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<hr><h1>mini_col.cpp</h1><a href="mini__col_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 
00007 <font class="comment">/* Copyright, 2000 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="std3d_8h.html">std3d.h</a>"</font>
00027 
00028 <font class="preprocessor">#include "<a class="code" href="mini__col_8h.html">3d/mini_col.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="aabbox_8h.html">nel/misc/aabbox.h</a>"</font>
00030 <font class="preprocessor">#include "<a class="code" href="3d_2quad__grid_8h.html">3d/quad_grid.h</a>"</font>
00031 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00032 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00033 
00034 
00035 <font class="keyword">namespace </font>NL3D 
00036 {
00037 
00038 <font class="keyword">static</font> <font class="keyword">const</font>    sint    <a class="code" href="namespaceNL3D.html#a157">QuadDepth</a>= 10;
00039 
00040 
00041 <font class="comment">// Element for grid lookup.</font>
00042 <font class="keyword">static</font> <font class="keyword">const</font> sint       <a class="code" href="namespaceNL3D.html#a158">GridSize</a>=512;
00043 <font class="keyword">static</font> <font class="keyword">const</font> <font class="keywordtype">float</font>      <a class="code" href="namespaceNL3D.html#a159">GridEltSize</a>=2;
00044 
00045 
00046 <font class="comment">// ***************************************************************************</font>
<a name="l00047"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a0">00047</a> CMiniCol::CMiniCol()
00048 {
00049         <a class="code" href="classNL3D_1_1CMiniCol.html#o1">_RadMin</a>= 100;
00050         <a class="code" href="classNL3D_1_1CMiniCol.html#o2">_RadMax</a>= 125;
00051         <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.create(<a class="code" href="namespaceNL3D.html#a158">GridSize</a>, <a class="code" href="namespaceNL3D.html#a159">GridEltSize</a>);
00052 }
00053 
00054 
00055 <font class="comment">// ***************************************************************************</font>
<a name="l00056"></a><a class="code" href="classNL3D_1_1CMiniCol.html#c0">00056</a> <font class="keywordtype">void</font>                    CMiniCol::addFaces(<font class="keyword">const</font> std::vector&lt;CTriangle&gt; &amp;faces, uint16 zoneId, uint16 patchId)
00057 {
00058         <font class="keywordflow">for</font>(sint i=0;i&lt;(sint)faces.size();i++)
00059         {
00060                 <font class="keyword">const</font> CTriangle &amp;f= faces[i];
00061                 CAABBox box;
00062                 box.setCenter(f.V0);
00063                 box.extend(f.V1);
00064                 box.extend(f.V2);
00065                 CFace   node;
00066                 node.Face= f;
00067                 node.Plane.make(f.V0, f.V1, f.V2);
00068                 node.ZoneId= zoneId;
00069                 node.PatchId=patchId;
00070                 <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.insert(box.getMin(), box.getMax(), node);
00071         }
00072 }
00073 
00074 
00075 <font class="comment">// ***************************************************************************</font>
<a name="l00076"></a><a class="code" href="classNL3D_1_1CMiniCol.html#c1">00076</a> <font class="keywordtype">void</font>                    CMiniCol::addLandscapePart(uint16 zoneId, uint16 patchId)
00077 {
00078         vector&lt;CTriangle&gt; faces;
00079         <a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>-&gt;buildCollideFaces(zoneId, patchId, faces);
00080         <a class="code" href="classNL3D_1_1CMiniCol.html#c0">addFaces</a>(faces, zoneId, patchId);
00081 }
00082 
00083 
00084 <font class="comment">// ***************************************************************************</font>
<a name="l00085"></a><a class="code" href="classNL3D_1_1CMiniCol.html#c2">00085</a> <font class="keywordtype">void</font>                    CMiniCol::removeLandScapePart(uint16 zoneId, uint16 patchId, <font class="keyword">const</font> CBSphere &amp;sphere)
00086 {
00087         <font class="comment">// Build the AAbox which englobe the bsphere of the patch.</font>
00088         CAABBox         bb;
00089         bb.setCenter(sphere.Center);
00090         <font class="keywordtype">float</font>   <a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>= sphere.Radius;
00091         bb.setHalfSize(CVector(<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>,<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>,<a class="code" href="namespaceNLAISCRIPT.html#a20">l</a>));
00092 
00093         <font class="comment">// For optimisation, select only faces which are IN the bbox of the patch.</font>
00094         <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(bb.getMin(), bb.getMax());
00095         CQuadGrid&lt;CFace&gt;::CIterator     iFace;
00096         <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();)
00097         {
00098                 <font class="keywordflow">if</font>((*iFace).isFromPatch(zoneId, patchId))
00099                         iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.erase(iFace);
00100                 <font class="keywordflow">else</font>
00101                         iFace++;
00102         }
00103 }
00104 
00105 
00106 <font class="comment">// ***************************************************************************</font>
<a name="l00107"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a1">00107</a> <font class="keywordtype">void</font>                    CMiniCol::init(CLandscape *land, <font class="keywordtype">float</font> radMin, <font class="keywordtype">float</font> radDelta)
00108 {
00109         <a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>= land;
00110         <a class="code" href="classNL3D_1_1CMiniCol.html#o1">_RadMin</a>= radMin;
00111         <a class="code" href="classNL3D_1_1CMiniCol.html#o2">_RadMax</a>= radMin+radDelta;
00112 }
00113 
00114 
00115 <font class="comment">// ***************************************************************************</font>
<a name="l00116"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a2">00116</a> <font class="keywordtype">void</font>                    CMiniCol::addZone(uint16 zoneId)
00117 {
00118         CZoneIdent      newZone;
00119 
00120         <font class="comment">// landscape must have been inited.</font>
00121         <a class="code" href="debug_8h.html#a6">nlassert</a>(<a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>);
00122         <font class="keyword">const</font> CZone     *zone= <a class="code" href="classNL3D_1_1CMiniCol.html#o0">_Landscape</a>-&gt;getZone(zoneId);
00123         <font class="comment">// zone must be loaded into landscape.</font>
00124         <a class="code" href="debug_8h.html#a6">nlassert</a>(zone);
00125 
00126         <font class="comment">// Fill the newzone.</font>
00127         newZone.ZoneId= zoneId;
00128         newZone.Sphere.Center= zone-&gt;getZoneBB().getCenter();
00129         newZone.Sphere.Radius= zone-&gt;getZoneBB().getRadius();
00130         newZone.Patchs.resize(zone-&gt;getNumPatchs());
00131         <font class="keywordflow">for</font>(sint i=0;i&lt;zone-&gt;getNumPatchs();i++)
00132         {
00133                 <font class="keyword">const</font>   CPatch  &amp;pa= *zone-&gt;getPatch(i);
00134                 newZone.Patchs[i].Sphere= pa.getBSphere();
00135         }
00136 
00137         <font class="comment">// Add it to the set (if not already done...).</font>
00138         <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.insert(newZone);
00139 }
00140 
00141 
00142 <font class="comment">// ***************************************************************************</font>
<a name="l00143"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a3">00143</a> <font class="keywordtype">void</font>                    CMiniCol::removeZone(uint16 zoneId)
00144 {
00145         CZoneIdent      delZone;
00146 
00147 
00148         <font class="comment">// First, delete all patch from the grid.</font>
00149         <font class="comment">//=======================================</font>
00150         <font class="comment">// Fill the key part only.</font>
00151         delZone.ZoneId= zoneId;
00152         <font class="comment">// Find the zone (or quit).</font>
00153         TZoneSet::iterator      itZone;
00154         itZone= <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.find(delZone);
00155         <font class="keywordflow">if</font>(itZone==<a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.end())
00156                 <font class="keywordflow">return</font>;
00157 
00158         CZoneIdent      &amp;zone= const_cast&lt;CZoneIdent&amp;&gt;(*itZone);
00159         <font class="keywordflow">for</font>(sint i=0;i&lt;(sint)zone.Patchs.size();i++)
00160         {
00161                 CPatchIdent     &amp;pa= zone.Patchs[i];
00162                 <font class="keywordflow">if</font>(pa.Inserted)
00163                 {
00164                         <font class="comment">// Reject the patch.</font>
00165                         <a class="code" href="classNL3D_1_1CMiniCol.html#c2">removeLandScapePart</a>(zone.ZoneId, i, pa.Sphere);
00166                         pa.Inserted= <font class="keyword">false</font>;
00167                         zone.NPatchInserted--;
00168                 }
00169         }
00170 
00171         <font class="comment">// Then, delete it.</font>
00172         <font class="comment">//=================</font>
00173         <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.erase(delZone);
00174         
00175 }
00176 
00177 
00178 <font class="comment">// ***************************************************************************</font>
<a name="l00179"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a4">00179</a> <font class="keywordtype">void</font>                    CMiniCol::setCenter(<font class="keyword">const</font> CVector&amp; center)
00180 {
00181         CBSphere        BMin(center, <a class="code" href="classNL3D_1_1CMiniCol.html#o1">_RadMin</a>), BMax(center, <a class="code" href="classNL3D_1_1CMiniCol.html#o2">_RadMax</a>);
00182 
00183         <font class="comment">// For all zones, test if must insert patchs..</font>
00184         TZoneSet::iterator      itZone;
00185         <font class="keywordflow">for</font>(itZone= <a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.begin();itZone!=<a class="code" href="classNL3D_1_1CMiniCol.html#o4">_Zones</a>.end();itZone++)
00186         {
00187                 CZoneIdent      &amp;zone= const_cast&lt;CZoneIdent&amp;&gt;(*itZone);
00188 
00189                 <font class="comment">// Tests must be done in 2D...</font>
00190                 BMin.Center.z= zone.Sphere.Center.z;
00191                 BMax.Center.z= zone.Sphere.Center.z;
00192 
00193                 <font class="comment">// Must test first if the zone is IN the area.</font>
00194                 <font class="comment">//=============================================</font>
00195                 <font class="keywordtype">bool</font>    zoneIn= <font class="keyword">false</font>;
00196                 <font class="keywordflow">if</font>(zone.NPatchInserted==0)
00197                 {
00198                         <font class="keywordflow">if</font>(BMin.intersect(zone.Sphere))
00199                                 zoneIn= <font class="keyword">true</font>;
00200                 }
00201                 <font class="keywordflow">else</font>
00202                         zoneIn= <font class="keyword">true</font>;
00203 
00204                 <font class="comment">// Then for all patchs, must test if the patch must be inserted, or rejected.</font>
00205                 <font class="comment">//=============================================</font>
00206                 <font class="keywordflow">if</font>(zoneIn)
00207                 {
00208                         <font class="keywordflow">for</font>(sint i=0;i&lt;(sint)zone.Patchs.size();i++)
00209                         {
00210                                 CPatchIdent     &amp;pa= zone.Patchs[i];
00211 
00212                                 <font class="comment">// Tests must be done in 2D...</font>
00213                                 BMin.Center.z= pa.Sphere.Center.z;
00214                                 BMax.Center.z= pa.Sphere.Center.z;
00215 
00216                                 <font class="keywordflow">if</font>(pa.Inserted)
00217                                 {
00218                                         <font class="comment">// Reject the patch, if entirely OUT the max radius.</font>
00219                                         <font class="keywordflow">if</font>(!BMax.intersect(pa.Sphere))
00220                                         {
00221                                                 <a class="code" href="classNL3D_1_1CMiniCol.html#c2">removeLandScapePart</a>(zone.ZoneId, i, pa.Sphere);
00222                                                 pa.Inserted= <font class="keyword">false</font>;
00223                                                 zone.NPatchInserted--;
00224                                         }
00225                                 }
00226                                 <font class="keywordflow">else</font>
00227                                 {
00228                                         <font class="comment">// Insert the pacth, if only partially IN the min radius.</font>
00229                                         <font class="keywordflow">if</font>(BMin.intersect(pa.Sphere))
00230                                         {
00231                                                 <a class="code" href="classNL3D_1_1CMiniCol.html#c1">addLandscapePart</a>(zone.ZoneId, i);
00232                                                 pa.Inserted= <font class="keyword">true</font>;
00233                                                 zone.NPatchInserted++;
00234                                         }
00235                                 }
00236                         }
00237                 }
00238         }
00239 }
00240 
00241 
00242 <font class="comment">// ***************************************************************************</font>
<a name="l00243"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a6">00243</a> <font class="keywordtype">bool</font>                    CMiniCol::snapToGround(CVector &amp;pos, <font class="keywordtype">float</font> hup, <font class="keywordtype">float</font> hbot)
00244 {
00245         CVector b1,b2;
00246         <font class="keywordtype">bool</font>    found=<font class="keyword">false</font>;
00247         <font class="keywordtype">float</font>   <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>;
00248 
00249 
00250         <font class="comment">// Select quad nodes which contains pos.</font>
00251         b1=b2=pos;
00252         b1.z-= hbot;
00253         b2.z+= hup;
00254         <font class="comment">// Select.</font>
00255         <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(b1,b2);
00256 
00257         <font class="comment">// For each face, test if it is under pos, then test if height is correct.</font>
00258         CQuadGrid&lt;CFace&gt;::CIterator     iFace;
00259         <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();iFace++)
00260         {
00261                 CTriangle       &amp;pFace= (*iFace).Face;
00262                 CPlane          &amp;pPlane= (*iFace).Plane;
00263                 <font class="comment">// Order is important.</font>
00264                 CVector         &amp;p0= pFace.V0;
00265                 CVector         &amp;p1= pFace.V1;
00266                 CVector         &amp;p2= pFace.V2;
00267 
00268                 <font class="comment">// TOIMP: This is VERY SLOW!!! (hope that the quadtree will help, but it still very slow...).</font>
00269 
00270                 <font class="comment">// Yoyo Debug, test, if the point may be IN the bbox.</font>
00271                 <font class="comment">/*CAABBox               bbFace;</font>
00272 <font class="comment">                bbFace.setCenter(p0);</font>
00273 <font class="comment">                bbFace.extend(p1);</font>
00274 <font class="comment">                bbFace.extend(p2);</font>
00275 <font class="comment">                CVector         bext=p0;</font>
00276 <font class="comment">                bext.z= maxof(p0.z, p1.z, p2.z)+hbot;</font>
00277 <font class="comment">                bbFace.extend(bext);</font>
00278 <font class="comment">                bext.z= minof(p0.z, p1.z, p2.z)-hup;</font>
00279 <font class="comment">                bbFace.extend(bext);</font>
00280 <font class="comment">                if(!bbFace.include(pos))</font>
00281 <font class="comment">                        continue;*/</font>
00282 
00283                 <font class="comment">// Test if the face enclose the pos in X/Y plane.</font>
00284                 <font class="comment">// NB: compute and using a BBox to do a rapid test is not a very good idea, since it will </font>
00285                 <font class="comment">// add an overhead which is NOT negligeable compared to the following test.</font>
00286                 <font class="keywordtype">float</font>           a,b,c;          <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
00287                 <font class="comment">// Line p0-p1.</font>
00288                 a= -(p1.y-p0.y);
00289                 b= (p1.x-p0.x);
00290                 c= -(p0.x*a + p0.y*b);
00291                 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0)        <font class="keywordflow">continue</font>;
00292                 <font class="comment">// Line p1-p2.</font>
00293                 a= -(p2.y-p1.y);
00294                 b= (p2.x-p1.x);
00295                 c= -(p1.x*a + p1.y*b);
00296                 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0)        <font class="keywordflow">continue</font>;
00297                 <font class="comment">// Line p2-p0.</font>
00298                 a= -(p0.y-p2.y);
00299                 b= (p0.x-p2.x);
00300                 c= -(p2.x*a + p2.y*b);
00301                 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0)        <font class="keywordflow">continue</font>;
00302 
00303 
00304                 <font class="comment">// Compute the possible height.</font>
00305                 CVector         tmp;
00306                 <font class="comment">// intersect the vertical line with the plane.</font>
00307                 tmp= pPlane.intersect(pos, pos-CVector(0,0,100));
00308 
00309                 <font class="comment">/*</font>
00310 <font class="comment">                // CTriangle intersect() method.</font>
00311 <font class="comment">                CVector tmp;</font>
00312 <font class="comment">                if(pFace.intersect(b1, b2, tmp, pPlane))</font>
00313 <font class="comment">                */</font>
00314                 {
00315                         <font class="keywordtype">float</font>           h= tmp.z;
00316                         <font class="comment">// Test if it would fit in the wanted field.</font>
00317                         <font class="keywordflow">if</font>(h&gt;pos.z+hup) <font class="keywordflow">continue</font>;
00318                         <font class="keywordflow">if</font>(h&lt;pos.z-hbot)        <font class="keywordflow">continue</font>;
00319 
00320                         <font class="comment">// OK!!</font>
00321                         <font class="keywordflow">if</font>(!found)
00322                         {
00323                                 found=<font class="keyword">true</font>;
00324                                 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=h;
00325                         }
00326                         <font class="keywordflow">else</font>
00327                         {
00328                                 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>= max(<a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>,h);
00329                         }
00330                 }
00331         }
00332 
00333         <font class="keywordflow">if</font>(found)
00334                 pos.z= <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>;
00335 
00336         <font class="keywordflow">return</font> found;
00337 }
00338 
00339 
00340 
00341 <font class="comment">// ***************************************************************************</font>
<a name="l00342"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a7">00342</a> <font class="keywordtype">bool</font>                    CMiniCol::getGroundNormal(<font class="keyword">const</font> CVector &amp;pos, CVector &amp;normal, <font class="keywordtype">float</font> hup, <font class="keywordtype">float</font> hbot)
00343 {
00344         CVector b1,b2;
00345         <font class="keywordtype">bool</font>    found=<font class="keyword">false</font>;
00346         <font class="keywordtype">float</font>   <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=0.0;
00347 
00348 
00349         <font class="comment">// Select quad nodes which contains pos.</font>
00350         b1=b2=pos;
00351         b1.z-= hbot;
00352         b2.z+= hup;
00353         <font class="comment">// Select.</font>
00354         <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(b1,b2);
00355 
00356         <font class="comment">// For each face, test if it is under pos, then test if height is correct.</font>
00357         CQuadGrid&lt;CFace&gt;::CIterator     iFace;
00358         <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();iFace++)
00359         {
00360                 CTriangle       &amp;pFace= (*iFace).Face;
00361                 CPlane          &amp;pPlane= (*iFace).Plane;
00362                 <font class="comment">// Order is important.</font>
00363                 CVector         &amp;p0= pFace.V0;
00364                 CVector         &amp;p1= pFace.V1;
00365                 CVector         &amp;p2= pFace.V2;
00366 
00367                 <font class="comment">// TOIMP: This is VERY SLOW!!! (hope that the quadtree will help, but it still very slow...).</font>
00368 
00369                 <font class="comment">// Yoyo Debug, test, if the point may be IN the bbox.</font>
00370                 CAABBox         bbFace;
00371                 bbFace.setCenter(p0);
00372                 bbFace.extend(p1);
00373                 bbFace.extend(p2);
00374                 CVector         bext=p0;
00375                 bext.z= maxof(p0.z, p1.z, p2.z)+hbot;
00376                 bbFace.extend(bext);
00377                 bext.z= minof(p0.z, p1.z, p2.z)-hup;
00378                 bbFace.extend(bext);
00379                 <font class="keywordflow">if</font>(!bbFace.include(pos))
00380                         <font class="keywordflow">continue</font>;
00381 
00382                 <font class="comment">// Test if the face enclose the pos in X/Y plane.</font>
00383                 <font class="comment">// NB: compute and using a BBox to do a rapid test is not a very good idea, since it will </font>
00384                 <font class="comment">// add an overhead which is NOT negligeable compared to the following test.</font>
00385                 <font class="keywordtype">float</font>           a,b,c;          <font class="comment">// 2D cartesian coefficients of line in plane X/Y.</font>
00386                 <font class="comment">// Line p0-p1.</font>
00387                 a= -(p1.y-p0.y);
00388                 b= (p1.x-p0.x);
00389                 c= -(p0.x*a + p0.y*b);
00390                 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0)        <font class="keywordflow">continue</font>;
00391                 <font class="comment">// Line p1-p2.</font>
00392                 a= -(p2.y-p1.y);
00393                 b= (p2.x-p1.x);
00394                 c= -(p1.x*a + p1.y*b);
00395                 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0)        <font class="keywordflow">continue</font>;
00396                 <font class="comment">// Line p2-p0.</font>
00397                 a= -(p0.y-p2.y);
00398                 b= (p0.x-p2.x);
00399                 c= -(p2.x*a + p2.y*b);
00400                 <font class="keywordflow">if</font>( (a*pos.x + b*pos.y + c) &lt; 0)        <font class="keywordflow">continue</font>;
00401 
00402 
00403                 <font class="comment">// Compute the possible height.</font>
00404                 CVector         tmp;
00405                 <font class="comment">// intersect the vertical line with the plane.</font>
00406                 tmp= pPlane.intersect(pos, pos-CVector(0,0,100));
00407                 <font class="keywordtype">float</font>           h= tmp.z;
00408                 <font class="comment">// Test if it would fit in the wanted field.</font>
00409                 <font class="keywordflow">if</font>(h&gt;pos.z+hup) <font class="keywordflow">continue</font>;
00410                 <font class="keywordflow">if</font>(h&lt;pos.z-hbot)        <font class="keywordflow">continue</font>;
00411 
00412                 <font class="comment">// OK!!</font>
00413                 <font class="keywordflow">if</font>(!found)
00414                 {
00415                         found=<font class="keyword">true</font>;
00416                         <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=h;
00417                         normal= pPlane.getNormal();
00418                 }
00419                 <font class="keywordflow">else</font>
00420                 {
00421                         <font class="keywordflow">if</font>(h&gt;<a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>)
00422                         {
00423                                 normal= pPlane.getNormal();
00424                                 <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>= h;
00425                         }
00426                 }
00427         }
00428 
00429         <font class="keywordflow">return</font> found;
00430 }
00431 
00432 
00433 <font class="comment">// ***************************************************************************</font>
<a name="l00434"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a5">00434</a> <font class="keywordtype">bool</font>                    CMiniCol::testMove(<font class="keyword">const</font> CVector &amp;prec, CVector &amp;cur)
00435 {
00436         CVector dir= cur-prec;
00437         dir.normalize();
00438 
00439         <font class="comment">// Angle max.</font>
00440         <font class="keywordtype">float</font>   anglemax= 65;   <font class="comment">// 65 degrees.</font>
00441         anglemax= (float)tan( anglemax*<a class="code" href="namespaceNLMISC.html#a7">Pi</a>/180);
00442 
00443         <font class="comment">// Must not go to near of a wall.</font>
00444         CVector test= cur+dir*0.5;
00445         <font class="keywordtype">float</font>   norm= (test-prec).norm();
00446         norm*=anglemax;
00447         <font class="keywordflow">if</font>(!<a class="code" href="classNL3D_1_1CMiniCol.html#a6">snapToGround</a>(test, norm, norm))
00448         {
00449                 cur= prec;
00450                 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00451         }
00452         <font class="keywordflow">else</font>
00453         {
00454                 <font class="comment">// Must test and snap the current position.</font>
00455                 norm= (cur-prec).norm();
00456                 norm*=anglemax;
00457                 <font class="keywordflow">if</font>(!<a class="code" href="classNL3D_1_1CMiniCol.html#a6">snapToGround</a>(cur, norm, norm))
00458                 {
00459                         cur= prec;
00460                         <font class="keywordflow">return</font> <font class="keyword">false</font>;
00461                 }
00462         }
00463         <font class="keywordflow">return</font> <font class="keyword">true</font>;
00464 }
00465 
00466 
00467 <font class="comment">// ***************************************************************************</font>
<a name="l00468"></a><a class="code" href="classNL3D_1_1CMiniCol.html#a8">00468</a> <font class="keywordtype">void</font>                    CMiniCol::getFaces(std::vector&lt;CTriangle&gt;       &amp;triresult, <font class="keyword">const</font> CAABBox &amp;bbox)
00469 {
00470         triresult.clear();
00471 
00472         <font class="comment">// Select.</font>
00473         <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.select(bbox.getMin(),bbox.getMax());
00474 
00475         <font class="comment">// For each face, test if it is under pos, then test if height is correct.</font>
00476         CQuadGrid&lt;CFace&gt;::CIterator     iFace;
00477         <font class="keywordflow">for</font>(iFace= <a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.begin();iFace!=<a class="code" href="classNL3D_1_1CMiniCol.html#o3">_Grid</a>.end();iFace++)
00478         {
00479                 CTriangle       &amp;face= (*iFace).Face;
00480 
00481                 <font class="keywordflow">if</font>(bbox.intersect(face.V0, face.V1, face.V2))
00482                 {
00483                         triresult.push_back(face);
00484                 }
00485         }
00486 
00487 }
00488 
00489 
00490 } <font class="comment">// NL3D</font>
</pre></div>

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