = bank; }
00276
00277
00279 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_3">resetAllLinks</a>();
00280
00282 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_4">initAll</a>();
00284 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_5">makeLinks</a>(uint n);
00286 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_6">makeAllLinks</a>();
00287
00289 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_7">check</a>() <font class="keyword">const</font>;
00290
00292 <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_8">distanceToBorder</a>(<font class="keyword">const</font> UGlobalPosition &pos) <font class="keyword">const</font>;
00294 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_9">getBorders</a>(<font class="keyword">const</font> UGlobalPosition &pos, std::vector<NLMISC::CLine> &edges);
00295
00296
00298 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z937_10">serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f);
00299
00301
00302
00304 <font class="comment">// @{</font>
00313 <font class="comment"></font> <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_0">testCylinderMove</a>(<font class="keyword">const</font> UGlobalPosition &start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta,
00314 <font class="keywordtype">float</font> radius, CCollisionSurfaceTemp &cst) <font class="keyword">const</font>;
00324 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_1">testBBoxMove</a>(<font class="keyword">const</font> UGlobalPosition &start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &delta,
00325 <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>;
00339 UGlobalPosition <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">doMove</a>(<font class="keyword">const</font> UGlobalPosition &start, <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>, CCollisionSurfaceTemp &cst, <font class="keywordtype">bool</font> rebuildChains=<font class="keyword">false</font>) <font class="keyword">const</font>;
00342 <font class="keyword">const</font> CRetrievableSurface *<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_3">getSurfaceById</a>(<font class="keyword">const</font> CSurfaceIdent &surfId) <font class="keyword">const</font>;
00352 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">testBBoxRot</a>(<font class="keyword">const</font> CGlobalPosition &start,
00353 <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>;
00354
00358 <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">getMeanHeight</a>(<font class="keyword">const</font> UGlobalPosition &pos) <font class="keyword">const</font>;
00359
<a name="l00361"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_6">00361</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_6">updateHeight</a>(UGlobalPosition &pos)<font class="keyword"> const </font>{ pos.LocalPosition.Estimation.z = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_5">getMeanHeight</a>(pos); }
00362
00363 <font class="comment">// @}</font>
00364
00365
00367 <font class="comment">// @{</font>
00368
00371 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_0">findAStarPath</a>(<font class="keyword">const</font> UGlobalPosition &begin, <font class="keyword">const</font> UGlobalPosition &end, std::vector<CRetrieverInstance::CAStarNodeAccess> &path, uint32 forbidFlags) <font class="keyword">const</font>;
00372
00375 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z939_1">findPath</a>(<font class="keyword">const</font> UGlobalPosition &begin, <font class="keyword">const</font> UGlobalPosition &end, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a> &path, uint32 forbidFlags=0) <font class="keyword">const</font>;
00376
00377 <font class="comment">// @}</font>
00378
00379 <font class="keyword">private</font>:
00381 <font class="comment">// @{</font>
00382
<a name="l00384"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">00384</a> CRetrieverInstance::CAStarNodeInfo &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(CRetrieverInstance::CAStarNodeAccess &access)<font class="keyword"> const</font>
00385 <font class="keyword"> </font>{
00386 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[access.InstanceId]._NodesInformation[access.NodeId];
00387 }
00388
00389 <font class="comment">// @}</font>
00390
00391
00393 <font class="comment">// @{</font>
<a name="l00394"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">00394</a> <font class="keyword">enum</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a> { <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0u0">Circle</a>, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0u1">BBox</a> };
00398 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_1">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>;
00402 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &deltaCol,
00403 CSurfaceIdent startSurface, <font class="keywordtype">float</font> radius, <font class="keyword">const</font> CVector2f bbox[4], <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_0">TCollisionType</a> colType) <font class="keyword">const</font>;
00409 CSurfaceIdent <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_3">testMovementWithCollisionChains</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CVector2f &startCol, <font class="keyword">const</font> CVector2f &deltaCol,
00410 CSurfaceIdent startSurface) <font class="keyword">const</font>;
00414 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_4">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>;
00416 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">verticalChain</a>(<font class="keyword">const</font> CCollisionChain &colChain) <font class="keyword">const</font>;
00417 <font class="comment">// @}</font>
00418
00419 <font class="keyword">protected</font>:
<a name="l00420"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">00420</a> <font class="keyword">friend</font> <font class="keyword">class </font><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a>;
00421
<a name="l00422"></a><a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">00422</a> CCollisionSurfaceTemp &<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">getInternalCST</a>()<font class="keyword"> const </font>{ <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#o0">_InternalCST</a>; }
00423 };
00424
00425 }; <font class="comment">// NLPACS</font>
00426
00427 <font class="preprocessor">#endif // NL_GLOBAL_RETRIEVER_H</font>
00428 <font class="preprocessor"></font>
00429 <font class="comment">/* End of global_retriever.h */</font>
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