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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 &amp;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   &amp;<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   &amp;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   &amp;<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   &amp;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   &amp;<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   &amp;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() &amp;&amp; onLeft || !ochain.isForward() &amp;&amp; !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   &amp;<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   &amp;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() &amp;&amp; onLeft || !ochain.isForward() &amp;&amp; !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                       &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00155         <font class="keyword">const</font> CRetrievableSurface::TLoop        &amp;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                       &amp;surf = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00176         <font class="keyword">const</font> CRetrievableSurface::TLoop        &amp;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&lt;<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&lt;<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>   &amp;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&lt;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&lt;<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 &amp;vect)<font class="keyword"> const</font>
00224 <font class="keyword"></font>{
00225         <font class="keyword">const</font> CRetrievableSurface       &amp;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&lt;surface._Chains.size(); ++i)
00233         {
00234                 uint                    chainId = surface._Chains[i].Chain;
00235                 <font class="keyword">const</font> CChain    &amp;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&lt;chain.getSubChains().size(); ++j)
00239                 {
00240                         <font class="keyword">const</font> COrderedChain3f   &amp;ochain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n1">_FullOrderedChains</a>[chain.getSubChain(j)];
00241                         <font class="keyword">const</font> COrderedChain             &amp;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&lt;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&lt;surface._Loops.size(); ++i)
00250         {
00251                 <font class="keyword">const</font> CRetrievableSurface::TLoop        &amp;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&lt;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 &amp;pos)<font class="keyword"> const</font>
00267 <font class="keyword"></font>{
00268         <font class="keyword">const</font> CRetrievableSurface       &amp;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&lt;surf._Chains.size(); ++i)
00273         {
00274                 <font class="keyword">const</font> CChain    &amp;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&lt;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 &lt; 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 &amp;center,
00296                                                                                         <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CSurfaceQuadTree.html">NLPACS::CSurfaceQuadTree</a> &amp;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     &amp;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 &lt;= 1);
00314         surf._IsCeiling = (surf._NormalQuanta &gt;= 3);
00315 
00316         surf._Flags = 0;
00317         surf._Flags |= (surf._IsFloor) ? (1&lt;&lt;CRetrievableSurface::IsFloorBit) : 0;
00318         surf._Flags |= (surf._IsCeiling) ? (1&lt;&lt;CRetrievableSurface::IsCeilingBit) : 0;
00319         surf._Flags |= (!surf._IsFloor &amp;&amp; !surf._IsCeiling) ? (1&lt;&lt;CRetrievableSurface::IsSlantBit) : 0;
00320 
00321         surf._Flags |= (isUnderWater) ? (1&lt;&lt;CRetrievableSurface::IsUnderWaterBit) : 0;
00322         surf._WaterHeight = waterHeight;
00323 
00324         surf._Flags |= ((0xffffffff&lt;&lt;(CRetrievableSurface::NormalQuantasStartBit)) &amp; 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&lt;CVector&gt; &amp;verts,
00330                                                                                   sint32 left, sint32 right)
00331 {
00332         vector&lt;CVector&gt; vertices = verts;
00333         uint            i;
00334 
00335         <font class="keywordflow">if</font> (vertices.size() &lt; 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&lt;CVector2s&gt;       converts;
00344 
00345         <font class="keywordflow">for</font> (i=0; i&lt;vertices.size(); ++i)
00346                 converts.push_back(CVector2s(vertices[i]));
00347 
00348         vector&lt;CVector2s&gt;::iterator     next2s = converts.begin(), it2s, prev2s;
00349         prev2s = next2s; ++next2s;
00350         it2s = next2s; ++next2s;
00351 
00352         vector&lt;CVector&gt;::iterator       it3f = vertices.begin();
00353         CVector                                         prev3f = *it3f;
00354         ++it3f;
00355 
00356 
00357         <font class="keywordflow">for</font> (; it2s != converts.end() &amp;&amp; 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() &lt; 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          &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>.back();
00392 
00393         <font class="keywordflow">if</font> (left&gt;(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&lt;%d (id=%d)"</font>, <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(), left);
00395         <font class="keywordflow">if</font> (right&gt;(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&lt;%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 &gt; 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&gt;=0) ? &amp;(<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[left]) : NULL;
00403         CRetrievableSurface     *rightSurface = (right&gt;=0) ? &amp;(<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-&gt;_Chains.push_back(CRetrievableSurface::CSurfaceLink(newId, right));
00408         <font class="keywordflow">if</font> (rightSurface != NULL)
00409                 rightSurface-&gt;_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&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
00432         {
00433                 CRetrievableSurface     &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[i];
00434 
00435                 vector&lt;bool&gt;            chainFlags;
00436                 chainFlags.resize(surface._Chains.size());
00437                 <font class="keywordflow">for</font> (j=0; j&lt;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&lt;chainFlags.size() &amp;&amp; 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      &amp;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&lt;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 &lt; best)
00479                                         {
00480                                                 best = d;
00481                                                 bestChain = j;
00482                                         }
00483                                 }
00484 
00485                                 <font class="keywordflow">if</font> ((bestChain == -1 || best &gt; 3.0e-2f)&amp;&amp; loopCloseDistance &gt; 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&lt;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 &gt; 1.0e0f &amp;&amp; loopCloseDistance &lt; 3.0e-2f ||
00505                                                  loopCloseDistance &lt; 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&lt;<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&lt;=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 &amp;&amp; thisTip &gt;= <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    &amp;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&lt;=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 &amp;&amp; !whichTip || turn &amp;&amp; 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 &gt;= 0)
00563                                         {
00564 
00565                                                 CChain  &amp;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 &amp;&amp; !turn || !isForward &amp;&amp; turn;
00568                                                 uint16  &amp;tipRef = selectTip ? nextChain._StopTip : nextChain._StartTip;
00569                                                 surf = (isForward) ? nextChain.getRight() : nextChain.getLeft();
00570 
00571                                                 <font class="keywordflow">if</font> (tipRef != 0xffff &amp;&amp; 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&lt;<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() &gt;= 0 &amp;&amp; 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&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++i)
00605         {
00606                 <font class="keywordflow">for</font> (j=0; j&lt;<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&lt;<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&lt;CPolygon&gt; &amp;polygons)<font class="keyword"> const</font>
00620 <font class="keyword"></font>{
00621         <font class="keyword">const</font> CRetrievableSurface       &amp;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&lt;surf._Loops.size(); ++i)
00626         {
00627                 polygons.push_back();
00628                 CPolygon        &amp;poly = polygons.back();
00629 
00630                 <font class="keywordflow">for</font> (j=0; j&lt;surf._Loops[i].size(); ++j)
00631                 {
00632                         <font class="keyword">const</font> CChain    &amp;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&lt;chain._SubChains.size(); ++k)
00638                                 {
00639                                         <font class="keyword">const</font> COrderedChain             &amp;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>&lt;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>&gt;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&gt;0; --k)
00657                                 {
00658                                         <font class="keyword">const</font> COrderedChain             &amp;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>&gt;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>&lt;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&lt;<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&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surf)
00706         {
00707                 CRetrievableSurface     &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surf];
00708 
00709                 <font class="keywordflow">for</font> (link=0; link&lt;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&lt;<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&lt;(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 &amp;&amp;
00741                                 <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface]._Character == character)
00742                         {
00743                                 vector&lt;sint32&gt;  surfacesStack;
00744                                 surfacesStack.push_back(surface);
00745 
00746                                 <font class="keywordflow">while</font> (!surfacesStack.empty())
00747                                 {
00748                                         CRetrievableSurface     &amp;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&lt;current._Chains.size(); ++i)
00754                                         {
00755                                                 CChain  &amp;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&gt;=0 &amp;&amp; link&lt;(sint)<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size() &amp;&amp;
00758                                                         <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Topologies[character] == -1 &amp;&amp;
00759                                                         <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[link]._Character &gt;= 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&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>.size(); ++surface)
00777         {
00778                 CRetrievableSurface     &amp;current = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surface];
00779 
00780                 <font class="keywordflow">for</font> (character=0; character&lt;<a class="code" href="namespaceNLPACS.html#a30a8">NumCreatureModels</a>; ++character)
00781                         <font class="keywordflow">if</font> (current._Topologies[character] &gt;= 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> &amp;translation)
00787 {
00788         uint    i;
00789         <font class="keywordflow">for</font> (i=0; i&lt;<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&lt;<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&lt;<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> &amp;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&lt;<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 &gt;= 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 &gt;= 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 &gt;= 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> &amp;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> &lt; 0 || local.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a> &gt;= (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>       &amp;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&lt;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>    &amp;chain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[ichain];
00872 
00873                 for (j=0; j&lt;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>     &amp;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&lt;(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&lt;0.0f || lambda&gt;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 &lt; InsurePositionThreshold &amp;&amp; d &gt; -<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&lt;uint8&gt; &amp;retrieveTable,*/</font> CCollisionSurfaceTemp &amp;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&lt;numEdges; ++i)
00945         {
00946                 ochain = cst.EdgeChainEntries[i].OChainId;
00947 
00948                 <font class="keyword">const</font> COrderedChain     &amp;sub = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n0">_OrderedChains</a>[ochain];
00949                 <font class="keyword">const</font> CVector2s &amp;<a class="code" href="bit__set_8cpp.html#a0">min</a> = sub.getMin(),
00950                                                 &amp;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 &lt; <a class="code" href="bit__set_8cpp.html#a0">min</a>.x || estim.x &gt; 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 &lt; <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 &gt; 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&lt;CVector2s&gt; &amp;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 &gt; 1)
00985                         {
00986                                 uint    mid = (start+stop)/2;
00987 
00988                                 <font class="keywordflow">if</font> (vertices[mid].x &gt; 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 &gt; 0 &amp;&amp; vertices[start].x == vertices[start-1].x)
00999                                         --start;
01000 
01001                                 <font class="keywordflow">while</font> (stop &lt; vertices.size()-1 &amp;&amp; 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 &gt; vertices[start].y &amp;&amp; estim.y &gt; vertices[stop].y ||
01006                                         estim.y &lt; vertices[start].y &amp;&amp; estim.y &lt; 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 &gt;= 0)  cst.SurfaceLUT[left].FoundCloseEdge = <font class="keyword">true</font>;
01013                                 <font class="keywordflow">if</font> (right &gt;= 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 &gt; vertices[start].y &amp;&amp; estim.y &gt; 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 &lt; vertices[start].y &amp;&amp; estim.y &lt; 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 &amp;vstart = vertices[start],
01041                                                                 &amp;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 &gt; intersect;
01046                                 isOnBorder = (fabs(estim.y - intersect)&lt;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 &gt;= 0)  cst.SurfaceLUT[left].FoundCloseEdge = <font class="keyword">true</font>;
01056                         <font class="keywordflow">if</font> (right &gt;= 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&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>.size(); ++i)
01098         {
01099                 CAABBox                 box;
01100                 CInteriorFace   &amp;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> &amp;position, <font class="keywordtype">bool</font> &amp;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&lt;uint32&gt;  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&lt;uint32&gt;::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     &amp;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 &lt; -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 &lt; -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 &lt; -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 &lt; 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 &lt; 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> &amp;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&lt;uint32&gt;  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&lt;uint32&gt;::iterator        it;
01189                 <font class="keywordflow">for</font> (it=selection.begin(); it!=selection.end(); ++it)
01190                 {
01191                         <font class="keyword">const</font> CInteriorFace     &amp;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 &lt; 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 &lt; 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 &lt; 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 &lt; 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 &lt; 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-&gt;getMinHeight()+leaf-&gt;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> &amp;A, 
01264                                                                                   <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever_1_1CLocalPosition.html">NLPACS::CLocalRetriever::CLocalPosition</a> &amp;B, 
01265                                                                                   std::vector&lt;NLPACS::CVector2s&gt; &amp;path, 
01266                                                                                   <a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &amp;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&lt;CIntersectionMarker&gt;     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       &amp;surface = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n3">_Surfaces</a>[surfaceId];
01286 
01287         <font class="keywordflow">for</font> (i=0; i&lt;cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>.size(); ++i)
01288         {
01289                 CEdgeChainEntry         &amp;entry = cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m1">EdgeChainEntries</a>[i];
01290                 <font class="keyword">const</font> COrderedChain     &amp;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 &amp;&amp;
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&lt;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 &lt;= 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 &lt;= 0.0f)
01315                                 {
01316                                         <font class="keyword">const</font> CChain    &amp;parent = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[chain.getParentId()];
01317                                         <font class="keywordtype">bool</font>                    isIn = (va-vb &lt; 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 &gt; 0)
01331         {
01332                 <font class="keywordflow">while</font> (intersStart &lt; intersections.size() &amp;&amp;
01333                            intersections[intersStart].In &amp;&amp; intersections[intersStart].Position &lt; 1.0e-4f)
01334                         ++intersStart;
01335 
01336                 <font class="keywordflow">while</font> (intersStart &lt; intersEnd &amp;&amp;
01337                            !intersections[intersEnd-1].In &amp;&amp; intersections[intersEnd-1].Position &gt; 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) &amp; 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&lt;intersEnd; )
01348                 {
01349                         uint    exitLoop, enterLoop;
01350 
01351                         <font class="keyword">const</font> CChain    &amp;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    &amp;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&lt;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                                            &amp;exitChain = <a class="code" href="classNLPACS_1_1CLocalRetriever.html#n2">_Chains</a>[exitChainId],
01386                                                                                         &amp;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        &amp;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 &lt;= 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() &lt; <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 &amp;&amp; to != -1)
01436                                 oforward = (intersections[i].Edge &lt; 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 &lt; 0 || thisOChainIndex &gt;= (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 &lt; 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 &amp;&amp; forward || !thisChainForward &amp;&amp; !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 &amp;cst, <font class="keyword">const</font> CAABBox &amp;bboxMove, <font class="keyword">const</font> CVector2f &amp;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&lt;nEce;i++)
01518         {
01519                 CEdgeChainEntry         &amp;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   &amp;oChain= this-&gt;<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-&gt;<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-&gt;<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                 &amp;colChain= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId];
01560                 <font class="keyword">const</font> std::vector&lt;CVector2s&gt;    &amp;oChainVertices= oChain.getVertices();
01561                 <font class="keywordflow">for</font>(sint edge=ece.EdgeStart; edge&lt;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        &amp;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&lt;(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&lt;NLMISC::CAABBox&gt;        &amp;surfaceBBoxes)<font class="keyword"> const</font>
01606 <font class="keyword"></font>{
01607         <font class="comment">// resize dest, and init.</font>
01608         vector&lt;bool&gt;    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&lt;<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_2">_InteriorFaces</a>.size(); iIntFace++)
01615         {
01616                 <font class="keyword">const</font> CInteriorFace     &amp;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&lt;<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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