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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 &lt;vector&gt;</font>
00030 <font class="preprocessor">#include &lt;list&gt;</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 &amp;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 &amp;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&lt;CVector2s&gt;                          <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&lt;CLocalPath&gt;                 <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&lt;uint8&gt;                              <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&lt;CRetrieverInstance&gt; <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&lt;uint32&gt;                               <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>                   &amp;<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&lt;CRetrieverInstance&gt;   &amp;<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>                &amp;<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> &amp;bbox, CCollisionSurfaceTemp &amp;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                   &amp;<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>-&gt;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 &amp;pos)<font class="keyword"> const</font>
00177 <font class="keyword">        </font>{
00178                 <font class="keywordflow">if</font> (pos.InstanceId &lt; 0 || pos.InstanceId &gt;= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
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>        &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId];
00182                 <font class="keyword">const</font> CLocalRetriever           &amp;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 &lt; 0 || pos.LocalPosition.Surface &gt;= (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 &amp;pos)<font class="keyword"> const</font>
00192 <font class="keyword">        </font>{
00193                 <font class="keywordflow">if</font> (pos.InstanceId &lt; 0 || pos.InstanceId &gt;= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
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 &amp;pos, <font class="keywordtype">float</font> &amp;waterHeight)<font class="keyword"> const</font>
00201 <font class="keyword">        </font>{
00202                 <font class="keywordflow">if</font> (pos.InstanceId &lt; 0 || pos.InstanceId &gt;= (sint)<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>.size())
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>        &amp;instance = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#n1">_Instances</a>[pos.InstanceId];
00206                 <font class="keyword">const</font> CLocalRetriever           &amp;retriever = <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(instance.getRetrieverId());
00207                 <font class="keyword">const</font> CRetrievableSurface       &amp;surface = retriever.getSurface(pos.LocalPosition.Surface);
00208 
00209                 waterHeight = surface.getWaterHeight();
00210 
00211                 <font class="keywordflow">return</font> (surface.getFlags() &amp; 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> &amp;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> &amp;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> &amp;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> &amp;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 &amp;<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                               &amp;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z936_4">getIdentifier</a>(<font class="keyword">const</font> UGlobalPosition &amp;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 &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;position, sint32 &amp;instanceId);
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 &amp;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 &amp;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 &amp;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> &amp;v0, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;v1);
00261 
00263 
00264 
00266 
00267 
00269         <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#l0">CRetrieverInstance</a>                &amp;<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> &amp;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>                              &amp;<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 &amp;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 &amp;pos, std::vector&lt;NLMISC::CLine&gt; &amp;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> &amp;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 &amp;start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, 
00314                 <font class="keywordtype">float</font> radius, CCollisionSurfaceTemp &amp;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 &amp;start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, 
00325                 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locJ, CCollisionSurfaceTemp &amp;cst) <font class="keyword">const</font>;
00339         UGlobalPosition         <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_2">doMove</a>(<font class="keyword">const</font> UGlobalPosition &amp;start, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;delta, <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a384">t</a>, CCollisionSurfaceTemp &amp;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 &amp;surfId) <font class="keyword">const</font>;
00352         <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a>       &amp;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z938_4">testBBoxRot</a>(<font class="keyword">const</font> CGlobalPosition &amp;start, 
00353                 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locI, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;locJ, CCollisionSurfaceTemp &amp;cst) <font class="keyword">const</font>;
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 &amp;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 &amp;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 &amp;begin, <font class="keyword">const</font> UGlobalPosition &amp;end, std::vector&lt;CRetrieverInstance::CAStarNodeAccess&gt; &amp;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 &amp;begin, <font class="keyword">const</font> UGlobalPosition &amp;end, <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#s0">CGlobalPath</a> &amp;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      &amp;<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z940_0">getNode</a>(CRetrieverInstance::CAStarNodeAccess &amp;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 &amp;cst, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CAABBox.html">NLMISC::CAABBox</a> &amp;bboxMove, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;origin) <font class="keyword">const</font>;
00402         <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_2">testCollisionWithCollisionChains</a>(CCollisionSurfaceTemp &amp;cst, <font class="keyword">const</font> CVector2f &amp;startCol, <font class="keyword">const</font> CVector2f &amp;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 &amp;cst, <font class="keyword">const</font> CVector2f &amp;startCol, <font class="keyword">const</font> CVector2f &amp;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 &amp;cst, <font class="keyword">const</font> CVector2f &amp;startCol, CSurfaceIdent startSurface, <font class="keyword">const</font> CVector2f bbox[4])  <font class="keyword">const</font>;
00416         <font class="keywordtype">bool</font>                    <a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z941_5">verticalChain</a>(<font class="keyword">const</font> CCollisionChain &amp;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   &amp;<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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