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
|
<!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="http://www.nevrax.org/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="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD WIDTH=140 BGCOLOR=#dddddd><IMG SRC="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="140" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD WIDTH=16><IMG SRC="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD><IMG width=6 height=14 SRC="http://www.nevrax.org/inc/img/reddots.gif" ALT="#" VSPACE=2 HSPACE=2 BORDER=0 ></TD><TD VALIGN=middle> <A CLASS=uplinks HREF=http://www.nevrax.org><b>Home</B></FONT></A> </TD>
<TD><IMG width=6 height=14 SRC="http://www.nevrax.org/inc/img/reddots.gif" ALT="#" VSPACE=2 HSPACE=2 BORDER=0 ></TD><TD VALIGN=middle> <A CLASS=uplinks HREF=http://www.nevrax.com><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="http://www.nevrax.org/inc/img/black_banner.jpg"><A HREF="http://www.nevrax.org"><IMG SRC="http://www.nevrax.org/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="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="16" HEIGHT="10" BORDER=0 ALT=""></TD>
<TD WIDTH=140 BGCOLOR=#dddddd VALIGN=TOP ALIGN=middle><IMG SRC="http://www.nevrax.org/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="http://www.nevrax.org/news/" TITLE="Rubrique news"><img width=13 height=15 hspace=5 border=0 src=http://www.nevrax.org/inc/img/picto-news.gif ALT=#></A></td><td><a class='linkbox' href="http://www.nevrax.org/news/" TITLE="News">News</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="http://www.nevrax.org/mail/" TITLE="Rubrique mail"><img width=15 height=11 hspace=5 border=0 src=http://www.nevrax.org/inc/img/picto-mail.gif ALT=#></A></td><td><a class='linkbox' href="http://www.nevrax.org/mail/" TITLE="Mailing list archive">Mailing-list</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="http://www.nevrax.org/docs/" TITLE="Rubrique docs"><img width=14 height=16 hspace=5 border=0 src=http://www.nevrax.org/inc/img/picto-docs.gif ALT=#></A></td><td><a class='linkbox' href="http://www.nevrax.org/docs/" TITLE="Documentation">Documentation</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="http://www.nevrax.org/cvs/" TITLE="Rubrique cvs"><img width=13 height=17 hspace=5 border=0 src=http://www.nevrax.org/inc/img/picto-cvs.gif ALT=#></A></td><td><a class='linkbox' href="http://www.nevrax.org/cvs/" TITLE="CVS Web">CVS</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="http://www.nevrax.org/bugs/" TITLE="Rubrique bugs"><img width=20 height=16 hspace=5 border=0 src=http://www.nevrax.org/inc/img/picto-bugs.gif ALT=#></A></td><td><a class='linkbox' href="http://www.nevrax.org/bugs/" TITLE="Bugtracking">Bugs</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="http://www.nevrax.org/GPL.php3" TITLE="Rubrique license"><img width=18 height=12 hspace=5 border=0 src=http://www.nevrax.org/inc/img/picto-gpl.gif ALT=#></A></td><td><a class='linkbox' href="http://www.nevrax.org/GPL.php3" TITLE="License">License</a></td></tr>
</TABLE>
</TD></TR></TABLE></TD></TR></TABLE>
<!------ End Box ------>
</TD>
<TD WIDTH=15><IMG SRC="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD ALIGN=left valign=top><IMG SRC="http://www.nevrax.org/inc/img/pixel.gif" WIDTH="140" HEIGHT="10" BORDER=0 ALT="">
<!-- title -->
<TABLE background="http://www.nevrax.org/inc/img/redline.gif" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td>
<A HREF="http://www.nevrax.org/docs/"><img src="http://www.nevrax.org/inc/img/t_docs.gif" ALT="Docs" HEIGHT=20 BORDER=0></A>
</td><td><IMG SRC="http://www.nevrax.org/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="http://www.nevrax.org/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:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center>
<hr><h1>local_retriever.cpp</h1><a href="local__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="plane_8h.html">nel/misc/plane.h</a>"</font>
00029
00030 <font class="preprocessor">#include "<a class="code" href="local__retriever_8h.html">pacs/local_retriever.h</a>"</font>
00031 <font class="preprocessor">#include "<a class="code" href="collision__desc_8h.html">pacs/collision_desc.h</a>"</font>
00032 <font class="preprocessor">#include "<a class="code" href="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font>
00033
00034 <font class="preprocessor">#include "<a class="code" href="hierarchical__timer_8h.html">nel/misc/hierarchical_timer.h</a>"</font>
00035
00036 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00037 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00038
<a name="l00040"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#q0">00040</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#q0">NLPACS::CLocalRetriever::_TipThreshold</a> = 0.1f;
<a name="l00041"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#q1">00041</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#q1">NLPACS::CLocalRetriever::_EdgeTipThreshold</a> = 0.1f;
00042
<a name="l00044"></a><a class="code" href="local__retriever_8cpp.html#a0">00044</a> <font class="keyword">const</font> <font class="keywordtype">float</font> <a class="code" href="local__retriever_8cpp.html#a0">InsurePositionThreshold</a> = 2.0e-2f;
00045
00046 <font class="comment">//static float hybrid2dNorm(const CVector &v)</font>
00047 <font class="comment">//{</font>
00048 <font class="comment">// return (float)(sqrt(sqr(v.x)+sqr(v.y))+fabs(v.z)*0.1);</font>
00049 <font class="comment">//}</font>
00050
00051
00052
00053
00054
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z943_0">00055</a> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z943_0">NLPACS::CLocalRetriever::CLocalRetriever</a>()
00056 {
00057 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#s2s0">Landscape</a>;
00058 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.clear();
00059 }
00060
00061
00062
<a name="l00063"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">00063</a> <font class="keyword">const</font> CVector &<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">NLPACS::CLocalRetriever::getStartVector</a>(uint32 chain)<font class="keyword"> const</font>
00064 <font class="keyword"></font>{
00065 <font class="keyword">const</font> COrderedChain3f &ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().front()];
00066 <font class="keywordflow">return</font> (ochain.isForward()) ? ochain.getVertices().front() : ochain.getVertices().back();
00067 }
00068
<a name="l00069"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">00069</a> <font class="keyword">const</font> CVector &<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">NLPACS::CLocalRetriever::getStopVector</a>(uint32 chain)<font class="keyword"> const</font>
00070 <font class="keyword"></font>{
00071 <font class="keyword">const</font> COrderedChain3f &ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().back()];
00072 <font class="keywordflow">return</font> (ochain.isForward()) ? ochain.getVertices().back() : ochain.getVertices().front();
00073 }
00074
00075
00076
00077
<a name="l00078"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a8">00078</a> <font class="keyword">const</font> CVector &<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">NLPACS::CLocalRetriever::getStartVector</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
00079 <font class="keyword"></font>{
00080 <font class="keywordtype">bool</font> onLeft = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface;
00081 <font class="keyword">const</font> COrderedChain3f &ochain = onLeft ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().front()] :
00082 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().back()];
00083
00084 <font class="keywordflow">if</font> (ochain.isForward() && onLeft || !ochain.isForward() && !onLeft)
00085 <font class="keywordflow">return</font> ochain.getVertices().front();
00086 <font class="keywordflow">else</font>
00087 <font class="keywordflow">return</font> ochain.getVertices().back();
00088 }
00089
<a name="l00090"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a9">00090</a> <font class="keyword">const</font> CVector &<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">NLPACS::CLocalRetriever::getStopVector</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
00091 <font class="keyword"></font>{
00092 <font class="keywordtype">bool</font> onLeft = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface;
00093 <font class="keyword">const</font> COrderedChain3f &ochain = onLeft ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().back()] :
00094 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getSubChains().front()];
00095
00096 <font class="keywordflow">if</font> (ochain.isForward() && onLeft || !ochain.isForward() && !onLeft)
00097 <font class="keywordflow">return</font> ochain.getVertices().back();
00098 <font class="keywordflow">else</font>
00099 <font class="keywordflow">return</font> ochain.getVertices().front();
00100 }
00101
00102
00103
00104
<a name="l00105"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a10">00105</a> uint16 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a10">NLPACS::CLocalRetriever::getStartTip</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
00106 <font class="keyword"></font>{
00107 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStartTip() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStopTip();
00108 }
00109
<a name="l00110"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a11">00110</a> uint16 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a11">NLPACS::CLocalRetriever::getStopTip</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
00111 <font class="keyword"></font>{
00112 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStopTip() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getStartTip();
00113 }
00114
00115
00116
00117
00118
<a name="l00119"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a12">00119</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a12">NLPACS::CLocalRetriever::setStartTip</a>(uint32 chain, sint32 surface, uint16 startTip)
00120 {
00121 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
00122 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StartTip = startTip;
00123 <font class="keywordflow">else</font>
00124 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StopTip = startTip;
00125 }
00126
<a name="l00127"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a13">00127</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a13">NLPACS::CLocalRetriever::setStopTip</a>(uint32 chain, sint32 surface, uint16 stopTip)
00128 {
00129 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
00130 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StopTip = stopTip;
00131 <font class="keywordflow">else</font>
00132 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StartTip = stopTip;
00133 }
00134
00135
00136
00137
<a name="l00138"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a14">00138</a> uint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a14">NLPACS::CLocalRetriever::getPreviousChain</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
00139 <font class="keyword"></font>{
00140 uint loop;
00141 uint loopIndex;
00142
00143 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
00144 {
00145 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoop;
00146 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoopIndex;
00147 }
00148 <font class="keywordflow">else</font>
00149 {
00150 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoop;
00151 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoopIndex;
00152 }
00153
00154 <font class="keyword">const</font> CRetrievableSurface &surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00155 <font class="keyword">const</font> CRetrievableSurface::TLoop &sLoop = surf._Loops[loop];
00156 <font class="keywordflow">return</font> surf._Chains[sLoop[(loopIndex+sLoop.size()-1)%sLoop.size()]].Chain;
00157 }
00158
<a name="l00159"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a15">00159</a> uint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a15">NLPACS::CLocalRetriever::getNextChain</a>(uint32 chain, sint32 surface)<font class="keyword"> const</font>
00160 <font class="keyword"></font>{
00161 uint loop;
00162 uint loopIndex;
00163
00164 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() == surface)
00165 {
00166 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoop;
00167 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._LeftLoopIndex;
00168 }
00169 <font class="keywordflow">else</font>
00170 {
00171 loop = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoop;
00172 loopIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._RightLoopIndex;
00173 }
00174
00175 <font class="keyword">const</font> CRetrievableSurface &surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00176 <font class="keyword">const</font> CRetrievableSurface::TLoop &sLoop = surf._Loops[loop];
00177 <font class="keywordflow">return</font> surf._Chains[sLoop[(loopIndex+1)%sLoop.size()]].Chain;
00178 }
00179
00180
00181
00182
<a name="l00183"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a5">00183</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a5">NLPACS::CLocalRetriever::unify</a>()
00184 {
00185 uint i, j;
00186
00187 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++i)
00188 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].unify(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
00189
00190 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size(); ++i)
00191 {
00192 <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html">NLPACS::CLocalRetriever::CTip</a> &tip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[i];
00193 CVector2s ptip = tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m0">Point</a>;
00194
00195 <font class="keywordflow">for</font> (j=0; j<tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>.size(); ++j)
00196 {
00197 <font class="keywordflow">if</font> (tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Start)
00198 {
00199 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].getStartVector(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>) != ptip)
00200 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"chain %d is not stuck to tip %d"</font>, tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain, i);
00201 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].setStartVector(ptip, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
00202 }
00203 <font class="keywordflow">else</font>
00204 {
00205 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].getStopVector(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>) != ptip)
00206 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"chain %d is not stuck to tip %d"</font>, tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain, i);
00207 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[tip.<a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CTip.html#m1">Chains</a>[j].Chain].setStopVector(ptip, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
00208 }
00209 }
00210 }
00211
00212 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>.resize(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>.size());
00213 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>.size(); ++i)
00214 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[i].unpack(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[i]);
00215 }
00216
00217
00218
00219
00220
00221
00222
<a name="l00223"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a16">00223</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a16">NLPACS::CLocalRetriever::dumpSurface</a>(uint surf, <font class="keyword">const</font> CVector &vect)<font class="keyword"> const</font>
00224 <font class="keyword"></font>{
00225 <font class="keyword">const</font> CRetrievableSurface &surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surf];
00226
00227 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"dump surf %d"</font>, surf);
00228 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"%d chains, %d loops"</font>, surface._Chains.size(), surface._Loops.size());
00229
00230 uint i, j, k;
00231
00232 <font class="keywordflow">for</font> (i=0; i<surface._Chains.size(); ++i)
00233 {
00234 uint chainId = surface._Chains[i].Chain;
00235 <font class="keyword">const</font> CChain &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chainId];
00236 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"-- chain %d[%d]: %d sub left=%d right=%d start=%d stop=%d"</font>, i, chainId, chain.getSubChains().size(), chain.getLeft(), chain.getRight(), chain.getStartTip(), chain.getStopTip());
00237
00238 <font class="keywordflow">for</font> (j=0; j<chain.getSubChains().size(); ++j)
00239 {
00240 <font class="keyword">const</font> COrderedChain3f &ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[chain.getSubChain(j)];
00241 <font class="keyword">const</font> COrderedChain &ochains = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain.getSubChain(j)];
00242 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" subchain %d[%d]: fwd=%d parent=%d idx=%d"</font>, j, chain.getSubChain(j), ochain.isForward(), ochain.getParentId(), ochain.getIndexInParent());
00243 <font class="keywordflow">for</font> (k=0; k<ochain.getVertices().size(); ++k)
00244 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">" v[%d]=(%.3f,%.3f,%.3f) (%d,%d)"</font>, k, ochain.getVertices()[k].x+vect.x, ochain.getVertices()[k].y+vect.y, ochain.getVertices()[k].z+vect.z, ochains.getVertices()[k].x, ochains.getVertices()[k].y);
00245 }
00246
00247 }
00248
00249 <font class="keywordflow">for</font> (i=0; i<surface._Loops.size(); ++i)
00250 {
00251 <font class="keyword">const</font> CRetrievableSurface::TLoop &loop = surface._Loops[i];
00252 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"-- loop %d: %d chains length=%.2f"</font>, i, loop.size(), loop.Length);
00253 <font class="keyword">static</font> <font class="keywordtype">char</font> wbuffer[256];
00254 <font class="keyword">static</font> <font class="keywordtype">char</font> buffer[10240];
00255 sprintf(buffer, <font class="stringliteral">" chains:"</font>);
00256 <font class="keywordflow">for</font> (j=0; j<loop.size(); ++j)
00257 {
00258 sprintf(wbuffer, <font class="stringliteral">" %d[%d]"</font>, loop[j], surface._Chains[loop[j]].Chain);
00259 strcat(buffer, wbuffer);
00260 }
00261 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"%s"</font>, buffer);
00262 }
00263 }
00264
00265
<a name="l00266"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a17">00266</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a17">NLPACS::CLocalRetriever::distanceToBorder</a>(<font class="keyword">const</font> ULocalPosition &pos)<font class="keyword"> const</font>
00267 <font class="keyword"></font>{
00268 <font class="keyword">const</font> CRetrievableSurface &surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[pos.Surface];
00269 uint i, j;
00270 <font class="keywordtype">float</font> minDist = 1.0e10f, dist;
00271
00272 <font class="keywordflow">for</font> (i=0; i<surf._Chains.size(); ++i)
00273 {
00274 <font class="keyword">const</font> CChain &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surf._Chains[i].Chain];
00275 <font class="keywordflow">for</font> (j=0; j<chain.getSubChains().size(); ++j)
00276 {
00277 dist = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain.getSubChain(j)].distance(pos.Estimation);
00278 <font class="keywordflow">if</font> (dist < minDist)
00279 {
00280 minDist = dist;
00281 }
00282 }
00283 }
00284
00285 <font class="keywordflow">return</font> minDist;
00286 }
00287
00288
00289
00290
00291
<a name="l00292"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_0">00292</a> sint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_0">NLPACS::CLocalRetriever::addSurface</a>(uint8 normalq, uint8 orientationq,
00293 uint8 mat, uint8 charact, uint8 <a class="code" href="driver__opengl__extension__def_8h.html#a387">level</a>,
00294 <font class="keywordtype">bool</font> isUnderWater, <font class="keywordtype">float</font> waterHeight,
00295 <font class="keyword">const</font> CVector &center,
00296 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CSurfaceQuadTree.html">NLPACS::CSurfaceQuadTree</a> &quad)
00297 {
00298 <font class="comment">// creates a new surface...</font>
00299 sint32 newId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size();
00300 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.resize(newId+1);
00301 CRetrievableSurface &surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.back();
00302
00303 <font class="comment">// ... and fills it</font>
00304 surf._NormalQuanta = normalq;
00305 surf._OrientationQuanta = orientationq;
00306 surf._Material = mat;
00307 surf._Character = charact;
00308 surf._Level = <a class="code" href="driver__opengl__extension__def_8h.html#a387">level</a>;
00309 surf._Quad = quad;
00310 surf._Center = center;
00311
00312 <font class="comment">// WARNING!! MODIFY THESE IF QUANTAS VALUES CHANGE !!</font>
00313 surf._IsFloor = (surf._NormalQuanta <= 1);
00314 surf._IsCeiling = (surf._NormalQuanta >= 3);
00315
00316 surf._Flags = 0;
00317 surf._Flags |= (surf._IsFloor) ? (1<<CRetrievableSurface::IsFloorBit) : 0;
00318 surf._Flags |= (surf._IsCeiling) ? (1<<CRetrievableSurface::IsCeilingBit) : 0;
00319 surf._Flags |= (!surf._IsFloor && !surf._IsCeiling) ? (1<<CRetrievableSurface::IsSlantBit) : 0;
00320
00321 surf._Flags |= (isUnderWater) ? (1<<CRetrievableSurface::IsUnderWaterBit) : 0;
00322 surf._WaterHeight = waterHeight;
00323
00324 surf._Flags |= ((0xffffffff<<(CRetrievableSurface::NormalQuantasStartBit)) & CRetrievableSurface::NormalQuantasBitMask);
00325
00326 <font class="keywordflow">return</font> newId;
00327 }
00328
00329 sint32 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_1">NLPACS::CLocalRetriever::addChain</a>(<font class="keyword">const</font> vector<CVector> &verts,
00330 sint32 left, sint32 right)
00331 {
00332 vector<CVector> vertices = verts;
00333 uint i;
00334
00335 <font class="keywordflow">if</font> (vertices.size() < 2)
00336 {
00337 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::addChain()"</font>);
00338 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"The chain has less than 2 vertices"</font>);
00339 <font class="keywordflow">return</font> -1;
00340 }
00341
00342 <font class="comment">// Remove doubled vertices due to CVector2s snapping</font>
00343 vector<CVector2s> converts;
00344
00345 <font class="keywordflow">for</font> (i=0; i<vertices.size(); ++i)
00346 converts.push_back(CVector2s(vertices[i]));
00347
00348 vector<CVector2s>::iterator next2s = converts.begin(), it2s, prev2s;
00349 prev2s = next2s; ++next2s;
00350 it2s = next2s; ++next2s;
00351
00352 vector<CVector>::iterator it3f = vertices.begin();
00353 CVector prev3f = *it3f;
00354 ++it3f;
00355
00356
00357 <font class="keywordflow">for</font> (; it2s != converts.end() && next2s != converts.end(); )
00358 {
00359 <font class="comment">// if the next point is equal to the previous</font>
00360 <font class="keywordflow">if</font> (*it2s == *prev2s || *it2s == *next2s)
00361 {
00362 <font class="comment">// then remove the next point</font>
00363 it2s = converts.erase(it2s);
00364 it3f = vertices.erase(it3f);
00365
00366 prev2s = it2s;
00367 --prev2s;
00368 next2s = it2s;
00369 ++next2s;
00370 }
00371 <font class="keywordflow">else</font>
00372 {
00373 <font class="comment">// else remember the next point, and step to the next...</font>
00374 ++prev2s;
00375 ++it2s;
00376 ++next2s;
00377 ++it3f;
00378 prev3f = *it3f;
00379 }
00380 }
00381
00382 <font class="keywordflow">if</font> (vertices.size() < 2)
00383 {
00384 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::addChain()"</font>);
00385 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"The chain was snapped to a single point"</font>);
00386 <font class="keywordflow">return</font> -1;
00387 }
00388
00389 sint32 newId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size();
00390 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.resize(newId+1);
00391 CChain &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.back();
00392
00393 <font class="keywordflow">if</font> (left>(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size())
00394 <a class="code" href="debug_8h.html#a3">nlerror</a> (<font class="stringliteral">"left surface id MUST be id<%d (id=%d)"</font>, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), left);
00395 <font class="keywordflow">if</font> (right>(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size())
00396 <a class="code" href="debug_8h.html#a3">nlerror</a> (<font class="stringliteral">"right surface id MUST be id<%d (id=%d)"</font>, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), right);
00397
00398 <font class="comment">// checks if we can build the chain.</font>
00399 <font class="keywordflow">if</font> (newId > 65535)
00400 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::addChain(): reached the maximum number of chains"</font>);
00401
00402 CRetrievableSurface *leftSurface = (left>=0) ? &(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[left]) : NULL;
00403 CRetrievableSurface *rightSurface = (right>=0) ? &(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[right]) : NULL;
00404
00405 <font class="comment">// adds the chain and the link to the surface links vector.</font>
00406 <font class="keywordflow">if</font> (leftSurface != NULL)
00407 leftSurface->_Chains.push_back(CRetrievableSurface::CSurfaceLink(newId, right));
00408 <font class="keywordflow">if</font> (rightSurface != NULL)
00409 rightSurface->_Chains.push_back(CRetrievableSurface::CSurfaceLink(newId, left));
00410
00411 chain._StartTip = 0xffff;
00412 chain._StopTip = 0xffff;
00413
00414 <font class="comment">// make the chain and its subchains.</font>
00415 chain.make(vertices, left, right, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>, (uint16)newId, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>);
00416
00417 <font class="keywordflow">return</font> newId;
00418 }
00419
00420
00421
00422
<a name="l00423"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_11">00423</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_11">NLPACS::CLocalRetriever::computeLoopsAndTips</a>()
00424 {
00425 <font class="comment">// for each surface,</font>
00426 <font class="comment">// examine each chain tip to match another tip inside the surface tips</font>
00427 <font class="comment">// if there is no matching tip, then creates a new one</font>
00428
00429 uint i, j;
00430
00431 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
00432 {
00433 CRetrievableSurface &surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i];
00434
00435 vector<bool> chainFlags;
00436 chainFlags.resize(surface._Chains.size());
00437 <font class="keywordflow">for</font> (j=0; j<chainFlags.size(); ++j)
00438 chainFlags[j] = <font class="keyword">false</font>;
00439
00440 uint totalAdded = 0;
00441
00442 <font class="keywordflow">while</font> (true)
00443 {
00444 <font class="keywordflow">for</font> (j=0; j<chainFlags.size() && chainFlags[j]; ++j)
00445 ;
00446
00447 <font class="keywordflow">if</font> (j == chainFlags.size())
00448 <font class="keywordflow">break</font>;
00449
00450 uint32 loopId = surface._Loops.size();
00451 surface._Loops.push_back(CRetrievableSurface::TLoop());
00452 CRetrievableSurface::TLoop &loop = surface._Loops.back();
00453
00454 CVector loopStart = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(surface._Chains[j].Chain, i);
00455 CVector currentEnd = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(surface._Chains[j].Chain, i);
00456 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surface._Chains[j].Chain].setLoopIndexes(i, loopId, loop.size());
00457 loop.push_back(j);
00458 chainFlags[j] = <font class="keyword">true</font>;
00459
00460 <font class="keywordtype">float</font> loopCloseDistance;
00461
00462 <font class="keywordflow">while</font> (true)
00463 {
00464 <font class="comment">// loopCloseDistance = hybrid2dNorm(loopStart-currentEnd);</font>
00465 loopCloseDistance = (loopStart-currentEnd).norm();
00466
00467 <font class="comment">// choose the best matching start vector</font>
00468 sint bestChain = -1;
00469 <font class="keywordtype">float</font> best = 1.0e10f;
00470 CVector thisStart;
00471 <font class="keywordflow">for</font> (j=0; j<chainFlags.size(); ++j)
00472 {
00473 <font class="keywordflow">if</font> (chainFlags[j])
00474 <font class="keywordflow">continue</font>;
00475 thisStart = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(surface._Chains[j].Chain, i);
00476 <font class="comment">// float d = hybrid2dNorm(thisStart-currentEnd);</font>
00477 <font class="keywordtype">float</font> d = (thisStart-currentEnd).norm();
00478 <font class="keywordflow">if</font> (d < best)
00479 {
00480 best = d;
00481 bestChain = j;
00482 }
00483 }
00484
00485 <font class="keywordflow">if</font> ((bestChain == -1 || best > 3.0e-2f)&& loopCloseDistance > 3.0e-2f)
00486 {
00487 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::computeTips()"</font>);
00488
00489 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a16">dumpSurface</a>(i);
00490
00491 <font class="keywordflow">for</font> (j=0; j<surface._Chains.size(); ++j)
00492 {
00493 CVector start = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(surface._Chains[j].Chain, i);
00494 CVector end = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(surface._Chains[j].Chain, i);
00495 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"surf=%d chain=%d"</font>, i, surface._Chains[j].Chain);
00496 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"start=(%f,%f,%f)"</font>, start.x, start.y, start.z);
00497 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"end=(%f,%f,%f)"</font>, end.x, end.y, end.z);
00498 }
00499
00500 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"bestChain=%d best=%f"</font>, bestChain, best);
00501 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"loopCloseDistance=%f"</font>, loopCloseDistance);
00502 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Couldn't close loop on surface=%d"</font>, i);
00503 }
00504 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (best > 1.0e0f && loopCloseDistance < 3.0e-2f ||
00505 loopCloseDistance < 1.0e-3f)
00506 {
00507 <font class="keywordflow">break</font>;
00508 }
00509
00510 currentEnd = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(surface._Chains[bestChain].Chain, i);
00511 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surface._Chains[bestChain].Chain].setLoopIndexes(i, loopId, loop.size());
00512 loop.push_back(bestChain);
00513 chainFlags[bestChain] = <font class="keyword">true</font>;
00514 ++totalAdded;
00515 }
00516 }
00517 }
00518
00519 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++i)
00520 {
00521 <font class="comment">/* if (i == 431)</font>
00522 <font class="comment"> nlstop;</font>
00523 <font class="comment">*/</font>
00524 uint whichTip;
00525 <font class="comment">// for both tips (start and stop)</font>
00526 <font class="keywordflow">for</font> (whichTip=0; whichTip<=1; ++whichTip)
00527 {
00528 <font class="comment">// get the tip id</font>
00529 uint thisTip = (whichTip) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStopTip() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStartTip();
00530
00531 <font class="keywordflow">if</font> (thisTip != 0xffff && thisTip >= <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size())
00532 {
00533 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::computeLoopsAndTips()"</font>);
00534 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"checked a tip that doesn't exist on chain %d (tipId=%d)"</font>, i, thisTip);
00535 }
00536
00537 <font class="comment">// if it is unaffected yet creates an new tip and affect it to the common chains</font>
00538 <font class="keywordflow">if</font> (thisTip == 0xffff)
00539 {
00540 uint turn;
00541 uint tipId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size();
00542 <font class="comment">/*</font>
00543 <font class="comment"> if (tipId == 310)</font>
00544 <font class="comment"> nlstop;</font>
00545 <font class="comment">*/</font>
00546 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.resize(tipId+1);
00547 CTip &tip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[tipId];
00548 tip.Point = (whichTip) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a7">getStopVector</a>(i) : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a6">getStartVector</a>(i);
00549
00550 <font class="keywordflow">for</font> (turn=0; turn<=1; ++turn)
00551 {
00552 uint chain = i;
00553
00554 <font class="comment">//</font>
00555 <font class="keywordflow">if</font> (whichTip)
00556 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StopTip = tipId;
00557 <font class="keywordflow">else</font>
00558 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._StartTip = tipId;
00559
00560 sint32 surf = (!turn && !whichTip || turn && whichTip) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getLeft() : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].getRight();
00561
00562 <font class="keywordflow">while</font> (surf >= 0)
00563 {
00564
00565 CChain &nextChain = (turn) ? <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a15">getNextChain</a>(chain, surf)] : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a14">getPreviousChain</a>(chain, surf)];
00566 <font class="keywordtype">bool</font> isForward = (nextChain.getLeft() == surf); <font class="comment">// tells if the left surf is the current surf</font>
00567 <font class="keywordtype">bool</font> selectTip = isForward && !turn || !isForward && turn;
00568 uint16 &tipRef = selectTip ? nextChain._StopTip : nextChain._StartTip;
00569 surf = (isForward) ? nextChain.getRight() : nextChain.getLeft();
00570
00571 <font class="keywordflow">if</font> (tipRef != 0xffff && tipRef != tipId)
00572 {
00573 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::computeLoopsAndTips()"</font>);
00574 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Trying to setup a already created tip (tipId=%d, previous=%d)"</font>, tipId, tipRef);
00575 }
00576 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (tipRef != 0xffff)
00577 {
00578 <font class="keywordflow">break</font>;
00579 }
00580
00581 tipRef = tipId;
00582 }
00583 }
00584 }
00585 }
00586 }
00587
00588 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++i)
00589 {
00590 uint startTip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStartTip(),
00591 stopTip = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[i].getStopTip();
00592
00593 <font class="comment">/*</font>
00594 <font class="comment"> if (_Chains[i].getEdge() >= 0 && startTip == stopTip)</font>
00595 <font class="comment"> {</font>
00596 <font class="comment"> nlwarning("NLPACS::CLocalRetriever::computeLoopsAndTips(): chain %d on edge %d has same StartTip and StopTip", i, _Chains[i].getEdge(), startTip, stopTip);</font>
00597 <font class="comment"> }</font>
00598 <font class="comment">*/</font>
00599
00600 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[startTip].Chains.push_back(CTip::CChainTip(i, <font class="keyword">true</font>));
00601 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[stopTip].Chains.push_back(CTip::CChainTip(i, <font class="keyword">false</font>));
00602 }
00603
00604 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
00605 {
00606 <font class="keywordflow">for</font> (j=0; j<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops.size(); ++j)
00607 {
00608 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j].Length = 0.0f;
00609 uint k;
00610
00611 <font class="keywordflow">for</font> (k=0; k<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j].size(); ++k)
00612 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j].Length += <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Chains[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i]._Loops[j][k]].Chain].getLength();
00613 }
00614 }
00615 }
00616
00617
00618 <font class="comment">//</font>
<a name="l00619"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_19">00619</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_19">NLPACS::CLocalRetriever::buildSurfacePolygons</a>(uint32 surface, list<CPolygon> &polygons)<font class="keyword"> const</font>
00620 <font class="keyword"></font>{
00621 <font class="keyword">const</font> CRetrievableSurface &surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00622
00623 uint i, j, k, <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>;
00624
00625 <font class="keywordflow">for</font> (i=0; i<surf._Loops.size(); ++i)
00626 {
00627 polygons.push_back();
00628 CPolygon &poly = polygons.back();
00629
00630 <font class="keywordflow">for</font> (j=0; j<surf._Loops[i].size(); ++j)
00631 {
00632 <font class="keyword">const</font> CChain &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surf._Loops[i][j]];
00633 <font class="keywordtype">bool</font> chainforward = ((uint32)chain._Left == surface);
00634
00635 <font class="keywordflow">if</font> (chainforward)
00636 {
00637 <font class="keywordflow">for</font> (k=0; k<chain._SubChains.size(); ++k)
00638 {
00639 <font class="keyword">const</font> COrderedChain &ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain._SubChains[k]];
00640 <font class="keywordtype">bool</font> ochainforward = ochain.isForward();
00641
00642 <font class="keywordflow">if</font> (ochainforward)
00643 {
00644 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=0; <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a><ochain.getVertices().size()-1; ++<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
00645 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
00646 }
00647 <font class="keywordflow">else</font>
00648 {
00649 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=ochain.getVertices().size()-1; <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>>0; --<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
00650 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
00651 }
00652 }
00653 }
00654 <font class="keywordflow">else</font>
00655 {
00656 <font class="keywordflow">for</font> (k=chain._SubChains.size(); (sint)k>0; --k)
00657 {
00658 <font class="keyword">const</font> COrderedChain &ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[chain._SubChains[k]];
00659 <font class="keywordtype">bool</font> ochainforward = ochain.isForward();
00660
00661 <font class="keywordflow">if</font> (ochainforward)
00662 {
00663 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=ochain.getVertices().size()-1; (sint)<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>>0; --<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
00664 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
00665 }
00666 <font class="keywordflow">else</font>
00667 {
00668 <font class="keywordflow">for</font> (<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>=0; <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a><ochain.getVertices().size()-1; ++<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>)
00669 poly.Vertices.push_back(ochain[<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>].unpack3f());
00670 }
00671 }
00672 }
00673 }
00674 }
00675 }
00676
00677
00678 <font class="comment">// not implemented...</font>
<a name="l00679"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_14">00679</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_14">NLPACS::CLocalRetriever::sortTips</a>()
00680 {
00681 }
00682
00683
00684
00685
<a name="l00686"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_12">00686</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_12">NLPACS::CLocalRetriever::findBorderChains</a>()
00687 {
00688 uint chain;
00689
00690 <font class="comment">// for each chain, if it belongs to an edge of the</font>
00691 <font class="comment">// local retriever, then adds it to the _BorderChains.</font>
00692 <font class="keywordflow">for</font> (chain=0; chain<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.size(); ++chain)
00693 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].isBorderChain())
00694 {
00695 sint32 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a> = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n6">_BorderChains</a>.size();
00696 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n6">_BorderChains</a>.push_back(chain);
00697 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain].setBorderChainIndex(<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>);
00698 }
00699 }
00700
<a name="l00701"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_13">00701</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_13">NLPACS::CLocalRetriever::updateChainIds</a>()
00702 {
00703 uint surf, link;
00704
00705 <font class="keywordflow">for</font> (surf=0; surf<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surf)
00706 {
00707 CRetrievableSurface &surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surf];
00708
00709 <font class="keywordflow">for</font> (link=0; link<surface._Chains.size(); ++link)
00710 {
00711 sint32 chain = surface._Chains[link].Chain;
00712
00713 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Left == (sint32)surf)
00714 surface._Chains[link].Surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Right;
00715 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Right == (sint32)surf)
00716 surface._Chains[link].Surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain]._Left;
00717 <font class="keywordflow">else</font>
00718 {
00719 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::updateEdgesOnSurfaces()"</font>);
00720 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Can't find back point to surface %d on chain %d"</font>, surf, chain);
00721 }
00722 }
00723 }
00724 }
00725
<a name="l00726"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_10">00726</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_10">NLPACS::CLocalRetriever::computeTopologies</a>()
00727 {
00728 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"compute topologies"</font>);
00729
00730 <font class="comment">// Find topologies out...</font>
00731 uint character;
00732 <font class="keywordflow">for</font> (character=0; character<<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++character)
00733 {
00734 <font class="comment">// for each type of creature, flood fill surfaces...</font>
00735 sint32 surface;
00736 uint topology = 0;
00737
00738 <font class="keywordflow">for</font> (surface=0; surface<(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surface)
00739 {
00740 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface]._Topologies[character] == -1 &&
00741 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface]._Character == character)
00742 {
00743 vector<sint32> surfacesStack;
00744 surfacesStack.push_back(surface);
00745
00746 <font class="keywordflow">while</font> (!surfacesStack.empty())
00747 {
00748 CRetrievableSurface &current = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surfacesStack.back()];
00749 surfacesStack.pop_back();
00750 current._Topologies[character] = topology;
00751
00752 uint i;
00753 <font class="keywordflow">for</font> (i=0; i<current._Chains.size(); ++i)
00754 {
00755 CChain &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[current._Chains[i].Chain];
00756 sint32 link = (chain.getLeft() == surface) ? chain.getRight() : chain.getLeft();
00757 <font class="keywordflow">if</font> (link>=0 && link<(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size() &&
00758 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Topologies[character] == -1 &&
00759 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Character >= character)
00760 {
00761 surfacesStack.push_back(link);
00762 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Topologies[character] = topology;
00763 }
00764 }
00765 }
00766
00767 ++topology;
00768 }
00769 }
00770
00771 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n7">_Topologies</a>[character].resize(topology);
00772 <a class="code" href="debug_8h.html#a1">nlinfo</a>(<font class="stringliteral">"generated %d topologies for character %d"</font>, topology, character);
00773 }
00774
00775 uint surface;
00776 <font class="keywordflow">for</font> (surface=0; surface<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surface)
00777 {
00778 CRetrievableSurface &current = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00779
00780 <font class="keywordflow">for</font> (character=0; character<<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++character)
00781 <font class="keywordflow">if</font> (current._Topologies[character] >= 0)
00782 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n7">_Topologies</a>[character][current._Topologies[character]].push_back(surface);
00783 }
00784 }
00785
<a name="l00786"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_15">00786</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_15">NLPACS::CLocalRetriever::translate</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &translation)
00787 {
00788 uint i;
00789 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>.size(); ++i)
00790 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[i].translate(translation);
00791 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
00792 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i].translate(translation);
00793 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>.size(); ++i)
00794 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>[i].translate(translation);
00795 }
00796
<a name="l00797"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_17">00797</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_17">NLPACS::CLocalRetriever::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f)
00798 {
00799 <font class="comment">/*</font>
00800 <font class="comment"> Version 0:</font>
00801 <font class="comment"> - base version (with collision info).</font>
00802 <font class="comment"> Version 1:</font>
00803 <font class="comment"> - interior vertices and faces, for interior ground snapping</font>
00804 <font class="comment"> Version 2:</font>
00805 <font class="comment"> - face grid added.</font>
00806 <font class="comment"> Version 3:</font>
00807 <font class="comment"> - identifier added.</font>
00808 <font class="comment"> */</font>
00809 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(3);
00810
00811 uint i;
00812 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>);
00813 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
00814 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>);
00815 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>);
00816 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n5">_Tips</a>);
00817 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n6">_BorderChains</a>);
00818 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++i)
00819 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n7">_Topologies</a>[i]);
00820 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>);
00821 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n4">_BBox</a>);
00822 f.<a class="code" href="classNLMISC_1_1IStream.html#a6">serialEnum</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a>);
00823 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>);
00824
00825 <font class="comment">// a fix for old versions (with wrong _Type value)</font>
00826 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> != CLocalRetriever::Interior) <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> = CLocalRetriever::Landscape;
00827
00828 <font class="keywordflow">if</font> (ver >= 1)
00829 {
00830 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>);
00831 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>);
00832
00833 }
00834 <font class="keywordflow">if</font> (ver >= 2)
00835 {
00836 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>);
00837 }
00838 <font class="keywordflow">if</font> (ver >= 3)
00839 {
00840 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_4">_Id</a>);
00841 }
00842 }
00843
00844
00845
00846
00847
00848
00849
00850
<a name="l00851"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a0">00851</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a0">NLPACS::CLocalRetriever::insurePosition</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &local)<font class="keyword"> const</font>
00852 <font class="keyword"></font>{
00853 <font class="keywordflow">if</font> (local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> < 0 || local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> >= (sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size())
00854 {
00855 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: can't insure position to inexistant surface %d"</font>, local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>);
00856 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00857 }
00858
00859 <font class="comment">// the surface</font>
00860 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CRetrievableSurface.html">NLPACS::CRetrievableSurface</a> &surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>];
00861
00862 uint i, j, k;
00863 CVector2f M = CVector2f(local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>);
00864 <font class="keywordtype">bool</font> moved = <font class="keyword">false</font>;
00865
00866 <font class="comment">// for each chain and each subchain of the surface,</font>
00867 <font class="comment">// check if point is located on the good side of the border (and far enough to avoid accuracy issues)</font>
00868 <font class="keywordflow">for</font> (i=0; i<surface.<a class="code" href="classNLPACS_1_1CRetrievableSurface.html#a12">getChains</a>().size(); ++i)
00869 {
00870 uint ichain = surface.<a class="code" href="classNLPACS_1_1CRetrievableSurface.html#a13">getChain</a>(i).Chain;
00871 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CChain.html">NLPACS::CChain</a> &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[ichain];
00872
00873 for (j=0; j<chain.getSubChains().size(); ++j)
00874 {
00875 uint iochain = chain.getSubChain(j);
00876 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1COrderedChain.html">NLPACS::COrderedChain</a> &ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[iochain];
00877
00878 uint isAtLeft = ((chain.getLeft() == local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>) ? 1 : 0);
00879 uint isForward = (ochain.<a class="code" href="classNLPACS_1_1COrderedChain.html#a1">isForward</a>() ? 1 : 0);
00880 <font class="keywordtype">bool</font> shouldBeUpper = !((isAtLeft ^ isForward) != 0); <font class="comment">// shouldBeAtLeft for vertical segment</font>
00881
00882 <font class="keywordflow">for</font> (k=0; (sint)k<(sint)(ochain.<a class="code" href="classNLPACS_1_1COrderedChain.html#a0">getVertices</a>().size()-1); ++k)
00883 {
00884 CVector2f A = ochain[k].unpack();
00885 CVector2f B = ochain[k+1].unpack();
00886 CVector2f AB = B-A;
00887
00888 <font class="keywordtype">float</font> lambda = ((M-A)*AB)/AB.sqrnorm();
00889
00890 <font class="keywordflow">if</font> (lambda<0.0f || lambda>1.0f)
00891 <font class="keywordflow">continue</font>;
00892
00893 CVector2f n = (shouldBeUpper ? CVector2f(-AB.y, AB.x) : CVector2f(AB.y, -AB.x)).normed();
00894 <font class="keywordtype">float</font> d = (M-A)*n;
00895
00896 <font class="comment">// if point is too close of the border or on the wrong side</font>
00897 <font class="comment">// move it far enough</font>
00898 <font class="keywordflow">if</font> (d < InsurePositionThreshold && d > -<a class="code" href="local__retriever_8cpp.html#a0">InsurePositionThreshold</a>)
00899 {
00900 M += (<a class="code" href="local__retriever_8cpp.html#a0">InsurePositionThreshold</a>*1.1f-d)*n;
00901 moved = <font class="keyword">true</font>;
00902 }
00903 }
00904 }
00905 }
00906
00907 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z955_0">NLPACS::CRetrieverInstance::snapVector</a>(M);
00908
00909 local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a> = M.x;
00910 local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a> = M.y;
00911
00912 {
00913 <font class="keywordtype">float</font> fx1024 = local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a> * 1024.0f;
00914 <font class="keywordtype">float</font> fy1024 = local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a> * 1024.0f;
00915 sint32 ix1024 = (sint32)floor(fx1024);
00916 sint32 iy1024 = (sint32)floor(fy1024);
00917
00918 <a class="code" href="debug_8h.html#a6">nlassert</a> ((<font class="keywordtype">float</font>)ix1024 == fx1024);
00919 <a class="code" href="debug_8h.html#a6">nlassert</a> ((<font class="keywordtype">float</font>)iy1024 == fy1024);
00920 }
00921
00922 <font class="keywordflow">return</font> moved;
00923 }
00924
00925
<a name="l00926"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a1">00926</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a1">NLPACS::CLocalRetriever::retrievePosition</a>(CVector estimated, <font class="comment">/*std::vector<uint8> &retrieveTable,*/</font> CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
00927 <font class="keyword"></font>{
00928 CAABBox box;
00929 <font class="keyword">const</font> <font class="keywordtype">double</font> BorderThreshold = 2.0e-2f;
00930 box.setMinMax(CVector(estimated.x-(<font class="keywordtype">float</font>)BorderThreshold, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n4">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_0">getMin</a>().y, 0.0f), CVector(estimated.x+(<font class="keywordtype">float</font>)BorderThreshold, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n4">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_1">getMax</a>().y, 0.0f));
00931 uint numEdges = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.selectEdges(box, cst);
00932
00933 uint ochain, i;
00934 CVector2s estim = CVector2s(estimated);
00935
00936 cst.PossibleSurfaces.clear();
00937
00938 <font class="comment">// WARNING!!</font>
00939 <font class="comment">// cst.SurfaceLUT is assumed to be 0 filled !!</font>
00940
00941 <font class="comment">// nldebug("estim=(%d,%d)", estim.x, estim.y);</font>
00942
00943 <font class="comment">// for each ordered chain, checks if the estimated position is between the min and max.</font>
00944 <font class="keywordflow">for</font> (i=0; i<numEdges; ++i)
00945 {
00946 ochain = cst.EdgeChainEntries[i].OChainId;
00947
00948 <font class="keyword">const</font> COrderedChain &sub = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[ochain];
00949 <font class="keyword">const</font> CVector2s &<a class="code" href="bit__set_8cpp.html#a0">min</a> = sub.getMin(),
00950 &max = sub.getMax();
00951
00952 <font class="comment">// checks the position against the min and max of the chain</font>
00953 <font class="keywordflow">if</font> (estim.x < <a class="code" href="bit__set_8cpp.html#a0">min</a>.x || estim.x > max.x)
00954 <font class="keywordflow">continue</font>;
00955
00956 <font class="keywordtype">bool</font> isUpper;
00957 <font class="keywordtype">bool</font> isOnBorder = <font class="keyword">false</font>;
00958
00959 sint32 left = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[sub.getParentId()].getLeft(),
00960 right = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[sub.getParentId()].getRight();
00961
00962 <font class="keywordflow">if</font> (estim.y < <a class="code" href="bit__set_8cpp.html#a0">min</a>.y)
00963 {
00964 <font class="keywordflow">if</font> (estim.x == max.x)
00965 <font class="keywordflow">continue</font>;
00966 isUpper = <font class="keyword">false</font>;
00967 <font class="comment">// nlinfo("Box: min(%d,%d) max(%d,%d) forward=%d left=%d right=%d upper=false", min.x, min.y, max.x, max.y, sub.isForward(), left, right);</font>
00968 }
00969 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (estim.y > max.y)
00970 {
00971 <font class="keywordflow">if</font> (estim.x == max.x)
00972 <font class="keywordflow">continue</font>;
00973 isUpper = <font class="keyword">true</font>;
00974 <font class="comment">// nlinfo("Box: min(%d,%d) max(%d,%d) forward=%d left=%d right=%d upper=true", min.x, min.y, max.x, max.y, sub.isForward(), left, right);</font>
00975 }
00976 <font class="keywordflow">else</font>
00977 {
00978 <font class="keyword">const</font> vector<CVector2s> &vertices = sub.getVertices();
00979 uint start = 0, stop = vertices.size()-1;
00980
00982
00983 <font class="comment">// then finds the smallest segment of the chain that includes the estimated position.</font>
00984 <font class="keywordflow">while</font> (stop-start > 1)
00985 {
00986 uint mid = (start+stop)/2;
00987
00988 <font class="keywordflow">if</font> (vertices[mid].x > estim.x)
00989 stop = mid;
00990 <font class="keywordflow">else</font>
00991 start = mid;
00992 }
00993
00994 <font class="comment">// if a vertical edge</font>
00995 <font class="keywordflow">if</font> (vertices[start].x == vertices[stop].x)
00996 {
00997 <font class="comment">// look for maximal bounds</font>
00998 <font class="keywordflow">while</font> (start > 0 && vertices[start].x == vertices[start-1].x)
00999 --start;
01000
01001 <font class="keywordflow">while</font> (stop < vertices.size()-1 && vertices[stop].x == vertices[stop+1].x)
01002 ++stop;
01003
01004 <font class="comment">// if upper or lower the bounds, do nothing</font>
01005 <font class="keywordflow">if</font> (estim.y > vertices[start].y && estim.y > vertices[stop].y ||
01006 estim.y < vertices[start].y && estim.y < vertices[stop].y)
01007 <font class="keywordflow">continue</font>;
01008
01009 isOnBorder = <font class="keyword">true</font>;
01010 cst.incSurface(left);
01011 cst.incSurface(right);
01012 <font class="keywordflow">if</font> (left >= 0) cst.SurfaceLUT[left].FoundCloseEdge = <font class="keyword">true</font>;
01013 <font class="keywordflow">if</font> (right >= 0) cst.SurfaceLUT[right].FoundCloseEdge = <font class="keyword">true</font>;
01014 <font class="keywordflow">continue</font>;
01015 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d border=true", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right);</font>
01016 }
01017 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (vertices[stop].x == estim.x)
01018 {
01019 <font class="comment">// if </font>
01020 <font class="keywordflow">continue</font>;
01021 }
01022
01023 <font class="comment">// and then checks if the estimated position is up or down the chain.</font>
01024
01025 <font class="comment">// first trivial case (up both tips)</font>
01026 <font class="keywordflow">if</font> (estim.y > vertices[start].y && estim.y > vertices[stop].y)
01027 {
01028 isUpper = <font class="keyword">true</font>;
01029 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d upper=true", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right);</font>
01030 }
01031 <font class="comment">// second trivial case (down both tips)</font>
01032 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (estim.y < vertices[start].y && estim.y < vertices[stop].y)
01033 {
01034 isUpper = <font class="keyword">false</font>;
01035 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d upper=false", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right);</font>
01036 }
01037 <font class="comment">// full test...</font>
01038 <font class="keywordflow">else</font>
01039 {
01040 <font class="keyword">const</font> CVector2s &vstart = vertices[start],
01041 &vstop = vertices[stop];
01042
01043 sint16 intersect = vstart.y + (vstop.y-vstart.y)*(estim.x-vstart.x)/(vstop.x-vstart.x);
01044
01045 isUpper = estim.y > intersect;
01046 isOnBorder = (fabs(estim.y - intersect)<BorderThreshold*<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>);
01047 <font class="comment">// nlinfo("Edge: start(%d,%d) stop(%d,%d) forward=%d left=%d right=%d upper=%s border=%s", vertices[start].x, vertices[start].y, vertices[stop].x, vertices[stop].y, sub.isForward(), left, right, isUpper ? "true":"false", isOnBorder ? "true":"false");</font>
01048 }
01049 }
01050
01051 <font class="keywordflow">if</font> (isOnBorder)
01052 {
01053 cst.incSurface(left);
01054 cst.incSurface(right);
01055 <font class="keywordflow">if</font> (left >= 0) cst.SurfaceLUT[left].FoundCloseEdge = <font class="keyword">true</font>;
01056 <font class="keywordflow">if</font> (right >= 0) cst.SurfaceLUT[right].FoundCloseEdge = <font class="keyword">true</font>;
01057 <font class="keywordflow">continue</font>;
01058 }
01059
01060 <font class="comment">// Depending on the chain is forward, up the position, increase/decrease the surface table...</font>
01061 <font class="keywordflow">if</font> (sub.isForward())
01062 {
01063 <font class="keywordflow">if</font> (isUpper)
01064 {
01065 cst.incSurface(left);
01066 cst.decSurface(right);
01067 }
01068 <font class="keywordflow">else</font>
01069 {
01070 cst.decSurface(left);
01071 cst.incSurface(right);
01072 }
01073 }
01074 <font class="keywordflow">else</font>
01075 {
01076 <font class="keywordflow">if</font> (isUpper)
01077 {
01078 cst.decSurface(left);
01079 cst.incSurface(right);
01080 }
01081 <font class="keywordflow">else</font>
01082 {
01083 cst.incSurface(left);
01084 cst.decSurface(right);
01085 }
01086 }
01087 }
01088 }
01089
01090
<a name="l01091"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_9">01091</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z945_9">NLPACS::CLocalRetriever::initFaceGrid</a>()
01092 {
01093 CFaceGrid::CFaceGridBuild fgb;
01094 fgb.init(64, 4.0f);
01095
01096 uint i;
01097 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>.size(); ++i)
01098 {
01099 CAABBox box;
01100 CInteriorFace &f = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[i];
01101 box.setCenter(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[0]]);
01102 box.extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[1]]);
01103 box.extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[2]]);
01104
01105 fgb.insert(box.getMin(), box.getMax(), i);
01106 }
01107
01108 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.create(fgb);
01109 }
01110
<a name="l01111"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">01111</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">NLPACS::CLocalRetriever::snapToInteriorGround</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &position, <font class="keywordtype">bool</font> &snapped)<font class="keyword"> const</font>
01112 <font class="keyword"></font>{
01113 <font class="comment">// first preselect faces around the (x, y) position (CQuadGrid ?)</font>
01114 vector<uint32> selection;
01115 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.select(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>, selection);
01116
01117 <font class="comment">// from the preselect faces, look for the only face that belongs to the surface</font>
01118 <font class="comment">// and that contains the position</font>
01119 CVector pos = position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>;
01120 CVector posh = pos+CVector(0.0f, 0.0f, 1.0f);
01121 CVector2f pos2d = position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>;
01122 <font class="keywordtype">float</font> bestDist = 1.0e10f;
01123 CVector best;
01124 vector<uint32>::iterator it;
01125 snapped = <font class="keyword">false</font>;
01126 <font class="keywordflow">for</font> (it=selection.begin(); it!=selection.end(); ++it)
01127 {
01128 <font class="keyword">const</font> CInteriorFace &f = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[*it];
01129 <font class="keywordflow">if</font> (f.Surface == (uint32)position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>)
01130 {
01131 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[3];
01132 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[0]];
01133 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[1]];
01134 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[2]];
01135
01136 CVector2f n;
01137 <font class="keywordtype">float</font> c; <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
01138 <font class="comment">// Line p0-p1.</font>
01139 n = CVector2f(-(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>), (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)).normed();
01140 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x*n.x + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y*n.y);
01141 <font class="keywordflow">if</font> (n*pos2d + c < -1.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>) <font class="keywordflow">continue</font>;
01142 <font class="comment">// Line p1-p2.</font>
01143 n = CVector2f(-(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>), (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)).normed();
01144 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x*n.x + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y*n.y);
01145 <font class="keywordflow">if</font> (n*pos2d + c < -1.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>) <font class="keywordflow">continue</font>;
01146 <font class="comment">// Line p2-p0.</font>
01147 n = CVector2f(-(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>), (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>)).normed();
01148 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x*n.x + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y*n.y);
01149 <font class="keywordflow">if</font> (n*pos2d + c < -1.0f/<a class="code" href="namespaceNLPACS.html#a14">Vector2sAccuracy</a>) <font class="keywordflow">continue</font>;
01150
01151 CPlane p;
01152 p.make(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2]);
01153
01154 CVector i = p.intersect(pos, posh);
01155
01156 <font class="keywordtype">float</font> d = (float)fabs(pos.z-i.z);
01157
01158 <font class="keywordflow">if</font> (d < bestDist)
01159 {
01160 bestDist = d;
01161 best = i;
01162 }
01163 }
01164 }
01165
01166 <font class="comment">// and computes the real position on this face</font>
01167 <font class="keywordflow">if</font> (bestDist < 50.0f)
01168 {
01169 snapped = <font class="keyword">true</font>;
01170 position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a> = best;
01171 }
01172 }
01173
<a name="l01174"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#a3">01174</a> <font class="keywordtype">float</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a3">NLPACS::CLocalRetriever::getHeight</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &position)<font class="keyword"> const</font>
01175 <font class="keyword"></font>{
01176 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n9">_Type</a> == <a class="code" href="classNLPACS_1_1CLocalRetriever.html#s2s1">Interior</a>)
01177 {
01178 <font class="comment">// first preselect faces around the (x, y) position (CQuadGrid ?)</font>
01179 vector<uint32> selection;
01180 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_3">_FaceGrid</a>.select(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>, selection);
01181
01182 <font class="comment">// from the preselect faces, look for the only face that belongs to the surface</font>
01183 <font class="comment">// and that contains the position</font>
01184 CVector pos = position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>;
01185 CVector posh = pos+CVector(0.0f, 0.0f, 1.0f);
01186 <font class="keywordtype">float</font> bestDist = 1.0e10f;
01187 CVector best;
01188 vector<uint32>::iterator it;
01189 <font class="keywordflow">for</font> (it=selection.begin(); it!=selection.end(); ++it)
01190 {
01191 <font class="keyword">const</font> CInteriorFace &f = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[*it];
01192 <font class="keywordflow">if</font> (f.Surface == (uint32)position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>)
01193 {
01194 CVector <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[3];
01195 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[0]];
01196 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[1]];
01197 <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2] = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[f.Verts[2]];
01198
01199 <font class="keywordtype">float</font> a,b,c; <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
01200 <font class="comment">// Line p0-p1.</font>
01201 a = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y);
01202 b = (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x);
01203 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x*a + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y*b);
01204 <font class="keywordflow">if</font> (a*pos.x + b*pos.y + c < 0) <font class="keywordflow">continue</font>;
01205 <font class="comment">// Line p1-p2.</font>
01206 a = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y);
01207 b = (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x);
01208 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].x*a + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1].y*b);
01209 <font class="keywordflow">if</font> (a*pos.x + b*pos.y + c < 0) <font class="keywordflow">continue</font>;
01210 <font class="comment">// Line p2-p0.</font>
01211 a = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].y-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y);
01212 b = (<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0].x-<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x);
01213 c = -(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].x*a + <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2].y*b);
01214 <font class="keywordflow">if</font> (a*pos.x + b*pos.y + c < 0) <font class="keywordflow">continue</font>;
01215
01216 CPlane p;
01217 p.make(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[0], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[1], <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>[2]);
01218
01219 CVector i = p.intersect(pos, posh);
01220
01221 <font class="keywordtype">float</font> d = (float)fabs(pos.z-i.z);
01222
01223 <font class="keywordflow">if</font> (d < bestDist)
01224 {
01225 bestDist = d;
01226 best = i;
01227 }
01228 }
01229 }
01230
01231 <font class="comment">// and computes the real position on this face</font>
01232 <font class="keywordflow">return</font> (bestDist < 50.0f) ? best.z : position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>;
01233 }
01234 <font class="keywordflow">else</font>
01235 {
01236
01237 <font class="comment">// find quad leaf.</font>
01238 <font class="keyword">const</font> CQuadLeaf *leaf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>].getQuadTree().getLeaf(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>);
01239
01240 <font class="comment">// if there is no acceptable leaf, just give up</font>
01241 <font class="keywordflow">if</font> (leaf == NULL)
01242 {
01243 <font class="comment">//nlinfo("COL: quadtree: don't find the quadLeaf!");</font>
01244 <font class="keywordflow">return</font> position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>;
01245 }
01246 <font class="keywordflow">else</font>
01247 {
01248 <font class="comment">// else return mean height.</font>
01249 <font class="keywordtype">float</font> meanHeight = (leaf->getMinHeight()+leaf->getMaxHeight())*0.5f;
01250 <font class="keywordflow">return</font> meanHeight;
01251 }
01252
01253 <font class="comment">// return _Surfaces[position.Surface].getQuadTree().getInterpZ(position.Estimation);</font>
01254 }
01255 }
01256
01257
01258
01259 <font class="preprocessor">#ifdef NL_OS_WINDOWS</font>
01260 <font class="preprocessor"></font><font class="preprocessor">#pragma optimize( "", off )</font>
01261 <font class="preprocessor"></font><font class="preprocessor">#endif // NL_OS_WINDOWS</font>
01262 <font class="preprocessor"></font>
01263 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#a4">NLPACS::CLocalRetriever::findPath</a>(<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CLocalPosition.html">NLPACS::CLocalRetriever::CLocalPosition</a> &A,
01264 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CLocalPosition.html">NLPACS::CLocalRetriever::CLocalPosition</a> &B,
01265 std::vector<NLPACS::CVector2s> &path,
01266 <a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &cst)<font class="keyword"> const</font>
01267 <font class="keyword"></font>{
01268 <font class="keywordflow">if</font> (A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> != B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>)
01269 {
01270 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
01271 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Try to find a path between 2 points that are not in the same surface (A=%d, B=%d)"</font>, A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>, B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>);
01272 }
01273
01274 CVector a = A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>,
01275 b = B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>,
01276 n = CVector(a.y-b.y, b.x-a.x, 0.0f);
01277
01278 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.selectEdges(a, b, cst);
01279
01281 vector<CIntersectionMarker> intersections;
01282
01283 uint i, j;
01284 sint32 surfaceId = A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>;
01285 <font class="keyword">const</font> CRetrievableSurface &surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surfaceId];
01286
01287 <font class="keywordflow">for</font> (i=0; i<cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>.size(); ++i)
01288 {
01289 CEdgeChainEntry &entry = cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>[i];
01290 <font class="keyword">const</font> COrderedChain &chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[entry.OChainId];
01291
01292 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()].getLeft() != surfaceId &&
01293 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()].getRight() != surfaceId)
01294 <font class="keywordflow">continue</font>;
01295
01296 <font class="keywordflow">for</font> (j=entry.EdgeStart; j<entry.EdgeEnd; ++j)
01297 {
01298 <font class="comment">// here the edge collision test</font>
01299
01300 CVector p0 = chain[j].unpack3f(),
01301 p1 = chain[j+1].unpack3f();
01302
01303 <font class="keywordtype">float</font> vp0 = (p0-a)*n,
01304 vp1 = (p1-a)*n;
01305
01306 <font class="keywordflow">if</font> (vp0*vp1 <= 0.0f)
01307 {
01308 CVector np = CVector(p0.y-p1.y, p1.x-p0.x, 0.0f);
01309
01310 <font class="keywordtype">float</font> va = (a-p0)*np,
01311 vb = (b-p0)*np;
01312
01313 <font class="comment">// here we have an intersection</font>
01314 <font class="keywordflow">if</font> (va*vb <= 0.0f)
01315 {
01316 <font class="keyword">const</font> CChain &parent = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()];
01317 <font class="keywordtype">bool</font> isIn = (va-vb < 0.0f) ^ (parent.getLeft() == surfaceId) ^ chain.isForward();
01318
01319 intersections.push_back(CIntersectionMarker(va/(va-vb), entry.OChainId, j, isIn));
01320 }
01321 }
01322 }
01323 }
01324
01325 sort(intersections.begin(), intersections.end());
01326
01327 uint intersStart = 0;
01328 uint intersEnd = intersections.size();
01329
01330 <font class="keywordflow">if</font> (intersEnd > 0)
01331 {
01332 <font class="keywordflow">while</font> (intersStart < intersections.size() &&
01333 intersections[intersStart].In && intersections[intersStart].Position < 1.0e-4f)
01334 ++intersStart;
01335
01336 <font class="keywordflow">while</font> (intersStart < intersEnd &&
01337 !intersections[intersEnd-1].In && intersections[intersEnd-1].Position > 1.0f-1.0e-4f)
01338 --intersEnd;
01339
01340 <font class="comment">// Check intersections have a valid order</font>
01341 <font class="keywordflow">if</font> ((intersEnd-intersStart) & 1)
01342 {
01343 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
01344 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Found an odd (%d) number of intersections"</font>, intersections.size());
01345 }
01346
01347 <font class="keywordflow">for</font> (i=intersStart; i<intersEnd; )
01348 {
01349 uint exitLoop, enterLoop;
01350
01351 <font class="keyword">const</font> CChain &exitChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getParentId()];
01352 exitLoop = (exitChain.getLeft() == surfaceId) ? exitChain.getLeftLoop() : exitChain.getRightLoop();
01353
01354 <font class="keywordflow">if</font> (intersections[i++].In)
01355 {
01356 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
01357 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Entered the surface before exited"</font>, intersections.size());
01358 }
01359
01360 <font class="keyword">const</font> CChain &enterChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getParentId()];
01361 enterLoop = (enterChain.getLeft() == surfaceId) ? enterChain.getLeftLoop() : enterChain.getRightLoop();
01362
01363 <font class="keywordflow">if</font> (!intersections[i++].In)
01364 {
01365 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
01366 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Exited twice the surface"</font>, intersections.size());
01367 }
01368
01369 <font class="keywordflow">if</font> (exitLoop != enterLoop)
01370 {
01371 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CLocalRetriever::findPath()"</font>);
01372 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Exited and rentered by a different loop"</font>);
01373 }
01374 }
01375 }
01376
01377 <font class="comment">// dumpSurface(surfaceId);</font>
01378
01379 path.push_back(CVector2s(A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>));
01380
01381 <font class="keywordflow">for</font> (i=intersStart; i<intersEnd; )
01382 {
01383 uint exitChainId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getParentId(),
01384 enterChainId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i+1].OChain].getParentId();
01385 <font class="keyword">const</font> CChain &exitChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[exitChainId],
01386 &enterChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[enterChainId];
01387 uint loopId, exitLoopIndex, enterLoopIndex;
01388
01389 <font class="keywordflow">if</font> (exitChain.getLeft() == surfaceId)
01390 {
01391 loopId = exitChain.getLeftLoop();
01392 exitLoopIndex = exitChain.getLeftLoopIndex();
01393 }
01394 <font class="keywordflow">else</font>
01395 {
01396 loopId = exitChain.getRightLoop();
01397 exitLoopIndex = exitChain.getRightLoopIndex();
01398 }
01399
01400 <font class="keyword">const</font> CRetrievableSurface::TLoop &loop = surface._Loops[loopId];
01401
01402 <font class="keywordflow">if</font> (enterChain.getLeft() == surfaceId)
01403 enterLoopIndex = enterChain.getLeftLoopIndex();
01404 <font class="keywordflow">else</font>
01405 enterLoopIndex = enterChain.getRightLoopIndex();
01406
01407 <font class="keywordtype">float</font> forwardLength = (exitChain.getLength()+enterChain.getLength())*0.5f;
01408
01409 sint loopIndex = exitLoopIndex;
01410 uint thisChainId = exitChainId;
01411 <font class="keywordtype">bool</font> thisChainForward = (enterChain.getLeft() == surfaceId);
01412 uint thisOChainId = intersections[i].OChain;
01413 sint thisOChainIndex = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[thisOChainId].getIndexInParent();
01414 <font class="keywordtype">bool</font> forward;
01415
01416 <font class="keywordflow">if</font> (exitChainId != enterChainId)
01417 {
01418 <font class="keywordflow">for</font> (j=(exitLoopIndex+1)%loop.size(); j!=enterLoopIndex; j=(j+1)%loop.size())
01419 forwardLength += <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[surface._Chains[loop[j]].Chain].getLength();
01420 forward = (forwardLength <= loop.Length-forwardLength);
01421 }
01422 <font class="keywordflow">else</font>
01423 {
01424 forward = !thisChainForward ^ (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i].OChain].getIndexInParent() < <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[intersections[i+1].OChain].getIndexInParent());
01425 }
01426
01427 path.push_back(CVector2s(A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>+intersections[i].Position*(B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>-A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>)));
01428
01429 <font class="keywordflow">while</font> (true)
01430 {
01431 sint from = (thisOChainId == intersections[i].OChain) ? intersections[i].Edge : -1,
01432 to = (thisOChainId == intersections[i+1].OChain) ? intersections[i+1].Edge : -1;
01433 <font class="keywordtype">bool</font> oforward = thisChainForward ^ forward ^ <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[thisOChainId].isForward();
01434
01435 <font class="keywordflow">if</font> (from != -1 && to != -1)
01436 oforward = (intersections[i].Edge < intersections[i+1].Edge);
01437
01438 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[thisOChainId].traverse(from, to, oforward, path);
01439
01440 <font class="keywordflow">if</font> (thisOChainId == intersections[i+1].OChain)
01441 <font class="keywordflow">break</font>;
01442
01443 thisOChainIndex = (thisChainForward ^ forward) ? thisOChainIndex-1 : thisOChainIndex+1;
01444
01445 <font class="keywordflow">if</font> (thisOChainIndex < 0 || thisOChainIndex >= (sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId]._SubChains.size())
01446 {
01447 <font class="keywordflow">if</font> (forward)
01448 {
01449 loopIndex++;
01450 <font class="keywordflow">if</font> (loopIndex == (sint)loop.size())
01451 loopIndex = 0;
01452 }
01453 <font class="keywordflow">else</font>
01454 {
01455 loopIndex--;
01456 <font class="keywordflow">if</font> (loopIndex < 0)
01457 loopIndex = loop.size()-1;
01458 }
01459
01460 thisChainId = surface._Chains[loop[loopIndex]].Chain;
01461 thisChainForward = (<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId].getLeft() == surfaceId);
01462 thisOChainIndex = (thisChainForward && forward || !thisChainForward && !forward) ?
01463 0 : <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId]._SubChains.size()-1;
01464 }
01465
01466 thisOChainId = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[thisChainId]._SubChains[thisOChainIndex];
01467 }
01468
01469 path.push_back(CVector2s(A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>+intersections[i+1].Position*(B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>-A.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>)));
01470 i += 2;
01471 }
01472
01473 path.push_back(CVector2s(B.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>));
01474 }
01475 <font class="preprocessor">#ifdef NL_OS_WINDOWS</font>
01476 <font class="preprocessor"></font><font class="preprocessor">#pragma optimize( "", on ) </font>
01477 <font class="preprocessor"></font><font class="preprocessor">#endif // NL_OS_WINDOWS</font>
01478 <font class="preprocessor"></font>
01479 <font class="comment">// ***************************************************************************</font>
01480 <font class="comment">// ***************************************************************************</font>
01481 <font class="comment">// Collisions part.</font>
01482 <font class="comment">// ***************************************************************************</font>
01483 <font class="comment">// ***************************************************************************</font>
01484
01485
01486 <font class="comment">// ***************************************************************************</font>
<a name="l01487"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_0">01487</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_0">NLPACS::CLocalRetriever::computeCollisionChainQuad</a>()
01488 {
01489 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.build(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>);
01490 }
01491
01492
01493 <font class="comment">// ***************************************************************************</font>
<a name="l01494"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_1">01494</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z946_1">NLPACS::CLocalRetriever::testCollision</a>(CCollisionSurfaceTemp &cst, <font class="keyword">const</font> CAABBox &bboxMove, <font class="keyword">const</font> CVector2f &transBase)<font class="keyword"> const</font>
01495 <font class="keyword"></font>{
01496 <font class="comment">// H_AUTO(PACS_LR_testCollision);</font>
01497
01498 sint i;
01499
01500 <font class="comment">// 0. select ordered chains in the chainquad.</font>
01501 <font class="comment">//=====================================</font>
01502 <font class="comment">// H_BEFORE(PACS_LR_testCol_selEdges);</font>
01503 sint nEce= <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n8">_ChainQuad</a>.selectEdges(bboxMove, cst);
01504 <font class="comment">// H_AFTER(PACS_LR_testCol_selEdges);</font>
01505 <font class="comment">// NB: cst.OChainLUT is assured to be full of 0xFFFF after this call (if was right before).</font>
01506
01507
01508 <font class="comment">// 1. regroup them in chains. build cst.CollisionChains</font>
01509 <font class="comment">//=====================================</font>
01510 <font class="comment">// NB: use cst.OChainLUT to look if a Chain has been inserted before.</font>
01511 uint16 *chainLUT= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m0">OChainLUT</a>;
01512
01513 <font class="comment">// bkup where we begin to add chains.</font>
01514 uint firstChainAdded= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
01515
01516 <font class="comment">// For all edgechain entry.</font>
01517 <font class="keywordflow">for</font>(i=0;i<nEce;i++)
01518 {
01519 CEdgeChainEntry &ece= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>[i];
01520 <font class="comment">// this is the ordered chain in the retriever.</font>
01521 <font class="keyword">const</font> COrderedChain &oChain= this-><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_2">getOrderedChains</a>()[ece.OChainId];
01522 <font class="comment">// this is the id of the chain is the local retriever.</font>
01523 uint16 chainId= oChain.getParentId();
01524
01525
01526 <font class="comment">// add/retrieve the id in cst.CollisionChains.</font>
01527 <font class="comment">//=================================</font>
01528 uint ccId;
01529 <font class="comment">// if never added.</font>
01530 <font class="keywordflow">if</font>(chainLUT[chainId]==0xFFFF)
01531 {
01532 <font class="comment">// H_AUTO(PACS_LR_testCol_addToLUT);</font>
01533 <font class="comment">// add a new CCollisionChain.</font>
01534 ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
01535 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.push_back(CCollisionChain());
01536 <font class="comment">// Fill it with default.</font>
01537 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].Tested= <font class="keyword">false</font>;
01538 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ExteriorEdge = <font class="keyword">false</font>;
01539 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].FirstEdgeCollide= 0xFFFFFFFF;
01540 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ChainId= chainId;
01541 <font class="comment">// Fill Left right info.</font>
01542 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].LeftSurface.SurfaceId= this-><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_6">getChains</a>()[chainId].getLeft();
01543 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].RightSurface.SurfaceId= this-><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_6">getChains</a>()[chainId].getRight();
01544 <font class="comment">// NB: cst.CollisionChains[ccId].*Surface.RetrieverInstanceId is not filled here because we don't have</font>
01545 <font class="comment">// this info at this level.</font>
01546
01547 <font class="comment">// store this Id in the LUT of chains.</font>
01548 chainLUT[chainId]= ccId;
01549 }
01550 <font class="keywordflow">else</font>
01551 {
01552 <font class="comment">// get the id of this collision chain.</font>
01553 ccId= chainLUT[chainId];
01554 }
01555
01556 <font class="comment">// add edge collide to the list.</font>
01557 <font class="comment">//=================================</font>
01558 <font class="comment">// H_BEFORE(PACS_LR_testCol_addToList);</font>
01559 CCollisionChain &colChain= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId];
01560 <font class="keyword">const</font> std::vector<CVector2s> &oChainVertices= oChain.getVertices();
01561 <font class="keywordflow">for</font>(sint edge=ece.EdgeStart; edge<ece.EdgeEnd; edge++)
01562 {
01563 CVector2f p0= oChainVertices[edge].unpack();
01564 CVector2f p1= oChainVertices[edge+1].unpack();
01565
01566 <font class="comment">// alloc a new edgeCollide.</font>
01567 uint32 ecnId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_1">allocEdgeCollideNode</a>();
01568 CEdgeCollideNode &ecn= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_2">getEdgeCollideNode</a>(ecnId);
01569
01570 <font class="comment">// append to the front of the list.</font>
01571 ecn.Next= colChain.FirstEdgeCollide;
01572 colChain.FirstEdgeCollide= ecnId;
01573
01574 <font class="comment">// build this edge.</font>
01575 p0+= transBase;
01576 p1+= transBase;
01577 ecn.make(p0, p1);
01578 }
01579 <font class="comment">// H_AFTER(PACS_LR_testCol_addToList);</font>
01580 }
01581
01582
01583
01584 <font class="comment">// 2. Reset LUT to 0xFFFF.</font>
01585 <font class="comment">//=====================================</font>
01586
01587 <font class="comment">// H_BEFORE(PACS_LR_testCol_resetLUT);</font>
01588 <font class="comment">// for all collisions chains inserted (starting from firstChainAdded), reset LUT.</font>
01589 <font class="keywordflow">for</font>(i=firstChainAdded; i<(sint)cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size(); i++)
01590 {
01591 uint ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[i].ChainId;
01592 chainLUT[ccId]= 0xFFFF;
01593 }
01594 <font class="comment">// H_AFTER(PACS_LR_testCol_resetLUT);</font>
01595 }
01596
01597
01598 <font class="comment">// ***************************************************************************</font>
01599 <font class="comment">// ***************************************************************************</font>
01600 <font class="comment">// ***************************************************************************</font>
01601 <font class="comment">// ***************************************************************************</font>
01602
01603
01604 <font class="comment">// ***************************************************************************</font>
<a name="l01605"></a><a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_18">01605</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_18">NLPACS::CLocalRetriever::buildInteriorSurfaceBBoxes</a>(std::vector<NLMISC::CAABBox> &surfaceBBoxes)<font class="keyword"> const</font>
01606 <font class="keyword"></font>{
01607 <font class="comment">// resize dest, and init.</font>
01608 vector<bool> firstTriangle;
01609 surfaceBBoxes.clear();
01610 surfaceBBoxes.resize(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size());
01611 firstTriangle.resize(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), <font class="keyword">true</font>);
01612
01613 <font class="comment">// For all _InteriorFaces.</font>
01614 <font class="keywordflow">for</font>(uint iIntFace=0; iIntFace<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>.size(); iIntFace++)
01615 {
01616 <font class="keyword">const</font> CInteriorFace &intFace= <a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>[iIntFace];
01617
01618 <font class="comment">// Extend the surface of this face with her 3 points.</font>
01619
01620 <font class="comment">// check good id.</font>
01621 <font class="keywordflow">if</font>(intFace.Surface==(uint)-1)
01622 <font class="keywordflow">continue</font>;
01623 <a class="code" href="debug_8h.html#a6">nlassert</a>(intFace.Surface<<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size());
01624
01625 <font class="comment">// If first time we extend the bbox of this surface</font>
01626 <font class="keywordflow">if</font>(firstTriangle[intFace.Surface])
01627 {
01628 surfaceBBoxes[intFace.Surface].setCenter(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[0]] );
01629 firstTriangle[intFace.Surface]= <font class="keyword">false</font>;
01630 }
01631 <font class="keywordflow">else</font>
01632 surfaceBBoxes[intFace.Surface].extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[0]] );
01633
01634 <font class="comment">// extend with other 2 points</font>
01635 surfaceBBoxes[intFace.Surface].extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[1]] );
01636 surfaceBBoxes[intFace.Surface].extend(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_1">_InteriorVertices</a>[intFace.Verts[2]] );
01637 }
01638
01639 }
</pre></div>
<!-- footer -->
<BR><FONT Size=+5> </FONT>
</TD>
<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD>
</TR>
</TABLE>
</BODY>
</HTML>
|
