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<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>
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